#ifndef _AO_DATA_H_
#define _AO_DATA_H_
+#define GRAVITY 9.80665
+
+#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
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;
+#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))
#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;
+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(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
+ */
+
+#define HAS_BARO 1
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;
+#ifndef AO_ALT_TYPE
+#define AO_ALT_TYPE int32_t
+#endif
+
+typedef AO_ALT_TYPE alt_t;
- ao_ms5607_convert(&packet->ms5607, &value);
- return value.pres;
-}
+#define ao_data_pres_cook(packet) ao_ms5607_convert(&packet->ms5607_raw, &packet->ms5607_cooked)
+
+#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
+#endif
+
+#if !HAS_BARO && HAS_ADC
+
+#define HAS_BARO 1
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
+#if !HAS_BARO
+typedef int16_t alt_t;
+#endif
+
/*
* Need a few macros to pull data from the sensors:
*
* ao_data_accel_invert - flip rocket ends for positive acceleration
*/
-#if HAS_MPU6000
-
-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_set_accel(packet, accel) ((packet)->mpu6000.accel_y = (accel))
-#define ao_data_accel_invert(a) (-(a))
+#if HAS_ACCEL
-#else
+/* 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)
* 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 /* 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_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) (AO_ACCEL_INVERT - (accel))
+
+#endif
+
+#if !HAS_ACCEL && HAS_MPU6000
+
+#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)->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
+
+#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_ */
projects / fw / altos / blobdiff