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telescience: correctly calculating rate values with higher resolution
[fw/altos]
/
src
/
core
/
ao_data.h
diff --git
a/src/core/ao_data.h
b/src/core/ao_data.h
index 2b9ef5ace922e5f4e5c4809da63d5524a1cf7305..86acd48fa8c94fe92e076bf7aa15da771c219910 100644
(file)
--- a/
src/core/ao_data.h
+++ b/
src/core/ao_data.h
@@
-52,6
+52,8
@@
#define AO_DATA_MMA655X 0
#endif
#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 {
#define AO_DATA_ALL (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X)
struct ao_data {
@@
-65,6
+67,9
@@
struct ao_data {
#endif
#if HAS_MPU6000
struct ao_mpu6000_sample mpu6000;
#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_HMC5883
struct ao_hmc5883_sample hmc5883;
@@
-102,6
+107,8
@@
extern volatile __data uint8_t ao_data_count;
ao_sleep((void *) &ao_data_count); \
} while (0)
ao_sleep((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
#if !HAS_BARO && HAS_MS5607
/* Either an MS5607 or an MS5611 hooked to a SPI port
@@
-110,7
+117,12
@@
extern volatile __data uint8_t ao_data_count;
#define HAS_BARO 1
typedef int32_t pres_t;
#define HAS_BARO 1
typedef int32_t pres_t;
-typedef int32_t alt_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_cook(packet) ao_ms5607_convert(&packet->ms5607_raw, &packet->ms5607_cooked)
@@
-135,6
+147,10
@@
typedef int16_t alt_t;
#endif
#endif
+#if !HAS_BARO
+typedef int16_t alt_t;
+#endif
+
/*
* Need a few macros to pull data from the sensors:
*
/*
* Need a few macros to pull data from the sensors:
*
@@
-272,9
+288,9
@@
typedef int16_t accel_t;
typedef int16_t accel_t;
/* MPU6000 is hooked up so that positive y is positive acceleration */
typedef int16_t accel_t;
/* MPU6000 is hooked up so that positive y is positive acceleration */
-#define ao_data_accel(packet) ((packet)->
mpu6000.accel_y
)
+#define ao_data_accel(packet) ((packet)->
z_accel
)
#define ao_data_accel_cook(packet) (-(packet)->mpu6000.accel_y)
#define ao_data_accel_cook(packet) (-(packet)->mpu6000.accel_y)
-#define ao_data_set_accel(packet, accel) ((packet)->
mpu6000.accel_y
= (accel))
+#define ao_data_set_accel(packet, accel) ((packet)->
z_accel
= (accel))
#define ao_data_accel_invert(a) (-(a))
#endif
#define ao_data_accel_invert(a) (-(a))
#endif