X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_data.h;h=988ac4897ecafbb8798ce1e1b5ceb2bf09368144;hb=HEAD;hp=b43a1cd498dd636a65c0c59c55bcf7af83090bbb;hpb=fa30825d015d92bdbc95d2684386beef9fe9dc01;p=fw%2Faltos diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h index b43a1cd4..a6ae6fa8 100644 --- a/src/kernel/ao_data.h +++ b/src/kernel/ao_data.h @@ -55,6 +55,13 @@ #define AO_DATA_HMC5883 0 #endif +#if HAS_MMC5983 +#include +#define AO_DATA_MMC5983 (1 << 3) +#else +#define AO_DATA_MMC5983 0 +#endif + #if HAS_MMA655X #include #define AO_DATA_MMA655X (1 << 4) @@ -83,6 +90,13 @@ #define AO_DATA_BMX160 0 #endif +#if HAS_BMI088 +#include +#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 @@ -95,10 +109,10 @@ extern uint8_t ao_sensor_errors; #ifdef AO_DATA_RING -#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) +#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 @@ -121,6 +135,9 @@ struct ao_data { #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 @@ -139,6 +156,12 @@ struct ao_data { 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)) @@ -172,6 +195,10 @@ extern volatile uint8_t 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 @@ -181,14 +208,10 @@ extern volatile 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) @@ -321,9 +344,9 @@ typedef int16_t accel_t; #endif #if AO_MMA655X_INVERT -#define ao_data_accel_raw(packet) (AO_ACCEL_INVERT - (packet)->mma655x) +#define ao_data_accel_raw(packet) ((accel_t) (AO_ACCEL_INVERT - (packet)->mma655x)) #else -#define ao_data_accel_raw(packet) ((packet)->mma655x) +#define ao_data_accel_raw(packet) ((accel_t) (packet)->mma655x) #endif #define ao_data_accel_invert(accel) (AO_ACCEL_INVERT - (accel)) @@ -346,6 +369,13 @@ typedef int16_t accel_t; #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 @@ -371,6 +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) @@ -378,6 +409,7 @@ 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) { @@ -471,6 +503,41 @@ static inline float ao_convert_accel(int16_t 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 + #if !HAS_MAG && HAS_HMC5883 #define HAS_MAG 1 @@ -483,6 +550,14 @@ 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 @@ -516,6 +591,9 @@ ao_data_fill(int head) { #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 @@ -533,6 +611,9 @@ ao_data_fill(int head) { #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);