#define _GNU_SOURCE
#include <stdint.h>
+#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>
#include <stddef.h>
#include <math.h>
#define log ao_log_data
+#define AO_TICK_TYPE uint32_t
+#define AO_TICK_SIGNED int32_t
+
+typedef int32_t pres_t;
+#define pres_to_altitude(p) ao_pa_to_altitude(p)
+#define ao_data_pres_cook(packet) ao_ms5607_convert(&packet->ms5607_raw, &packet->ms5607_cooked)
+#define ao_data_pres(packet) ((packet)->ms5607_cooked.pres)
+#define AO_ADC_MAX 4095
+#define AO_PYRO_BATTERY_DIV_PLUS 100
+#define AO_PYRO_BATTERY_DIV_MINUS 27
+#define AO_IGNITE_DIV_PLUS 100
+#define AO_IGNITE_DIV_MINUS 27
+#define AO_ADC_REFERENCE_DV 33
+
#define GRAVITY 9.80665
#define AO_HERTZ 100
int ao_gps_new;
-#if !defined(TELEMEGA) && !defined(TELEMETRUM_V2) && !defined(EASYMINI)
+#if !defined(TELEMEGA) && !defined(TELEMETRUM_V2) && !defined(EASYMINI) && !defined(EASYMOTOR_V_2) && !defined(TELEMEGA_V4)
#define TELEMETRUM_V1 1
#endif
#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
};
#endif
+#if TELEMEGA_V4
+#define AO_ADC_NUM_SENSE 6
+#define HAS_MS5607 1
+#define HAS_BMX160 1
+#define HAS_ADXL375 1
+#define AO_ADXL375_INVERT 1
+#define AO_ADXL375_AXIS x
+#define HAS_BEEP 1
+#define HAS_BARO 1
+#define AO_CONFIG_MAX_SIZE 1024
+
+struct ao_adc {
+ int16_t sense[AO_ADC_NUM_SENSE];
+ int16_t v_batt;
+ int16_t v_pbatt;
+ int16_t temp;
+};
+
+#define ao_data_along(packet) ((packet)->bmx160.acc_x)
+#define ao_data_across(packet) (-(packet)->bmx160.acc_y)
+#define ao_data_through(packet) ((packet)->bmx160.acc_z)
+
+#define ao_data_roll(packet) ((packet)->bmx160.gyr_x)
+#define ao_data_pitch(packet) (-(packet)->bmx160.gyr_y)
+#define ao_data_yaw(packet) ((packet)->bmx160.gyr_z)
+
+#define ao_data_mag_along(packet) ((packet)->bmx160.mag_x)
+#define ao_data_mag_across(packet) ((packet)->bmx160.mag_y)
+#define ao_data_mag_through(packet) ((packet)->bmx160.mag_z)
+
+#define ao_data_set_along(packet,v) ((packet)->bmx160.acc_x = (v))
+#define ao_data_set_across(packet,v) ((packet)->bmx160.acc_y = -(v))
+#define ao_data_set_through(packet,v) ((packet)->bmx160.acc_z = (v))
+
+#define ao_data_set_roll(packet,v) ((packet)->bmx160.gyr_x = (v))
+#define ao_data_set_pitch(packet,v) ((packet)->bmx160.gyr_y = -(v))
+#define ao_data_set_yaw(packet,v) ((packet)->bmx160.gyr_z = (v))
+
+#define ao_data_set_mag_along(packet,v) ((packet)->bmx160.mag_x = (v))
+#define ao_data_set_mag_across(packet,v) ((packet)->bmx160.mag_y = (v))
+#define ao_data_set_mag_through(packet,v) ((packet)->bmx160.mag_z = (v))
+#endif
+
#if TELEMETRUM_V2
#define AO_ADC_NUM_SENSE 2
#define HAS_MS5607 1
#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 {
#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
#define HAS_USB 1
#define HAS_GPS 1
+AO_TICK_TYPE
+ao_time(void);
+
+void
+ao_dump_state(void);
+
+#define ao_tick_count (ao_time())
+#define ao_wakeup(wchan) ao_dump_state()
+
+enum ao_igniter_status {
+ ao_igniter_unknown, /* unknown status (ambiguous voltage) */
+ ao_igniter_ready, /* continuity detected */
+ ao_igniter_active, /* igniter firing */
+ ao_igniter_open, /* open circuit detected */
+};
+
#include <ao_data.h>
#include <ao_log.h>
#include <ao_telemetry.h>
#include <ao_sample.h>
-#if TELEMEGA
+#if TELEMEGA || TELEMEGA_V4
int ao_gps_count;
struct ao_telemetry_location ao_gps_first;
struct ao_telemetry_location ao_gps_prev;
#define ao_led_on(l)
#define ao_led_off(l)
#define ao_timer_set_adc_interval(i)
-#define ao_wakeup(wchan) ao_dump_state()
#define ao_cmd_register(c)
#define ao_usb_disable()
#define ao_telemetry_set_interval(x)
int main_height;
double main_time;
-int tick_offset;
+uint32_t tick_offset;
static ao_k_t ao_k_height;
