X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_data.h;h=4fc9db8f16a7810ba8b54c89619bf9331f97608e;hb=HEAD;hp=6ee0965d4e732ed4ce25adec78ac11231942356e;hpb=b540f6f5b034f33b8e1d1c3b91e2403a56479caa;p=fw%2Faltos

diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h
index 6ee0965d..a6ae6fa8 100644
--- a/src/kernel/ao_data.h
+++ b/src/kernel/ao_data.h
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -40,6 +41,13 @@
 #define AO_DATA_MPU6000	0
 #endif
 
+#if HAS_MPU9250
+#include <ao_mpu9250.h>
+#define AO_DATA_MPU9250	(1 << 2)
+#else
+#define AO_DATA_MPU9250	0
+#endif
+
 #if HAS_HMC5883
 #include <ao_hmc5883.h>
 #define AO_DATA_HMC5883	(1 << 3)
@@ -47,6 +55,13 @@
 #define AO_DATA_HMC5883	0
 #endif
 
+#if HAS_MMC5983
+#include <ao_mmc5983.h>
+#define AO_DATA_MMC5983	(1 << 3)
+#else
+#define AO_DATA_MMC5983	0
+#endif
+
 #if HAS_MMA655X
 #include <ao_mma655x.h>
 #define AO_DATA_MMA655X (1 << 4)
@@ -54,12 +69,50 @@
 #define AO_DATA_MMA655X 0
 #endif
 
+#if HAS_ADXL375
+#include <ao_adxl375.h>
+#define AO_DATA_ADXL375 (1 << 4)
+#else
+#define AO_DATA_ADXL375 0
+#endif
+
+#if HAS_MAX6691
+#include <ao_max6691.h>
+#define AO_DATA_MAX6691 (1 << 4)
+#else
+#define AO_DATA_MAX6691 0
+#endif
+
+#if HAS_BMX160
+#include <ao_bmx160.h>
+#define AO_DATA_BMX160	(1 << 2)
+#else
+#define AO_DATA_BMX160	0
+#endif
+
+#if HAS_BMI088
+#include <ao_bmi088.h>
+#define AO_DATA_BMI088 (1 << 2)
+#else
+#define AO_DATA_BMI088	0
+#endif
+
+#ifndef HAS_SENSOR_ERRORS
+#if HAS_IMU || HAS_MMA655X || HAS_MS5607 || HAS_MS5611
+#define HAS_SENSOR_ERRORS	1
+#endif
+#endif
+
+#if HAS_SENSOR_ERRORS
+extern uint8_t			ao_sensor_errors;
+#endif
+
 #ifdef AO_DATA_RING
 
-#define AO_DATA_ALL	(AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X)
+#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|AO_DATA_BMX160|AO_DATA_MMC5983|AO_DATA_BMI088)
 
 struct ao_data {
-	uint16_t			tick;
+	AO_TICK_TYPE			tick;
 #if HAS_ADC
 	struct ao_adc			adc;
 #endif
@@ -73,12 +126,42 @@ struct ao_data {
 	int16_t				z_accel;
 #endif
 #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_MMC5983
+	struct ao_mmc5983_sample	mmc5983;
+#endif
 #if HAS_MMA655X
 	uint16_t			mma655x;
 #endif
+#if HAS_ADXL375
+	struct ao_adxl375_sample	adxl375;
+#endif
+#if HAS_MAX6691
+	struct ao_max6691_sample	max6691;
+#endif
+#if HAS_ADS131A0X
+	struct ao_ads131a0x_sample	ads131a0x;
+#endif
+#if HAS_BMX160
+	struct ao_bmx160_sample		bmx160;
+#if !HAS_ADXL375
+	int16_t z_accel;
+#endif
+#endif
+#if HAS_BMI088
+	struct ao_bmi088_sample		bmi088;
+#if !HAS_ADXL375
+	int16_t z_accel;
+#endif
+#endif
 };
 
 #define ao_data_ring_next(n)	(((n) + 1) & (AO_DATA_RING - 1))
@@ -86,28 +169,36 @@ struct ao_data {
 
 /* Get a copy of the last complete sample set */
 void
-ao_data_get(__xdata struct ao_data *packet);
+ao_data_get(struct ao_data *packet);
 
