altos: Flip acceleration data consistently for orientation changes

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

diff --git a/src/core/ao_data.h b/src/core/ao_data.h
index 2b9ef5ace922e5f4e5c4809da63d5524a1cf7305..c4b062fdb1d0f9f4631354ada9b2baa30df9910a 100644 (file)
--- a/src/core/ao_data.h
+++ b/src/core/ao_data.h
@@ -18,6 +18,8 @@
 #ifndef _AO_DATA_H_
 #define _AO_DATA_H_
 
+#define GRAVITY 9.80665
+
 #if HAS_ADC
 #define AO_DATA_ADC    (1 << 0)
 #else
@@ -52,6 +54,8 @@
 #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 {
@@ -65,6 +69,9 @@ 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;
@@ -77,6 +84,10 @@ struct ao_data {
 #define ao_data_ring_next(n)   (((n) + 1) & (AO_DATA_RING - 1))
 #define ao_data_ring_prev(n)   (((n) - 1) & (AO_DATA_RING - 1))
 
+/* Get a copy of the last complete sample set */
+void
+ao_data_get(__xdata struct ao_data *packet);
+
 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;
@@ -85,23 +96,18 @@ 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);
+#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);      \
+               ao_sleep(DATA_TO_XDATA ((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
@@ -110,7 +116,12 @@ extern volatile __data uint8_t             ao_data_count;
 #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)
 
@@ -135,6 +146,10 @@ typedef int16_t alt_t;
 
 #endif
 
+#if !HAS_BARO
+typedef int16_t alt_t;
+#endif
+
 /*
  * Need a few macros to pull data from the sensors:
  *
@@ -258,10 +273,16 @@ typedef int16_t accel_t;
 
 /* MMA655X is hooked up so that positive values represent negative acceleration */
 
+#define AO_ACCEL_INVERT                4095
+
 #define ao_data_accel(packet)                  ((packet)->mma655x)
+#if AO_MMA655X_INVERT
+#define ao_data_accel_cook(packet)             (AO_ACCEL_INVERT - (packet)->mma655x)
+#else
 #define ao_data_accel_cook(packet)             ((packet)->mma655x)
+#endif
 #define ao_data_set_accel(packet, accel)       ((packet)->mma655x = (accel))
-#define ao_data_accel_invert(accel)            (4095 - (accel))
+#define ao_data_accel_invert(accel)            (AO_ACCEL_INVERT - (accel))
 
 #endif
 
@@ -269,14 +290,49 @@ typedef int16_t accel_t;
 
 #define HAS_ACCEL      1
 
+#define AO_ACCEL_INVERT                0
+
 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(packet)                  ((packet)->z_accel)
 #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_set_accel(packet, accel)       ((packet)->z_accel = (accel))
 #define ao_data_accel_invert(a)                        (-(a))
 
 #endif
 
+#if !HAS_GYRO && HAS_MPU6000
+
+#define HAS_GYRO       1
+
+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) */
+/* Z axis is aligned perpendicular to the board (through) */
+
+#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)
+
+#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
+
+#if !HAS_MAG && HAS_HMC5883
+
+#define HAS_MAG                1
+
+typedef int16_t ao_mag_t;              /* in raw sample units */
+
+#define ao_data_mag_along(packet)      ((packet)->hmc5883.x)
+#define ao_data_mag_across(packet)     ((packet)->hmc5883.y)
+#define ao_data_mag_through(packet)    ((packet)->hmc5883.z)
+
+#endif
+
 #endif /* _AO_DATA_H_ */