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 7e2f85d8fb569894c09a75672f57f046df048007..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))