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;
119 struct ao_hmc5883_sample hmc5883;
125 struct ao_adxl375_sample adxl375;
128 struct ao_max6691_sample max6691;
131 struct ao_ads131a0x_sample ads131a0x;
134 struct ao_bmx160_sample bmx160;
138 #define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1))
139 #define ao_data_ring_prev(n) (((n) - 1) & (AO_DATA_RING - 1))
141 /* Get a copy of the last complete sample set */
143 ao_data_get(struct ao_data *packet);
145 extern volatile struct ao_data ao_data_ring[AO_DATA_RING];
146 extern volatile uint8_t ao_data_head;
147 extern volatile uint8_t ao_data_present;
148 extern volatile uint8_t ao_data_count;
151 * Mark a section of data as ready, check for data complete
153 #define AO_DATA_PRESENT(bit) (ao_data_present |= (bit))
156 * Mark sensor failed, and unblock the sample collection code by
157 * marking the data as present
159 #define AO_SENSOR_ERROR(bit) (ao_data_present |= (ao_sensor_errors |= (bit)))
162 * Wait until it is time to write a sensor sample; this is
163 * signaled by the timer tick
165 #define AO_DATA_WAIT() ao_sleep((void *) &ao_data_count)
167 #endif /* AO_DATA_RING */
169 #if !HAS_BARO && HAS_MS5607
171 /* Either an MS5607 or an MS5611 hooked to a SPI port
176 typedef int32_t pres_t;
178 #define AO_ALT_TYPE int32_t
180 typedef AO_ALT_TYPE alt_t;
182 #define ao_data_pres_cook(packet) ao_ms5607_convert(&packet->ms5607_raw, &packet->ms5607_cooked)
184 #define ao_data_pres(packet) ((packet)->ms5607_cooked.pres)
185 #define ao_data_temp(packet) ((packet)->ms5607_cooked.temp)
187 #define pres_to_altitude(p) ao_pa_to_altitude(p)
191 #if !HAS_BARO && HAS_ADC
195 typedef int16_t pres_t;
196 typedef int16_t alt_t;
198 #define ao_data_pres(packet) ((packet)->adc.pres)
199 #define ao_data_temp(packet) ((packet)->adc.temp)
200 #define pres_to_altitude(p) ao_pres_to_altitude(p)
201 #define ao_data_pres_cook(p)
206 * Need a few macros to pull data from the sensors:
208 * ao_data_accel_sample - pull raw sensor and convert to normalized values
209 * ao_data_accel - pull normalized value (lives in the same memory)
210 * ao_data_set_accel - store normalized value back in the sensor location
211 * ao_data_accel_invert - flip rocket ends for positive acceleration
216 /* This section is for an analog accelerometer hooked to one of the ADC pins. As
217 * those are 5V parts, this also requires that the 5V supply be hooked to to anothe ADC
218 * pin so that the both can be measured to correct for changes between the 3.3V and 5V rails
221 typedef int16_t accel_t;
222 #define ao_data_accel(packet) ((packet)->adc.accel)
223 #define ao_data_set_accel(packet, a) ((packet)->adc.accel = (a))
224 #define ao_data_accel_invert(a) (0x7fff -(a))
227 * Ok, the math here is a bit tricky.
229 * ao_sample_accel: ADC output for acceleration
230 * ao_accel_ref: ADC output for the 5V reference.
231 * ao_cook_accel: Corrected acceleration value
232 * Vcc: 3.3V supply to the CC1111
233 * Vac: 5V supply to the accelerometer
234 * accel: input voltage to accelerometer ADC pin
235 * ref: input voltage to 5V reference ADC pin
238 * Measured acceleration is ratiometric to Vcc:
240 * ao_sample_accel accel
241 * ------------ = -----
244 * Measured 5v reference is also ratiometric to Vcc:
247 * ------------ = -----
251 * ao_accel_ref = 32767 * (ref / Vcc)
253 * Acceleration is measured ratiometric to the 5V supply,
254 * so what we want is:
256 * ao_cook_accel accel
257 * ------------- = -----
265 * ao_sample_accel 32767
266 * = ------------ * ------------
269 * Multiply through by 32767:
271 * ao_sample_accel * 32767
272 * ao_cook_accel = --------------------
275 * Now, the tricky part. Getting this to compile efficiently
276 * and keeping all of the values in-range.
