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 7e2f85d8fb569894c09a75672f57f046df048007..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
@@ -82,6 +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;
@@ -97,7 +103,7 @@ extern volatile __data uint8_t               ao_data_count;
  * 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 */
@@ -267,10 +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
 
@@ -278,6 +290,8 @@ 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 */
@@ -292,8 +306,8 @@ typedef int16_t accel_t;
 
 #define HAS_GYRO       1
 
-typedef int16_t        gyro_t;
-typedef int32_t angle_t;
+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) */
@@ -309,4 +323,16 @@ typedef int32_t angle_t;
 
 #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_ */