diff options
Diffstat (limited to 'src/kernel/ao_sample.h')
| -rw-r--r-- | src/kernel/ao_sample.h | 56 |
1 files changed, 43 insertions, 13 deletions
diff --git a/src/kernel/ao_sample.h b/src/kernel/ao_sample.h index 16d4c507..2ec998bd 100644 --- a/src/kernel/ao_sample.h +++ b/src/kernel/ao_sample.h @@ -24,6 +24,24 @@ * ao_sample.c */ +#ifndef AO_VALUE_32 +#define AO_VALUE_32 1 +#endif + +#if AO_VALUE_32 +/* + * For 32-bit computed values, use 64-bit intermediates. + */ +typedef int64_t ao_k_t; +typedef int32_t ao_v_t; +#else +/* + * For 16-bit computed values, use 32-bit intermediates. + */ +typedef int32_t ao_k_t; +typedef int16_t ao_v_t; +#endif + /* * Barometer calibration * @@ -87,9 +105,9 @@ * 2047m/s² (over 200g) */ -#define AO_M_TO_HEIGHT(m) ((int16_t) (m)) -#define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16)) -#define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16)) +#define AO_M_TO_HEIGHT(m) ((ao_v_t) (m)) +#define AO_MS_TO_SPEED(ms) ((ao_v_t) ((ms) * 16)) +#define AO_MSS_TO_ACCEL(mss) ((ao_v_t) ((mss) * 16)) extern __pdata uint16_t ao_sample_tick; /* time of last data */ extern __data uint8_t ao_sample_adc; /* Ring position of last processed sample */ @@ -134,21 +152,33 @@ uint8_t ao_sample(void); * ao_kalman.c */ -#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5)) -#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5)) +#define to_fix_16(x) ((int16_t) ((x) * 65536.0 + 0.5)) +#define to_fix_32(x) ((int32_t) ((x) * 65536.0 + 0.5)) +#define to_fix_64(x) ((int64_t) ((x) * 65536.0 + 0.5)) + +#ifdef AO_VALUE_32 +#if AO_VALUE_32 +#define to_fix_v(x) to_fix_32(x) +#define to_fix_k(x) to_fix_64(x) +#else +#define to_fix_v(x) to_fix_16(x) +#define to_fix_k(x) to_fix_32(x) +#endif + #define from_fix(x) ((x) >> 16) -extern __pdata int16_t ao_height; /* meters */ -extern __pdata int16_t ao_speed; /* m/s * 16 */ -extern __pdata int16_t ao_accel; /* m/s² * 16 */ -extern __xdata int16_t ao_max_height; /* max of ao_height */ -extern __xdata int16_t ao_avg_height; /* running average of height */ +extern __pdata ao_v_t ao_height; /* meters */ +extern __pdata ao_v_t ao_speed; /* m/s * 16 */ +extern __pdata ao_v_t ao_accel; /* m/s² * 16 */ +extern __xdata ao_v_t ao_max_height; /* max of ao_height */ +extern __xdata ao_v_t ao_avg_height; /* running average of height */ -extern __pdata int16_t ao_error_h; -extern __pdata int16_t ao_error_h_sq_avg; +extern __pdata ao_v_t ao_error_h; +extern __pdata ao_v_t ao_error_h_sq_avg; #if HAS_ACCEL -extern __pdata int16_t ao_error_a; +extern __pdata ao_v_t ao_error_a; +#endif #endif void ao_kalman(void); |