X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_sample.c;h=91cf113e3a6ae58880be274bec43653154e485fe;hb=56310df28e96878c463eb2dae2791652606b4b59;hp=9f5082bb9ab4d95e0d201f815ed6812c75006329;hpb=6023ff81f1bbd240169b9548209133d3b02d475f;p=fw%2Faltos diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c index 9f5082bb..91cf113e 100644 --- a/src/kernel/ao_sample.c +++ b/src/kernel/ao_sample.c @@ -35,63 +35,76 @@ #define ACCEL_TYPE int16_t #endif -__pdata uint16_t ao_sample_tick; /* time of last data */ -__pdata pres_t ao_sample_pres; -__pdata alt_t ao_sample_alt; -__pdata alt_t ao_sample_height; +uint16_t ao_sample_tick; /* time of last data */ +#if HAS_BARO +pres_t ao_sample_pres; +alt_t ao_sample_alt; +alt_t ao_sample_height; +#endif #if HAS_ACCEL -__pdata accel_t ao_sample_accel; +accel_t ao_sample_accel; +#endif +#if HAS_IMU +accel_t ao_sample_accel_along; +accel_t ao_sample_accel_across; +accel_t ao_sample_accel_through; #endif #if HAS_GYRO -__pdata accel_t ao_sample_accel_along; -__pdata accel_t ao_sample_accel_across; -__pdata accel_t ao_sample_accel_through; -__pdata gyro_t ao_sample_roll; -__pdata gyro_t ao_sample_pitch; -__pdata gyro_t ao_sample_yaw; -__pdata angle_t ao_sample_orient; -__pdata angle_t ao_sample_orients[AO_NUM_ORIENT]; -__pdata uint8_t ao_sample_orient_pos; +gyro_t ao_sample_roll; +gyro_t ao_sample_pitch; +gyro_t ao_sample_yaw; +angle_t ao_sample_orient; +angle_t ao_sample_orients[AO_NUM_ORIENT]; +uint8_t ao_sample_orient_pos; #endif -__data uint8_t ao_sample_data; +uint8_t ao_sample_data; /* * Sensor calibration values */ -__pdata pres_t ao_ground_pres; /* startup pressure */ -__pdata alt_t ao_ground_height; /* MSL of ao_ground_pres */ +#if HAS_BARO +pres_t ao_ground_pres; /* startup pressure */ +alt_t ao_ground_height; /* MSL of ao_ground_pres */ +#endif #if HAS_ACCEL -__pdata accel_t ao_ground_accel; /* startup acceleration */ -__pdata accel_t ao_accel_2g; /* factory accel calibration */ -__pdata int32_t ao_accel_scale; /* sensor to m/s² conversion */ +accel_t ao_ground_accel; /* startup acceleration */ +accel_t ao_accel_2g; /* factory accel calibration */ +int32_t ao_accel_scale; /* sensor to m/s² conversion */ +#endif + +#if HAS_IMU +accel_t ao_ground_accel_along; +accel_t ao_ground_accel_across; +accel_t ao_ground_accel_through; #endif #if HAS_GYRO -__pdata accel_t ao_ground_accel_along; -__pdata accel_t ao_ground_accel_across; -__pdata accel_t ao_ground_accel_through; -__pdata int32_t ao_ground_pitch; -__pdata int32_t ao_ground_yaw; -__pdata int32_t ao_ground_roll; +int32_t ao_ground_pitch; +int32_t ao_ground_yaw; +int32_t ao_ground_roll; #endif -static __pdata uint8_t ao_preflight; /* in preflight mode */ +static uint8_t ao_preflight; /* in preflight mode */ -static __pdata uint16_t nsamples; -__pdata int32_t ao_sample_pres_sum; +static uint16_t nsamples; +#if HAS_BARO +int32_t ao_sample_pres_sum; +#endif #if HAS_ACCEL -__pdata int32_t ao_sample_accel_sum; +int32_t ao_sample_accel_sum; +#endif +#if HAS_IMU +int32_t ao_sample_accel_along_sum; +int32_t ao_sample_accel_across_sum; +int32_t ao_sample_accel_through_sum; #endif #if HAS_GYRO -__pdata int32_t ao_sample_accel_along_sum; -__pdata int32_t ao_sample_accel_across_sum; -__pdata int32_t ao_sample_accel_through_sum; -__pdata int32_t ao_sample_pitch_sum; -__pdata int32_t ao_sample_yaw_sum; -__pdata int32_t ao_sample_roll_sum; +int32_t ao_sample_pitch_sum; +int32_t