From: Keith Packard <keithp@keithp.com>
Date: Sun, 19 Sep 2021 21:50:28 +0000 (-0700)
Subject: altos: Support normalized axes in mpu6000 and mmc5983
X-Git-Tag: 1.9.8~1^2~23
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=8a830c7f9ed41565c72edb85852e2df8bfa351f5

altos: Support normalized axes in mpu6000 and mmc5983

For monitor idle, devices selecting 'normalized' log format also
get 'normalized' command mode. This reports data in a standard format,
along/across/through instead of raw device axes which depend on how the
part is mounted.

Signed-off-by: Keith Packard <keithp@keithp.com>
---

diff --git a/src/drivers/ao_mmc5983.c b/src/drivers/ao_mmc5983.c
index e27051a5..5d97d757 100644
--- a/src/drivers/ao_mmc5983.c
+++ b/src/drivers/ao_mmc5983.c
@@ -202,9 +202,10 @@ static struct ao_task ao_mmc5983_task;
 static void
 ao_mmc5983_show(void)
 {
-	printf ("X: %d Z: %d Y: %d id: %d\n",
-		ao_mmc5983_current.x, ao_mmc5983_current.z, ao_mmc5983_current.y,
-		product_id);
+	printf ("MMC5983: %d %d %d\n",
+		ao_mmc5983_along(&ao_mmc5983_current),
+		ao_mmc5983_across(&ao_mmc5983_current),
+		ao_mmc5983_through(&ao_mmc5983_current));
 }
 
 static const struct ao_cmds ao_mmc5983_cmds[] = {
diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c
index dd3da8de..79658c55 100644
--- a/src/drivers/ao_mpu6000.c
+++ b/src/drivers/ao_mpu6000.c
@@ -357,14 +357,23 @@ static struct ao_task ao_mpu6000_task;
 static void
 ao_mpu6000_show(void)
 {
-	printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d id %02x\n",
+#ifdef AO_LOG_NORMALIZED
+	printf ("MPU6000: %7d %7d %7d %7d %7d %7d\n",
+		ao_mpu6000_along(&ao_mpu6000_current),
+		ao_mpu6000_across(&ao_mpu6000_current),
+		ao_mpu6000_through(&ao_mpu6000_current),
+		ao_mpu6000_roll(&ao_mpu6000_current),
+		ao_mpu6000_pitch(&ao_mpu6000_current),
+		ao_mpu6000_yaw(&ao_mpu6000_current));
+#else
+	printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d\n",
 		ao_mpu6000_current.accel_x,
 		ao_mpu6000_current.accel_y,
 		ao_mpu6000_current.accel_z,
 		ao_mpu6000_current.gyro_x,
 		ao_mpu6000_current.gyro_y,
-		ao_mpu6000_current.gyro_z,
-		mpu_id);
+		ao_mpu6000_current.gyro_z);
+#endif
 }
 
 static const struct ao_cmds ao_mpu6000_cmds[] = {