#define AO_DATA_HMC5883 0
#endif
+#if HAS_MMC5983
+#include <ao_mmc5983.h>
+#define AO_DATA_MMC5983 (1 << 3)
+#else
+#define AO_DATA_MMC5983 0
+#endif
+
#if HAS_MMA655X
#include <ao_mma655x.h>
#define AO_DATA_MMA655X (1 << 4)
#define AO_DATA_BMX160 0
#endif
+#if HAS_BMI088
+#include <ao_bmi088.h>
+#define AO_DATA_BMI088 (1 << 2)
+#else
+#define AO_DATA_BMI088 0
+#endif
+
#ifndef HAS_SENSOR_ERRORS
#if HAS_IMU || HAS_MMA655X || HAS_MS5607 || HAS_MS5611
#define HAS_SENSOR_ERRORS 1
#ifdef AO_DATA_RING
-#define AO_DATA_ALL (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X|AO_DATA_MPU9250|AO_DATA_ADXL375|AO_DATA_BMX160)
+#define AO_DATA_ALL (AO_DATA_ADC|AO_DATA_MS5607|AO_DATA_MPU6000|AO_DATA_HMC5883|AO_DATA_MMA655X|AO_DATA_MPU9250|AO_DATA_ADXL375|AO_DATA_BMX160|AO_DATA_MMC5983|AO_DATA_BMI088)
struct ao_data {
- uint16_t tick;
+ AO_TICK_TYPE tick;
#if HAS_ADC
struct ao_adc adc;
#endif
#endif
#if HAS_MPU9250
struct ao_mpu9250_sample mpu9250;
+#if !HAS_MMA655X
+ int16_t z_accel;
+#endif
#endif
#if HAS_HMC5883
struct ao_hmc5883_sample hmc5883;
#endif
+#if HAS_MMC5983
+ struct ao_mmc5983_sample mmc5983;
+#endif
#if HAS_MMA655X
uint16_t mma655x;
#endif
#endif
#if HAS_BMX160
struct ao_bmx160_sample bmx160;
+#if !HAS_ADXL375
+ int16_t z_accel;
+#endif
+#endif
+#if HAS_BMI088
+ struct ao_bmi088_sample bmi088;
+#if !HAS_ADXL375
+ int16_t z_accel;
+#endif
#endif
};
#endif /* AO_DATA_RING */
+#define AO_ALT_TYPE int32_t
+
+typedef AO_ALT_TYPE alt_t;
+
#if !HAS_BARO && HAS_MS5607
/* Either an MS5607 or an MS5611 hooked to a SPI port
typedef int32_t pres_t;
-#define AO_ALT_TYPE int32_t
-
-typedef AO_ALT_TYPE alt_t;
-
#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 ao_data_temp(packet) ((int16_t) (packet)->ms5607_cooked.temp)
#define pres_to_altitude(p) ao_pa_to_altitude(p)
#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
-
/*
* Need a few macros to pull data from the sensors:
*
- * ao_data_accel_sample - pull raw sensor and convert to normalized values
- * ao_data_accel - pull normalized value (lives in the same memory)
- * ao_data_set_accel - store normalized value back in the sensor location
+ * ao_data_accel_raw - pull raw sensor
* ao_data_accel_invert - flip rocket ends for positive acceleration
*/
*/
typedef int16_t accel_t;
-#define ao_data_accel(packet) ((packet)->adc.accel)
-#define ao_data_set_accel(packet, a) ((packet)->adc.accel = (a))
+#define ao_data_accel_raw(packet) ((packet)->adc.accel)
#define ao_data_accel_invert(a) (0x7fff -(a))
/*
#if HAS_ACCEL_REF
-#define ao_data_accel_cook(packet) \
+#define ao_data_accel_raw(packet) \
((uint16_t) ((((uint32_t) (packet)->adc.accel << 16) / ((packet)->adc.accel_ref << 1))) >> 1)
#else
-#define ao_data_accel_cook(packet) ((packet)->adc.accel)
+#define ao_data_accel_raw(packet) ((packet)->adc.accel)
#endif /* HAS_ACCEL_REF */
#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)
+#define ao_data_accel_raw(packet) ((accel_t) (AO_ACCEL_INVERT - (packet)->mma655x))
#else
-#define ao_data_accel_cook(packet) ((packet)->mma655x)
+#define ao_data_accel_raw(packet) ((accel_t) (packet)->mma655x)
#endif
-#define ao_data_set_accel(packet, accel) ((packet)->mma655x = (accel))
#define ao_data_accel_invert(accel) (AO_ACCEL_INVERT - (accel))
#endif
#error AO_ADXL375_INVERT not defined
#endif
-#define ao_data_accel(packet) ((packet)->adxl375.AO_ADXL375_AXIS)
#if AO_ADXL375_INVERT
-#define ao_data_accel_cook(packet) (-ao_data_accel(packet))
+#define ao_data_accel_raw(packet) (-(packet)->adxl375.AO_ADXL375_AXIS)
#else
-#define ao_data_accel_cook(packet) ao_data_accel(packet)
+#define ao_data_accel_raw(packet) ((packet)->adxl375.AO_ADXL375_AXIS)
#endif