ao_sample_yaw_sum; +int32_t ao_sample_roll_sum; static struct ao_quaternion ao_rotation; #endif @@ -105,11 +118,15 @@ ao_sample_preflight_add(void) #if HAS_ACCEL ao_sample_accel_sum += ao_sample_accel; #endif +#if HAS_BARO ao_sample_pres_sum += ao_sample_pres; -#if HAS_GYRO +#endif +#if HAS_IMU ao_sample_accel_along_sum += ao_sample_accel_along; ao_sample_accel_across_sum += ao_sample_accel_across; ao_sample_accel_through_sum += ao_sample_accel_through; +#endif +#if HAS_GYRO ao_sample_pitch_sum += ao_sample_pitch; ao_sample_yaw_sum += ao_sample_yaw; ao_sample_roll_sum += ao_sample_roll; @@ -171,13 +188,18 @@ ao_sample_preflight_set(void) ao_ground_accel = ao_sample_accel_sum >> 9; ao_sample_accel_sum = 0; #endif +#if HAS_BARO ao_ground_pres = ao_sample_pres_sum >> 9; ao_ground_height = pres_to_altitude(ao_ground_pres); ao_sample_pres_sum = 0; -#if HAS_GYRO +#endif +#if HAS_IMU ao_ground_accel_along = ao_sample_accel_along_sum >> 9; ao_ground_accel_across = ao_sample_accel_across_sum >> 9; ao_ground_accel_through = ao_sample_accel_through_sum >> 9; + +#endif +#if HAS_GYRO ao_ground_pitch = ao_sample_pitch_sum; ao_ground_yaw = ao_sample_yaw_sum; ao_ground_roll = ao_sample_roll_sum; @@ -215,7 +237,10 @@ ao_sample_preflight_set(void) ao_quaternion_vectors_to_rotation(&ao_rotation, &up, &orient); #if HAS_FLIGHT_DEBUG if (ao_orient_test) - printf("\n\treset\n"); + printf("\n\treset across %d through %d along %d\n", + (ao_ground_accel_across - ao_config.accel_zero_across), + (ao_ground_accel_through - ao_config.accel_zero_through), + (ao_ground_accel_along - ao_config.accel_zero_along)); #endif ao_sample_compute_orient(); @@ -277,7 +302,7 @@ ao_sample_preflight(void) ao_accel_scale = to_fix_32(GRAVITY * 2 * 16) / ao_accel_2g; #endif ao_sample_preflight_set(); - ao_preflight = FALSE; + ao_preflight = false; } } @@ -324,7 +349,7 @@ ao_sample(void) ao_wakeup(&ao_sample_data); ao_sleep((void *) &ao_data_head); while (ao_sample_data != ao_data_head) { - __xdata struct ao_data *ao_data; + struct ao_data *ao_data; /* Capture a sample */ ao_data = (struct ao_data *) &ao_data_ring[ao_sample_data]; @@ -338,15 +363,14 @@ ao_sample(void) #endif #if HAS_ACCEL - ao_sample_accel = ao_data_accel_cook(ao_data); - if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP) - ao_sample_accel = ao_data_accel_invert(ao_sample_accel); - ao_data_set_accel(ao_data, ao_sample_accel); + ao_sample_accel = ao_data_accel(ao_data); #endif -#if HAS_GYRO +#if HAS_IMU ao_sample_accel_along = ao_data_along(ao_data); ao_sample_accel_across = ao_data_across(ao_data); ao_sample_accel_through = ao_data_through(ao_data); +#endif +#if HAS_GYRO ao_sample_pitch = ao_data_pitch(ao_data); ao_sample_yaw = ao_data_yaw(ao_data); ao_sample_roll = ao_data_roll(ao_data); @@ -375,19 +399,23 @@ ao_sample_init(void) { ao_config_get(); nsamples = 0; +#if HAS_BARO ao_sample_pres_sum = 0; ao_sample_pres = 0; +#endif #if HAS_ACCEL ao_sample_accel_sum = 0; ao_sample_accel = 0; #endif -#if HAS_GYRO +#if HAS_IMU ao_sample_accel_along_sum = 0; ao_sample_accel_across_sum = 0; ao_sample_accel_through_sum = 0; ao_sample_accel_along = 0; ao_sample_accel_across = 0; ao_sample_accel_through = 0; +#endif +#if HAS_GYRO ao_sample_pitch_sum = 0; ao_sample_yaw_sum = 0; ao_sample_roll_sum = 0; @@ -398,5 +426,5 @@ ao_sample_init(void) ao_sample_set_all_orients(); #endif ao_sample_data = ao_data_head; - ao_preflight = TRUE; + ao_preflight = true; }