X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_data.h;h=b0f086f867285cf111d865b48bd0a684d0fd41d6;hb=e0a0a747624c2df66ca4a73b5a0de014ea204dca;hp=1153d433669facdfbd58790367d526d504c6a4a6;hpb=16bad3b6ab65cf31b19152127cb6af69142c5c12;p=fw%2Faltos

diff --git a/src/core/ao_data.h b/src/core/ao_data.h
index 1153d433..b0f086f8 100644
--- a/src/core/ao_data.h
+++ b/src/core/ao_data.h
@@ -67,6 +67,9 @@ struct ao_data {
 #endif
 #if HAS_MPU6000
 	struct ao_mpu6000_sample	mpu6000;
+#if !HAS_MMA655X
+	int16_t				z_accel;
+#endif
 #endif
 #if HAS_HMC5883
 	struct ao_hmc5883_sample	hmc5883;
@@ -79,6 +82,10 @@ 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;
@@ -87,14 +94,7 @@ extern volatile __data uint8_t		ao_data_count;
 /*
  * Mark a section of data as ready, check for data complete
  */
-#define AO_DATA_PRESENT(bit)	do {					\
-		if ((ao_data_present |= (bit)) == AO_DATA_ALL) {	\
-			ao_data_ring[ao_data_head].tick = ao_tick_count; \
-			ao_data_head = ao_data_ring_next(ao_data_head); \
-			ao_data_present = 0;				\
-			ao_wakeup((void *) &ao_data_head);		\
-		}							\
-	} while (0);
+#define AO_DATA_PRESENT(bit)	(ao_data_present |= (bit))
 
 /*
  * Wait until it is time to write a sensor sample; this is
@@ -285,11 +285,32 @@ typedef int16_t accel_t;
 typedef int16_t accel_t;
 
 /* MPU6000 is hooked up so that positive y is positive acceleration */
-#define ao_data_accel(packet)			((packet)->mpu6000.accel_y)
+#define ao_data_accel(packet)			((packet)->z_accel)
 #define ao_data_accel_cook(packet)		(-(packet)->mpu6000.accel_y)
-#define ao_data_set_accel(packet, accel)	((packet)->mpu6000.accel_y = (accel))
+#define ao_data_set_accel(packet, accel)	((packet)->z_accel = (accel))
 #define ao_data_accel_invert(a)			(-(a))
 
 #endif
 
+#if !HAS_GYRO && HAS_MPU6000
+
+#define HAS_GYRO	1
+
+typedef int16_t	gyro_t;
+typedef int32_t angle_t;
+
+/* 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_ */