#define AO_HERTZ 100
-#define AO_ADC_RING 64
-#define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1))
-#define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1))
+#define HAS_ADC 1
+#define AO_DATA_RING 64
+#define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1))
+#define ao_data_ring_prev(n) (((n) - 1) & (AO_DATA_RING - 1))
#define AO_M_TO_HEIGHT(m) ((int16_t) (m))
#define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16))
* One set of samples read from the A/D converter
*/
struct ao_adc {
- uint16_t tick; /* tick when the sample was read */
int16_t accel; /* accelerometer */
int16_t pres; /* pressure sensor */
int16_t pres_real; /* unclipped */
#define __code
#define __reentrant
+#include <ao_data.h>
+
#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
#define from_fix(x) ((x) >> 16)
#define FALSE 0
#define TRUE 1
-struct ao_adc ao_adc_ring[AO_ADC_RING];
-uint8_t ao_adc_head;
+volatile struct ao_data ao_data_ring[AO_DATA_RING];
+volatile uint8_t ao_data_head;
int ao_summary = 0;
#define ao_led_on(l)
ao_igniter_main = 1
};
-struct ao_adc ao_adc_static;
+struct ao_data ao_data_static;
int drogue_height;
double drogue_time;
void
ao_ignite(enum ao_igniter igniter)
{
- double time = (double) (ao_adc_static.tick + tick_offset) / 100;
+ double time = (double) (ao_data_static.tick + tick_offset) / 100;
if (igniter == ao_igniter_drogue) {
drogue_time = time;
const char *help;
};
+#define ao_xmemcpy(d,s,c) memcpy(d,s,c)
+#define ao_xmemset(d,v,c) memset(d,v,c)
+#define ao_xmemcmp(d,s,c) memcmp(d,s,c)
+
#include "ao_convert.c"
struct ao_config {
int16_t accel_plus_g;
int16_t accel_minus_g;
uint8_t pad_orientation;
+ uint16_t apogee_lockout;
};
#define AO_PAD_ORIENTATION_ANTENNA_UP 0
uint16_t prev_tick;
#include "ao_kalman.c"
-#include "ao_sample.c"
-#include "ao_flight.c"
+#include "ao_sample_mm.c"
+#include "ao_flight_mm.c"
#define to_double(f) ((f) / 65536.0)
{
double time;
- ao_adc_ring[ao_adc_head] = ao_adc_static;
- ao_adc_head = ao_adc_ring_next(ao_adc_head);
+ 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) {
- double height = ao_pres_to_altitude(ao_adc_static.pres_real) - ao_ground_height;
- double accel = ((ao_flight_ground_accel - ao_adc_static.accel) * GRAVITY * 2.0) /
+ double height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
+ double accel = ((ao_flight_ground_accel - ao_data_static.adc.accel) * GRAVITY * 2.0) /
(ao_config.accel_minus_g - ao_config.accel_plus_g);
if (!tick_offset)
- tick_offset = -ao_adc_static.tick;
- if ((prev_tick - ao_adc_static.tick) > 0x400)
+ tick_offset = -ao_data_static.tick;
+ if ((prev_tick - ao_data_static.tick) > 0x400)
tick_offset += 65536;
- prev_tick = ao_adc_static.tick;
- time = (double) (ao_adc_static.tick + tick_offset) / 100;
+ prev_tick = ao_data_static.tick;
+ time = (double) (ao_data_static.tick + tick_offset) / 100;
if (ao_test_max_height < height) {
ao_test_max_height = height;
void
ao_sleep(void *wchan)
{
- if (wchan == &ao_adc_head) {
+ if (wchan == &ao_data_head) {
char type;
uint16_t tick;
uint16_t a, b;
for (;;) {
if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
{
- ao_adc_static.accel = ao_flight_ground_accel;
+ ao_data_static.adc.accel = ao_flight_ground_accel;
ao_insert();
return;
}
printf ("no more data, exiting simulation\n");
ao_test_exit();
}
- ao_adc_static.tick += 10;
+ ao_data_static.tick += 10;
ao_insert();
return;
}
ao_config.accel_minus_g = atoi(words[5]);
} 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 &&
+ strcmp(words[1], "lockout:") == 0) {
+ ao_config.apogee_lockout = atoi(words[2]);
} else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
tick = atoi(words[10]);
if (!ao_flight_started) {
ao_flight_started = 1;
}
} else if (nword == 2 && strcmp(words[0], "TELEM") == 0) {
- char *hex = words[1];
+ __xdata char *hex = words[1];
char elt[3];
int i, len;
uint8_t sum;
continue;
}
if (len == 36) {
- memcpy(&telem, bytes + 1, 32);
+ ao_xmemcpy(&telem, bytes + 1, 32);
tick = telem.generic.tick;
switch (telem.generic.type) {
case AO_TELEMETRY_SENSOR_TELEMETRUM:
case 'S':
break;
case 'A':
- ao_adc_static.tick = tick;
- ao_adc_static.accel = a;
- ao_adc_static.pres_real = b;
+ ao_data_static.tick = tick;
+ ao_data_static.adc.accel = a;
+ ao_data_static.adc.pres_real = b;
if (b < AO_MIN_BARO_VALUE)
b = AO_MIN_BARO_VALUE;
- ao_adc_static.pres = b;
+ ao_data_static.adc.pres = b;
ao_records_read++;
ao_insert();
return;
case 'T':
- ao_adc_static.tick = tick;
- ao_adc_static.temp = a;
- ao_adc_static.v_batt = b;
+ ao_data_static.tick = tick;
+ ao_data_static.adc.temp = a;
+ ao_data_static.adc.v_batt = b;
break;
case 'D':
case 'G':