altos: Use ao_data_accel_invert when changing orientation value

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

diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h
index 88d0e91675a4c7cf61eec8ab454f4fd161e9fe72..abbace8e88981463326d8fbb83593009028ab9d3 100644 (file)
--- a/src/kernel/ao_data.h
+++ b/src/kernel/ao_data.h
@@ -62,9 +62,16 @@
 #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
+
 #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)
 
 struct ao_data {
        uint16_t                        tick;
@@ -90,6 +97,9 @@ struct ao_data {
 #if HAS_MMA655X
        uint16_t                        mma655x;
 #endif
+#if HAS_ADXL375
+       struct ao_adxl375_sample        adxl375;
+#endif
 };
 
 #define ao_data_ring_next(n)   (((n) + 1) & (AO_DATA_RING - 1))
@@ -97,12 +107,12 @@ struct ao_data {
 
 /* 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
@@ -113,9 +123,7 @@ 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 */
 
@@ -295,11 +303,30 @@ typedef int16_t accel_t;
 
 #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;
 
@@ -353,6 +380,7 @@ typedef int16_t angle_t;    /* in degrees */
 /* 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)
@@ -360,6 +388,7 @@ typedef int16_t angle_t;    /* in degrees */
 #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)
 {
@@ -396,9 +425,42 @@ typedef int16_t ao_mag_t;          /* in raw sample units */
  * 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
+               ao_data_ring[head].tick = ao_tick_count;
+               ao_data_head = ao_data_ring_next(head);
+               ao_wakeup((void *) &ao_data_head);
+       }
+}
 
 #endif