X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao_data.h;fp=src%2Fkernel%2Fao_data.h;h=c4b062fdb1d0f9f4631354ada9b2baa30df9910a;hp=0000000000000000000000000000000000000000;hb=24167015705ae831692b95735968b04a876f935e;hpb=bb9fdef607728cc326a82aa632e59724f272e53b diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h new file mode 100644 index 00000000..c4b062fd --- /dev/null +++ b/src/kernel/ao_data.h @@ -0,0 +1,338 @@ +/* + * Copyright © 2012 Keith Packard + * + * 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 +#define AO_DATA_MS5607 (1 << 1) +#else +#define AO_DATA_MS5607 0 +#endif + +#if HAS_MPU6000 +#include +#define AO_DATA_MPU6000 (1 << 2) +#else +#define AO_DATA_MPU6000 0 +#endif + +#if HAS_HMC5883 +#include +#define AO_DATA_HMC5883 (1 << 3) +#else +#define AO_DATA_HMC5883 0 +#endif + +#if HAS_MMA655X +#include +#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_ */