static double simple_speed;
-int16_t
+AO_TICK_TYPE
ao_time(void)
{
return ao_data_static.tick;
double emulator_error_max = 4;
double emulator_height_error_max = 20; /* noise in the baro sensor */
-void
-ao_dump_state(void);
-
void
ao_sleep(void *wchan);
};
#define AO_NEED_ALTITUDE_TO_PRES 1
-#if TELEMEGA || TELEMETRUM_V2 || EASYMINI
+#if TELEMEGA || TELEMETRUM_V2 || EASYMINI || TELEMEGA_V4
#include "ao_convert_pa.c"
#include <ao_ms5607.h>
struct ao_ms5607_prom ao_ms5607_prom;
#include "ao_ms5607_convert.c"
-#if TELEMEGA
+#if TELEMEGA || TELEMEGA_V4
#define AO_PYRO_NUM 4
#include <ao_pyro.h>
#endif
typedef int16_t accel_t;
uint16_t ao_serial_number;
-int16_t ao_flight_number;
+uint16_t ao_flight_number;
-extern uint16_t ao_sample_tick;
+extern AO_TICK_TYPE 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;
-int ao_sample_prev_tick;
-uint16_t prev_tick;
+AO_TICK_TYPE ao_sample_prev_tick;
+AO_TICK_TYPE prev_tick;
+AO_TICK_TYPE start_tick;
#include "ao_kalman.c"
#include "ao_sqrt.c"
#include "ao_sample.c"
#include "ao_flight.c"
-#if TELEMEGA
+#include "ao_data.c"
+#if TELEMEGA || TELEMEGA_V4
#define AO_PYRO_NUM 4
#define AO_PYRO_0 0
static void
ao_pyro_pin_set(uint8_t pin, uint8_t value)
{
- printf ("set pyro %d %d\n", pin, value);
}
#include "ao_pyro.c"
#if HAS_MPU6000
static struct ao_mpu6000_sample ao_ground_mpu6000;
#endif
+#if HAS_BMX160
+static struct ao_bmx160_sample ao_ground_bmx160;
+#endif
void
ao_test_exit(void)
exit(0);
}
-#ifdef TELEMEGA
+#if TELEMEGA || TELEMEGA_V4
struct ao_azel {
int az;
int el;
#endif
(void) accel;
- if (!tick_offset)
- tick_offset = -ao_data_static.tick;
- if ((prev_tick - ao_data_static.tick) > 0x400)
+ if (!start_tick)
+ start_tick = ao_data_static.tick;
+ if ((AO_TICK_SIGNED) (prev_tick - ao_data_static.tick) > 0x400)
tick_offset += 65536;
if (prev_tick) {
int ticks = ao_data_static.tick - prev_tick;
simple_speed += accel * ticks / 100.0;
}
prev_tick = ao_data_static.tick;
- time = (double) (ao_data_static.tick + tick_offset) / 100;
+ time = (double) (ao_data_static.tick + tick_offset - start_tick) / 100;
-#if TELEMEGA || TELEMETRUM_V2 || EASYMINI
+ double height = 0;
+#if HAS_BARO
+#if TELEMEGA || TELEMETRUM_V2 || EASYMINI || TELEMEGA_V4
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
}
}
#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) {
}
if (!ao_summary) {
-#if TELEMEGA
+#if TELEMEGA || TELEMEGA_V4
static struct ao_quaternion ao_ground_mag;
static int ao_ground_mag_set;
#if 1
printf("%7.2f height %8.2f accel %8.3f accel_speed %8.3f "
"state %d k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d"
-#if TELEMEGA
+#if TELEMEGA || TELEMEGA_V4
" 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 mag_x %8d mag_y %8d, mag_z %8d mag_angle %4d "
+ "avg_accel %8.3f pyro %d inhibited %d"
#endif
"\n",
time,
ao_data_static.hmc5883.x,
ao_data_static.hmc5883.y,
ao_data_static.hmc5883.z,
- ao_mag_angle
+ ao_mag_angle,
+ ao_coast_avg_accel / 16.0,
+ ao_pyro_fired * 10,
+ ao_pyro_inhibited * 10
+#endif
+#if TELEMEGA_V4
+ , ao_sample_orient,
+
+ ao_bmx160_accel(ao_data_static.bmx160.acc_x),
+ ao_bmx160_accel(ao_data_static.bmx160.acc_y),
+ ao_bmx160_accel(ao_data_static.bmx160.acc_z),
+ ao_bmx160_gyro(ao_data_static.bmx160.gyr_x - ao_ground_bmx160.gyr_x),
+ ao_bmx160_gyro(ao_data_static.bmx160.gyr_y - ao_ground_bmx160.gyr_y),
+ ao_bmx160_gyro(ao_data_static.bmx160.gyr_z - ao_ground_bmx160.gyr_z),
+ ao_data_static.bmx160.mag_x,
+ ao_data_static.bmx160.mag_y,
+ ao_data_static.bmx160.mag_z,
+ ao_mag_angle,
+ ao_coast_avg_accel / 16.0,
+ ao_pyro_fired * 10,
+ ao_pyro_inhibited * 10
#endif
);
#endif
ao_sleep(void *wchan)
{
if (wchan == &ao_data_head) {
