altos: Make sure pa to altitude conversion is done with 32 bits

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

diff --git a/src/core/ao_data.h b/src/core/ao_data.h
index fdc49ca202df0425eb56e75162f8adc86b13e037..6fdd19cb9b7ca88cc72d1b6fd52073cd3ac032a2 100644 (file)
--- a/src/core/ao_data.h
+++ b/src/core/ao_data.h
@@ -18,18 +18,44 @@
 #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 0
 #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
+
+#ifdef AO_DATA_RING
+
+#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
@@ -41,10 +67,16 @@ struct ao_data {
 #endif
 #if HAS_MPU6000
        struct ao_mpu6000_sample        mpu6000;
+#if !HAS_MMA655X
+       int16_t                         z_accel;
+#endif
 #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))
@@ -52,11 +84,38 @@ 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;
 
-#if HAS_MS5607
+/*
+ * Mark a section of data as ready, check for data complete
+ */
+#define AO_DATA_PRESENT(bit)   (ao_data_present |= (bit))
+
+/*
+ * Wait until it is time to write a sensor sample; this is
+ * signaled by the timer tick
+ */
+#define AO_DATA_WAIT() do {                            \
+               ao_sleep((void *) &ao_data_count);      \
+       } while (0)
+
+#endif /* AO_DATA_RING */
+
+#if !HAS_BARO && HAS_MS5607
+
+/* Either an MS5607 or an MS5611 hooked to a SPI port
+ */
+
+#define HAS_BARO       1
 
 typedef int32_t        pres_t;
-typedef int32_t alt_t;
+
+#ifndef AO_ALT_TYPE
+#define AO_ALT_TYPE    int32_t
+#endif
+
+typedef AO_ALT_TYPE    alt_t;
 
 #define ao_data_pres_cook(packet)      ao_ms5607_convert(&packet->ms5607_raw, &packet->ms5607_cooked)
 
@@ -65,7 +124,11 @@ typedef int32_t alt_t;
 
 #define pres_to_altitude(p)    ao_pa_to_altitude(p)
 
-#else /* HAS_MS5607 */
+#endif
+
+#if !HAS_BARO && HAS_ADC
+
+#define HAS_BARO       1
 
 typedef int16_t pres_t;
 typedef int16_t alt_t;
@@ -75,7 +138,11 @@ typedef int16_t alt_t;
 #define pres_to_altitude(p)    ao_pres_to_altitude(p)
 #define ao_data_pres_cook(p)
 
-#endif /* else HAS_MS5607 */
+#endif
+
+#if !HAS_BARO
+typedef int16_t alt_t;
+#endif
 
 /*
  * Need a few macros to pull data from the sensors:
@@ -86,17 +153,12 @@ typedef int16_t alt_t;
  * ao_data_accel_invert        - flip rocket ends for positive acceleration
  */
 
-#if HAS_MPU6000 && !HAS_HIGHG_ACCEL
-
-typedef int16_t accel_t;
+#if HAS_ACCEL
 
-/* MPU6000 is hooked up so that positive y is positive acceleration */
-#define ao_data_accel(packet)                  ((packet)->mpu6000.accel_y)
-#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 /* HAS_MPU6000 && !HAS_HIGHG_ACCEL */
+/* This section is for an analog accelerometer hooked to one of the ADC pins. As
+ * those are 5V parts, this also requires that the 5V supply be hooked to to anothe ADC
+ * pin so that the both can be measured to correct for changes between the 3.3V and 5V rails
+ */
 
 typedef int16_t accel_t;
 #define ao_data_accel(packet)                  ((packet)->adc.accel)
@@ -195,6 +257,35 @@ typedef int16_t accel_t;
 
 #endif /* HAS_ACCEL_REF */
 
-#endif /* else some other accel sensor */
+#endif /* HAS_ACCEL */
+
+#if !HAS_ACCEL && HAS_MMA655X
+
+#define HAS_ACCEL      1
+
+typedef int16_t accel_t;
+
+/* MMA655X is hooked up so that positive values represent negative acceleration */
+
+#define ao_data_accel(packet)                  ((packet)->mma655x)
+#define ao_data_accel_cook(packet)             ((packet)->mma655x)
+#define ao_data_set_accel(packet, accel)       ((packet)->mma655x = (accel))
+#define ao_data_accel_invert(accel)            (4095 - (accel))
+
+#endif
+
+#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_invert(a)                        (-(a))
+
+#endif
 
 #endif /* _AO_DATA_H_ */