altos: Allow use of ADXL375 as IMU

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

diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h
index 43bd0e21a235a822d2b1b73b8183cf5592cf0e39..dcd8fc31b8e9a33ee9debadf826bc9a6e6ed3303 100644 (file)
--- a/src/kernel/ao_data.h
+++ b/src/kernel/ao_data.h
@@ -114,6 +114,9 @@ struct ao_data {
 #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;
@@ -132,6 +135,9 @@ struct ao_data {
 #endif
 #if HAS_BMX160
        struct ao_bmx160_sample         bmx160;
+#if !HAS_ADXL375
+       int16_t z_accel;
+#endif
 #endif
 };
 
@@ -188,26 +194,10 @@ typedef AO_ALT_TYPE       alt_t;
 
 #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
  */
 
@@ -219,8 +209,7 @@ typedef int16_t alt_t;
  */
 
 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))
 
 /*
@@ -306,12 +295,12 @@ typedef int16_t accel_t;
 
 #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 */
 
@@ -331,13 +320,11 @@ typedef int16_t accel_t;
 #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)              (AO_ACCEL_INVERT - (packet)->mma655x)
 #else
-#define ao_data_accel_cook(packet)             ((packet)->mma655x)
+#define ao_data_accel_raw(packet)              ((packet)->mma655x)
 #endif
-#define ao_data_set_accel(packet, accel)       ((packet)->mma655x = (accel))
 #define ao_data_accel_invert(accel)            (AO_ACCEL_INVERT - (accel))
 
 #endif
@@ -352,15 +339,20 @@ typedef int16_t   accel_t;
 #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
@@ -370,9 +362,7 @@ typedef int16_t     accel_t;
 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
@@ -408,6 +398,18 @@ static inline float ao_convert_accel(int16_t 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
@@ -441,6 +443,18 @@ static inline float ao_convert_accel(int16_t sensor)
 
 #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
@@ -448,8 +462,8 @@ static inline float ao_convert_accel(int16_t sensor)
 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) */
+/* 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)
@@ -535,4 +549,9 @@ ao_data_fill(int head) {
 
 #endif
 
+#if HAS_ACCEL
+accel_t
+ao_data_accel(volatile struct ao_data *packet);
+#endif
+
 #endif /* _AO_DATA_H_ */