X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Ftest%2Fao_flight_test.c;h=7f18c80e7d3db0551fbedf219073c85b81a7006e;hb=351d53836e201834a2d89773a08ab7c2dab2b2f4;hp=6c0bb4da944f2c8565c98051ff7df8e02bb1ffee;hpb=321d0f68c04a5a9c6ea7874081e6245d44c48bb4;p=fw%2Faltos diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c index 6c0bb4da..7f18c80e 100644 --- a/src/test/ao_flight_test.c +++ b/src/test/ao_flight_test.c @@ -20,10 +20,13 @@ #include #include #include +#include #include #include #include +#define GRAVITY 9.80665 + #define AO_HERTZ 100 #define HAS_ADC 1 @@ -35,11 +38,16 @@ #define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16)) #define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16)) -#if MEGAMETRUM +#define AO_GPS_NEW_DATA 1 +#define AO_GPS_NEW_TRACKING 2 + +int ao_gps_new; + +#if TELEMEGA #define AO_ADC_NUM_SENSE 6 #define HAS_MS5607 1 #define HAS_MPU6000 1 -#define HAS_MMA655X 0 +#define HAS_MMA655X 1 struct ao_adc { int16_t sense[AO_ADC_NUM_SENSE]; @@ -137,6 +145,18 @@ int tick_offset; static int32_t ao_k_height; +int16_t +ao_time(void) +{ + return ao_data_static.tick; +} + +void +ao_delay(int16_t interval) +{ + return; +} + void ao_ignite(enum ao_igniter igniter) { @@ -195,11 +215,13 @@ struct ao_cmds { #define ao_xmemcmp(d,s,c) memcmp(d,s,c) #define AO_NEED_ALTITUDE_TO_PRES 1 -#if MEGAMETRUM +#if TELEMEGA #include "ao_convert_pa.c" #include struct ao_ms5607_prom ms5607_prom; #include "ao_ms5607_convert.c" +#define AO_PYRO_NUM 4 +#include #else #include "ao_convert.c" #endif @@ -210,6 +232,12 @@ struct ao_config { int16_t accel_minus_g; uint8_t pad_orientation; uint16_t apogee_lockout; +#if TELEMEGA + struct ao_pyro pyro[AO_PYRO_NUM]; /* minor version 12 */ + int16_t accel_zero_along; + int16_t accel_zero_across; + int16_t accel_zero_through; +#endif }; #define AO_PAD_ORIENTATION_ANTENNA_UP 0 @@ -222,7 +250,6 @@ struct ao_config ao_config; #define DATA_TO_XDATA(x) (x) -#define GRAVITY 9.80665 extern int16_t ao_ground_accel, ao_flight_accel; extern int16_t ao_accel_2g; @@ -236,12 +263,32 @@ extern int32_t ao_accel_scale; extern alt_t ao_ground_height; extern alt_t ao_sample_alt; +double ao_sample_qangle; + int ao_sample_prev_tick; uint16_t prev_tick; + #include "ao_kalman.c" +#include "ao_sqrt.c" #include "ao_sample.c" #include "ao_flight.c" +#if TELEMEGA +#define AO_PYRO_NUM 4 + +#define AO_PYRO_0 0 +#define AO_PYRO_1 1 +#define AO_PYRO_2 2 +#define AO_PYRO_3 3 + +static void +ao_pyro_pin_set(uint8_t pin, uint8_t value) +{ + printf ("set pyro %d %d\n", pin, value); +} + +#include "ao_pyro.c" +#endif #define to_double(f) ((f) / 65536.0) @@ -260,6 +307,10 @@ static int landed_set; static double landed_time; static double landed_height; +#if HAS_MPU6000 +static struct ao_mpu6000_sample ao_ground_mpu6000; +#endif + void ao_test_exit(void) { @@ -311,7 +362,7 @@ ao_insert(void) #else double accel = 0.0; #endif -#if MEGAMETRUM +#if TELEMEGA double height; ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked); @@ -350,10 +401,26 @@ ao_insert(void) } if (!ao_summary) { - printf("%7.2f height %8.2f accel %8.3f state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d\n", + printf("%7.2f height %8.2f accel %8.3f " +#if TELEMEGA + "angle %5d " +/* "accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f " */ +#endif + "state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d\n", time, height, accel, +#if TELEMEGA + ao_orient, +/* + ao_mpu6000_accel(ao_data_static.mpu6000.accel_x), + ao_mpu6000_accel(ao_data_static.mpu6000.accel_y), + ao_mpu6000_accel(ao_data_static.mpu6000.accel_z), + ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x), + ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y), + ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z), +*/ +#endif ao_state_names[ao_flight_state], ao_k_height / 65536.0, ao_k_speed / 65536.0 / 16.0, @@ -532,10 +599,15 @@ ao_sleep(void *wchan) char *words[64]; int nword; +#if TELEMEGA + if (ao_flight_state >= ao_flight_boost && ao_flight_state < ao_flight_landed) + ao_pyro_check(); +#endif for (;;) { if (ao_records_read > 2 && ao_flight_state == ao_flight_startup) { -#if MEGAMETRUM +#if TELEMEGA + ao_data_static.mpu6000 = ao_ground_mpu6000; #else ao_data_static.adc.accel = ao_flight_ground_accel; #endif @@ -560,8 +632,8 @@ ao_sleep(void *wchan) if (words[nword] == NULL) break; } -#if MEGAMETRUM - if (log_format == AO_LOG_FORMAT_MEGAMETRUM && nword == 30 && strlen(words[0]) == 1) { +#if TELEMEGA + if (log_format == AO_LOG_FORMAT_TELEMEGA && nword == 30 && strlen(words[0]) == 1) { int i; struct ao_ms5607_value value; @@ -585,8 +657,15 @@ ao_sleep(void *wchan) ao_data_static.ms5607_raw.pres = int32(bytes, 0); ao_data_static.ms5607_raw.temp = int32(bytes, 4); ao_ms5607_convert(&ao_data_static.ms5607_raw, &value); - ao_data_set_accel(&ao_data_static, -int16(bytes, 10)); -// printf ("accel %d pres %d\n", ao_data_accel_cook(&ao_data_static), value.pres); + ao_data_static.mpu6000.accel_x = int16(bytes, 8); + ao_data_static.mpu6000.accel_y = -int16(bytes, 10); + ao_data_static.mpu6000.accel_z = int16(bytes, 12); + ao_data_static.mpu6000.gyro_x = int16(bytes, 14); + ao_data_static.mpu6000.gyro_y = -int16(bytes, 16); + ao_data_static.mpu6000.gyro_z = int16(bytes, 18); +#if HAS_MMA655X + ao_data_static.mma655x = int16(bytes, 26); +#endif ao_records_read++; ao_insert(); return; @@ -610,9 +689,26 @@ ao_sleep(void *wchan) else if (strcmp(words[1], "crc:") == 0) ms5607_prom.crc = strtoul(words[2], NULL, 10); continue; + } else if (nword >= 3 && strcmp(words[0], "Pyro") == 0) { + int p = strtoul(words[1], NULL, 10); + int i, j; + struct ao_pyro *pyro = &ao_config.pyro[p]; + + for (i = 2; i < nword; i++) { + for (j = 0; j < NUM_PYRO_VALUES; j++) + if (!strcmp (words[2], ao_pyro_values[j].name)) + break; + if (j == NUM_PYRO_VALUES) + continue; + pyro->flags |= ao_pyro_values[j].flag; + if (ao_pyro_values[j].offset != NO_VALUE && i + 1 < nword) { + int16_t val = strtoul(words[++i], NULL, 10); + *((int16_t *) ((char *) pyro + ao_pyro_values[j].offset)) = val; + } + } } #else - if (nword == 4 && log_format != AO_LOG_FORMAT_MEGAMETRUM) { + if (nword == 4 && log_format != AO_LOG_FORMAT_TELEMEGA) { type = words[0][0]; tick = strtoul(words[1], NULL, 16); a = strtoul(words[2], NULL, 16); @@ -626,6 +722,13 @@ ao_sleep(void *wchan) } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) { ao_config.accel_plus_g = atoi(words[3]); ao_config.accel_minus_g = atoi(words[5]); +#ifdef TELEMEGA + } else if (nword >= 8 && strcmp(words[0], "IMU") == 0) { + ao_config.accel_zero_along = atoi(words[3]); + ao_config.accel_zero_across = atoi(words[5]); + ao_config.accel_zero_through = atoi(words[7]); + printf ("%d %d %d\n", ao_config.accel_zero_along, ao_config.accel_zero_across, ao_config.accel_zero_through); +#endif } else if (nword >= 4 && strcmp(words[0], "Main") == 0) { ao_config.main_deploy = atoi(words[2]); } else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 && @@ -729,7 +832,9 @@ ao_sleep(void *wchan) if (type != 'F' && !ao_flight_started) continue; -#if MEGAMETRUM +#if TELEMEGA + (void) a; + (void) b; #else switch (type) { case 'F':