2 * Copyright © 2012 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
22 #define GRAVITY 9.80665
25 #define AO_DATA_ADC (1 << 0)
31 #include <ao_ms5607.h>
32 #define AO_DATA_MS5607 (1 << 1)
34 #define AO_DATA_MS5607 0
38 #include <ao_mpu6000.h>
39 #define AO_DATA_MPU6000 (1 << 2)
41 #define AO_DATA_MPU6000 0
45 #include <ao_mpu9250.h>
46 #define AO_DATA_MPU9250 (1 << 2)
48 #define AO_DATA_MPU9250 0
52 #include <ao_hmc5883.h>
53 #define AO_DATA_HMC5883 (1 << 3)
55 #define AO_DATA_HMC5883 0
59 #include <ao_mma655x.h>
60 #define AO_DATA_MMA655X (1 << 4)
62 #define AO_DATA_MMA655X 0
67 #define AO_DATA_ALL (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X|AO_DATA_MPU9250)
75 struct ao_ms5607_sample ms5607_raw;
76 struct ao_ms5607_value ms5607_cooked;
79 struct ao_mpu6000_sample mpu6000;
85 struct ao_mpu9250_sample mpu9250;
88 struct ao_hmc5883_sample hmc5883;
95 #define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1))
96 #define ao_data_ring_prev(n) (((n) - 1) & (AO_DATA_RING - 1))
98 /* Get a copy of the last complete sample set */
100 ao_data_get(__xdata struct ao_data *packet);
102 extern volatile __xdata struct ao_data ao_data_ring[AO_DATA_RING];
103 extern volatile __data uint8_t ao_data_head;
104 extern volatile __data uint8_t ao_data_present;
105 extern volatile __data uint8_t ao_data_count;
108 * Mark a section of data as ready, check for data complete
110 #define AO_DATA_PRESENT(bit) (ao_data_present |= (bit))
113 * Wait until it is time to write a sensor sample; this is
114 * signaled by the timer tick
116 #define AO_DATA_WAIT() do { \
117 ao_sleep(DATA_TO_XDATA ((void *) &ao_data_count)); \
120 #endif /* AO_DATA_RING */
122 #if !HAS_BARO && HAS_MS5607
124 /* Either an MS5607 or an MS5611 hooked to a SPI port
129 typedef int32_t pres_t;
131 #define AO_ALT_TYPE int32_t
133 typedef AO_ALT_TYPE alt_t;
135 #define ao_data_pres_cook(packet) ao_ms5607_convert(&packet->ms5607_raw, &packet->ms5607_cooked)
137 #define ao_data_pres(packet) ((packet)->ms5607_cooked.pres)
138 #define ao_data_temp(packet) ((packet)->ms5607_cooked.temp)
140 #define pres_to_altitude(p) ao_pa_to_altitude(p)
144 #if !HAS_BARO && HAS_ADC
148 typedef int16_t pres_t;
149 typedef int16_t alt_t;
151 #define ao_data_pres(packet) ((packet)->adc.pres)
152 #define ao_data_temp(packet) ((packet)->adc.temp)
153 #define pres_to_altitude(p) ao_pres_to_altitude(p)
154 #define ao_data_pres_cook(p)
159 * Need a few macros to pull data from the sensors:
161 * ao_data_accel_sample - pull raw sensor and convert to normalized values
162 * ao_data_accel - pull normalized value (lives in the same memory)
163 * ao_data_set_accel - store normalized value back in the sensor location
164 * ao_data_accel_invert - flip rocket ends for positive acceleration
169 /* This section is for an analog accelerometer hooked to one of the ADC pins. As
170 * those are 5V parts, this also requires that the 5V supply be hooked to to anothe ADC
171 * pin so that the both can be measured to correct for changes between the 3.3V and 5V rails
174 typedef int16_t accel_t;
175 #define ao_data_accel(packet) ((packet)->adc.accel)
176 #define ao_data_set_accel(packet, a) ((packet)->adc.accel = (a))
177 #define ao_data_accel_invert(a) (0x7fff -(a))
180 * Ok, the math here is a bit tricky.
182 * ao_sample_accel: ADC output for acceleration
183 * ao_accel_ref: ADC output for the 5V reference.
184 * ao_cook_accel: Corrected acceleration value
185 * Vcc: 3.3V supply to the CC1111
186 * Vac: 5V supply to the accelerometer
187 * accel: input voltage to accelerometer ADC pin
188 * ref: input voltage to 5V reference ADC pin
191 * Measured acceleration is ratiometric to Vcc:
193 * ao_sample_accel accel
194 * ------------ = -----
197 * Measured 5v reference is also ratiometric to Vcc:
200 * ------------ = -----
204 * ao_accel_ref = 32767 * (ref / Vcc)
206 * Acceleration is measured ratiometric to the 5V supply,
207 * so what we want is:
209 * ao_cook_accel accel
210 * ------------- = -----
218 * ao_sample_accel 32767
219 * = ------------ * ------------
222 * Multiply through by 32767:
224 * ao_sample_accel * 32767
225 * ao_cook_accel = --------------------
228 * Now, the tricky part. Getting this to compile efficiently
229 * and keeping all of the values in-range.
