X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_data.h;h=9a3b389c073dd6a291b6776faeb69829533b6ad5;hb=256ddea8c430b4b5dcb8bb95c19ad26032129e1b;hp=c4b062fdb1d0f9f4631354ada9b2baa30df9910a;hpb=24167015705ae831692b95735968b04a876f935e;p=fw%2Faltos

diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h
index c4b062fd..9a3b389c 100644
--- a/src/kernel/ao_data.h
+++ b/src/kernel/ao_data.h
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -40,6 +41,13 @@
 #define AO_DATA_MPU6000	0
 #endif
 
+#if HAS_MPU9250
+#include <ao_mpu9250.h>
+#define AO_DATA_MPU9250	(1 << 2)
+#else
+#define AO_DATA_MPU9250	0
+#endif
+
 #if HAS_HMC5883
 #include <ao_hmc5883.h>
 #define AO_DATA_HMC5883	(1 << 3)
@@ -56,7 +64,7 @@
 
 #ifdef AO_DATA_RING
 
-#define AO_DATA_ALL	(AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X)
+#define AO_DATA_ALL	(AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X|AO_DATA_MPU9250)
 
 struct ao_data {
 	uint16_t			tick;
@@ -73,6 +81,9 @@ struct ao_data {
 	int16_t				z_accel;
 #endif
 #endif
+#if HAS_MPU9250
+	struct ao_mpu9250_sample	mpu9250;
+#endif
 #if HAS_HMC5883
 	struct ao_hmc5883_sample	hmc5883;
 #endif
@@ -117,9 +128,7 @@ extern volatile __data uint8_t		ao_data_count;
 
 typedef int32_t	pres_t;
 
-#ifndef AO_ALT_TYPE
 #define AO_ALT_TYPE	int32_t
-#endif
 
 typedef AO_ALT_TYPE	alt_t;
 
@@ -146,10 +155,6 @@ typedef int16_t alt_t;
 
 #endif
 
-#if !HAS_BARO
-typedef int16_t alt_t;
-#endif
-
 /*
  * Need a few macros to pull data from the sensors:
  *
@@ -275,6 +280,10 @@ typedef int16_t accel_t;
 
 #define AO_ACCEL_INVERT		4095
 
+#ifndef AO_MMA655X_INVERT
+#error AO_MMA655X_INVERT not defined
+#endif
+
 #define ao_data_accel(packet)			((packet)->mma655x)
 #if AO_MMA655X_INVERT
 #define ao_data_accel_cook(packet)		(AO_ACCEL_INVERT - (packet)->mma655x)