X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao_data.h;h=97f7e06e5669943c99266df66c63e497d2a4f6fd;hp=c4b062fdb1d0f9f4631354ada9b2baa30df9910a;hb=80affca535c5c43a5d9963dfafc74f9675c9b155;hpb=24167015705ae831692b95735968b04a876f935e diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h index c4b062fd..97f7e06e 100644 --- a/src/kernel/ao_data.h +++ b/src/kernel/ao_data.h @@ -3,7 +3,8 @@ * * 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 @@ -40,6 +41,13 @@ #define AO_DATA_MPU6000 0 #endif +#if HAS_MPU9250 +#include +#define AO_DATA_MPU9250 (1 << 2) +#else +#define AO_DATA_MPU9250 0 +#endif + #if HAS_HMC5883 #include #define AO_DATA_HMC5883 (1 << 3) @@ -56,7 +64,7 @@ #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) struct ao_data { uint16_t tick; @@ -73,6 +81,9 @@ struct ao_data { int16_t z_accel; #endif #endif +#if HAS_MPU9250 + struct ao_mpu9250_sample mpu9250; +#endif #if HAS_HMC5883 struct ao_hmc5883_sample hmc5883; #endif @@ -86,12 +97,12 @@ 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 @@ -102,9 +113,7 @@ 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 */ @@ -117,9 +126,7 @@ extern volatile __data uint8_t ao_data_count; typedef int32_t pres_t; -#ifndef AO_ALT_TYPE #define AO_ALT_TYPE int32_t -#endif typedef AO_ALT_TYPE alt_t; @@ -146,10 +153,6 @@ 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: * @@ -275,6 +278,10 @@ typedef int16_t accel_t; #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) @@ -321,6 +328,47 @@ typedef int16_t angle_t; /* in degrees */ #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) */ + +#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) + +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 @@ -335,4 +383,49 @@ typedef int16_t ao_mag_t; /* in raw sample units */ #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. + */ + +#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 + +#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 + 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_ */