+++ /dev/null
-/*
- * Copyright © 2012 Keith Packard <keithp@keithp.com>
- *
- * 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.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#ifndef _AO_DATA_H_
-#define _AO_DATA_H_
-
-#define GRAVITY 9.80665
-
-#if HAS_ADC
-#define AO_DATA_ADC (1 << 0)
-#else
-#define AO_DATA_ADC 0
-#endif
-
-#if HAS_MS5607
-#include <ao_ms5607.h>
-#define AO_DATA_MS5607 (1 << 1)
-#else
-#define AO_DATA_MS5607 0
-#endif
-
-#if HAS_MPU6000
-#include <ao_mpu6000.h>
-#define AO_DATA_MPU6000 (1 << 2)
-#else
-#define AO_DATA_MPU6000 0
-#endif
-
-#if HAS_HMC5883
-#include <ao_hmc5883.h>
-#define AO_DATA_HMC5883 (1 << 3)
-#else
-#define AO_DATA_HMC5883 0
-#endif
-
-#if HAS_MMA655X
-#include <ao_mma655x.h>
-#define AO_DATA_MMA655X (1 << 4)
-#else
-#define AO_DATA_MMA655X 0
-#endif
-
-#ifdef AO_DATA_RING
-
-#define AO_DATA_ALL (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X)
-
-struct ao_data {
- uint16_t tick;
-#if HAS_ADC
- struct ao_adc adc;
-#endif
-#if HAS_MS5607
- struct ao_ms5607_sample ms5607_raw;
- struct ao_ms5607_value ms5607_cooked;
-#endif
-#if HAS_MPU6000
- struct ao_mpu6000_sample mpu6000;
-#if !HAS_MMA655X
- int16_t z_accel;
-#endif
-#endif
-#if HAS_HMC5883
- struct ao_hmc5883_sample hmc5883;
-#endif
-#if HAS_MMA655X
- uint16_t mma655x;
-#endif
-};
-
-#define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1))
-#define ao_data_ring_prev(n) (((n) - 1) & (AO_DATA_RING - 1))
-
-/* Get a copy of the last complete sample set */
-void
-ao_data_get(__xdata struct ao_data *packet);
-
-extern volatile __xdata struct ao_data ao_data_ring[AO_DATA_RING];
-extern volatile __data uint8_t ao_data_head;
-extern volatile __data uint8_t ao_data_present;
-extern volatile __data uint8_t ao_data_count;
-
-/*
- * Mark a section of data as ready, check for data complete
- */
-#define AO_DATA_PRESENT(bit) (ao_data_present |= (bit))
-
-/*
- * 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)
-
-#endif /* AO_DATA_RING */
-
-#if !HAS_BARO && HAS_MS5607
-
-/* Either an MS5607 or an MS5611 hooked to a SPI port
- */
-
-#define HAS_BARO 1
-
-typedef int32_t pres_t;
-
-#ifndef AO_ALT_TYPE
-#define AO_ALT_TYPE int32_t
-#endif
-
-typedef AO_ALT_TYPE alt_t;
-
-#define ao_data_pres_cook(packet) ao_ms5607_convert(&packet->ms5607_raw, &packet->ms5607_cooked)
-
-#define ao_data_pres(packet) ((packet)->ms5607_cooked.pres)
-#define ao_data_temp(packet) ((packet)->ms5607_cooked.temp)
-
-#define pres_to_altitude(p) ao_pa_to_altitude(p)
-
-#endif
-
-#if !HAS_BARO && HAS_ADC
-
-#define HAS_BARO 1
-
-typedef int16_t pres_t;
-typedef int16_t alt_t;
-
-#define ao_data_pres(packet) ((packet)->adc.pres)
-#define ao_data_temp(packet) ((packet)->adc.temp)
-#define pres_to_altitude(p) ao_pres_to_altitude(p)
-#define ao_data_pres_cook(p)
-
-#endif
-
-#if !HAS_BARO
-typedef int16_t alt_t;
-#endif
-
-/*
- * Need a few macros to pull data from the sensors:
- *
- * ao_data_accel_sample - pull raw sensor and convert to normalized values
- * ao_data_accel - pull normalized value (lives in the same memory)
- * ao_data_set_accel - store normalized value back in the sensor location
- * ao_data_accel_invert - flip rocket ends for positive acceleration
- */
-
-#if HAS_ACCEL
-
-/* This section is for an analog accelerometer hooked to one of the ADC pins. As
- * those are 5V parts, this also requires that the 5V supply be hooked to to anothe ADC
- * pin so that the both can be measured to correct for changes between the 3.3V and 5V rails
- */
-
-typedef int16_t accel_t;
-#define ao_data_accel(packet) ((packet)->adc.accel)
-#define ao_data_set_accel(packet, a) ((packet)->adc.accel = (a))
-#define ao_data_accel_invert(a) (0x7fff -(a))
-
-/*
- * Ok, the math here is a bit tricky.
- *
- * ao_sample_accel: ADC output for acceleration
- * ao_accel_ref: ADC output for the 5V reference.
