#endif
#if HAS_MPU9250
struct ao_mpu9250_sample mpu9250;
+#if !HAS_MMA655X
+ int16_t z_accel;
+#endif
#endif
#if HAS_HMC5883
struct ao_hmc5883_sample hmc5883;
#endif
#if HAS_BMX160
struct ao_bmx160_sample bmx160;
+#if !HAS_ADXL375
+ int16_t z_accel;
+#endif
#endif
};
#endif
-#if !HAS_BARO && HAS_ADC
-
-#define HAS_BARO 1
-
-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
-
/*
* Need a few macros to pull data from the sensors:
*
- * ao_data_accel_sample - pull raw sensor and convert to normalized values
- * ao_data_accel - pull normalized value (lives in the same memory)
- * ao_data_set_accel - store normalized value back in the sensor location
+ * ao_data_accel_raw - pull raw sensor
* ao_data_accel_invert - flip rocket ends for positive acceleration
*/
*/
typedef int16_t accel_t;
-#define ao_data_accel(packet) ((packet)->adc.accel)
-#define ao_data_set_accel(packet, a) ((packet)->adc.accel = (a))
+#define ao_data_accel_raw(packet) ((packet)->adc.accel)
#define ao_data_accel_invert(a) (0x7fff -(a))
/*
#if HAS_ACCEL_REF
-#define ao_data_accel_cook(packet) \
+#define ao_data_accel_raw(packet) \
((uint16_t) ((((uint32_t) (packet)->adc.accel << 16) / ((packet)->adc.accel_ref << 1))) >> 1)
#else
-#define ao_data_accel_cook(packet) ((packet)->adc.accel)
+#define ao_data_accel_raw(packet) ((packet)->adc.accel)
#endif /* HAS_ACCEL_REF */
#error AO_MMA655X_INVERT not defined
#endif
-#define ao_data_accel(packet) ((packet)->mma655x)
#if AO_MMA655X_INVERT
-#define ao_data_accel_cook(packet) (AO_ACCEL_INVERT - (packet)->mma655x)
+#define ao_data_accel_raw(packet) (AO_ACCEL_INVERT - (packet)->mma655x)
#else
-#define ao_data_accel_cook(packet) ((packet)->mma655x)
+#define ao_data_accel_raw(packet) ((packet)->mma655x)
#endif
-#define ao_data_set_accel(packet, accel) ((packet)->mma655x = (accel))
#define ao_data_accel_invert(accel) (AO_ACCEL_INVERT - (accel))
#endif
#error AO_ADXL375_INVERT not defined
#endif
-#define ao_data_accel(packet) ((packet)->adxl375.AO_ADXL375_AXIS)
#if AO_ADXL375_INVERT
-#define ao_data_accel_cook(packet) (-ao_data_accel(packet))
+#define ao_data_accel_raw(packet) (-(packet)->adxl375.AO_ADXL375_AXIS)
#else
-#define ao_data_accel_cook(packet) ao_data_accel(packet)
+#define ao_data_accel_raw(packet) ((packet)->adxl375.AO_ADXL375_AXIS)
#endif
-#define ao_data_set_accel(packet, accel) (ao_data_accel(packet) = (accel))
#define ao_data_accel_invert(accel) (-(accel))
+#if USE_ADXL375_IMU
+#define ao_data_along(packet) ((packet)->adxl375.AO_ADXL375_AXIS)
+#define ao_data_across(packet) ((packet)->adxl375.AO_ADXL375_ACROSS_AXIS)
+#define ao_data_through(packet) ((packet)->adxl375.z)
+#define ao_data_accel_to_sample(accel) ao_adxl375_accel_to_sample(accel)
+#endif
+
#endif /* HAS_ADXL375 */
#if !HAS_ACCEL && HAS_MPU6000
typedef int16_t accel_t;
/* MPU6000 is hooked up so that positive y is positive acceleration */
-#define ao_data_accel(packet) ((packet)->z_accel)
-#define ao_data_accel_cook(packet) (-(packet)->mpu6000.accel_y)
-#define ao_data_set_accel(packet, accel) ((packet)->z_accel = (accel))
+#define ao_data_accel_raw(packet) (-(packet)->mpu6000.accel_y)
#define ao_data_accel_invert(a) (-(a))
#endif
#endif
+#if !HAS_ACCEL && HAS_MPU9250
+
+#define HAS_ACCEL 1
+
+typedef int16_t accel_t;
+
+/* MPU9250 is hooked up so that positive y is positive acceleration */
+#define ao_data_accel_raw(packet) (-(packet)->mpu9250.accel_y)
+#define ao_data_accel_invert(a) (-(a))
+
+#endif
+
#if !HAS_GYRO && HAS_MPU9250
#define HAS_GYRO 1
#endif
+#if !HAS_ACCEL && HAS_BMX160
+
+#define HAS_ACCEL 1
+
+typedef int16_t accel_t;
+
+#define ao_data_accel_raw(packet) -ao_data_along(packet)
+#define ao_data_accel_invert(a) (-(a))
+#define ao_data_accel_to_sample(accel) ao_bmx_accel_to_sample(accel)
+
+#endif
+
#if !HAS_GYRO && HAS_BMX160
#define HAS_GYRO 1
typedef int16_t gyro_t; /* in raw sample units */
typedef int16_t angle_t; /* in degrees */
-/* Y axis is aligned with the direction of motion (along) */
-/* X axis is aligned in the other board axis (across) */
+/* X axis is aligned with the direction of motion (along) */
+/* Y axis is aligned in the other board axis (across) */
/* Z axis is aligned perpendicular to the board (through) */
static inline float ao_convert_gyro(float sensor)
#endif
#if HAS_ADS131A0X
ao_data_ring[head].ads131a0x = ao_ads131a0x_current;
+#endif
+#if HAS_BMX160
+ ao_data_ring[head].bmx160 = ao_bmx160_current;
#endif
ao_data_ring[head].tick = ao_tick_count;
ao_data_head = ao_data_ring_next(head);
#endif
+#if HAS_ACCEL
+accel_t
+ao_data_accel(volatile struct ao_data *packet);
+#endif
+
#endif /* _AO_DATA_H_ */