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
66 #include <ao_adxl375.h>
67 #define AO_DATA_ADXL375 (1 << 4)
69 #define AO_DATA_ADXL375 0
73 #include <ao_max6691.h>
74 #define AO_DATA_MAX6691 (1 << 4)
76 #define AO_DATA_MAX6691 0
80 #include <ao_bmx160.h>
81 #define AO_DATA_BMX160 (1 << 2)
83 #define AO_DATA_BMX160 0
86 #ifndef HAS_SENSOR_ERRORS
87 #if HAS_IMU || HAS_MMA655X || HAS_MS5607 || HAS_MS5611
88 #define HAS_SENSOR_ERRORS 1
93 extern uint8_t ao_sensor_errors;
98 #define AO_DATA_ALL (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X|AO_DATA_MPU9250|AO_DATA_ADXL375|AO_DATA_BMX160)
106 struct ao_ms5607_sample ms5607_raw;
107 struct ao_ms5607_value ms5607_cooked;
110 struct ao_mpu6000_sample mpu6000;
116 struct ao_mpu9250_sample mpu9250;
122 struct ao_hmc5883_sample hmc5883;
128 struct ao_adxl375_sample adxl375;
131 struct ao_max6691_sample max6691;
134 struct ao_ads131a0x_sample ads131a0x;
137 struct ao_bmx160_sample bmx160;
144 #define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1))
145 #define ao_data_ring_prev(n) (((n) - 1) & (AO_DATA_RING - 1))
147 /* Get a copy of the last complete sample set */
149 ao_data_get(struct ao_data *packet);
151 extern volatile struct ao_data ao_data_ring[AO_DATA_RING];
152 extern volatile uint8_t ao_data_head;
153 extern volatile uint8_t ao_data_present;
154 extern volatile uint8_t ao_data_count;
157 * Mark a section of data as ready, check for data complete
159 #define AO_DATA_PRESENT(bit) (ao_data_present |= (bit))
162 * Mark sensor failed, and unblock the sample collection code by
163 * marking the data as present
165 #define AO_SENSOR_ERROR(bit) (ao_data_present |= (ao_sensor_errors |= (bit)))
168 * Wait until it is time to write a sensor sample; this is
169 * signaled by the timer tick
171 #define AO_DATA_WAIT() ao_sleep((void *) &ao_data_count)
173 #endif /* AO_DATA_RING */
175 #if !HAS_BARO && HAS_MS5607
177 /* Either an MS5607 or an MS5611 hooked to a SPI port
182 typedef int32_t pres_t;
184 #define AO_ALT_TYPE int32_t
186 typedef AO_ALT_TYPE alt_t;
188 #define ao_data_pres_cook(packet) ao_ms5607_convert(&packet->ms5607_raw, &packet->ms5607_cooked)
190 #define ao_data_pres(packet) ((packet)->ms5607_cooked.pres)
191 #define ao_data_temp(packet) ((packet)->ms5607_cooked.temp)
193 #define pres_to_altitude(p) ao_pa_to_altitude(p)
198 * Need a few macros to pull data from the sensors:
200 * ao_data_accel_sample - pull raw sensor and convert to normalized values
201 * ao_data_accel - pull normalized value (lives in the same memory)
202 * ao_data_set_accel - store normalized value back in the sensor location
203 * ao_data_accel_invert - flip rocket ends for positive acceleration
208 /* This section is for an analog accelerometer hooked to one of the ADC pins. As
209 * those are 5V parts, this also requires that the 5V supply be hooked to to anothe ADC
210 * pin so that the both can be measured to correct for changes between the 3.3V and 5V rails
213 typedef int16_t accel_t;
214 #define ao_data_accel(packet) ((packet)->adc.accel)
215 #define ao_data_set_accel(packet, a) ((packet)->adc.accel = (a))
216 #define ao_data_accel_invert(a) (0x7fff -(a))
219 * Ok, the math here is a bit tricky.
221 * ao_sample_accel: ADC output for acceleration
222 * ao_accel_ref: ADC output for the 5V reference.
223 * ao_cook_accel: Corrected acceleration value
224 * Vcc: 3.3V supply to the CC1111
225 * Vac: 5V supply to the accelerometer
226 * accel: input voltage to accelerometer ADC pin
227 * ref: input voltage to 5V reference ADC pin
230 * Measured acceleration is ratiometric to Vcc:
232 * ao_sample_accel accel
233 * ------------ = -----
236 * Measured 5v reference is also ratiometric to Vcc:
239 * ------------ = -----
243 * ao_accel_ref = 32767 * (ref / Vcc)
245 * Acceleration is measured ratiometric to the 5V supply,
246 * so what we want is:
248 * ao_cook_accel accel
249 * ------------- = -----
257 * ao_sample_accel 32767
258 * = ------------ * ------------
261 * Multiply through by 32767:
263 * ao_sample_accel * 32767
264 * ao_cook_accel = --------------------
267 * Now, the tricky part. Getting this to compile efficiently
268 * and keeping all of the values in-range.
