#define AO_DATA_MMA655X 0
#endif
+#if HAS_ADXL375
+#include <ao_adxl375.h>
+#define AO_DATA_ADXL375 (1 << 4)
+#else
+#define AO_DATA_ADXL375 0
+#endif
+
+#if HAS_MAX6691
+#include <ao_max6691.h>
+#define AO_DATA_MAX6691 (1 << 4)
+#else
+#define AO_DATA_MAX6691 0
+#endif
+
+#if HAS_BMX160
+#include <ao_bmx160.h>
+#define AO_DATA_BMX160 (1 << 2)
+#else
+#define AO_DATA_BMX160 0
+#endif
+
+#ifndef HAS_SENSOR_ERRORS
+#if HAS_IMU || HAS_MMA655X || HAS_MS5607 || HAS_MS5611
+#define HAS_SENSOR_ERRORS 1
+#endif
+#endif
+
+#if HAS_SENSOR_ERRORS
+extern uint8_t ao_sensor_errors;
+#endif
+
#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)
+#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)
struct ao_data {
uint16_t tick;
#if HAS_MMA655X
uint16_t mma655x;
#endif
+#if HAS_ADXL375
+ struct ao_adxl375_sample adxl375;
+#endif
+#if HAS_MAX6691
+ struct ao_max6691_sample max6691;
+#endif
+#if HAS_ADS131A0X
+ struct ao_ads131a0x_sample ads131a0x;
+#endif
+#if HAS_BMX160
+ struct ao_bmx160_sample bmx160;
+#endif
};
#define ao_data_ring_next(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);
+ao_data_get(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;
+extern volatile struct ao_data ao_data_ring[AO_DATA_RING];
+extern volatile uint8_t ao_data_head;
+extern volatile uint8_t ao_data_present;
+extern volatile uint8_t ao_data_count;
/*
* Mark a section of data as ready, check for data complete
*/
#define AO_DATA_PRESENT(bit) (ao_data_present |= (bit))
+/*
+ * Mark sensor failed, and unblock the sample collection code by
+ * marking the data as present
+ */
+#define AO_SENSOR_ERROR(bit) (ao_data_present |= (ao_sensor_errors |= (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)
+#define AO_DATA_WAIT() ao_sleep((void *) &ao_data_count)
#endif /* AO_DATA_RING */
#endif
-#if !HAS_ACCEL && HAS_MPU6000
+#if !HAS_ACCEL && HAS_ADXL375
#define HAS_ACCEL 1
-#define AO_ACCEL_INVERT 0
+typedef int16_t accel_t;
+
+#ifndef AO_ADXL375_INVERT
+#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))
+#else
+#define ao_data_accel_cook(packet) ao_data_accel(packet)
+#endif
+#define ao_data_set_accel(packet, accel) (ao_data_accel(packet) = (accel))
+#define ao_data_accel_invert(accel) (-(accel))
+
+#endif /* HAS_ADXL375 */
+
+#if !HAS_ACCEL && HAS_MPU6000
+
+#define HAS_ACCEL 1
typedef int16_t accel_t;
/* 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)->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)
+#endif
static inline float ao_convert_gyro(float sensor)
{
#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 */
+
+/* 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) */
+
+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_MAG && HAS_HMC5883
#define HAS_MAG 1
* sensors. Also, the Z axis is flipped in sign.
*/
+#ifndef ao_data_mag_along
#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
+
+#ifdef AO_DATA_RING
+
+static inline void
+ao_data_fill(int head) {
+ if (ao_data_present == AO_DATA_ALL) {
+#if HAS_MS5607
+ ao_data_ring[head].ms5607_raw = ao_ms5607_current;
+#endif
+#if HAS_MMA655X
+ ao_data_ring[head].mma655x = ao_mma655x_current;
+#endif
+#if HAS_HMC5883
+ ao_data_ring[head].hmc5883 = ao_hmc5883_current;
+#endif
+#if HAS_MPU6000
+ ao_data_ring[head].mpu6000 = ao_mpu6000_current;
+#endif
+#if HAS_MPU9250
+ ao_data_ring[head].mpu9250 = ao_mpu9250_current;
+#endif
+#if HAS_ADXL375
+ ao_data_ring[head].adxl375 = ao_adxl375_current;
+#endif
+#if HAS_MAX6691
+ ao_data_ring[head].max6691 = ao_max6691_current;
+#endif
+#if HAS_ADS131A0X
+ ao_data_ring[head].ads131a0x = ao_ads131a0x_current;
+#endif
+ ao_data_ring[head].tick = ao_tick_count;
+ ao_data_head = ao_data_ring_next(head);
+ ao_wakeup((void *) &ao_data_head);
+ }
+}
#endif
projects / fw / altos / blobdiff