X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Ftest%2Fao_flight_test.c;h=d12652b49617126a5d9177877f800c5886f84b4a;hb=6e69377ef31ecff5443177b51d7cd2b084e63523;hp=ff480e2db9fd7ff7890ebbc46f309870c51e9c64;hpb=8be4e3b8faac362665641e98a1df1e1e8a681b7a;p=fw%2Faltos diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c index ff480e2d..d12652b4 100644 --- a/src/test/ao_flight_test.c +++ b/src/test/ao_flight_test.c @@ -19,6 +19,7 @@ #define _GNU_SOURCE #include +#include #include #include #include @@ -47,7 +48,7 @@ int ao_gps_new; -#if !defined(TELEMEGA) && !defined(TELEMETRUM_V2) && !defined(EASYMINI) +#if !defined(TELEMEGA) && !defined(TELEMETRUM_V2) && !defined(EASYMINI) && !defined(EASYMOTOR_V_2) #define TELEMETRUM_V1 1 #endif @@ -58,6 +59,7 @@ int ao_gps_new; #define HAS_MMA655X 1 #define HAS_HMC5883 1 #define HAS_BEEP 1 +#define HAS_BARO 1 #define AO_CONFIG_MAX_SIZE 1024 #define AO_MMA655X_INVERT 0 @@ -75,6 +77,7 @@ struct ao_adc { #define HAS_MMA655X 1 #define AO_MMA655X_INVERT 0 #define HAS_BEEP 1 +#define HAS_BARO 1 #define AO_CONFIG_MAX_SIZE 1024 struct ao_adc { @@ -116,6 +119,26 @@ struct ao_adc { #define HAS_ACCEL 1 #define HAS_ACCEL_REF 0 #endif +#define HAS_BARO 1 + +#endif + +#if EASYMOTOR_V_2 +#define AO_ADC_NUM_SENSE 0 +#define HAS_ADXL375 1 +#define HAS_BEEP 1 +#define AO_CONFIG_MAX_SIZE 1024 +#define USE_ADXL375_IMU 1 +#define AO_ADXL375_INVERT 0 +#define HAS_IMU 1 +#define AO_ADXL375_AXIS x +#define AO_ADXL375_ACROSS_AXIS y +#define AO_ADXL375_THROUGH_AXIS z + +struct ao_adc { + int16_t pressure; + int16_t v_batt; +}; #endif @@ -369,11 +392,15 @@ int16_t ao_flight_number; extern uint16_t ao_sample_tick; +#if HAS_BARO extern alt_t ao_sample_height; +#endif extern accel_t ao_sample_accel; extern int32_t ao_accel_scale; +#if HAS_BARO extern alt_t ao_ground_height; extern alt_t ao_sample_alt; +#endif double ao_sample_qangle; @@ -385,6 +412,7 @@ uint16_t prev_tick; #include "ao_sqrt.c" #include "ao_sample.c" #include "ao_flight.c" +#include "ao_data.c" #if TELEMEGA #define AO_PYRO_NUM 4 @@ -514,9 +542,11 @@ ao_insert(void) prev_tick = ao_data_static.tick; time = (double) (ao_data_static.tick + tick_offset) / 100; + double height = 0; +#if HAS_BARO #if TELEMEGA || TELEMETRUM_V2 || EASYMINI ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked); - double height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height; + height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height; /* Hack to skip baro spike at accidental drogue charge * firing in 2015-09-26-serial-2093-flight-0012.eeprom @@ -532,7 +562,8 @@ ao_insert(void) } } #else - double height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height; + height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height; +#endif #endif if (ao_test_max_height < height) { @@ -752,15 +783,21 @@ ao_sleep(void *wchan) #if TELEMETRUM_V1 ao_data_static.adc.accel = ao_flight_ground_accel; #endif +#if EASYMOTOR_V_2 + ao_data_static.adxl375.AO_ADXL375_AXIS = ao_flight_ground_accel; +#endif ao_insert(); return; } if (eeprom) { -#if TELEMEGA +#if TELEMEGA || EASYMOTOR_V_2 struct ao_log_mega *log_mega; #endif +#if EASYMOTOR_V_2 + struct ao_log_motor *log_motor; +#endif #if TELEMETRUM_V2 struct ao_log_metrum *log_metrum; #endif @@ -928,6 +965,63 @@ ao_sleep(void *wchan) break; } break; +#endif +#if EASYMOTOR_V_2 + case AO_LOG_FORMAT_TELEMEGA_3: + log_mega = (struct ao_log_mega *) &eeprom->data[eeprom_offset]; + eeprom_offset += sizeof (*log_mega); + switch (log_mega->type) { + case AO_LOG_FLIGHT: + ao_flight_number = log_mega->u.flight.flight; + ao_flight_ground_accel = log_mega->u.flight.ground_accel; + ao_flight_started = 1; + break; + case AO_LOG_SENSOR: + ao_data_static.tick = log_mega->tick; + ao_data_static.adxl375.AO_ADXL375_AXIS = -log_mega->u.sensor.accel; + ao_records_read++; + ao_insert(); + return; + } + break; + case AO_LOG_FORMAT_TELEMEGA_4: + log_mega = (struct ao_log_mega *) &eeprom->data[eeprom_offset]; + eeprom_offset += sizeof (*log_mega); + switch (log_mega->type) { + case AO_LOG_FLIGHT: + ao_flight_number = log_mega->u.flight.flight; + ao_flight_ground_accel = log_mega->u.flight.ground_accel; + ao_flight_started = 1; + break; + case AO_LOG_SENSOR: + ao_data_static.tick = log_mega->tick; + ao_data_static.adxl375.AO_ADXL375_AXIS = log_mega->u.sensor.accel; + ao_records_read++; + ao_insert(); + return; + } + break; + case AO_LOG_FORMAT_EASYMOTOR: + log_motor = (struct ao_log_motor *) &eeprom->data[eeprom_offset]; + eeprom_offset += sizeof (*log_motor); + switch (log_motor->type) { + case AO_LOG_FLIGHT: + ao_flight_number = log_motor->u.flight.flight; + ao_flight_ground_accel = log_motor->u.flight.ground_accel; + ao_flight_started = 1; + break; + case AO_LOG_SENSOR: + ao_data_static.tick = log_motor->tick; + ao_data_static.adc.pressure = log_motor->u.sensor.pressure; + ao_data_static.adc.v_batt = log_motor->u.sensor.v_batt; + ao_data_static.adxl375.AO_ADXL375_AXIS = log_motor->u.sensor.accel_along; + ao_data_static.adxl375.AO_ADXL375_ACROSS_AXIS = log_motor->u.sensor.accel_across; + ao_data_static.adxl375.AO_ADXL375_THROUGH_AXIS = log_motor->u.sensor.accel_through; + ao_records_read++; + ao_insert(); + return; + } + break; #endif default: printf ("invalid log format %d\n", log_format);