X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_data.h;h=5a232885173b368c0a7ee9a6cab7a97a12adc5a7;hb=d96fd33aa8a220d547512eb43c88fc8f5651e39e;hp=6fdd19cb9b7ca88cc72d1b6fd52073cd3ac032a2;hpb=5a55501660ebab3b858a48483c5df1cfb4e858e4;p=fw%2Faltos

diff --git a/src/core/ao_data.h b/src/core/ao_data.h
index 6fdd19cb..5a232885 100644
--- a/src/core/ao_data.h
+++ b/src/core/ao_data.h
@@ -18,6 +18,8 @@
 #ifndef _AO_DATA_H_
 #define _AO_DATA_H_
 
+#define GRAVITY 9.80665
+
 #if HAS_ADC
 #define AO_DATA_ADC	(1 << 0)
 #else
@@ -82,6 +84,10 @@ struct ao_data {
 #define ao_data_ring_next(n)	(((n) + 1) & (AO_DATA_RING - 1))
 #define ao_data_ring_prev(n)	(((n) - 1) & (AO_DATA_RING - 1))
 
+/* Get a copy of the last complete sample set */
+void
+ao_data_get(__xdata struct ao_data *packet);
+
 extern volatile __xdata struct ao_data	ao_data_ring[AO_DATA_RING];
 extern volatile __data uint8_t		ao_data_head;
 extern volatile __data uint8_t		ao_data_present;
@@ -97,7 +103,7 @@ extern volatile __data uint8_t		ao_data_count;
  * signaled by the timer tick
  */
 #define AO_DATA_WAIT() do {				\
-		ao_sleep((void *) &ao_data_count);	\
+		ao_sleep(DATA_TO_XDATA ((void *) &ao_data_count));	\
 	} while (0)
 
 #endif /* AO_DATA_RING */
@@ -268,7 +274,11 @@ typedef int16_t accel_t;
 /* MMA655X is hooked up so that positive values represent negative acceleration */
 
 #define ao_data_accel(packet)			((packet)->mma655x)
+#if AO_MMA655X_INVERT
+#define ao_data_accel_cook(packet)		(4095 - (packet)->mma655x)
+#else
 #define ao_data_accel_cook(packet)		((packet)->mma655x)
+#endif
 #define ao_data_set_accel(packet, accel)	((packet)->mma655x = (accel))
 #define ao_data_accel_invert(accel)		(4095 - (accel))
 
@@ -288,4 +298,25 @@ typedef int16_t accel_t;
 
 #endif
 
+#if !HAS_GYRO && HAS_MPU6000
+
+#define HAS_GYRO	1
+
+typedef int16_t	gyro_t;		/* in raw sample units */
+typedef int16_t angle_t;	/* in degrees */
+
+/* Y axis is aligned with the direction of motion (along) */
+/* X axis is aligned in the other board axis (across) */
+/* Z axis is aligned perpendicular to the board (through) */
+
+#define ao_data_along(packet)	((packet)->mpu6000.accel_y)
+#define ao_data_across(packet)	((packet)->mpu6000.accel_x)
+#define ao_data_through(packet)	((packet)->mpu6000.accel_z)
+
+#define ao_data_roll(packet)	((packet)->mpu6000.gyro_y)
+#define ao_data_pitch(packet)	((packet)->mpu6000.gyro_x)
+#define ao_data_yaw(packet)	((packet)->mpu6000.gyro_z)
+
+#endif
+
 #endif /* _AO_DATA_H_ */