diff options
Diffstat (limited to 'src/drivers')
| -rw-r--r-- | src/drivers/ao_mpu6000.c | 28 | ||||
| -rw-r--r-- | src/drivers/ao_mpu6000.h | 2 |
2 files changed, 25 insertions, 5 deletions
diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c index eb4044be..df400fcb 100644 --- a/src/drivers/ao_mpu6000.c +++ b/src/drivers/ao_mpu6000.c @@ -147,9 +147,9 @@ ao_mpu6000_setup(void) ao_mpu6000_reg_write(MPU6000_PWR_MGMT_1, (1 << MPU6000_PWR_MGMT_1_DEVICE_RESET)); - while (ao_mpu6000_reg_read(MPU6000_PWR_MGMT_1) & - (1 << MPU6000_PWR_MGMT_1_DEVICE_RESET)) - ao_yield(); + + /* Wait for it to reset. If we talk too quickly, it appears to get confused */ + ao_delay(AO_MS_TO_TICKS(100)); /* Reset signal conditioning */ ao_mpu6000_reg_write(MPU6000_USER_CONTROL, @@ -245,14 +245,31 @@ ao_mpu6000_setup(void) ao_mpu6000_configured = 1; } +struct ao_mpu6000_sample ao_mpu6000_current; + +static void +ao_mpu6000(void) +{ + ao_mpu6000_setup(); + for (;;) + { + struct ao_mpu6000_sample ao_mpu6000_next; + ao_mpu6000_sample(&ao_mpu6000_next); + ao_arch_critical( + ao_mpu6000_current = ao_mpu6000_next; + ); + ao_delay(0); + } +} + +static struct ao_task ao_mpu6000_task; static void ao_mpu6000_show(void) { struct ao_mpu6000_sample sample; - ao_mpu6000_setup(); - ao_mpu6000_sample(&sample); + sample = ao_mpu6000_current; printf ("Accel: %7d %7d %7d Gyro: %7d %7d %7d\n", ao_mpu6000_accel(sample.accel_x), ao_mpu6000_accel(sample.accel_y), @@ -272,5 +289,6 @@ ao_mpu6000_init(void) { ao_mpu6000_configured = 0; + ao_add_task(&ao_mpu6000_task, ao_mpu6000, "mpu6000"); ao_cmd_register(&ao_mpu6000_cmds[0]); } diff --git a/src/drivers/ao_mpu6000.h b/src/drivers/ao_mpu6000.h index ca76b081..5e52148d 100644 --- a/src/drivers/ao_mpu6000.h +++ b/src/drivers/ao_mpu6000.h @@ -155,6 +155,8 @@ struct ao_mpu6000_sample { int16_t gyro_z; }; +extern struct ao_mpu6000_sample ao_mpu6000_current; + void ao_mpu6000_init(void); |