278 * First off, we need to use a shift of 16 instead of * 32767 as SDCC
279 * does the obvious optimizations for byte-granularity shifts:
281 * ao_cook_accel = (ao_sample_accel << 16) / ao_accel_ref
283 * Next, lets check our input ranges:
285 * 0 <= ao_sample_accel <= 0x7fff (singled ended ADC conversion)
286 * 0x7000 <= ao_accel_ref <= 0x7fff (the 5V ref value is close to 0x7fff)
288 * Plugging in our input ranges, we get an output range of 0 - 0x12490,
289 * which is 17 bits. That won't work. If we take the accel ref and shift
290 * by a bit, we'll change its range:
292 * 0xe000 <= ao_accel_ref<<1 <= 0xfffe
294 * ao_cook_accel = (ao_sample_accel << 16) / (ao_accel_ref << 1)
296 * Now the output range is 0 - 0x9248, which nicely fits in 16 bits. It
297 * is, however, one bit too large for our signed computations. So, we
298 * take the result and shift that by a bit:
300 * ao_cook_accel = ((ao_sample_accel << 16) / (ao_accel_ref << 1)) >> 1
302 * This finally creates an output range of 0 - 0x4924. As the ADC only
303 * provides 11 bits of data, we haven't actually lost any precision,
304 * just dropped a bit of noise off the low end.
309 #define ao_data_accel_cook(packet) \
310 ((uint16_t) ((((uint32_t) (packet)->adc.accel << 16) / ((packet)->adc.accel_ref << 1))) >> 1)
314 #define ao_data_accel_cook(packet) ((packet)->adc.accel)
316 #endif /* HAS_ACCEL_REF */
318 #endif /* HAS_ACCEL */
320 #if !HAS_ACCEL && HAS_MMA655X
324 typedef int16_t accel_t;
326 /* MMA655X is hooked up so that positive values represent negative acceleration */
328 #define AO_ACCEL_INVERT 4095
330 #ifndef AO_MMA655X_INVERT
331 #error AO_MMA655X_INVERT not defined
334 #define ao_data_accel(packet) ((packet)->mma655x)
335 #if AO_MMA655X_INVERT
336 #define ao_data_accel_cook(packet) (AO_ACCEL_INVERT - (packet)->mma655x)
338 #define ao_data_accel_cook(packet) ((packet)->mma655x)
340 #define ao_data_set_accel(packet, accel) ((packet)->mma655x = (accel))
341 #define ao_data_accel_invert(accel) (AO_ACCEL_INVERT - (accel))
345 #if !HAS_ACCEL && HAS_ADXL375
349 typedef int16_t accel_t;
351 #ifndef AO_ADXL375_INVERT
352 #error AO_ADXL375_INVERT not defined
355 #define ao_data_accel(packet) ((packet)->adxl375.AO_ADXL375_AXIS)
356 #if AO_ADXL375_INVERT
357 #define ao_data_accel_cook(packet) (-ao_data_accel(packet))
359 #define ao_data_accel_cook(packet) ao_data_accel(packet)
361 #define ao_data_set_accel(packet, accel) (ao_data_accel(packet) = (accel))
362 #define ao_data_accel_invert(accel) (-(accel))
364 #endif /* HAS_ADXL375 */
366 #if !HAS_ACCEL && HAS_MPU6000
370 typedef int16_t accel_t;
372 /* MPU6000 is hooked up so that positive y is positive acceleration */
373 #define ao_data_accel(packet) ((packet)->z_accel)
374 #define ao_data_accel_cook(packet) (-(packet)->mpu6000.accel_y)
375 #define ao_data_set_accel(packet, accel) ((packet)->z_accel = (accel))
376 #define ao_data_accel_invert(a) (-(a))
380 #if !HAS_GYRO && HAS_MPU6000
384 typedef int16_t gyro_t; /* in raw sample units */
385 typedef int16_t angle_t; /* in degrees */
387 /* Y axis is aligned with the direction of motion (along) */
388 /* X axis is aligned in the other board axis (across) */
389 /* Z axis is aligned perpendicular to the board (through) */
391 #define ao_data_along(packet) ((packet)->mpu6000.accel_y)
