altos: Remove *_TO_DATA macros

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

diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h
index 9a3b389c073dd6a291b6776faeb69829533b6ad5..30616ef065813aefe62f9902d57fb64ee2d7262e 100644 (file)
--- a/src/kernel/ao_data.h
+++ b/src/kernel/ao_data.h
@@ -113,9 +113,7 @@ extern volatile __data uint8_t              ao_data_count;
  * Wait until it is time to write a sensor sample; this is
  * signaled by the timer tick
  */
-#define AO_DATA_WAIT() do {                            \
-               ao_sleep(DATA_TO_XDATA ((void *) &ao_data_count));      \
-       } while (0)
+#define AO_DATA_WAIT()                 ao_sleep((void *) &ao_data_count)
 
 #endif /* AO_DATA_RING */
 
@@ -330,6 +328,47 @@ typedef int16_t angle_t;   /* in degrees */
 #define ao_data_pitch(packet)  ((packet)->mpu6000.gyro_x)
 #define ao_data_yaw(packet)    ((packet)->mpu6000.gyro_z)
 
+static inline float ao_convert_gyro(float sensor)
+{
+       return ao_mpu6000_gyro(sensor);
+}
+
+static inline float ao_convert_accel(int16_t sensor)
+{
+       return ao_mpu6000_accel(sensor);
+}
+
+#endif
+
+#if !HAS_GYRO && HAS_MPU9250
+
+#define HAS_GYRO       1
+
+typedef int16_t        gyro_t;         /* in raw sample units */
+typedef int16_t angle_t;       /* in degrees */
+
+/* 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)->mpu9250.accel_y)
+#define ao_data_across(packet) ((packet)->mpu9250.accel_x)
+#define ao_data_through(packet)        ((packet)->mpu9250.accel_z)
+
+#define ao_data_roll(packet)   ((packet)->mpu9250.gyro_y)
+#define ao_data_pitch(packet)  ((packet)->mpu9250.gyro_x)
+#define ao_data_yaw(packet)    ((packet)->mpu9250.gyro_z)
+
+static inline float ao_convert_gyro(float sensor)
+{
+       return ao_mpu9250_gyro(sensor);
+}
+
+static inline float ao_convert_accel(int16_t sensor)
+{
+       return ao_mpu9250_accel(sensor);
+}
+
 #endif
 
 #if !HAS_MAG && HAS_HMC5883
@@ -344,4 +383,21 @@ typedef int16_t ao_mag_t;          /* in raw sample units */
 
 #endif
 
+#if !HAS_MAG && HAS_MPU9250
+
+#define HAS_MAG                1
+
+typedef int16_t ao_mag_t;              /* in raw sample units */
+
+/* Note that this order is different from the accel and gyro. For some
+ * reason, the mag sensor axes aren't the same as the other two
+ * sensors. Also, the Z axis is flipped in sign.
+ */
+
+#define ao_data_mag_along(packet)      ((packet)->mpu9250.mag_x)
+#define ao_data_mag_across(packet)     ((packet)->mpu9250.mag_y)
+#define ao_data_mag_through(packet)    ((packet)->mpu9250.mag_z)
+
+#endif
+
 #endif /* _AO_DATA_H_ */