X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_data.h;h=dcd8fc31b8e9a33ee9debadf826bc9a6e6ed3303;hb=3a3fb807394a534b6d44aa089f3b72a95ff9085d;hp=97f7e06e5669943c99266df66c63e497d2a4f6fd;hpb=80affca535c5c43a5d9963dfafc74f9675c9b155;p=fw%2Faltos diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h index 97f7e06e..dcd8fc31 100644 --- a/src/kernel/ao_data.h +++ b/src/kernel/ao_data.h @@ -62,9 +62,40 @@ #define AO_DATA_MMA655X 0 #endif +#if HAS_ADXL375 +#include +#define AO_DATA_ADXL375 (1 << 4) +#else +#define AO_DATA_ADXL375 0 +#endif + +#if HAS_MAX6691 +#include +#define AO_DATA_MAX6691 (1 << 4) +#else +#define AO_DATA_MAX6691 0 +#endif + +#if HAS_BMX160 +#include +#define AO_DATA_BMX160 (1 << 2) +#else +#define AO_DATA_BMX160 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|AO_DATA_MPU9250) +#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) struct ao_data { uint16_t tick; @@ -83,6 +114,9 @@ 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; @@ -90,6 +124,21 @@ struct ao_data { #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 }; #define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1)) @@ -109,6 +158,12 @@ extern volatile uint8_t ao_data_count; */ #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 @@ -139,26 +194,10 @@ typedef AO_ALT_TYPE alt_t; #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 */ @@ -170,8 +209,7 @@ 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)) /* @@ -257,12 +295,12 @@ 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 */ @@ -282,29 +320,49 @@ 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) (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 -#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 @@ -340,6 +398,18 @@ 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 @@ -351,6 +421,7 @@ 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)->mpu9250.accel_y) #define ao_data_across(packet) ((packet)->mpu9250.accel_x) #define ao_data_through(packet) ((packet)->mpu9250.accel_z) @@ -358,6 +429,7 @@ typedef int16_t angle_t; /* in degrees */ #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) { @@ -371,6 +443,41 @@ 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 + +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_MAG && HAS_HMC5883 #define HAS_MAG 1 @@ -394,9 +501,11 @@ typedef int16_t ao_mag_t; /* in raw sample units */ * 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 @@ -419,6 +528,18 @@ ao_data_fill(int head) { #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 ao_data_ring[head].tick = ao_tick_count; ao_data_head = ao_data_ring_next(head); @@ -428,4 +549,9 @@ ao_data_fill(int head) { #endif +#if HAS_ACCEL +accel_t +ao_data_accel(volatile struct ao_data *packet); +#endif + #endif /* _AO_DATA_H_ */