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
74 #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)
82 struct ao_ms5607_sample ms5607_raw;
83 struct ao_ms5607_value ms5607_cooked;
86 struct ao_mpu6000_sample mpu6000;
92 struct ao_mpu9250_sample mpu9250;
95 struct ao_hmc5883_sample hmc5883;
101 struct ao_adxl375_sample adxl375;
105 #define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1))
106 #define ao_data_ring_prev(n) (((n) - 1) & (AO_DATA_RING - 1))
108 /* Get a copy of the last complete sample set */
110 ao_data_get(struct ao_data *packet);
112 extern volatile struct ao_data ao_data_ring[AO_DATA_RING];
113 extern volatile uint8_t ao_data_head;
114 extern volatile uint8_t ao_data_present;
115 extern volatile uint8_t ao_data_count;
118 * Mark a section of data as ready, check for data complete
120 #define AO_DATA_PRESENT(bit) (ao_data_present |= (bit))
123 * Wait until it is time to write a sensor sample; this is
124 * signaled by the timer tick
126 #define AO_DATA_WAIT() ao_sleep((void *) &ao_data_count)
128 #endif /* AO_DATA_RING */
130 #if !HAS_BARO && HAS_MS5607
132 /* Either an MS5607 or an MS5611 hooked to a SPI port
137 typedef int32_t pres_t;
139 #define AO_ALT_TYPE int32_t
141 typedef AO_ALT_TYPE alt_t;
143 #define ao_data_pres_cook(packet) ao_ms5607_convert(&packet->ms5607_raw, &packet->ms5607_cooked)
145 #define ao_data_pres(packet) ((packet)->ms5607_cooked.pres)
146 #define ao_data_temp(packet) ((packet)->ms5607_cooked.temp)
148 #define pres_to_altitude(p) ao_pa_to_altitude(p)
152 #if !HAS_BARO && HAS_ADC
156 typedef int16_t pres_t;
157 typedef int16_t alt_t;
159 #define ao_data_pres(packet) ((packet)->adc.pres)
160 #define ao_data_temp(packet) ((packet)->adc.temp)
161 #define pres_to_altitude(p) ao_pres_to_altitude(p)
162 #define ao_data_pres_cook(p)
167 * Need a few macros to pull data from the sensors:
169 * ao_data_accel_sample - pull raw sensor and convert to normalized values
170 * ao_data_accel - pull normalized value (lives in the same memory)
171 * ao_data_set_accel - store normalized value back in the sensor location
172 * ao_data_accel_invert - flip rocket ends for positive acceleration
177 /* This section is for an analog accelerometer hooked to one of the ADC pins. As
178 * those are 5V parts, this also requires that the 5V supply be hooked to to anothe ADC
179 * pin so that the both can be measured to correct for changes between the 3.3V and 5V rails
182 typedef int16_t accel_t;
183 #define ao_data_accel(packet) ((packet)->adc.accel)
184 #define ao_data_set_accel(packet, a) ((packet)->adc.accel = (a))
185 #define ao_data_accel_invert(a) (0x7fff -(a))
188 * Ok, the math here is a bit tricky.
190 * ao_sample_accel: ADC output for acceleration
191 * ao_accel_ref: ADC output for the 5V reference.
192 * ao_cook_accel: Corrected acceleration value
193 * Vcc: 3.3V supply to the CC1111
194 * Vac: 5V supply to the accelerometer
195 * accel: input voltage to accelerometer ADC pin
196 * ref: input voltage to 5V reference ADC pin
199 * Measured acceleration is ratiometric to Vcc:
201 * ao_sample_accel accel
202 * ------------ = -----
205 * Measured 5v reference is also ratiometric to Vcc:
208 * ------------ = -----
212 * ao_accel_ref = 32767 * (ref / Vcc)
214 * Acceleration is measured ratiometric to the 5V supply,
215 * so what we want is:
217 * ao_cook_accel accel
218 * ------------- = -----
226 * ao_sample_accel 32767
227 * = ------------ * ------------
230 * Multiply through by 32767:
232 * ao_sample_accel * 32767
233 * ao_cook_accel = --------------------
236 * Now, the tricky part. Getting this to compile efficiently
237 * and keeping all of the values in-range.
