X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_data.h;h=b49d6a558db2b3b2eb0e18d6c950f42f5e4e04b5;hb=d80c1317f596f73d192e6fbb33c3579d54802182;hp=43bd0e21a235a822d2b1b73b8183cf5592cf0e39;hpb=ee38b3bea20f1e3a73e67aea151f9fc6abdc8483;p=fw%2Faltos diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h index 43bd0e21..b49d6a55 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) @@ -95,10 +102,10 @@ 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) struct ao_data { - uint16_t tick; + AO_TICK_TYPE tick; #if HAS_ADC struct ao_adc adc; #endif @@ -114,10 +121,16 @@ struct ao_data { #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 @@ -132,6 +145,9 @@ struct ao_data { #endif #if HAS_BMX160 struct ao_bmx160_sample bmx160; +#if !HAS_ADXL375 + int16_t z_accel; +#endif #endif }; @@ -166,6 +182,10 @@ 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 @@ -175,39 +195,19 @@ 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) #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 */ @@ -219,8 +219,7 @@ 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)) /* @@ -306,12 +305,12 @@ 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 */ @@ -331,13 +330,11 @@ 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 @@ -352,15 +349,20 @@ typedef int16_t accel_t; #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 @@ -370,9 +372,7 @@ typedef int16_t accel_t; 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 @@ -388,6 +388,7 @@ 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) @@ -395,6 +396,7 @@ 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) { @@ -408,6 +410,18 @@ static inline float ao_convert_accel(int16_t 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 @@ -441,6 +455,18 @@ static inline float ao_convert_accel(int16_t 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 @@ -448,8 +474,8 @@ static inline float ao_convert_accel(int16_t sensor) 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) @@ -476,6 +502,14 @@ 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 @@ -509,6 +543,9 @@ 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 @@ -535,4 +572,9 @@ ao_data_fill(int head) { #endif +#if HAS_ACCEL +accel_t +ao_data_accel(volatile struct ao_data *packet); +#endif + #endif /* _AO_DATA_H_ */