diff options
Diffstat (limited to 'src/core/ao_data.h')
| -rw-r--r-- | src/core/ao_data.h | 33 |
1 files changed, 19 insertions, 14 deletions
diff --git a/src/core/ao_data.h b/src/core/ao_data.h index 502df6c9..fdc49ca2 100644 --- a/src/core/ao_data.h +++ b/src/core/ao_data.h @@ -36,7 +36,8 @@ struct ao_data { struct ao_adc adc; #endif #if HAS_MS5607 - struct ao_ms5607_sample ms5607; + struct ao_ms5607_sample ms5607_raw; + struct ao_ms5607_value ms5607_cooked; #endif #if HAS_MPU6000 struct ao_mpu6000_sample mpu6000; @@ -57,25 +58,24 @@ extern volatile __data uint8_t ao_data_head; typedef int32_t pres_t; typedef int32_t alt_t; -static inline pres_t ao_data_pres(struct ao_data *packet) -{ - struct ao_ms5607_value value; +#define ao_data_pres_cook(packet) ao_ms5607_convert(&packet->ms5607_raw, &packet->ms5607_cooked) - ao_ms5607_convert(&packet->ms5607, &value); - return value.pres; -} +#define ao_data_pres(packet) ((packet)->ms5607_cooked.pres) +#define ao_data_temp(packet) ((packet)->ms5607_cooked.temp) #define pres_to_altitude(p) ao_pa_to_altitude(p) -#else +#else /* HAS_MS5607 */ typedef int16_t pres_t; typedef int16_t alt_t; #define ao_data_pres(packet) ((packet)->adc.pres) +#define ao_data_temp(packet) ((packet)->adc.temp) #define pres_to_altitude(p) ao_pres_to_altitude(p) +#define ao_data_pres_cook(p) -#endif +#endif /* else HAS_MS5607 */ /* * Need a few macros to pull data from the sensors: @@ -92,11 +92,11 @@ 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_sample(packet) (-ao_data_accel(packet)) +#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)) -#else +#else /* HAS_MPU6000 && !HAS_HIGHG_ACCEL */ typedef int16_t accel_t; #define ao_data_accel(packet) ((packet)->adc.accel) @@ -183,13 +183,18 @@ typedef int16_t accel_t; * provides 11 bits of data, we haven't actually lost any precision, * just dropped a bit of noise off the low end. */ + #if HAS_ACCEL_REF -#define ao_data_accel_sample(packet) \ + +#define ao_data_accel_cook(packet) \ ((uint16_t) ((((uint32_t) (packet)->adc.accel << 16) / ((packet)->adc.accel_ref << 1))) >> 1) + #else -#define ao_data_accel_sample(packet) ((packet)->adc.accel) + +#define ao_data_accel_cook(packet) ((packet)->adc.accel) + #endif /* HAS_ACCEL_REF */ -#endif /* else some other pressure sensor */ +#endif /* else some other accel sensor */ #endif /* _AO_DATA_H_ */ |