239 * First off, we need to use a shift of 16 instead of * 32767 as SDCC
240 * does the obvious optimizations for byte-granularity shifts:
242 * ao_cook_accel = (ao_sample_accel << 16) / ao_accel_ref
244 * Next, lets check our input ranges:
246 * 0 <= ao_sample_accel <= 0x7fff (singled ended ADC conversion)
247 * 0x7000 <= ao_accel_ref <= 0x7fff (the 5V ref value is close to 0x7fff)
249 * Plugging in our input ranges, we get an output range of 0 - 0x12490,
250 * which is 17 bits. That won't work. If we take the accel ref and shift
251 * by a bit, we'll change its range:
253 * 0xe000 <= ao_accel_ref<<1 <= 0xfffe
255 * ao_cook_accel = (ao_sample_accel << 16) / (ao_accel_ref << 1)
257 * Now the output range is 0 - 0x9248, which nicely fits in 16 bits. It
258 * is, however, one bit too large for our signed computations. So, we
259 * take the result and shift that by a bit:
261 * ao_cook_accel = ((ao_sample_accel << 16) / (ao_accel_ref << 1)) >> 1
263 * This finally creates an output range of 0 - 0x4924. As the ADC only
264 * provides 11 bits of data, we haven't actually lost any precision,
265 * just dropped a bit of noise off the low end.
270 #define ao_data_accel_cook(packet) \
271 ((uint16_t) ((((uint32_t) (packet)->adc.accel << 16) / ((packet)->adc.accel_ref << 1))) >> 1)
275 #define ao_data_accel_cook(packet) ((packet)->adc.accel)
277 #endif /* HAS_ACCEL_REF */
279 #endif /* HAS_ACCEL */
281 #if !HAS_ACCEL && HAS_MMA655X
285 typedef int16_t accel_t;
287 /* MMA655X is hooked up so that positive values represent negative acceleration */
289 #define AO_ACCEL_INVERT 4095
291 #ifndef AO_MMA655X_INVERT
292 #error AO_MMA655X_INVERT not defined
295 #define ao_data_accel(packet) ((packet)->mma655x)
296 #if AO_MMA655X_INVERT
297 #define ao_data_accel_cook(packet) (AO_ACCEL_INVERT - (packet)->mma655x)
299 #define ao_data_accel_cook(packet) ((packet)->mma655x)
301 #define ao_data_set_accel(packet, accel) ((packet)->mma655x = (accel))
302 #define ao_data_accel_invert(accel) (AO_ACCEL_INVERT - (accel))
306 #if !HAS_ACCEL && HAS_ADXL375
310 typedef int16_t accel_t;
312 #ifndef AO_ADXL375_INVERT
313 #error AO_ADXL375_INVERT not defined
316 #define ao_data_accel(packet) ((packet)->adxl375.AO_ADXL375_AXIS)
317 #if AO_ADXL375_INVERT
318 #define ao_data_accel_cook(packet) (-ao_data_accel(packet))
320 #define ao_data_accel_cook(packet) ao_data_accel(packet)
322 #define ao_data_set_accel(packet, accel) (ao_data_accel(packet) = (accel))
323 #define ao_data_accel_invert(accel) (-(accel))
325 #endif /* HAS_ADXL375 */
327 #if !HAS_ACCEL && HAS_MPU6000
331 #define AO_ACCEL_INVERT 0
333 typedef int16_t accel_t;
335 /* MPU6000 is hooked up so that positive y is positive acceleration */
336 #define ao_data_accel(packet) ((packet)->z_accel)
337 #define ao_data_accel_cook(packet) (-(packet)->mpu6000.accel_y)
338 #define ao_data_set_accel(packet, accel) ((packet)->z_accel = (accel))
339 #define ao_data_accel_invert(a) (-(a))
343 #if !HAS_GYRO && HAS_MPU6000
347 typedef int16_t gyro_t; /* in raw sample units */