270 * First off, we need to use a shift of 16 instead of * 32767 as SDCC
271 * does the obvious optimizations for byte-granularity shifts:
273 * ao_cook_accel = (ao_sample_accel << 16) / ao_accel_ref
275 * Next, lets check our input ranges:
277 * 0 <= ao_sample_accel <= 0x7fff (singled ended ADC conversion)
278 * 0x7000 <= ao_accel_ref <= 0x7fff (the 5V ref value is close to 0x7fff)
280 * Plugging in our input ranges, we get an output range of 0 - 0x12490,
281 * which is 17 bits. That won't work. If we take the accel ref and shift
282 * by a bit, we'll change its range:
284 * 0xe000 <= ao_accel_ref<<1 <= 0xfffe
286 * ao_cook_accel = (ao_sample_accel << 16) / (ao_accel_ref << 1)
288 * Now the output range is 0 - 0x9248, which nicely fits in 16 bits. It
289 * is, however, one bit too large for our signed computations. So, we
290 * take the result and shift that by a bit:
292 * ao_cook_accel = ((ao_sample_accel << 16) / (ao_accel_ref << 1)) >> 1
294 * This finally creates an output range of 0 - 0x4924. As the ADC only
295 * provides 11 bits of data, we haven't actually lost any precision,
296 * just dropped a bit of noise off the low end.
301 #define ao_data_accel_cook(packet) \
302 ((uint16_t) ((((uint32_t) (packet)->adc.accel << 16) / ((packet)->adc.accel_ref << 1))) >> 1)
306 #define ao_data_accel_cook(packet) ((packet)->adc.accel)
308 #endif /* HAS_ACCEL_REF */
310 #endif /* HAS_ACCEL */
312 #if !HAS_ACCEL && HAS_MMA655X
316 typedef int16_t accel_t;
318 /* MMA655X is hooked up so that positive values represent negative acceleration */
320 #define AO_ACCEL_INVERT 4095
322 #ifndef AO_MMA655X_INVERT
323 #error AO_MMA655X_INVERT not defined
326 #define ao_data_accel(packet) ((packet)->mma655x)
327 #if AO_MMA655X_INVERT
328 #define ao_data_accel_cook(packet) (AO_ACCEL_INVERT - (packet)->mma655x)
330 #define ao_data_accel_cook(packet) ((packet)->mma655x)
332 #define ao_data_set_accel(packet, accel) ((packet)->mma655x = (accel))
333 #define ao_data_accel_invert(accel) (AO_ACCEL_INVERT - (accel))
337 #if !HAS_ACCEL && HAS_ADXL375
341 typedef int16_t accel_t;
343 #ifndef AO_ADXL375_INVERT
344 #error AO_ADXL375_INVERT not defined
347 #define ao_data_accel(packet) ((packet)->adxl375.AO_ADXL375_AXIS)
348 #if AO_ADXL375_INVERT
349 #define ao_data_accel_cook(packet) (-ao_data_accel(packet))
351 #define ao_data_accel_cook(packet) ao_data_accel(packet)
353 #define ao_data_set_accel(packet, accel) (ao_data_accel(packet) = (accel))
354 #define ao_data_accel_invert(accel) (-(accel))
356 #endif /* HAS_ADXL375 */
358 #if !HAS_ACCEL && HAS_MPU6000
362 typedef int16_t accel_t;
364 /* MPU6000 is hooked up so that positive y is positive acceleration */
365 #define ao_data_accel(packet) ((packet)->z_accel)
366 #define ao_data_accel_cook(packet) (-(packet)->mpu6000.accel_y)
367 #define ao_data_set_accel(packet, accel) ((packet)->z_accel = (accel))
368 #define ao_data_accel_invert(a) (-(a))
372 #if !HAS_GYRO && HAS_MPU6000
376 typedef int16_t gyro_t; /* in raw sample units */
377 typedef int16_t angle_t; /* in degrees */
379 /* Y axis is aligned with the direction of motion (along) */
380 /* X axis is aligned in the other board axis (across) */
381 /* Z axis is aligned perpendicular to the board (through) */
383 #define ao_data_along(packet) ((packet)->mpu6000.accel_y)
384 #define ao_data_across(packet) ((packet)->mpu6000.accel_x)
385 #define ao_data_through(packet) ((packet)->mpu6000.accel_z)
387 #define ao_data_roll(packet) ((packet)->mpu6000.gyro_y)
388 #define ao_data_pitch(packet) ((packet)->mpu6000.gyro_x)
389 #define ao_data_yaw(packet) ((packet)->mpu6000.gyro_z)
391 static inline float ao_convert_gyro(float sensor)
393 return ao_mpu6000_gyro(sensor);
