altos: Remove *_TO_DATA macros

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

diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h
index 8f75ad876b612e3cc1480e1fc9aa9fc8024908bd..30616ef065813aefe62f9902d57fb64ee2d7262e 100644 (file)
--- a/src/kernel/ao_data.h
+++ b/src/kernel/ao_data.h
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -40,6 +41,13 @@
 #define AO_DATA_MPU6000        0
 #endif
 
+#if HAS_MPU9250
+#include <ao_mpu9250.h>
+#define AO_DATA_MPU9250        (1 << 2)
+#else
+#define AO_DATA_MPU9250        0
+#endif
+
 #if HAS_HMC5883
 #include <ao_hmc5883.h>
 #define AO_DATA_HMC5883        (1 << 3)
@@ -56,7 +64,7 @@
 
 #ifdef AO_DATA_RING
 
-#define AO_DATA_ALL    (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X)
+#define AO_DATA_ALL    (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X|AO_DATA_MPU9250)
 
 struct ao_data {
        uint16_t                        tick;
@@ -73,6 +81,9 @@ struct ao_data {
        int16_t                         z_accel;
 #endif
 #endif
+#if HAS_MPU9250
+       struct ao_mpu9250_sample        mpu9250;
+#endif
 #if HAS_HMC5883
        struct ao_hmc5883_sample        hmc5883;
 #endif
@@ -102,9 +113,7 @@ extern volatile __data uint8_t              ao_data_count;
  * 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)
+#define AO_DATA_WAIT()                 ao_sleep((void *) &ao_data_count)
 
 #endif /* AO_DATA_RING */
 
@@ -269,6 +278,10 @@ typedef int16_t accel_t;
 
 #define AO_ACCEL_INVERT                4095
 
+#ifndef AO_MMA655X_INVERT
+#error AO_MMA655X_INVERT not defined
+#endif
+
 #define ao_data_accel(packet)                  ((packet)->mma655x)
 #if AO_MMA655X_INVERT
 #define ao_data_accel_cook(packet)             (AO_ACCEL_INVERT - (packet)->mma655x)
@@ -315,6 +328,47 @@ typedef int16_t angle_t;   /* in degrees */
 #define ao_data_pitch(packet)  ((packet)->mpu6000.gyro_x)
 #define ao_data_yaw(packet)    ((packet)->mpu6000.gyro_z)
 
+static inline float ao_convert_gyro(float sensor)
+{
+       return ao_mpu6000_gyro(sensor);
+}
+
+static inline float ao_convert_accel(int16_t sensor)
+{
+       return ao_mpu6000_accel(sensor);
+}
+
+#endif
+
+#if !HAS_GYRO && HAS_MPU9250
+
+#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)->mpu9250.accel_y)
+#define ao_data_across(packet) ((packet)->mpu9250.accel_x)
+#define ao_data_through(packet)        ((packet)->mpu9250.accel_z)
+
+#define ao_data_roll(packet)   ((packet)->mpu9250.gyro_y)
+#define ao_data_pitch(packet)  ((packet)->mpu9250.gyro_x)
+#define ao_data_yaw(packet)    ((packet)->mpu9250.gyro_z)
+
+static inline float ao_convert_gyro(float sensor)
+{
+       return ao_mpu9250_gyro(sensor);
+}
+
+static inline float ao_convert_accel(int16_t sensor)
+{
+       return ao_mpu9250_accel(sensor);
+}
+
 #endif
 
 #if !HAS_MAG && HAS_HMC5883
@@ -329,4 +383,21 @@ typedef int16_t ao_mag_t;          /* in raw sample units */
 
 #endif
 
+#if !HAS_MAG && HAS_MPU9250
+
+#define HAS_MAG                1
+
+typedef int16_t ao_mag_t;              /* in raw sample units */
+
+/* Note that this order is different from the accel and gyro. For some
+ * reason, the mag sensor axes aren't the same as the other two
+ * sensors. Also, the Z axis is flipped in sign.
+ */
+
+#define ao_data_mag_along(packet)      ((packet)->mpu9250.mag_x)
+#define ao_data_mag_across(packet)     ((packet)->mpu9250.mag_y)
+#define ao_data_mag_through(packet)    ((packet)->mpu9250.mag_z)
+
+#endif
+
 #endif /* _AO_DATA_H_ */