Merge remote-tracking branch 'mjb/master'

[fw/altos] / src / core / ao_data.h

diff --git a/src/core/ao_data.h b/src/core/ao_data.h
index bd7e2d54a356ae087981d25f657deead36daf770..3b66ef5d1a598e65e9369d6d7adcb33f10a08eee 100644 (file)
--- a/src/core/ao_data.h
+++ b/src/core/ao_data.h
@@ -18,28 +18,60 @@
 #ifndef _AO_DATA_H_
 #define _AO_DATA_H_
 
+#if HAS_ADC
+#define AO_DATA_ADC    (1 << 0)
+#else
+#define AO_DATA_ADC    0
+#endif
+
 #if HAS_MS5607
 #include <ao_ms5607.h>
+#define AO_DATA_MS5607 (1 << 1)
+#else
+#define AO_DATA_MS5607 (1 << 1)
 #endif
 
 #if HAS_MPU6000
 #include <ao_mpu6000.h>
+#define AO_DATA_MPU6000        (1 << 2)
+#else
+#define AO_DATA_MPU6000        0
+#endif
+
+#if HAS_HMC5883
+#include <ao_hmc5883.h>
+#define AO_DATA_HMC5883        (1 << 3)
+#else
+#define AO_DATA_HMC5883        0
 #endif
 
+#if HAS_MMA655X
+#include <ao_mma655x.h>
+#define AO_DATA_MMA655X (1 << 4)
+#else
+#define AO_DATA_MMA655X 0
+#endif
+
+#define AO_DATA_ALL    (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X)
+
 struct ao_data {
        uint16_t                        tick;
 #if HAS_ADC
        struct ao_adc                   adc;
 #endif
-#if HAS_ACCEL_REF
-       uint16_t                        accel_ref;
-#endif
 #if HAS_MS5607
-       struct ao_ms5607_sample         ms5607;
+       struct ao_ms5607_sample         ms5607_raw;
+       struct ao_ms5607_value          ms5607_cooked;
 #endif
 #if HAS_MPU6000
        struct ao_mpu6000_sample        mpu6000;
 #endif
+#if HAS_HMC5883
+       struct ao_hmc5883_sample        hmc5883;
+#endif
+#if HAS_MMA655X
+       uint16_t                        mma655x;
+#endif
 };
 
 #define ao_data_ring_next(n)   (((n) + 1) & (AO_DATA_RING - 1))
@@ -47,31 +79,53 @@ struct ao_data {
 
 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;
+
+/*
+ * Mark a section of data as ready, check for data complete
+ */
+#define AO_DATA_PRESENT(bit)   do {                                    \
+               if ((ao_data_present |= (bit)) == AO_DATA_ALL) {        \
+                       ao_data_ring[ao_data_head].tick = ao_tick_count; \
+                       ao_data_head = ao_data_ring_next(ao_data_head); \
+                       ao_data_present = 0;                            \
+                       ao_wakeup((void *) &ao_data_head);              \
+               }                                                       \
+       } while (0);
+
+/*
+ * Wait for data to be completed by looking at the
+ * indicated bit
+ */
+#define AO_DATA_WAIT() do {                            \
+               ao_sleep((void *) &ao_data_count);      \
+       } while (0)
+
 
 #if HAS_MS5607
 
 typedef int32_t        pres_t;
 typedef int32_t alt_t;
 
-static inline pres_t ao_data_pres(struct ao_data *packet)
-{
-       struct ao_ms5607_value  value;
+#define ao_data_pres_cook(packet)      ao_ms5607_convert(&packet->ms5607_raw, &packet->ms5607_cooked)
 
-       ao_ms5607_convert(&packet->ms5607, &value);
-       return value.pres;
-}
+#define ao_data_pres(packet)   ((packet)->ms5607_cooked.pres)
+#define ao_data_temp(packet)   ((packet)->ms5607_cooked.temp)
 
 #define pres_to_altitude(p)    ao_pa_to_altitude(p)
 
-#else
+#else /* HAS_MS5607 */
 
 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
+#endif /* else HAS_MS5607 */
 
 /*
  * Need a few macros to pull data from the sensors:
@@ -82,17 +136,17 @@ typedef int16_t alt_t;
  * ao_data_accel_invert        - flip rocket ends for positive acceleration
  */
 
-#if HAS_MPU6000
+#if HAS_MPU6000 && !HAS_HIGHG_ACCEL
 
 typedef int16_t accel_t;
 
 /* MPU6000 is hooked up so that positive y is positive acceleration */
 #define ao_data_accel(packet)                  ((packet)->mpu6000.accel_y)
-#define ao_data_accel_sample(packet)           (-ao_data_accel(packet))
+#define ao_data_accel_cook(packet)             (-(packet)->mpu6000.accel_y)
 #define ao_data_set_accel(packet, accel)       ((packet)->mpu6000.accel_y = (accel))
 #define ao_data_accel_invert(a)                        (-(a))
 
-#else
+#else /* HAS_MPU6000 && !HAS_HIGHG_ACCEL */
 
 typedef int16_t accel_t;
 #define ao_data_accel(packet)                  ((packet)->adc.accel)
@@ -179,13 +233,18 @@ typedef int16_t accel_t;
  * provides 11 bits of data, we haven't actually lost any precision,
  * just dropped a bit of noise off the low end.
  */
+
 #if HAS_ACCEL_REF
-#define ao_data_accel_sample(packet) \
-       ((uint16_t) ((((uint32_t) (packet)->adc.accel << 16) / ((packet)->accel_ref << 1))) >> 1)
+
+#define ao_data_accel_cook(packet) \
+       ((uint16_t) ((((uint32_t) (packet)->adc.accel << 16) / ((packet)->adc.accel_ref << 1))) >> 1)
+
 #else
-#define ao_data_accel(packet) ((packet)->adc.accel)
+
+#define ao_data_accel_cook(packet) ((packet)->adc.accel)
+
 #endif /* HAS_ACCEL_REF */
 
-#endif /* else some other pressure sensor */
+#endif /* else some other accel sensor */
 
 #endif /* _AO_DATA_H_ */