diff options
| author | Keith Packard <keithp@keithp.com> | 2018-10-20 17:26:53 -0700 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2018-10-20 17:31:57 -0700 |
| commit | 345e3c37a1cf619392b54589bb91b4caf7844810 (patch) | |
| tree | f5c77ce7be1f9dd3847ea3911db8e05e8e20a001 /src/easymega-v2.0/ao_pins.h | |
| parent | 8c92656576aff3ceab5bead3c835d96c36098fe7 (diff) | |
altos/easymega-v2.0: Handle different mpu9250 orientation
The mpu9250 on EasyMega v2.0 is rotated 90° compared with EasyMega v1
and TeleMega IMU devices.
Signed-off-by: Keith Packard <keithp@keithp.com>
Diffstat (limited to 'src/easymega-v2.0/ao_pins.h')
| -rw-r--r-- | src/easymega-v2.0/ao_pins.h | 14 |
1 files changed, 13 insertions, 1 deletions
diff --git a/src/easymega-v2.0/ao_pins.h b/src/easymega-v2.0/ao_pins.h index 6217b5d2..399654f0 100644 --- a/src/easymega-v2.0/ao_pins.h +++ b/src/easymega-v2.0/ao_pins.h @@ -69,7 +69,7 @@ #define AO_CONFIG_MAX_SIZE 1024 #define LOG_ERASE_MARK 0x55 #define LOG_MAX_ERASE 128 -#define AO_LOG_FORMAT AO_LOG_FORMAT_TELEMEGA +#define AO_LOG_FORMAT AO_LOG_FORMAT_EASYMEGA_2 #define HAS_EEPROM 1 #define USE_INTERNAL_FLASH 0 @@ -306,6 +306,18 @@ struct ao_adc { #define AO_MPU9250_SPI_CS_PIN 13 #define HAS_IMU 1 +#define ao_data_along(packet) ((packet)->mpu9250.accel_x) +#define ao_data_across(packet) (-(packet)->mpu9250.accel_y) +#define ao_data_through(packet) ((packet)->mpu9250.accel_z) + +#define ao_data_roll(packet) ((packet)->mpu9250.gyro_x) +#define ao_data_pitch(packet) (-(packet)->mpu9250.gyro_y) +#define ao_data_yaw(packet) ((packet)->mpu9250.gyro_z) + +#define ao_data_mag_along(packet) ((packet)->mpu9250.mag_y) +#define ao_data_mag_across(packet) (-(packet)->mpu9250.mag_x) +#define ao_data_mag_through(packet) ((packet)->mpu9250.mag_z) + /* ADXL375 */ #define HAS_ADXL375 1 |