X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao_data.h;h=c4b062fdb1d0f9f4631354ada9b2baa30df9910a;hb=94be1e3eb9f94a59522743374d02a1f229266931;hp=5a232885173b368c0a7ee9a6cab7a97a12adc5a7;hpb=08143a922fe27bc50a19924f46538f9476ab5fd1;p=fw%2Faltos

diff --git a/src/core/ao_data.h b/src/core/ao_data.h
index 5a232885..c4b062fd 100644
--- a/src/core/ao_data.h
+++ b/src/core/ao_data.h
@@ -273,14 +273,16 @@ typedef int16_t accel_t;
 
 /* MMA655X is hooked up so that positive values represent negative acceleration */
 
+#define AO_ACCEL_INVERT		4095
+
 #define ao_data_accel(packet)			((packet)->mma655x)
 #if AO_MMA655X_INVERT
-#define ao_data_accel_cook(packet)		(4095 - (packet)->mma655x)
+#define ao_data_accel_cook(packet)		(AO_ACCEL_INVERT - (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))
+#define ao_data_accel_invert(accel)		(AO_ACCEL_INVERT - (accel))
 
 #endif
 
@@ -288,6 +290,8 @@ typedef int16_t accel_t;
 
 #define HAS_ACCEL	1
 
+#define AO_ACCEL_INVERT		0
+
 typedef int16_t accel_t;
 
 /* MPU6000 is hooked up so that positive y is positive acceleration */
@@ -319,4 +323,16 @@ typedef int16_t angle_t;	/* in degrees */
 
 #endif
 
+#if !HAS_MAG && HAS_HMC5883
+
+#define HAS_MAG		1
+
+typedef int16_t ao_mag_t;		/* in raw sample units */
+
+#define ao_data_mag_along(packet)	((packet)->hmc5883.x)
+#define ao_data_mag_across(packet)	((packet)->hmc5883.y)
+#define ao_data_mag_through(packet)	((packet)->hmc5883.z)
+
+#endif
+
 #endif /* _AO_DATA_H_ */