altos/test: Add EasyMini test mode

Use baro-only mode, parse easymini logs.

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/src/test/Makefile b/src/test/Makefile
index a22abe463e1ea50940a3ddb35fb7b123eed91556..a0c2d5feea7658a07e7dc4eb5784135e0d275e5d 100644 (file)
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -1,7 +1,7 @@
 vpath % ..:../kernel:../drivers:../util:../micropeak:../aes:../product:../lisp
 
 PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_flight_test_noisy_accel ao_flight_test_mm \
-       ao_flight_test_metrum \
+       ao_flight_test_metrum ao_flight_test_mini \
        ao_gps_test ao_gps_test_skytraq ao_gps_test_ublox ao_convert_test ao_convert_pa_test ao_fec_test \
        ao_aprs_test ao_micropeak_test ao_fat_test ao_aes_test ao_int64_test \
        ao_ms5607_convert_test ao_quaternion_test ao_lisp_test
@@ -37,6 +37,9 @@ ao_flight_test_mm: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.
 ao_flight_test_metrum: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c ao_pyro.c ao_pyro.h $(INCS)
        cc -DTELEMETRUM_V2=1 $(CFLAGS) -o $@ $< -lm
 
+ao_flight_test_mini: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c ao_pyro.c ao_pyro.h $(INCS)
+       cc -DEASYMINI=1 -DHAS_ACCEL=0 $(CFLAGS) -o $@ $< -lm
+
 ao_gps_test: ao_gps_test.c ao_gps_sirf.c ao_gps_print.c ao_host.h
        cc $(CFLAGS) -o $@ $<
 

diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index 25ddb48fefb6f982a4558eac59c99089e463f1e3..d3d39f2a1b721b92d9327345964bf432c15b205c 100644 (file)
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -46,7 +46,7 @@
 
 int ao_gps_new;
 
-#if !defined(TELEMEGA) && !defined(TELEMETRUM_V2)
+#if !defined(TELEMEGA) && !defined(TELEMETRUM_V2) && !defined(EASYMINI)
 #define TELEMETRUM_V1 1
 #endif
 
@@ -84,6 +84,18 @@ struct ao_adc {
 };
 #endif
 
+#if EASYMINI
+#define AO_ADC_NUM_SENSE       2
+#define HAS_MS5607             1
+#define HAS_BEEP               1
+#define AO_CONFIG_MAX_SIZE     1024
+
+struct ao_adc {
+       int16_t                 sense_a;
+       int16_t                 sense_m;
+       int16_t                 v_batt;
+};
+#endif
 
 #if TELEMETRUM_V1
 /*
@@ -323,7 +335,7 @@ struct ao_cmds {
 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
 
 #define AO_NEED_ALTITUDE_TO_PRES 1
-#if TELEMEGA || TELEMETRUM_V2
+#if TELEMEGA || TELEMETRUM_V2 || EASYMINI
 #include "ao_convert_pa.c"
 #include <ao_ms5607.h>
 struct ao_ms5607_prom  ao_ms5607_prom;
@@ -475,7 +487,7 @@ ao_insert(void)
 #else
                double  accel = 0.0;
 #endif
-#if TELEMEGA || TELEMETRUM_V2
+#if TELEMEGA || TELEMETRUM_V2 || EASYMINI
                double  height;
 
                ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
@@ -670,6 +682,19 @@ int32(uint8_t *bytes, int off)
        return (int32_t) uint32(bytes, off);
 }
 
