Merge remote-tracking branch 'mjb/altoslib_mjb'

[fw/altos] / src / drivers / ao_mpu6000.c

diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c
index 065ed2214e3d02dd5cb96cc2b6728c1a35676b32..b3e284e0bfb2988f0ff7e40e525c4a892a736704 100644 (file)
--- a/src/drivers/ao_mpu6000.c
+++ b/src/drivers/ao_mpu6000.c
@@ -102,16 +102,12 @@ ao_mpu6000_accel_check(int16_t normal, int16_t test, char *which)
        int16_t diff = test - normal;
 
        if (diff < MPU6000_ST_ACCEL(16) / 2) {
-               printf ("%s accel self test value too small (normal %d, test %d)\n",
-                       which, normal, test);
-               return FALSE;
+               return 1;
        }
        if (diff > MPU6000_ST_ACCEL(16) * 2) {
-               printf ("%s accel self test value too large (normal %d, test %d)\n",
-                       which, normal, test);
-               return FALSE;
+               return 1;
        }
-       return TRUE;
+       return 0;
 }
 
 static uint8_t
@@ -122,23 +118,19 @@ ao_mpu6000_gyro_check(int16_t normal, int16_t test, char *which)
        if (diff < 0)
                diff = -diff;
        if (diff < MPU6000_ST_GYRO(2000) / 2) {
-               printf ("%s gyro self test value too small (normal %d, test %d)\n",
-                       which, normal, test);
-               return FALSE;
+               return 1;
        }
        if (diff > MPU6000_ST_GYRO(2000) * 2) {
-               printf ("%s gyro self test value too large (normal %d, test %d)\n",
-                       which, normal, test);
-               return FALSE;
+               return 1;
        }
-       return TRUE;
+       return 0;
 }
 
 static void
 ao_mpu6000_setup(void)
 {
        struct ao_mpu6000_sample        normal_mode, test_mode;
-       int                             t;
+       int                             errors =0;
 
        if (ao_mpu6000_configured)
                return;
@@ -224,13 +216,16 @@ ao_mpu6000_setup(void)
        ao_delay(AO_MS_TO_TICKS(10));
        ao_mpu6000_sample(&normal_mode);
        
-       ao_mpu6000_accel_check(normal_mode.accel_x, test_mode.accel_x, "x");
-       ao_mpu6000_accel_check(normal_mode.accel_y, test_mode.accel_y, "y");
-       ao_mpu6000_accel_check(normal_mode.accel_z, test_mode.accel_z, "z");
+       errors += ao_mpu6000_accel_check(normal_mode.accel_x, test_mode.accel_x, "x");
+       errors += ao_mpu6000_accel_check(normal_mode.accel_y, test_mode.accel_y, "y");
+       errors += ao_mpu6000_accel_check(normal_mode.accel_z, test_mode.accel_z, "z");
 
-       ao_mpu6000_gyro_check(normal_mode.gyro_x, test_mode.gyro_x, "x");
-       ao_mpu6000_gyro_check(normal_mode.gyro_y, test_mode.gyro_y, "y");
-       ao_mpu6000_gyro_check(normal_mode.gyro_z, test_mode.gyro_z, "z");
+       errors += ao_mpu6000_gyro_check(normal_mode.gyro_x, test_mode.gyro_x, "x");
+       errors += ao_mpu6000_gyro_check(normal_mode.gyro_y, test_mode.gyro_y, "y");
+       errors += ao_mpu6000_gyro_check(normal_mode.gyro_z, test_mode.gyro_z, "z");
+
+       if (errors)
+               ao_panic(AO_PANIC_SELF_TEST_MPU6000);
 
        /* Filter to about 100Hz, which also sets the gyro rate to 1000Hz */
        ao_mpu6000_reg_write(MPU6000_CONFIG,
@@ -245,22 +240,17 @@ ao_mpu6000_setup(void)
        ao_mpu6000_configured = 1;
 }
 
-struct ao_mpu6000_sample ao_mpu6000_current;
-uint8_t ao_mpu6000_valid;
-
 static void
 ao_mpu6000(void)
 {
        ao_mpu6000_setup();
        for (;;)
        {
-               struct ao_mpu6000_sample ao_mpu6000_next;
-               ao_mpu6000_sample(&ao_mpu6000_next);
+               ao_mpu6000_sample((struct ao_mpu6000_sample *) &ao_data_ring[ao_data_head].mpu6000);
                ao_arch_critical(
-                       ao_mpu6000_current = ao_mpu6000_next;
-                       ao_mpu6000_valid = 1;
+                       AO_DATA_PRESENT(AO_DATA_MPU6000);
+                       AO_DATA_WAIT();
                        );
-               ao_delay(0);
        }
 }
 
@@ -269,16 +259,16 @@ static struct ao_task ao_mpu6000_task;
 static void
 ao_mpu6000_show(void)
 {
-       struct ao_mpu6000_sample        sample;
+       struct ao_data  sample;
 
-       sample = ao_mpu6000_current;
+       ao_data_get(&sample);
        printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d\n",
-               ao_mpu6000_accel(sample.accel_x),
-               ao_mpu6000_accel(sample.accel_y),
-               ao_mpu6000_accel(sample.accel_z),
-               ao_mpu6000_gyro(sample.gyro_x),
-               ao_mpu6000_gyro(sample.gyro_y),
-               ao_mpu6000_gyro(sample.gyro_z));
+               sample.mpu6000.accel_x,
+               sample.mpu6000.accel_y,
+               sample.mpu6000.accel_z,
+               sample.mpu6000.gyro_x,
+               sample.mpu6000.gyro_y,
+               sample.mpu6000.gyro_z);
 }
 
 static const struct ao_cmds ao_mpu6000_cmds[] = {
@@ -290,7 +280,6 @@ void
 ao_mpu6000_init(void)
 {
        ao_mpu6000_configured = 0;
-       ao_mpu6000_valid = 0;
 
        ao_add_task(&ao_mpu6000_task, ao_mpu6000, "mpu6000");
        ao_cmd_register(&ao_mpu6000_cmds[0]);