altos: Use 32-bits for flight state data (alt/speed/accel)

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

diff --git a/src/kernel/ao_sample.h b/src/kernel/ao_sample.h
index 16d4c5076774d04ad6adefc70064f1dae43d6626..2ec998bd257adb4a9274447d4111504526c3d829 100644 (file)
--- a/src/kernel/ao_sample.h
+++ b/src/kernel/ao_sample.h
@@ -24,6 +24,24 @@
  * ao_sample.c
  */
 
+#ifndef AO_VALUE_32
+#define AO_VALUE_32    1
+#endif
+
+#if AO_VALUE_32
+/*
+ * For 32-bit computed values, use 64-bit intermediates.
+ */
+typedef int64_t                        ao_k_t;
+typedef int32_t                        ao_v_t;
+#else
+/*
+ * For 16-bit computed values, use 32-bit intermediates.
+ */
+typedef int32_t                        ao_k_t;
+typedef int16_t                        ao_v_t;
+#endif
+
 /*
  * Barometer calibration
  *
@@ -87,9 +105,9 @@
  * 2047m/s² (over 200g)
  */
 
-#define AO_M_TO_HEIGHT(m)      ((int16_t) (m))
-#define AO_MS_TO_SPEED(ms)     ((int16_t) ((ms) * 16))
-#define AO_MSS_TO_ACCEL(mss)   ((int16_t) ((mss) * 16))
+#define AO_M_TO_HEIGHT(m)      ((ao_v_t) (m))
+#define AO_MS_TO_SPEED(ms)     ((ao_v_t) ((ms) * 16))
+#define AO_MSS_TO_ACCEL(mss)   ((ao_v_t) ((mss) * 16))
 
 extern __pdata uint16_t        ao_sample_tick;         /* time of last data */
 extern __data uint8_t  ao_sample_adc;          /* Ring position of last processed sample */
@@ -134,21 +152,33 @@ uint8_t ao_sample(void);
  * ao_kalman.c
  */
 
-#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
-#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
+#define to_fix_16(x) ((int16_t) ((x) * 65536.0 + 0.5))
+#define to_fix_32(x) ((int32_t) ((x) * 65536.0 + 0.5))
+#define to_fix_64(x) ((int64_t) ((x) * 65536.0 + 0.5))
+
+#ifdef AO_VALUE_32
+#if AO_VALUE_32
+#define to_fix_v(x)    to_fix_32(x)
+#define to_fix_k(x)    to_fix_64(x)
+#else
+#define to_fix_v(x)    to_fix_16(x)
+#define to_fix_k(x)    to_fix_32(x)
+#endif
+
 #define from_fix(x)    ((x) >> 16)
 
-extern __pdata int16_t                 ao_height;      /* meters */
-extern __pdata int16_t                 ao_speed;       /* m/s * 16 */
-extern __pdata int16_t                 ao_accel;       /* m/s² * 16 */
-extern __xdata int16_t                 ao_max_height;  /* max of ao_height */
-extern __xdata int16_t                 ao_avg_height;  /* running average of height */
+extern __pdata ao_v_t                  ao_height;      /* meters */
+extern __pdata ao_v_t                  ao_speed;       /* m/s * 16 */
+extern __pdata ao_v_t                  ao_accel;       /* m/s² * 16 */
+extern __xdata ao_v_t                  ao_max_height;  /* max of ao_height */
+extern __xdata ao_v_t                  ao_avg_height;  /* running average of height */
 
-extern __pdata int16_t                 ao_error_h;
-extern __pdata int16_t                 ao_error_h_sq_avg;
+extern __pdata ao_v_t                  ao_error_h;
+extern __pdata ao_v_t                  ao_error_h_sq_avg;
 
 #if HAS_ACCEL
-extern __pdata int16_t                 ao_error_a;
+extern __pdata ao_v_t                  ao_error_a;
+#endif
 #endif
 
 void ao_kalman(void);