+uint32_t
+uint24(uint8_t *bytes, int off)
+{
+       return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
+               (((uint32_t) bytes[off+2]) << 16);
+}
+
+int32_t
+int24(uint8_t *bytes, int off)
+{
+       return (int32_t) uint24(bytes, off);
+}
+
 static int log_format;
 
 void
@@ -694,12 +719,14 @@ ao_sleep(void *wchan)
                for (;;) {
                        if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
                        {
+
 #if TELEMEGA
                                ao_data_static.mpu6000 = ao_ground_mpu6000;
 #endif
 #if TELEMETRUM_V1
                                ao_data_static.adc.accel = ao_flight_ground_accel;
 #endif
+
                                ao_insert();
                                return;
                        }
@@ -829,6 +856,72 @@ ao_sleep(void *wchan)
                                }
                        }
 #endif
+#if EASYMINI
+                       if ((log_format == AO_LOG_FORMAT_EASYMINI1 || log_format == AO_LOG_FORMAT_EASYMINI2) && nword == 14 && strlen(words[0]) == 1) {
+                               int     i;
+                               struct ao_ms5607_value  value;
+
+                               type = words[0][0];
+                               tick = strtoul(words[1], NULL, 16);
+//                             printf ("%c %04x", type, tick);
+                               for (i = 2; i < nword; i++) {
+                                       bytes[i - 2] = strtoul(words[i], NULL, 16);
+//                                     printf(" %02x", bytes[i-2]);
+                               }
+//                             printf ("\n");
+                               switch (type) {
+                               case 'F':
+                                       ao_flight_started = 1;
+                                       ao_ground_pres = uint32(bytes, 4);
+                                       ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
+#if 0
+                                       printf("ground pres %d height %d\n", ao_ground_pres, ao_ground_height);
+                                       printf("sens %d off %d tcs %d tco %d tref %d tempsens %d crc %d\n",
+                                              ao_ms5607_prom.sens,
+                                              ao_ms5607_prom.off,
+                                              ao_ms5607_prom.tcs,
+                                              ao_ms5607_prom.tco,
+                                              ao_ms5607_prom.tref,
+                                              ao_ms5607_prom.tempsens,
+                                              ao_ms5607_prom.crc);
+#endif
+                                       break;
+                               case 'A':
+                                       ao_data_static.tick = tick;
+                                       ao_data_static.ms5607_raw.pres = int24(bytes, 0);
+                                       ao_data_static.ms5607_raw.temp = int24(bytes, 3);
+#if 0
+                                       printf("raw pres %d temp %d\n",
+                                              ao_data_static.ms5607_raw.pres,
+                                              ao_data_static.ms5607_raw.temp);
+#endif
+                                       ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
+//                                     printf("pres %d height %d\n", value.pres, ao_pa_to_altitude(value.pres));
+                                       ao_records_read++;
+                                       ao_insert();
+                                       return;
+                               }
+                               continue;
+                       } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
+                               if (strcmp(words[1], "reserved:") == 0)
+                                       ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10);
+                               else if (strcmp(words[1], "sens:") == 0)
+                                       ao_ms5607_prom.sens = strtoul(words[2], NULL, 10);
+                               else if (strcmp(words[1], "off:") == 0)
+                                       ao_ms5607_prom.off = strtoul(words[2], NULL, 10);
+                               else if (strcmp(words[1], "tcs:") == 0)
+                                       ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10);
+                               else if (strcmp(words[1], "tco:") == 0)
+                                       ao_ms5607_prom.tco = strtoul(words[2], NULL, 10);
+                               else if (strcmp(words[1], "tref:") == 0)
+                                       ao_ms5607_prom.tref = strtoul(words[2], NULL, 10);
+                               else if (strcmp(words[1], "tempsens:") == 0)
+                                       ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
+                               else if (strcmp(words[1], "crc:") == 0)
+                                       ao_ms5607_prom.crc = strtoul(words[2], NULL, 10);
+                               continue;
+                       }
+#endif
 #if TELEMETRUM_V2
                        if (log_format == AO_LOG_FORMAT_TELEMETRUM && nword == 14 && strlen(words[0]) == 1) {
                                int     i;
@@ -1007,7 +1100,7 @@ ao_sleep(void *wchan)
                        if (type != 'F' && !ao_flight_started)
                                continue;
 
-#if TELEMEGA || TELEMETRUM_V2
+#if TELEMEGA || TELEMETRUM_V2 || EASYMINI
                        (void) a;
                        (void) b;
 #else