-#if TELEMEGA
+#if TELEMEGA || TELEMEGA_V4
if (ao_flight_state >= ao_flight_boost && ao_flight_state < ao_flight_landed)
ao_pyro_check();
#endif
#if TELEMEGA
ao_data_static.mpu6000 = ao_ground_mpu6000;
#endif
+#if TELEMEGA_V4
+ ao_data_static.bmx160 = ao_ground_bmx160;
+#endif
#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 || TELEMEGA_V4
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
}
break;
#endif
+#if TELEMEGA_V4
+ 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;
+ ao_ground_pres = log_mega->u.flight.ground_pres;
+ ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
+ ao_ground_accel_along = log_mega->u.flight.ground_accel_along;
+ ao_ground_accel_across = log_mega->u.flight.ground_accel_across;
+ ao_ground_accel_through = log_mega->u.flight.ground_accel_through;
+ ao_ground_roll = log_mega->u.flight.ground_roll;
+ ao_ground_pitch = log_mega->u.flight.ground_pitch;
+ ao_ground_yaw = log_mega->u.flight.ground_yaw;
+ ao_ground_bmx160.acc_x = ao_ground_accel_along;
+ ao_ground_bmx160.acc_y = -ao_ground_accel_across;
+ ao_ground_bmx160.acc_z = ao_ground_accel_through;
+ ao_ground_bmx160.gyr_x = ao_ground_roll >> 9;
+ ao_ground_bmx160.gyr_y = -(ao_ground_pitch >> 9);
+ ao_ground_bmx160.gyr_z = ao_ground_yaw >> 9;
+ break;
+ case AO_LOG_STATE:
+ break;
+ case AO_LOG_SENSOR:
+ ao_data_static.tick = log_mega->tick;
+ ao_data_static.ms5607_raw.pres = log_mega->u.sensor.pres;
+ ao_data_static.ms5607_raw.temp = log_mega->u.sensor.temp;
+ ao_data_set_along(&ao_data_static, log_mega->u.sensor.accel_along);
+ ao_data_set_across(&ao_data_static, log_mega->u.sensor.accel_across);
+ ao_data_set_through(&ao_data_static, log_mega->u.sensor.accel_through);
+ ao_data_set_roll(&ao_data_static, log_mega->u.sensor.gyro_roll);
+ ao_data_set_pitch(&ao_data_static, log_mega->u.sensor.gyro_pitch);
+ ao_data_set_yaw(&ao_data_static, log_mega->u.sensor.gyro_yaw);
+ ao_data_set_mag_along(&ao_data_static, log_mega->u.sensor.mag_along);
+ ao_data_set_mag_across(&ao_data_static, log_mega->u.sensor.mag_across);
+ ao_data_set_mag_through(&ao_data_static, log_mega->u.sensor.mag_through);
+#if AO_ADXL375_INVERT
+ ao_data_static.adxl375.AO_ADXL375_AXIS = ao_data_accel_invert(log_mega->u.sensor.accel);
+#else
+ ao_data_static.adxl375.AO_ADXL375_AXIS = log_mega->u.sensor.accel;
+#endif
+ if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
+ ao_data_static.adxl375.AO_ADXL375_AXIS = ao_data_accel_invert(ao_data_static.adxl375.AO_ADXL375_AXIS);
+ ao_records_read++;
+ ao_insert();
+ return;
+ case AO_LOG_TEMP_VOLT:
+ if (pyros_fired != log_mega->u.volt.pyro) {
+ printf("pyro changed %x -> %x\n", pyros_fired, log_mega->u.volt.pyro);
+ pyros_fired = log_mega->u.volt.pyro;
+ }
+ break;
+ case AO_LOG_GPS_TIME:
+ ao_gps_prev = ao_gps_static;
+ ao_gps_static.tick = log_mega->tick;
+ ao_gps_static.latitude = log_mega->u.gps.latitude;
+ ao_gps_static.longitude = log_mega->u.gps.longitude;
+ {
+ int16_t altitude_low = log_mega->u.gps.altitude_low;
+ int16_t altitude_high = log_mega->u.gps.altitude_high;
+ int32_t altitude = altitude_low | ((int32_t) altitude_high << 16);
+
+ AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_static, altitude);
+ }
+ ao_gps_static.flags = log_mega->u.gps.flags;
+ if (!ao_gps_count)
+ ao_gps_first = ao_gps_static;
+ ao_gps_count++;
+ break;
+ case AO_LOG_GPS_SAT:
+ break;
+ }
+ break;
+#endif
+#ifdef foo_TELEMEGA_V4
+ 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;
+#endif
#if TELEMETRUM_V2
case AO_LOG_FORMAT_TELEMETRUM:
log_metrum = (struct ao_log_metrum *) &eeprom->data[eeprom_offset];
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);
projects / fw / altos / blobdiff