X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Feasymega-v2.0%2Fao_pins.h;h=a3d04da52d008a5746fafd07e8ddffa361c118a2;hb=7b1f4177d42e5e951a7db4289c847d355a785c2a;hp=6217b5d2376f487d168560668a1c71d4415d0368;hpb=f49763bf4a6cd8b2a47abfbec7ef3d8c8c029b8f;p=fw%2Faltos

diff --git a/src/easymega-v2.0/ao_pins.h b/src/easymega-v2.0/ao_pins.h
index 6217b5d2..a3d04da5 100644
--- a/src/easymega-v2.0/ao_pins.h
+++ b/src/easymega-v2.0/ao_pins.h
@@ -19,7 +19,6 @@
 #ifndef _AO_PINS_H_
 #define _AO_PINS_H_
 
-#define HAS_TASK_QUEUE		1
 
 /* 16MHz High speed external crystal */
 #define AO_HSE			16000000
@@ -69,7 +68,7 @@
 #define AO_CONFIG_MAX_SIZE                     1024
 #define LOG_ERASE_MARK                         0x55
 #define LOG_MAX_ERASE                          128
-#define AO_LOG_FORMAT				AO_LOG_FORMAT_TELEMEGA
+#define AO_LOG_FORMAT				AO_LOG_FORMAT_EASYMEGA_2
 
 #define HAS_EEPROM		1
 #define USE_INTERNAL_FLASH	0
@@ -306,13 +305,24 @@ struct ao_adc {
 #define AO_MPU9250_SPI_CS_PIN	13
 #define HAS_IMU			1
 
+#define ao_data_along(packet)	((packet)->mpu9250.accel_x)
+#define ao_data_across(packet)	(-(packet)->mpu9250.accel_y)
+#define ao_data_through(packet)	((packet)->mpu9250.accel_z)
+
+#define ao_data_roll(packet)	((packet)->mpu9250.gyro_x)
+#define ao_data_pitch(packet)	(-(packet)->mpu9250.gyro_y)
+#define ao_data_yaw(packet)	((packet)->mpu9250.gyro_z)
+
+#define ao_data_mag_along(packet)	((packet)->mpu9250.mag_y)
+#define ao_data_mag_across(packet)	(-(packet)->mpu9250.mag_x)
+#define ao_data_mag_through(packet)	((packet)->mpu9250.mag_z)
+
 /* ADXL375 */
 
 #define HAS_ADXL375		1
 #define AO_ADXL375_SPI_INDEX	(AO_SPI_1_PB3_PB4_PB5 | AO_SPI_MODE_3)
 #define AO_ADXL375_CS_PORT	(&stm_gpioc)
 #define AO_ADXL375_CS_PIN	12
-#define AO_ADXL375_SPI_SPEED	AO_SPI_SPEED_4MHz
 
 #define AO_ADXL375_INT1_PORT	(&stm_gpiob)
 #define AO_ADXL375_INT1_PIN	8