- * ao_cook_accel: Corrected acceleration value
- * Vcc: 3.3V supply to the CC1111
- * Vac: 5V supply to the accelerometer
- * accel: input voltage to accelerometer ADC pin
- * ref: input voltage to 5V reference ADC pin
- *
- *
- * Measured acceleration is ratiometric to Vcc:
- *
- * ao_sample_accel accel
- * ------------ = -----
- * 32767 Vcc
- *
- * Measured 5v reference is also ratiometric to Vcc:
- *
- * ao_accel_ref ref
- * ------------ = -----
- * 32767 Vcc
- *
- *
- * ao_accel_ref = 32767 * (ref / Vcc)
- *
- * Acceleration is measured ratiometric to the 5V supply,
- * so what we want is:
- *
- * ao_cook_accel accel
- * ------------- = -----
- * 32767 ref
- *
- *
- * accel Vcc
- * = ----- * ---
- * Vcc ref
- *
- * ao_sample_accel 32767
- * = ------------ * ------------
- * 32767 ao_accel_ref
- *
- * Multiply through by 32767:
- *
- * ao_sample_accel * 32767
- * ao_cook_accel = --------------------
- * ao_accel_ref
- *
- * Now, the tricky part. Getting this to compile efficiently
- * and keeping all of the values in-range.
- *
- * First off, we need to use a shift of 16 instead of * 32767 as SDCC
- * does the obvious optimizations for byte-granularity shifts:
- *
- * ao_cook_accel = (ao_sample_accel << 16) / ao_accel_ref
- *
- * Next, lets check our input ranges:
- *
- * 0 <= ao_sample_accel <= 0x7fff (singled ended ADC conversion)
- * 0x7000 <= ao_accel_ref <= 0x7fff (the 5V ref value is close to 0x7fff)
- *
- * Plugging in our input ranges, we get an output range of 0 - 0x12490,
- * which is 17 bits. That won't work. If we take the accel ref and shift
- * by a bit, we'll change its range:
- *
- * 0xe000 <= ao_accel_ref<<1 <= 0xfffe
- *
- * ao_cook_accel = (ao_sample_accel << 16) / (ao_accel_ref << 1)
- *
- * Now the output range is 0 - 0x9248, which nicely fits in 16 bits. It
- * is, however, one bit too large for our signed computations. So, we
- * take the result and shift that by a bit:
- *
- * ao_cook_accel = ((ao_sample_accel << 16) / (ao_accel_ref << 1)) >> 1
- *
- * This finally creates an output range of 0 - 0x4924. As the ADC only
- * provides 11 bits of data, we haven't actually lost any precision,
- * just dropped a bit of noise off the low end.
- */
-
-#if HAS_ACCEL_REF
-
-#define ao_data_accel_cook(packet) \
- ((uint16_t) ((((uint32_t) (packet)->adc.accel << 16) / ((packet)->adc.accel_ref << 1))) >> 1)
-
-#else
-
-#define ao_data_accel_cook(packet) ((packet)->adc.accel)
-
-#endif /* HAS_ACCEL_REF */
-
-#endif /* HAS_ACCEL */
-
-#if !HAS_ACCEL && HAS_MMA655X
-
-#define HAS_ACCEL 1
-
-typedef int16_t accel_t;
-
-/* MMA655X is hooked up so that positive values represent negative acceleration */
-
-#define AO_ACCEL_INVERT 4095
-
-#define ao_data_accel(packet) ((packet)->mma655x)
-#if AO_MMA655X_INVERT
-#define ao_data_accel_cook(packet) (AO_ACCEL_INVERT - (packet)->mma655x)
-#else
-#define ao_data_accel_cook(packet) ((packet)->mma655x)
-#endif
-#define ao_data_set_accel(packet, accel) ((packet)->mma655x = (accel))
-#define ao_data_accel_invert(accel) (AO_ACCEL_INVERT - (accel))
-
-#endif
-
-#if !HAS_ACCEL && HAS_MPU6000
-
-#define HAS_ACCEL 1
-
-#define AO_ACCEL_INVERT 0
-
-typedef int16_t accel_t;
-
-/* MPU6000 is hooked up so that positive y is positive acceleration */
-#define ao_data_accel(packet) ((packet)->z_accel)
-#define ao_data_accel_cook(packet) (-(packet)->mpu6000.accel_y)
-#define ao_data_set_accel(packet, accel) ((packet)->z_accel = (accel))
-#define ao_data_accel_invert(a) (-(a))
-
-#endif
-
-#if !HAS_GYRO && HAS_MPU6000
-
-#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)->mpu6000.accel_y)
-#define ao_data_across(packet) ((packet)->mpu6000.accel_x)
-#define ao_data_through(packet) ((packet)->mpu6000.accel_z)
-
-#define ao_data_roll(packet) ((packet)->mpu6000.gyro_y)
-#define ao_data_pitch(packet) ((packet)->mpu6000.gyro_x)
-#define ao_data_yaw(packet) ((packet)->mpu6000.gyro_z)
-
-#endif
-
-#if !HAS_MAG && HAS_HMC5883
-
-#define HAS_MAG 1
-
-typedef int16_t ao_mag_t; /* in raw sample units */
-
-#define ao_data_mag_along(packet) ((packet)->hmc5883.x)
-#define ao_data_mag_across(packet) ((packet)->hmc5883.y)
-#define ao_data_mag_through(packet) ((packet)->hmc5883.z)
-
-#endif
-
-#endif /* _AO_DATA_H_ */
projects / fw / altos / blobdiff