struct ao_adc adc;
#endif
#if HAS_MS5607
- struct ao_ms5607_sample ms5607;
+ struct ao_ms5607_sample ms5607_raw;
+ struct ao_ms5607_value ms5607_cooked;
#endif
#if HAS_MPU6000
struct ao_mpu6000_sample mpu6000;
typedef int32_t pres_t;
typedef int32_t alt_t;
-static inline pres_t ao_data_pres(struct ao_data *packet)
-{
- struct ao_ms5607_value value;
+#define ao_data_pres_cook(packet) ao_ms5607_convert(&packet->ms5607_raw, &packet->ms5607_cooked)
- ao_ms5607_convert(&packet->ms5607, &value);
- return value.pres;
-}
+#define ao_data_pres(packet) ((packet)->ms5607_cooked.pres)
+#define ao_data_temp(packet) ((packet)->ms5607_cooked.temp)
#define pres_to_altitude(p) ao_pa_to_altitude(p)
-#else
+#else /* HAS_MS5607 */
typedef int16_t pres_t;
typedef int16_t alt_t;
#define ao_data_pres(packet) ((packet)->adc.pres)
+#define ao_data_temp(packet) ((packet)->adc.temp)
#define pres_to_altitude(p) ao_pres_to_altitude(p)
+#define ao_data_pres_cook(p)
-#endif
+#endif /* else HAS_MS5607 */
/*
* Need a few macros to pull data from the sensors:
/* MPU6000 is hooked up so that positive y is positive acceleration */
#define ao_data_accel(packet) ((packet)->mpu6000.accel_y)
-#define ao_data_accel_sample(packet) (-ao_data_accel(packet))
+#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
+#else /* HAS_MPU6000 && !HAS_HIGHG_ACCEL */
typedef int16_t accel_t;
#define ao_data_accel(packet) ((packet)->adc.accel)
* provides 11 bits of data, we haven't actually lost any precision,
* just dropped a bit of noise off the low end.
*/
+
#if HAS_ACCEL_REF
-#define ao_data_accel_sample(packet) \
+
+#define ao_data_accel_cook(packet) \
((uint16_t) ((((uint32_t) (packet)->adc.accel << 16) / ((packet)->adc.accel_ref << 1))) >> 1)
+
#else
-#define ao_data_accel_sample(packet) ((packet)->adc.accel)
+
+#define ao_data_accel_cook(packet) ((packet)->adc.accel)
+
#endif /* HAS_ACCEL_REF */
-#endif /* else some other pressure sensor */
+#endif /* else some other accel sensor */
#endif /* _AO_DATA_H_ */