int ao_gps_new;
-#if !defined(TELEMEGA) && !defined(TELEMETRUM_V2)
+#if !defined(TELEMEGA) && !defined(TELEMETRUM_V2) && !defined(EASYMINI)
#define TELEMETRUM_V1 1
#endif
#define HAS_HMC5883 1
#define HAS_BEEP 1
#define AO_CONFIG_MAX_SIZE 1024
+#define AO_MMA655X_INVERT 0
struct ao_adc {
int16_t sense[AO_ADC_NUM_SENSE];
#define AO_ADC_NUM_SENSE 2
#define HAS_MS5607 1
#define HAS_MMA655X 1
+#define AO_MMA655X_INVERT 0
#define HAS_BEEP 1
#define AO_CONFIG_MAX_SIZE 1024
};
#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
/*
int tick_offset;
static ao_k_t ao_k_height;
+static double simple_speed;
int16_t
ao_time(void)
void
ao_sleep(void *wchan);
-const char const * const ao_state_names[] = {
+const char * const ao_state_names[] = {
"startup", "idle", "pad", "boost", "fast",
"coast", "drogue", "main", "landed", "invalid"
};
#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;
typedef int16_t accel_t;
+uint16_t ao_serial_number;
+uint16_t ao_flight_number;
+
extern uint16_t ao_sample_tick;
extern alt_t ao_sample_height;
#define AO_PYRO_2 2
#define AO_PYRO_3 3
+#define PYRO_DBG 1
+
static void
ao_pyro_pin_set(uint8_t pin, uint8_t value)
{
double time;
ao_data_ring[ao_data_head] = ao_data_static;
- ao_data_head = ao_data_ring_next(ao_data_head);
if (ao_flight_state != ao_flight_startup) {
#if HAS_ACCEL
double accel = ((ao_flight_ground_accel - ao_data_accel_cook(&ao_data_static)) * GRAVITY * 2.0) /
#else
double accel = 0.0;
#endif
-#if TELEMEGA || TELEMETRUM_V2
- double height;
-
- ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
- height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height;
-#else
- double height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
-#endif
(void) accel;
if (!tick_offset)
tick_offset = -ao_data_static.tick;
if ((prev_tick - ao_data_static.tick) > 0x400)
tick_offset += 65536;
+ simple_speed += accel * (ao_data_static.tick - prev_tick) / 100.0;
prev_tick = ao_data_static.tick;
time = (double) (ao_data_static.tick + tick_offset) / 100;
+#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;
+
+ /* Hack to skip baro spike at accidental drogue charge
+ * firing in 2015-09-26-serial-2093-flight-0012.eeprom
+ * so we can test the kalman filter with this data. Just
+ * keep reporting the same baro value across the pressure spike
+ */
+ {
+ static struct ao_ms5607_sample save;
+ if (ao_serial_number == 2093 && ao_flight_number == 12 && 32.5 < time && time < 33.7) {
+ ao_data_ring[ao_data_head].ms5607_raw = save;
+ } else {
+ save = ao_data_static.ms5607_raw;
+ }
+ }
+#else
+ double height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
+#endif
+
if (ao_test_max_height < height) {
ao_test_max_height = height;
ao_test_max_height_time = time;
#endif
#if 1
- printf("%7.2f height %8.2f accel %8.3f "
-#if TELEMEGA && 1
- "angle %5d "
+ printf("%7.2f height %8.2f accel %8.3f accel_speed %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"
+#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 mag_x %8d mag_y %8d, mag_z %8d mag_angle %4d "
#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",
+ "\n",
time,
height,
accel,
-#if TELEMEGA && 1
- ao_sample_orient,
+ simple_speed > -100.0 ? simple_speed : -100.0,
+ ao_state_names[ao_flight_state],
+ ao_k_height / 65536.0,
+ ao_k_speed / 65536.0 / 16.0,
+ ao_k_accel / 65536.0 / 16.0,
+ ao_avg_height,
+ drogue_height,
+ main_height,
+ ao_error_h_sq_avg
+#if TELEMEGA
+ , ao_sample_orient,
ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
ao_data_static.hmc5883.x,
ao_data_static.hmc5883.y,
ao_data_static.hmc5883.z,
- ao_mag_angle,
+ ao_mag_angle
#endif
- ao_state_names[ao_flight_state],
- ao_k_height / 65536.0,
- ao_k_speed / 65536.0 / 16.0,
- ao_k_accel / 65536.0 / 16.0,
- ao_avg_height,
- drogue_height,
- main_height,
- ao_error_h_sq_avg);
+ );
#endif
-
+
// if (ao_flight_state == ao_flight_landed)
// ao_test_exit();
}
}
+ ao_data_head = ao_data_ring_next(ao_data_head);
}
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
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;
}
// printf ("\n");
switch (type) {
case 'F':
+ ao_flight_number = uint16(bytes, 0);
ao_flight_ground_accel = int16(bytes, 2);
ao_flight_started = 1;
ao_ground_pres = int32(bytes, 4);
}
}
#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_flight_number = uint16(bytes, 0);
+ 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;
// printf ("\n");
switch (type) {
case 'F':
+ ao_flight_number = uint16(bytes, 0);
ao_flight_ground_accel = int16(bytes, 2);
ao_flight_started = 1;
ao_ground_pres = int32(bytes, 4);
#endif
else if (nword == 2 && strcmp(words[0], "log-format") == 0) {
log_format = strtoul(words[1], NULL, 10);
+ } else if (nword == 2 && strcmp(words[0], "serial-number") == 0) {
+ ao_serial_number = strtoul(words[1], NULL, 10);
} 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]);
if (type != 'F' && !ao_flight_started)
continue;
-#if TELEMEGA || TELEMETRUM_V2
+#if TELEMEGA || TELEMETRUM_V2 || EASYMINI
(void) a;
(void) b;
#else
switch (type) {
case 'F':
ao_flight_ground_accel = a;
+ ao_flight_number = b;
if (ao_config.accel_plus_g == 0) {
ao_config.accel_plus_g = a;
ao_config.accel_minus_g = a + 530;
projects / fw / altos / blobdiff