-#define ao_data_set_accel(packet, accel) (ao_data_accel(packet) = (accel))
#define ao_data_accel_invert(accel) (-(accel))
+#if USE_ADXL375_IMU
+#define ao_data_along(packet) ((packet)->adxl375.AO_ADXL375_AXIS)
+#define ao_data_across(packet) ((packet)->adxl375.AO_ADXL375_ACROSS_AXIS)
+#define ao_data_through(packet) ((packet)->adxl375.z)
+#define ao_data_accel_to_sample(accel) ao_adxl375_accel_to_sample(accel)
+#endif
+
#endif /* HAS_ADXL375 */
#if !HAS_ACCEL && HAS_MPU6000
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_raw(packet) (-(packet)->mpu6000.accel_y)
#define ao_data_accel_invert(a) (-(a))
#endif
/* X axis is aligned in the other board axis (across) */
/* Z axis is aligned perpendicular to the board (through) */
+#ifndef ao_data_along
#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
static inline float ao_convert_gyro(float sensor)
{
#endif
+#if !HAS_ACCEL && HAS_MPU9250
+
+#define HAS_ACCEL 1
+
+typedef int16_t accel_t;
+
+/* MPU9250 is hooked up so that positive y is positive acceleration */
+#define ao_data_accel_raw(packet) (-(packet)->mpu9250.accel_y)
+#define ao_data_accel_invert(a) (-(a))
+
+#endif
+
#if !HAS_GYRO && HAS_MPU9250
#define HAS_GYRO 1
#endif
+#if !HAS_ACCEL && HAS_BMX160
+
+#define HAS_ACCEL 1
+
+typedef int16_t accel_t;
+
+#define ao_data_accel_raw(packet) -ao_data_along(packet)
+#define ao_data_accel_invert(a) (-(a))
+#define ao_data_accel_to_sample(accel) ao_bmx_accel_to_sample(accel)
+
+#endif
+
+#if !HAS_GYRO && HAS_BMX160
+
+#define HAS_GYRO 1
+
+typedef int16_t gyro_t; /* in raw sample units */
+typedef int16_t angle_t; /* in degrees */
+
+/* X axis is aligned with the direction of motion (along) */
+/* Y axis is aligned in the other board axis (across) */
+/* Z axis is aligned perpendicular to the board (through) */
+
+static inline float ao_convert_gyro(float sensor)
+{
+ return ao_bmx160_gyro(sensor);
+}
+
+static inline float ao_convert_accel(int16_t sensor)
+{
+ return ao_bmx160_accel(sensor);
+}
+
+#endif
+
+#if !HAS_ACCEL && HAS_BMI088
+
+#define HAS_ACCEL 1
+
+typedef int16_t accel_t;
+
+#define ao_data_accel_raw(packet) -ao_data_along(packet)
+#define ao_data_accel_invert(a) (-(a))
+#define ao_data_accel_to_sample(accel) ao_bmi_accel_to_sample(accel)
+
+#endif
+
+#if !HAS_GYRO && HAS_BMI088
+
+#define HAS_GYRO 1
+
+typedef int16_t gyro_t; /* in raw sample units */
+typedef int16_t angle_t; /* in degrees */
+
+/* X axis is aligned with the direction of motion (along) */
+/* Y axis is aligned in the other board axis (across) */
+/* Z axis is aligned perpendicular to the board (through) */
+
+static inline float ao_convert_gyro(float sensor)
+{
+ return ao_bmi088_gyro(sensor);
+}
+
+static inline float ao_convert_accel(int16_t sensor)
+{
+ return ao_bmi088_accel(sensor);
+}
+
+#endif
+
#if !HAS_MAG && HAS_HMC5883
#define HAS_MAG 1
#endif
+#if !HAS_MAG && HAS_MMC5983
+
+#define HAS_MAG 1
+
+typedef int16_t ao_mag_t; /* in raw sample units */
+
+#endif
+
#if !HAS_MAG && HAS_MPU9250
#define HAS_MAG 1
#if HAS_HMC5883
ao_data_ring[head].hmc5883 = ao_hmc5883_current;
#endif
+#if HAS_MMC5983
+ ao_data_ring[head].mmc5983 = ao_mmc5983_current;
+#endif
#if HAS_MPU6000
ao_data_ring[head].mpu6000 = ao_mpu6000_current;
#endif
#endif
#if HAS_ADS131A0X
ao_data_ring[head].ads131a0x = ao_ads131a0x_current;
+#endif
+#if HAS_BMX160
+ ao_data_ring[head].bmx160 = ao_bmx160_current;
+#endif
+#if HAS_BMI088
+ ao_data_ring[head].bmi088 = ao_bmi088_current;
#endif
ao_data_ring[head].tick = ao_tick_count;
ao_data_head = ao_data_ring_next(head);
#endif
+#if HAS_ACCEL
+accel_t
+ao_data_accel(volatile struct ao_data *packet);
+#endif
+
#endif /* _AO_DATA_H_ */
projects / fw / altos / blobdiff