-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;
+extern volatile struct ao_data	ao_data_ring[AO_DATA_RING];
+extern volatile uint8_t		ao_data_head;
+extern volatile uint8_t		ao_data_present;
+extern volatile uint8_t		ao_data_count;
 
 /*
  * Mark a section of data as ready, check for data complete
  */
 #define AO_DATA_PRESENT(bit)	(ao_data_present |= (bit))
 
+/*
+ * Mark sensor failed, and unblock the sample collection code by
+ * marking the data as present
+ */
+#define AO_SENSOR_ERROR(bit)	(ao_data_present |= (ao_sensor_errors |= (bit)))
+
 /*
  * Wait until it is time to write a sensor sample; this is
  * signaled by the timer tick
  */
-#define AO_DATA_WAIT() do {				\
-		ao_sleep(DATA_TO_XDATA ((void *) &ao_data_count));	\
-	} while (0)
+#define AO_DATA_WAIT() 		ao_sleep((void *) &ao_data_count)
 
 #endif /* AO_DATA_RING */
 
+#define AO_ALT_TYPE	int32_t
+
+typedef AO_ALT_TYPE	alt_t;
+
 #if !HAS_BARO && HAS_MS5607
 
 /* Either an MS5607 or an MS5611 hooked to a SPI port
@@ -117,39 +208,19 @@ extern volatile __data uint8_t		ao_data_count;
 
 typedef int32_t	pres_t;
 
-#define AO_ALT_TYPE	int32_t
-
-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(packet)	((packet)->ms5607_cooked.pres)
-#define ao_data_temp(packet)	((packet)->ms5607_cooked.temp)
+#define ao_data_temp(packet)	((int16_t) (packet)->ms5607_cooked.temp)
 
 #define pres_to_altitude(p)	ao_pa_to_altitude(p)
 
 #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
  */
 
@@ -161,8 +232,7 @@ typedef int16_t alt_t;
  */
 
 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))
 
 /*
@@ -248,12 +318,12 @@ typedef int16_t accel_t;
 
 #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 */
 
@@ -273,29 +343,49 @@ typedef int16_t accel_t;
 #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)		((accel_t) (AO_ACCEL_INVERT - (packet)->mma655x))
 #else
-#define ao_data_accel_cook(packet)		((packet)->mma655x)
+#define ao_data_accel_raw(packet)		((accel_t) (packet)->mma655x)
 #endif
-#define ao_data_set_accel(packet, accel)	((packet)->mma655x = (accel))
 #define ao_data_accel_invert(accel)		(AO_ACCEL_INVERT - (accel))
 
 #endif
 
-#if !HAS_ACCEL && HAS_MPU6000
+#if !HAS_ACCEL && HAS_ADXL375
 
 #define HAS_ACCEL	1
 
-#define AO_ACCEL_INVERT		0
+typedef int16_t	accel_t;
+
+#ifndef AO_ADXL375_INVERT
+#error AO_ADXL375_INVERT not defined
+#endif
+
+#if AO_ADXL375_INVERT
+#define ao_data_accel_raw(packet)		(-(packet)->adxl375.AO_ADXL375_AXIS)
+#else
+#define ao_data_accel_raw(packet)		((packet)->adxl375.AO_ADXL375_AXIS)
+#endif
+#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
+
+#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)->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
@@ -311,6 +401,7 @@ typedef int16_t angle_t;	/* in degrees */
 /* X axis is aligned in the other board axis (across) */
 /* Z axis is aligned perpendicular to the board (through) */
 
