X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao_data.h;h=abbace8e88981463326d8fbb83593009028ab9d3;hp=8f75ad876b612e3cc1480e1fc9aa9fc8024908bd;hb=df08028ff5dd892dafa667fde1fbf9de43f82fea;hpb=4828be0ca5252ac9cd6061209385dcd6c4c57965 diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h index 8f75ad87..abbace8e 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) @@ -54,9 +62,16 @@ #define AO_DATA_MMA655X 0 #endif +#if HAS_ADXL375 +#include +#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; @@ -73,12 +88,18 @@ 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 #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)) @@ -86,12 +107,12 @@ 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 +123,7 @@ 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 */ @@ -269,6 +288,10 @@ 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) @@ -280,11 +303,30 @@ typedef int16_t accel_t; #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; @@ -315,6 +357,49 @@ 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) */ + +#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 @@ -329,4 +414,54 @@ 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. + */ + +#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_ */