altos: Add full MM telemetry

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

diff --git a/src/core/ao_data.h b/src/core/ao_data.h
index 502df6c9e55afd5441fe48b7557218a23887fc2a..fdc49ca202df0425eb56e75162f8adc86b13e037 100644 (file)
--- a/src/core/ao_data.h
+++ b/src/core/ao_data.h
@@ -36,7 +36,8 @@ struct ao_data {
        struct ao_adc                   adc;
 #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;
@@ -57,25 +58,24 @@ extern volatile __data uint8_t              ao_data_head;
 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:
@@ -92,11 +92,11 @@ 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)
@@ -183,13 +183,18 @@ 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) \
+
+#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_sample(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_ */