Merge remote-tracking branch 'origin/telemini'

[fw/altos] / src / core / ao_data.h

diff --git a/src/core/ao_data.h b/src/core/ao_data.h
index 6fdd19cb9b7ca88cc72d1b6fd52073cd3ac032a2..339afe69882602e3730ff66543236b9f17e644b7 100644 (file)
--- a/src/core/ao_data.h
+++ b/src/core/ao_data.h
@@ -82,6 +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;
@@ -97,7 +101,7 @@ 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 +272,11 @@ 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 +296,25 @@ typedef int16_t accel_t;
 
 #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_ */