231 * First off, we need to use a shift of 16 instead of * 32767 as SDCC
232 * does the obvious optimizations for byte-granularity shifts:
234 * ao_cook_accel = (ao_sample_accel << 16) / ao_accel_ref
236 * Next, lets check our input ranges:
238 * 0 <= ao_sample_accel <= 0x7fff (singled ended ADC conversion)
239 * 0x7000 <= ao_accel_ref <= 0x7fff (the 5V ref value is close to 0x7fff)
241 * Plugging in our input ranges, we get an output range of 0 - 0x12490,
242 * which is 17 bits. That won't work. If we take the accel ref and shift
243 * by a bit, we'll change its range:
245 * 0xe000 <= ao_accel_ref<<1 <= 0xfffe
247 * ao_cook_accel = (ao_sample_accel << 16) / (ao_accel_ref << 1)
249 * Now the output range is 0 - 0x9248, which nicely fits in 16 bits. It
250 * is, however, one bit too large for our signed computations. So, we
251 * take the result and shift that by a bit:
253 * ao_cook_accel = ((ao_sample_accel << 16) / (ao_accel_ref << 1)) >> 1
255 * This finally creates an output range of 0 - 0x4924. As the ADC only
256 * provides 11 bits of data, we haven't actually lost any precision,
257 * just dropped a bit of noise off the low end.
262 #define ao_data_accel_cook(packet) \
263 ((uint16_t) ((((uint32_t) (packet)->adc.accel << 16) / ((packet)->adc.accel_ref << 1))) >> 1)
267 #define ao_data_accel_cook(packet) ((packet)->adc.accel)
269 #endif /* HAS_ACCEL_REF */
271 #endif /* HAS_ACCEL */
273 #if !HAS_ACCEL && HAS_MMA655X
277 typedef int16_t accel_t;
279 /* MMA655X is hooked up so that positive values represent negative acceleration */
281 #define AO_ACCEL_INVERT 4095
283 #ifndef AO_MMA655X_INVERT
284 #error AO_MMA655X_INVERT not defined
287 #define ao_data_accel(packet) ((packet)->mma655x)
288 #if AO_MMA655X_INVERT
289 #define ao_data_accel_cook(packet) (AO_ACCEL_INVERT - (packet)->mma655x)
291 #define ao_data_accel_cook(packet) ((packet)->mma655x)
293 #define ao_data_set_accel(packet, accel) ((packet)->mma655x = (accel))
294 #define ao_data_accel_invert(accel) (AO_ACCEL_INVERT - (accel))
298 #if !HAS_ACCEL && HAS_MPU6000
302 #define AO_ACCEL_INVERT 0
304 typedef int16_t accel_t;
306 /* MPU6000 is hooked up so that positive y is positive acceleration */
307 #define ao_data_accel(packet) ((packet)->z_accel)
308 #define ao_data_accel_cook(packet) (-(packet)->mpu6000.accel_y)
309 #define ao_data_set_accel(packet, accel) ((packet)->z_accel = (accel))
310 #define ao_data_accel_invert(a) (-(a))
314 #if !HAS_GYRO && HAS_MPU6000
318 typedef int16_t gyro_t; /* in raw sample units */
319 typedef int16_t angle_t; /* in degrees */
321 /* Y axis is aligned with the direction of motion (along) */
322 /* X axis is aligned in the other board axis (across) */
323 /* Z axis is aligned perpendicular to the board (through) */
325 #define ao_data_along(packet) ((packet)->mpu6000.accel_y)
326 #define ao_data_across(packet) ((packet)->mpu6000.accel_x)
327 #define ao_data_through(packet) ((packet)->mpu6000.accel_z)
329 #define ao_data_roll(packet) ((packet)->mpu6000.gyro_y)
330 #define ao_data_pitch(packet) ((packet)->mpu6000.gyro_x)
331 #define ao_data_yaw(packet) ((packet)->mpu6000.gyro_z)
335 #if !HAS_MAG && HAS_HMC5883
339 typedef int16_t ao_mag_t; /* in raw sample units */
341 #define ao_data_mag_along(packet) ((packet)->hmc5883.x)
342 #define ao_data_mag_across(packet) ((packet)->hmc5883.y)
343 #define ao_data_mag_through(packet) ((packet)->hmc5883.z)
347 #endif /* _AO_DATA_H_ */