From: Keith Packard Date: Sun, 9 Sep 2012 20:46:23 +0000 (-0700) Subject: altos: Clean up flight data definitions X-Git-Tag: 1.1~24 X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=27ab744c6eec9243b7aa14161eec2fbf7003531e altos: Clean up flight data definitions These just shuffle the various definitions of data macros around to make the include files more sensible looking. Signed-off-by: Keith Packard --- diff --git a/src/core/ao_data.h b/src/core/ao_data.h index 5412febe..2b9ef5ac 100644 --- a/src/core/ao_data.h +++ b/src/core/ao_data.h @@ -95,15 +95,19 @@ extern volatile __data uint8_t ao_data_count; } while (0); /* - * Wait for data to be completed by looking at the - * indicated 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); \ } while (0) +#if !HAS_BARO && HAS_MS5607 -#if HAS_MS5607 +/* Either an MS5607 or an MS5611 hooked to a SPI port + */ + +#define HAS_BARO 1 typedef int32_t pres_t; typedef int32_t alt_t; @@ -115,7 +119,11 @@ typedef int32_t alt_t; #define pres_to_altitude(p) ao_pa_to_altitude(p) -#else /* HAS_MS5607 */ +#endif + +#if !HAS_BARO && HAS_ADC + +#define HAS_BARO 1 typedef int16_t pres_t; typedef int16_t alt_t; @@ -125,7 +133,7 @@ typedef int16_t alt_t; #define pres_to_altitude(p) ao_pres_to_altitude(p) #define ao_data_pres_cook(p) -#endif /* else HAS_MS5607 */ +#endif /* * Need a few macros to pull data from the sensors: @@ -136,17 +144,12 @@ typedef int16_t alt_t; * ao_data_accel_invert - flip rocket ends for positive acceleration */ -#if HAS_MPU6000 && !HAS_HIGHG_ACCEL - -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_cook(packet) (-(packet)->mpu6000.accel_y) -#define ao_data_set_accel(packet, accel) ((packet)->mpu6000.accel_y = (accel)) -#define ao_data_accel_invert(a) (-(a)) +#if HAS_ACCEL -#else /* HAS_MPU6000 && !HAS_HIGHG_ACCEL */ +/* This section is for an analog accelerometer hooked to one of the ADC pins. As + * those are 5V parts, this also requires that the 5V supply be hooked to to anothe ADC + * pin so that the both can be measured to correct for changes between the 3.3V and 5V rails + */ typedef int16_t accel_t; #define ao_data_accel(packet) ((packet)->adc.accel) @@ -245,6 +248,35 @@ typedef int16_t accel_t; #endif /* HAS_ACCEL_REF */ -#endif /* else some other accel sensor */ +#endif /* HAS_ACCEL */ + +#if !HAS_ACCEL && HAS_MMA655X + +#define HAS_ACCEL 1 + +typedef int16_t accel_t; + +/* MMA655X is hooked up so that positive values represent negative acceleration */ + +#define ao_data_accel(packet) ((packet)->mma655x) +#define ao_data_accel_cook(packet) ((packet)->mma655x) +#define ao_data_set_accel(packet, accel) ((packet)->mma655x = (accel)) +#define ao_data_accel_invert(accel) (4095 - (accel)) + +#endif + +#if !HAS_ACCEL && HAS_MPU6000 + +#define HAS_ACCEL 1 + +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_cook(packet) (-(packet)->mpu6000.accel_y) +#define ao_data_set_accel(packet, accel) ((packet)->mpu6000.accel_y = (accel)) +#define ao_data_accel_invert(a) (-(a)) + +#endif #endif /* _AO_DATA_H_ */ diff --git a/src/core/ao_sample.c b/src/core/ao_sample.c index 6461def0..985c0940 100644 --- a/src/core/ao_sample.c +++ b/src/core/ao_sample.c @@ -134,10 +134,12 @@ ao_sample(void) ao_data = (struct ao_data *) &ao_data_ring[ao_sample_data]; ao_sample_tick = ao_data->tick; +#if HAS_BARO ao_data_pres_cook(ao_data); ao_sample_pres = ao_data_pres(ao_data); ao_sample_alt = pres_to_altitude(ao_sample_pres); ao_sample_height = ao_sample_alt - ao_ground_height; +#endif #if HAS_ACCEL ao_sample_accel = ao_data_accel_cook(ao_data); diff --git a/src/core/ao_sample.h b/src/core/ao_sample.h index 189b2019..9336bdf9 100644 --- a/src/core/ao_sample.h +++ b/src/core/ao_sample.h @@ -69,7 +69,11 @@ /* * Above this height, the baro sensor doesn't work */ +#if HAS_MS5607 +#define AO_MAX_BARO_HEIGHT 30000 +#else #define AO_MAX_BARO_HEIGHT 12000 +#endif /* * Above this speed, baro measurements are unreliable @@ -90,20 +94,19 @@ #define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16)) extern __pdata uint16_t ao_sample_tick; /* time of last data */ -extern __pdata pres_t ao_sample_pres; /* most recent pressure sensor reading */ -extern __pdata alt_t ao_sample_alt; /* MSL of ao_sample_pres */ -extern __pdata alt_t ao_sample_height; /* AGL of ao_sample_pres */ extern __data uint8_t ao_sample_adc; /* Ring position of last processed sample */ extern __data uint8_t ao_sample_data; /* Ring position of last processed sample */ -#if HAS_ACCEL -extern __pdata accel_t ao_sample_accel; /* most recent accel sensor reading */ -#endif - +#if HAS_BARO +extern __pdata pres_t ao_sample_pres; /* most recent pressure sensor reading */ +extern __pdata alt_t ao_sample_alt; /* MSL of ao_sample_pres */ +extern __pdata alt_t ao_sample_height; /* AGL of ao_sample_pres */ extern __pdata pres_t ao_ground_pres; /* startup pressure */ extern __pdata alt_t ao_ground_height; /* MSL of ao_ground_pres */ +#endif #if HAS_ACCEL +extern __pdata accel_t ao_sample_accel; /* most recent accel sensor reading */ extern __pdata accel_t ao_ground_accel; /* startup acceleration */ extern __pdata accel_t ao_accel_2g; /* factory accel calibration */ extern __pdata int32_t ao_accel_scale; /* sensor to m/s² conversion */ diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c index a4ef8dc0..b9e291ce 100644 --- a/src/test/ao_flight_test.c +++ b/src/test/ao_flight_test.c @@ -54,6 +54,15 @@ struct ao_adc { #define __code #define __reentrant +#define HAS_FLIGHT 1 +#define HAS_IGNITE 1 +#define HAS_USB 1 +#define HAS_GPS 1 +#ifndef HAS_ACCEL +#define HAS_ACCEL 1 +#define HAS_ACCEL_REF 0 +#endif + #include #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5)) @@ -200,24 +209,17 @@ struct ao_config ao_config; #define DATA_TO_XDATA(x) (x) -#define HAS_FLIGHT 1 -#define HAS_IGNITE 1 -#define HAS_ADC 1 -#define HAS_USB 1 -#define HAS_GPS 1 -#ifndef HAS_ACCEL -#define HAS_ACCEL 1 -#define HAS_ACCEL_REF 0 -#endif #define GRAVITY 9.80665 extern int16_t ao_ground_accel, ao_flight_accel; extern int16_t ao_accel_2g; +typedef int16_t accel_t; + extern uint16_t ao_sample_tick; extern int16_t ao_sample_height; -extern int16_t ao_sample_accel; +extern accel_t ao_sample_accel; extern int32_t ao_accel_scale; extern int16_t ao_ground_height; extern int16_t ao_sample_alt;