diff options
Diffstat (limited to 'src/kernel/ao_data.h')
| -rw-r--r-- | src/kernel/ao_data.h | 78 |
1 files changed, 69 insertions, 9 deletions
diff --git a/src/kernel/ao_data.h b/src/kernel/ao_data.h index 88d0e916..3918f4e0 100644 --- a/src/kernel/ao_data.h +++ b/src/kernel/ao_data.h @@ -62,9 +62,16 @@ #define AO_DATA_MMA655X 0 #endif +#if HAS_ADXL375 +#include <ao_adxl375.h> +#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|AO_DATA_MPU9250) +#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; @@ -90,6 +97,9 @@ struct ao_data { #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)) @@ -97,12 +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 @@ -113,9 +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 */ @@ -295,6 +303,27 @@ typedef int16_t accel_t; #endif +#if !HAS_ACCEL && HAS_ADXL375 + +#define HAS_ACCEL 1 + +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 @@ -402,4 +431,35 @@ typedef int16_t ao_mag_t; /* in raw sample units */ #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_ */ |