*
* 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
#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)
#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)
+#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;
int16_t z_accel;
#endif
#endif
+#if HAS_MPU9250
+ struct ao_mpu9250_sample mpu9250;
+#endif
#if HAS_HMC5883
struct ao_hmc5883_sample hmc5883;
#endif
#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))
/* 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
* 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 */
#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)
#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;
#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) */
+
+#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)
+{
+ 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
#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.
+ */
+
+#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
+
#endif /* _AO_DATA_H_ */
projects / fw / altos / blobdiff