X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao_data.h;h=30616ef065813aefe62f9902d57fb64ee2d7262e;hp=8f75ad876b612e3cc1480e1fc9aa9fc8024908bd;hb=6023ff81f1bbd240169b9548209133d3b02d475f;hpb=013e9ccfbe76dc46e8c69ea314950bed83d9a39f

diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h
index 8f75ad87..30616ef0 100644
--- a/src/kernel/ao_data.h
+++ b/src/kernel/ao_data.h
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -40,6 +41,13 @@
 #define AO_DATA_MPU6000	0
 #endif
 
+#if HAS_MPU9250
+#include <ao_mpu9250.h>
+#define AO_DATA_MPU9250	(1 << 2)
+#else
+#define AO_DATA_MPU9250	0
+#endif
+
 #if HAS_HMC5883
 #include <ao_hmc5883.h>
 #define AO_DATA_HMC5883	(1 << 3)
@@ -56,7 +64,7 @@
 
 #ifdef AO_DATA_RING
 
-#define AO_DATA_ALL	(AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X)
+#define AO_DATA_ALL	(AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X|AO_DATA_MPU9250)
 
 struct ao_data {
 	uint16_t			tick;
@@ -73,6 +81,9 @@ struct ao_data {
 	int16_t				z_accel;
 #endif
 #endif
+#if HAS_MPU9250
+	struct ao_mpu9250_sample	mpu9250;
+#endif
 #if HAS_HMC5883
 	struct ao_hmc5883_sample	hmc5883;
 #endif
@@ -102,9 +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 */
 
@@ -269,6 +278,10 @@ typedef int16_t accel_t;
 
 #define AO_ACCEL_INVERT		4095
 
+#ifndef AO_MMA655X_INVERT
+#error AO_MMA655X_INVERT not defined
+#endif
+
 #define ao_data_accel(packet)			((packet)->mma655x)
 #if AO_MMA655X_INVERT
 #define ao_data_accel_cook(packet)		(AO_ACCEL_INVERT - (packet)->mma655x)
@@ -315,6 +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
@@ -329,4 +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_ */