#ifndef _AO_DATA_H_
#define _AO_DATA_H_
+#if HAS_ADC
+#define AO_DATA_ADC (1 << 0)
+#else
+#define AO_DATA_ADC 0
+#endif
+
#if HAS_MS5607
#include <ao_ms5607.h>
+#define AO_DATA_MS5607 (1 << 1)
+#else
+#define AO_DATA_MS5607 0
#endif
#if HAS_MPU6000
#include <ao_mpu6000.h>
+#define AO_DATA_MPU6000 (1 << 2)
+#else
+#define AO_DATA_MPU6000 0
#endif
#if HAS_HMC5883
#include <ao_hmc5883.h>
+#define AO_DATA_HMC5883 (1 << 3)
+#else
+#define AO_DATA_HMC5883 0
#endif
+#if HAS_MMA655X
+#include <ao_mma655x.h>
+#define AO_DATA_MMA655X (1 << 4)
+#else
+#define AO_DATA_MMA655X 0
+#endif
+
+#define AO_DATA_ALL (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X)
+
struct ao_data {
uint16_t tick;
#if HAS_ADC
#if HAS_HMC5883
struct ao_hmc5883_sample hmc5883;
#endif
+#if HAS_MMA655X
+ uint16_t mma655x;
+#endif
};
#define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1))
extern volatile __xdata struct ao_data ao_data_ring[AO_DATA_RING];
extern volatile __data uint8_t ao_data_head;
+extern volatile __data uint8_t ao_data_present;
+extern volatile __data uint8_t ao_data_count;
-#if HAS_MS5607
+/*
+ * Mark a section of data as ready, check for data complete
+ */
+#define AO_DATA_PRESENT(bit) do { \
+ if ((ao_data_present |= (bit)) == AO_DATA_ALL) { \
+ ao_data_ring[ao_data_head].tick = ao_tick_count; \
+ ao_data_head = ao_data_ring_next(ao_data_head); \
+ ao_data_present = 0; \
+ ao_wakeup((void *) &ao_data_head); \
+ } \
+ } while (0);
+
+/*
+ * Wait until it is time to write a sensor sample; this is
+ * signaled by the timer tick
+ */
+#define AO_DATA_WAIT() do { \
+ ao_sleep((void *) &ao_data_count); \
+ } while (0)
+
+#if !HAS_BARO && HAS_MS5607
+
+/* Either an MS5607 or an MS5611 hooked to a SPI port
+ */
+
+#define HAS_BARO 1
typedef int32_t pres_t;
typedef int32_t alt_t;
#define pres_to_altitude(p) ao_pa_to_altitude(p)
-#else /* HAS_MS5607 */
+#endif
+
+#if !HAS_BARO && HAS_ADC
+
+#define HAS_BARO 1
typedef int16_t pres_t;
typedef int16_t alt_t;
#define pres_to_altitude(p) ao_pres_to_altitude(p)
#define ao_data_pres_cook(p)
-#endif /* else HAS_MS5607 */
+#endif
/*
* Need a few macros to pull data from the sensors:
* ao_data_accel_invert - flip rocket ends for positive acceleration
*/
-#if HAS_MPU6000 && !HAS_HIGHG_ACCEL
-
-typedef int16_t accel_t;
+#if HAS_ACCEL
-/* MPU6000 is hooked up so that positive y is positive acceleration */
-#define ao_data_accel(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_accel_invert(a) (-(a))
-
-#else /* HAS_MPU6000 && !HAS_HIGHG_ACCEL */
+/* This section is for an analog accelerometer hooked to one of the ADC pins. As
+ * those are 5V parts, this also requires that the 5V supply be hooked to to anothe ADC
+ * pin so that the both can be measured to correct for changes between the 3.3V and 5V rails
+ */
typedef int16_t accel_t;
#define ao_data_accel(packet) ((packet)->adc.accel)
#endif /* HAS_ACCEL_REF */
-#endif /* else some other accel sensor */
+#endif /* HAS_ACCEL */
+
+#if !HAS_ACCEL && HAS_MMA655X
+
+#define HAS_ACCEL 1
+
+typedef int16_t accel_t;
+
+/* MMA655X is hooked up so that positive values represent negative acceleration */
+
+#define ao_data_accel(packet) ((packet)->mma655x)
+#define ao_data_accel_cook(packet) ((packet)->mma655x)
+#define ao_data_set_accel(packet, accel) ((packet)->mma655x = (accel))
+#define ao_data_accel_invert(accel) (4095 - (accel))
+
+#endif
+
+#if !HAS_ACCEL && HAS_MPU6000
+
+#define HAS_ACCEL 1
+
+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_cook(packet) (-(packet)->mpu6000.accel_y)
+#define ao_data_set_accel(packet, accel) ((packet)->mpu6000.accel_y = (accel))
+#define ao_data_accel_invert(a) (-(a))
+
+#endif
#endif /* _AO_DATA_H_ */