+#ifndef ao_data_along
 #define ao_data_along(packet)	((packet)->mpu6000.accel_y)
 #define ao_data_across(packet)	((packet)->mpu6000.accel_x)
 #define ao_data_through(packet)	((packet)->mpu6000.accel_z)
@@ -318,6 +409,132 @@ typedef int16_t angle_t;	/* in degrees */
 #define ao_data_roll(packet)	((packet)->mpu6000.gyro_y)
 #define ao_data_pitch(packet)	((packet)->mpu6000.gyro_x)
 #define ao_data_yaw(packet)	((packet)->mpu6000.gyro_z)
+#endif
+
+static inline float ao_convert_gyro(float sensor)
+{
+	return ao_mpu6000_gyro(sensor);
+}
+
+static inline float ao_convert_accel(int16_t sensor)
+{
+	return ao_mpu6000_accel(sensor);
+}
+
+#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
+
+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) */
+/* Z axis is aligned perpendicular to the board (through) */
+
+#ifndef ao_data_along
+#define ao_data_along(packet)	((packet)->mpu9250.accel_y)
+#define ao_data_across(packet)	((packet)->mpu9250.accel_x)
+#define ao_data_through(packet)	((packet)->mpu9250.accel_z)
+
+#define ao_data_roll(packet)	((packet)->mpu9250.gyro_y)
+#define ao_data_pitch(packet)	((packet)->mpu9250.gyro_x)
+#define ao_data_yaw(packet)	((packet)->mpu9250.gyro_z)
+#endif
+
+static inline float ao_convert_gyro(float sensor)
+{
+	return ao_mpu9250_gyro(sensor);
+}
+
+static inline float ao_convert_accel(int16_t sensor)
+{
+	return ao_mpu9250_accel(sensor);
+}
+
+#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 */
+
+/* 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)
+{
+	return ao_bmx160_gyro(sensor);
+}
+
+static inline float ao_convert_accel(int16_t sensor)
+{
+	return ao_bmx160_accel(sensor);
+}
+
+#endif
+
+#if !HAS_ACCEL && HAS_BMI088
+
+#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_bmi_accel_to_sample(accel)
+
+#endif
+
+#if !HAS_GYRO && HAS_BMI088
+
+#define HAS_GYRO	1
+
+typedef int16_t	gyro_t;		/* in raw sample units */
+typedef int16_t angle_t;	/* in degrees */
+
+/* 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)
+{
+	return ao_bmi088_gyro(sensor);
+}
+
+static inline float ao_convert_accel(int16_t sensor)
+{
+	return ao_bmi088_accel(sensor);
+}
 
 #endif
 
@@ -333,4 +550,82 @@ typedef int16_t ao_mag_t;		/* in raw sample units */
 
 #endif
 
+#if !HAS_MAG && HAS_MMC5983
+
+#define HAS_MAG		1
+
+typedef int16_t ao_mag_t;		/* in raw sample units */
+
+#endif
+
+#if !HAS_MAG && HAS_MPU9250
+
+#define HAS_MAG		1
+
+typedef int16_t ao_mag_t;		/* in raw sample units */
+
+/* Note that this order is different from the accel and gyro. For some
+ * reason, the mag sensor axes aren't the same as the other two
+ * sensors. Also, the Z axis is flipped in sign.
+ */
+
+#ifndef ao_data_mag_along
+#define ao_data_mag_along(packet)	((packet)->mpu9250.mag_x)
+#define ao_data_mag_across(packet)	((packet)->mpu9250.mag_y)
+#define ao_data_mag_through(packet)	((packet)->mpu9250.mag_z)
+#endif
+
+#endif
+
+#ifdef AO_DATA_RING
+
+static inline void
+ao_data_fill(int head) {
+	if (ao_data_present == AO_DATA_ALL) {
+#if HAS_MS5607
+		ao_data_ring[head].ms5607_raw = ao_ms5607_current;
+#endif
+#if HAS_MMA655X
+		ao_data_ring[head].mma655x = ao_mma655x_current;
+#endif
+#if HAS_HMC5883
+		ao_data_ring[head].hmc5883 = ao_hmc5883_current;
+#endif
+#if HAS_MMC5983
+		ao_data_ring[head].mmc5983 = ao_mmc5983_current;
+#endif
+#if HAS_MPU6000
+		ao_data_ring[head].mpu6000 = ao_mpu6000_current;
+#endif
+#if HAS_MPU9250
+		ao_data_ring[head].mpu9250 = ao_mpu9250_current;
+#endif
+#if HAS_ADXL375
+		ao_data_ring[head].adxl375 = ao_adxl375_current;
+#endif
+#if HAS_MAX6691
+		ao_data_ring[head].max6691 = ao_max6691_current;
+#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
+#if HAS_BMI088
+		ao_data_ring[head].bmi088 = ao_bmi088_current;
+#endif
+		ao_data_ring[head].tick = ao_tick_count;
+		ao_data_head = ao_data_ring_next(head);
+		ao_wakeup((void *) &ao_data_head);
+	}
+}
+
+#endif
+
+#if HAS_ACCEL
+accel_t
+ao_data_accel(volatile struct ao_data *packet);
+#endif
+
 #endif /* _AO_DATA_H_ */