348 typedef int16_t angle_t; /* in degrees */
350 /* Y axis is aligned with the direction of motion (along) */
351 /* X axis is aligned in the other board axis (across) */
352 /* Z axis is aligned perpendicular to the board (through) */
354 #define ao_data_along(packet) ((packet)->mpu6000.accel_y)
355 #define ao_data_across(packet) ((packet)->mpu6000.accel_x)
356 #define ao_data_through(packet) ((packet)->mpu6000.accel_z)
358 #define ao_data_roll(packet) ((packet)->mpu6000.gyro_y)
359 #define ao_data_pitch(packet) ((packet)->mpu6000.gyro_x)
360 #define ao_data_yaw(packet) ((packet)->mpu6000.gyro_z)
362 static inline float ao_convert_gyro(float sensor)
364 return ao_mpu6000_gyro(sensor);
367 static inline float ao_convert_accel(int16_t sensor)
369 return ao_mpu6000_accel(sensor);
374 #if !HAS_GYRO && HAS_MPU9250
378 typedef int16_t gyro_t; /* in raw sample units */
379 typedef int16_t angle_t; /* in degrees */
381 /* Y axis is aligned with the direction of motion (along) */
382 /* X axis is aligned in the other board axis (across) */
383 /* Z axis is aligned perpendicular to the board (through) */
385 #ifndef ao_data_along
386 #define ao_data_along(packet) ((packet)->mpu9250.accel_y)
387 #define ao_data_across(packet) ((packet)->mpu9250.accel_x)
388 #define ao_data_through(packet) ((packet)->mpu9250.accel_z)
390 #define ao_data_roll(packet) ((packet)->mpu9250.gyro_y)
391 #define ao_data_pitch(packet) ((packet)->mpu9250.gyro_x)
392 #define ao_data_yaw(packet) ((packet)->mpu9250.gyro_z)
395 static inline float ao_convert_gyro(float sensor)
397 return ao_mpu9250_gyro(sensor);
400 static inline float ao_convert_accel(int16_t sensor)
402 return ao_mpu9250_accel(sensor);
407 #if !HAS_MAG && HAS_HMC5883
411 typedef int16_t ao_mag_t; /* in raw sample units */
413 #define ao_data_mag_along(packet) ((packet)->hmc5883.x)
414 #define ao_data_mag_across(packet) ((packet)->hmc5883.y)
415 #define ao_data_mag_through(packet) ((packet)->hmc5883.z)
419 #if !HAS_MAG && HAS_MPU9250
423 typedef int16_t ao_mag_t; /* in raw sample units */
425 /* Note that this order is different from the accel and gyro. For some
426 * reason, the mag sensor axes aren't the same as the other two
427 * sensors. Also, the Z axis is flipped in sign.
430 #ifndef ao_data_mag_along
431 #define ao_data_mag_along(packet) ((packet)->mpu9250.mag_x)
432 #define ao_data_mag_across(packet) ((packet)->mpu9250.mag_y)
433 #define ao_data_mag_through(packet) ((packet)->mpu9250.mag_z)
441 ao_data_fill(int head) {
442 if (ao_data_present == AO_DATA_ALL) {
444 ao_data_ring[head].ms5607_raw = ao_ms5607_current;
447 ao_data_ring[head].mma655x = ao_mma655x_current;
450 ao_data_ring[head].hmc5883 = ao_hmc5883_current;
453 ao_data_ring[head].mpu6000 = ao_mpu6000_current;
456 ao_data_ring[head].mpu9250 = ao_mpu9250_current;
459 ao_data_ring[head].adxl375 = ao_adxl375_current;
461 ao_data_ring[head].tick = ao_tick_count;
462 ao_data_head = ao_data_ring_next(head);
463 ao_wakeup((void *) &ao_data_head);
469 #endif /* _AO_DATA_H_ */