392 #define ao_data_across(packet) ((packet)->mpu6000.accel_x)
393 #define ao_data_through(packet) ((packet)->mpu6000.accel_z)
395 #define ao_data_roll(packet) ((packet)->mpu6000.gyro_y)
396 #define ao_data_pitch(packet) ((packet)->mpu6000.gyro_x)
397 #define ao_data_yaw(packet) ((packet)->mpu6000.gyro_z)
399 static inline float ao_convert_gyro(float sensor)
401 return ao_mpu6000_gyro(sensor);
404 static inline float ao_convert_accel(int16_t sensor)
406 return ao_mpu6000_accel(sensor);
411 #if !HAS_GYRO && HAS_MPU9250
415 typedef int16_t gyro_t; /* in raw sample units */
416 typedef int16_t angle_t; /* in degrees */
418 /* Y axis is aligned with the direction of motion (along) */
419 /* X axis is aligned in the other board axis (across) */
420 /* Z axis is aligned perpendicular to the board (through) */
422 #ifndef ao_data_along
423 #define ao_data_along(packet) ((packet)->mpu9250.accel_y)
424 #define ao_data_across(packet) ((packet)->mpu9250.accel_x)
425 #define ao_data_through(packet) ((packet)->mpu9250.accel_z)
427 #define ao_data_roll(packet) ((packet)->mpu9250.gyro_y)
428 #define ao_data_pitch(packet) ((packet)->mpu9250.gyro_x)
429 #define ao_data_yaw(packet) ((packet)->mpu9250.gyro_z)
432 static inline float ao_convert_gyro(float sensor)
434 return ao_mpu9250_gyro(sensor);
437 static inline float ao_convert_accel(int16_t sensor)
439 return ao_mpu9250_accel(sensor);
444 #if !HAS_GYRO && HAS_BMX160
448 typedef int16_t gyro_t; /* in raw sample units */
449 typedef int16_t angle_t; /* in degrees */
451 /* Y axis is aligned with the direction of motion (along) */
452 /* X axis is aligned in the other board axis (across) */
453 /* Z axis is aligned perpendicular to the board (through) */
455 static inline float ao_convert_gyro(float sensor)
457 return ao_bmx160_gyro(sensor);
460 static inline float ao_convert_accel(int16_t sensor)
462 return ao_bmx160_accel(sensor);
467 #if !HAS_MAG && HAS_HMC5883
471 typedef int16_t ao_mag_t; /* in raw sample units */
473 #define ao_data_mag_along(packet) ((packet)->hmc5883.x)
474 #define ao_data_mag_across(packet) ((packet)->hmc5883.y)
475 #define ao_data_mag_through(packet) ((packet)->hmc5883.z)
479 #if !HAS_MAG && HAS_MPU9250
483 typedef int16_t ao_mag_t; /* in raw sample units */
485 /* Note that this order is different from the accel and gyro. For some
486 * reason, the mag sensor axes aren't the same as the other two
487 * sensors. Also, the Z axis is flipped in sign.
490 #ifndef ao_data_mag_along
491 #define ao_data_mag_along(packet) ((packet)->mpu9250.mag_x)
492 #define ao_data_mag_across(packet) ((packet)->mpu9250.mag_y)
493 #define ao_data_mag_through(packet) ((packet)->mpu9250.mag_z)
501 ao_data_fill(int head) {
502 if (ao_data_present == AO_DATA_ALL) {
504 ao_data_ring[head].ms5607_raw = ao_ms5607_current;
507 ao_data_ring[head].mma655x = ao_mma655x_current;
510 ao_data_ring[head].hmc5883 = ao_hmc5883_current;
513 ao_data_ring[head].mpu6000 = ao_mpu6000_current;
516 ao_data_ring[head].mpu9250 = ao_mpu9250_current;
519 ao_data_ring[head].adxl375 = ao_adxl375_current;
522 ao_data_ring[head].max6691 = ao_max6691_current;
525 ao_data_ring[head].ads131a0x = ao_ads131a0x_current;
527 ao_data_ring[head].tick = ao_tick_count;
528 ao_data_head = ao_data_ring_next(head);
529 ao_wakeup((void *) &ao_data_head);
535 #endif /* _AO_DATA_H_ */