X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fcore%2Fao_data.h;h=e1d8a1392acc537b1925de297caecf0afac93c3c;hp=2b9ef5ace922e5f4e5c4809da63d5524a1cf7305;hb=2ecb6a8276b2ce40d2a4da586dbc17581cfda26d;hpb=27ab744c6eec9243b7aa14161eec2fbf7003531e

diff --git a/src/core/ao_data.h b/src/core/ao_data.h
index 2b9ef5ac..e1d8a139 100644
--- a/src/core/ao_data.h
+++ b/src/core/ao_data.h
@@ -18,6 +18,8 @@
 #ifndef _AO_DATA_H_
 #define _AO_DATA_H_
 
+#define GRAVITY 9.80665
+
 #if HAS_ADC
 #define AO_DATA_ADC	(1 << 0)
 #else
@@ -52,6 +54,8 @@
 #define AO_DATA_MMA655X 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)
 
 struct ao_data {
@@ -65,6 +69,9 @@ struct ao_data {
 #endif
 #if HAS_MPU6000
 	struct ao_mpu6000_sample	mpu6000;
+#if !HAS_MMA655X
+	int16_t				z_accel;
+#endif
 #endif
 #if HAS_HMC5883
 	struct ao_hmc5883_sample	hmc5883;
@@ -77,6 +84,10 @@ struct ao_data {
 #define ao_data_ring_next(n)	(((n) + 1) & (AO_DATA_RING - 1))
 #define ao_data_ring_prev(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);
+
 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;
@@ -85,23 +96,18 @@ extern volatile __data uint8_t		ao_data_count;
 /*
  * Mark a section of data as ready, check for data complete
  */
-#define AO_DATA_PRESENT(bit)	do {					\
-		if ((ao_data_present |= (bit)) == AO_DATA_ALL) {	\
-			ao_data_ring[ao_data_head].tick = ao_tick_count; \
-			ao_data_head = ao_data_ring_next(ao_data_head); \
-			ao_data_present = 0;				\
-			ao_wakeup((void *) &ao_data_head);		\
-		}							\
-	} while (0);
+#define AO_DATA_PRESENT(bit)	(ao_data_present |= (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((void *) &ao_data_count);	\
+		ao_sleep(DATA_TO_XDATA ((void *) &ao_data_count));	\
 	} while (0)
 
+#endif /* AO_DATA_RING */
+
 #if !HAS_BARO && HAS_MS5607
 
 /* Either an MS5607 or an MS5611 hooked to a SPI port
@@ -110,7 +116,12 @@ extern volatile __data uint8_t		ao_data_count;
 #define HAS_BARO	1
 
 typedef int32_t	pres_t;
-typedef int32_t alt_t;
+
+#ifndef AO_ALT_TYPE
+#define AO_ALT_TYPE	int32_t
+#endif
+
+typedef AO_ALT_TYPE	alt_t;
 
 #define ao_data_pres_cook(packet)	ao_ms5607_convert(&packet->ms5607_raw, &packet->ms5607_cooked)
 
@@ -135,6 +146,10 @@ typedef int16_t alt_t;
 
 #endif
 
+#if !HAS_BARO
+typedef int16_t alt_t;
+#endif
+
 /*
  * Need a few macros to pull data from the sensors:
  *
@@ -259,7 +274,11 @@ typedef int16_t accel_t;
 /* MMA655X is hooked up so that positive values represent negative acceleration */
 
 #define ao_data_accel(packet)			((packet)->mma655x)
+#if AO_MMA655X_INVERT
+#define ao_data_accel_cook(packet)		(4095 - (packet)->mma655x)
+#else
 #define ao_data_accel_cook(packet)		((packet)->mma655x)
+#endif
 #define ao_data_set_accel(packet, accel)	((packet)->mma655x = (accel))
 #define ao_data_accel_invert(accel)		(4095 - (accel))
 
@@ -272,11 +291,44 @@ 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)->mpu6000.accel_y)
+#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)->mpu6000.accel_y = (accel))
+#define ao_data_set_accel(packet, accel)	((packet)->z_accel = (accel))
 #define ao_data_accel_invert(a)			(-(a))
 
 #endif
 
+#if !HAS_GYRO && HAS_MPU6000
+
+#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) */
+
+#define ao_data_along(packet)	((packet)->mpu6000.accel_y)
+#define ao_data_across(packet)	((packet)->mpu6000.accel_x)
+#define ao_data_through(packet)	((packet)->mpu6000.accel_z)
+
+#define ao_data_roll(packet)	((packet)->mpu6000.gyro_y)
+#define ao_data_pitch(packet)	((packet)->mpu6000.gyro_x)
+#define ao_data_yaw(packet)	((packet)->mpu6000.gyro_z)
+
+#endif
+
+#if !HAS_MAG && HAS_HMC5883
+
+#define HAS_MAG		1
+
+typedef int16_t ao_mag_t;		/* in raw sample units */
+
+#define ao_data_mag_along(packet)	((packet)->hmc5883.x)
+#define ao_data_mag_across(packet)	((packet)->hmc5883.y)
+#define ao_data_mag_through(packet)	((packet)->hmc5883.z)
+
+#endif
+
 #endif /* _AO_DATA_H_ */