altos: Leave accel data in ring raw; swap for orientation on fetch

Instead of re-writing the acceleration data in the ring to adjust for
pad orientation, just leave it alone and flip it each time it is
fetched. Much simpler this way.

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/src/kernel/ao_data.c b/src/kernel/ao_data.c
index 536ffa2bb295556686a64fc534dccdc9bda27fc3..77cd98e40cdc577bbfd7d998cdfb9f21b1fb5887 100644 (file)
--- a/src/kernel/ao_data.c
+++ b/src/kernel/ao_data.c
@@ -27,11 +27,18 @@ volatile uint8_t            ao_data_present;
 void
 ao_data_get(struct ao_data *packet)
 {
-#if HAS_FLIGHT
-       uint8_t i = ao_data_ring_prev(ao_sample_data);
-#else
        uint8_t i = ao_data_ring_prev(ao_data_head);
-#endif
        memcpy(packet, (void *) &ao_data_ring[i], sizeof (struct ao_data));
 }
 #endif
+
+#if HAS_ACCEL
+accel_t
+ao_data_accel(volatile struct ao_data *packet) {
+       accel_t raw;
+       raw = ao_data_accel_raw(packet);
+       if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
+               raw = ao_data_accel_invert(raw);
+       return raw;
+}
+#endif

diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h
index a22eee87cfe394bb2b879878328b63d282c475ae..b43a1cd498dd636a65c0c59c55bcf7af83090bbb 100644 (file)
--- a/src/kernel/ao_data.h
+++ b/src/kernel/ao_data.h
@@ -197,9 +197,7 @@ typedef AO_ALT_TYPE alt_t;
 /*
  * 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
  */
 
@@ -211,8 +209,7 @@ typedef AO_ALT_TYPE 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))
 
 /*
@@ -298,12 +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 */
 
@@ -323,13 +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
@@ -344,13 +339,11 @@ 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))
 
 #endif /* HAS_ADXL375 */
@@ -362,9 +355,7 @@ 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
@@ -407,9 +398,7 @@ static inline float ao_convert_accel(int16_t sensor)
 typedef int16_t accel_t;
 
 /* MPU9250 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)->mpu9250.accel_y)
-#define ao_data_set_accel(packet, accel)       ((packet)->z_accel = (accel))
+#define ao_data_accel_raw(packet)              (-(packet)->mpu9250.accel_y)
 #define ao_data_accel_invert(a)                        (-(a))
 
 #endif
@@ -453,10 +442,8 @@ static inline float ao_convert_accel(int16_t sensor)
 
 typedef int16_t accel_t;
 
-#define ao_data_accel(packet)                  ((packet)->z_accel)
-#define ao_data_set_accel(packet, accel)       ((packet)->z_accel = (accel))
+#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
@@ -555,4 +542,9 @@ ao_data_fill(int head) {
 
 #endif
 
+#if HAS_ACCEL
+accel_t
+ao_data_accel(volatile struct ao_data *packet);
+#endif
+
 #endif /* _AO_DATA_H_ */

diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index b3e12b19df7579ff50734defc8153fa9247db8d3..391188c52974260f5933d8058bfc51de7ce4f25c 100644 (file)
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -348,10 +348,7 @@ ao_sample(void)
 #endif
 
 #if HAS_ACCEL
-               ao_sample_accel = ao_data_accel_cook(ao_data);
-               if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
-                       ao_sample_accel = ao_data_accel_invert(ao_sample_accel);
-               ao_data_set_accel(ao_data, ao_sample_accel);
+               ao_sample_accel = ao_data_accel(ao_data);
 #endif
 #if HAS_GYRO
                ao_sample_accel_along = ao_data_along(ao_data);