396 static inline float ao_convert_accel(int16_t sensor)
398 return ao_mpu6000_accel(sensor);
403 #if !HAS_ACCEL && HAS_MPU9250
407 typedef int16_t accel_t;
409 /* MPU9250 is hooked up so that positive y is positive acceleration */
410 #define ao_data_accel(packet) ((packet)->z_accel)
411 #define ao_data_accel_cook(packet) (-(packet)->mpu9250.accel_y)
412 #define ao_data_set_accel(packet, accel) ((packet)->z_accel = (accel))
413 #define ao_data_accel_invert(a) (-(a))
417 #if !HAS_GYRO && HAS_MPU9250
421 typedef int16_t gyro_t; /* in raw sample units */
422 typedef int16_t angle_t; /* in degrees */
424 /* Y axis is aligned with the direction of motion (along) */
425 /* X axis is aligned in the other board axis (across) */
426 /* Z axis is aligned perpendicular to the board (through) */
428 #ifndef ao_data_along
429 #define ao_data_along(packet) ((packet)->mpu9250.accel_y)
430 #define ao_data_across(packet) ((packet)->mpu9250.accel_x)
431 #define ao_data_through(packet) ((packet)->mpu9250.accel_z)
433 #define ao_data_roll(packet) ((packet)->mpu9250.gyro_y)
434 #define ao_data_pitch(packet) ((packet)->mpu9250.gyro_x)
435 #define ao_data_yaw(packet) ((packet)->mpu9250.gyro_z)
438 static inline float ao_convert_gyro(float sensor)
440 return ao_mpu9250_gyro(sensor);
443 static inline float ao_convert_accel(int16_t sensor)
445 return ao_mpu9250_accel(sensor);
450 #if !HAS_ACCEL && HAS_BMX160
454 typedef int16_t accel_t;
456 #define ao_data_accel(packet) ((packet)->z_accel)
457 #define ao_data_set_accel(packet, accel) ((packet)->z_accel = (accel))
458 #define ao_data_accel_invert(a) (-(a))
460 #define ao_data_accel_to_sample(accel) ao_bmx_accel_to_sample(accel)
464 #if !HAS_GYRO && HAS_BMX160
468 typedef int16_t gyro_t; /* in raw sample units */
469 typedef int16_t angle_t; /* in degrees */
471 /* X axis is aligned with the direction of motion (along) */
472 /* Y axis is aligned in the other board axis (across) */
473 /* Z axis is aligned perpendicular to the board (through) */
475 static inline float ao_convert_gyro(float sensor)
477 return ao_bmx160_gyro(sensor);
480 static inline float ao_convert_accel(int16_t sensor)
482 return ao_bmx160_accel(sensor);
487 #if !HAS_MAG && HAS_HMC5883
491 typedef int16_t ao_mag_t; /* in raw sample units */
493 #define ao_data_mag_along(packet) ((packet)->hmc5883.x)
494 #define ao_data_mag_across(packet) ((packet)->hmc5883.y)
495 #define ao_data_mag_through(packet) ((packet)->hmc5883.z)
499 #if !HAS_MAG && HAS_MPU9250
503 typedef int16_t ao_mag_t; /* in raw sample units */
505 /* Note that this order is different from the accel and gyro. For some
506 * reason, the mag sensor axes aren't the same as the other two
507 * sensors. Also, the Z axis is flipped in sign.
510 #ifndef ao_data_mag_along
511 #define ao_data_mag_along(packet) ((packet)->mpu9250.mag_x)
512 #define ao_data_mag_across(packet) ((packet)->mpu9250.mag_y)
513 #define ao_data_mag_through(packet) ((packet)->mpu9250.mag_z)
521 ao_data_fill(int head) {
522 if (ao_data_present == AO_DATA_ALL) {
524 ao_data_ring[head].ms5607_raw = ao_ms5607_current;
527 ao_data_ring[head].mma655x = ao_mma655x_current;
530 ao_data_ring[head].hmc5883 = ao_hmc5883_current;
533 ao_data_ring[head].mpu6000 = ao_mpu6000_current;
536 ao_data_ring[head].mpu9250 = ao_mpu9250_current;
539 ao_data_ring[head].adxl375 = ao_adxl375_current;
542 ao_data_ring[head].max6691 = ao_max6691_current;
545 ao_data_ring[head].ads131a0x = ao_ads131a0x_current;
548 ao_data_ring[head].bmx160 = ao_bmx160_current;
550 ao_data_ring[head].tick = ao_tick_count;
551 ao_data_head = ao_data_ring_next(head);
552 ao_wakeup((void *) &ao_data_head);
558 #endif /* _AO_DATA_H_ */