altos: Trigger sample complete when all data are ready

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

diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c
index a1c32d4d836db80808389009a8b38d0e6d2565ee..e8c80f12428943bf365977a03dbc9695656003ac 100644 (file)
--- a/src/drivers/ao_mpu6000.c
+++ b/src/drivers/ao_mpu6000.c
@@ -240,22 +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);
        }
 }
 
@@ -264,18 +259,16 @@ static struct ao_task ao_mpu6000_task;
 static void
 ao_mpu6000_show(void)
 {
-       struct ao_mpu6000_sample        sample;
+       struct ao_data  sample;
 
-       ao_arch_critical(
-               sample = ao_mpu6000_current;
-               );
+       ao_data_get(&sample);
        printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d\n",
-               sample.accel_x,
-               sample.accel_y,
-               sample.accel_z,
-               sample.gyro_x,
-               sample.gyro_y,
-               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[] = {
@@ -287,7 +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]);