#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
+#include <stddef.h>
#include <string.h>
#include <getopt.h>
#include <math.h>
#define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16))
#define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16))
-#if MEGAMETRUM
+#if TELEMEGA
#define AO_ADC_NUM_SENSE 6
#define HAS_MS5607 1
#define HAS_MPU6000 1
static int32_t ao_k_height;
+int16_t
+ao_time(void)
+{
+ return ao_data_static.tick;
+}
+
+void
+ao_delay(int16_t interval)
+{
+ return;
+}
+
void
ao_ignite(enum ao_igniter igniter)
{
#define ao_xmemcmp(d,s,c) memcmp(d,s,c)
#define AO_NEED_ALTITUDE_TO_PRES 1
-#if MEGAMETRUM
+#if TELEMEGA
#include "ao_convert_pa.c"
#include <ao_ms5607.h>
struct ao_ms5607_prom ms5607_prom;
#include "ao_ms5607_convert.c"
+#define AO_PYRO_NUM 4
+#include <ao_pyro.h>
#else
#include "ao_convert.c"
#endif
int16_t accel_minus_g;
uint8_t pad_orientation;
uint16_t apogee_lockout;
+#if TELEMEGA
+ struct ao_pyro pyro[AO_PYRO_NUM]; /* minor version 12 */
+#endif
};
#define AO_PAD_ORIENTATION_ANTENNA_UP 0
#include "ao_sqrt.c"
#include "ao_sample.c"
#include "ao_flight.c"
+#if TELEMEGA
+#define AO_PYRO_NUM 4
+
+#define AO_PYRO_0 0
+#define AO_PYRO_1 1
+#define AO_PYRO_2 2
+#define AO_PYRO_3 3
+
+static void
+ao_pyro_pin_set(uint8_t pin, uint8_t value)
+{
+ printf ("set pyro %d %d\n", pin, value);
+}
+
+#include "ao_pyro.c"
+#endif
#define to_double(f) ((f) / 65536.0)
#else
double accel = 0.0;
#endif
-#if MEGAMETRUM
+#if TELEMEGA
double height;
ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
if (!ao_summary) {
printf("%7.2f height %8.2f accel %8.3f "
-#if MEGAMETRUM
+#if TELEMEGA
"roll %8.3f angle %8.3f qangle %8.3f "
"accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f "
#endif
time,
height,
accel,
-#if MEGAMETRUM
+#if TELEMEGA
ao_mpu6000_gyro(ao_sample_roll_angle) / 100.0,
ao_mpu6000_gyro(ao_sample_angle) / 100.0,
ao_sample_qangle,
static int log_format;
-#if MEGAMETRUM
+#if TELEMEGA
static double
ao_vec_norm(double x, double y, double z)
char *words[64];
int nword;
+#if TELEMEGA
+ if (ao_flight_state >= ao_flight_boost && ao_flight_state < ao_flight_landed)
+ ao_pyro_check();
+#endif
for (;;) {
if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
{
-#if MEGAMETRUM
+#if TELEMEGA
ao_data_static.mpu6000 = ao_ground_mpu6000;
#else
ao_data_static.adc.accel = ao_flight_ground_accel;
if (words[nword] == NULL)
break;
}
-#if MEGAMETRUM
- if (log_format == AO_LOG_FORMAT_MEGAMETRUM && nword == 30 && strlen(words[0]) == 1) {
+#if TELEMEGA
+ if (log_format == AO_LOG_FORMAT_TELEMEGA && nword == 30 && strlen(words[0]) == 1) {
int i;
struct ao_ms5607_value value;
else if (strcmp(words[1], "crc:") == 0)
ms5607_prom.crc = strtoul(words[2], NULL, 10);
continue;
+ } else if (nword >= 3 && strcmp(words[0], "Pyro") == 0) {
+ int p = strtoul(words[1], NULL, 10);
+ int i, j;
+ struct ao_pyro *pyro = &ao_config.pyro[p];
+
+ for (i = 2; i < nword; i++) {
+ for (j = 0; j < NUM_PYRO_VALUES; j++)
+ if (!strcmp (words[2], ao_pyro_values[j].name))
+ break;
+ if (j == NUM_PYRO_VALUES)
+ continue;
+ pyro->flags |= ao_pyro_values[j].flag;
+ if (ao_pyro_values[j].offset != NO_VALUE && i + 1 < nword) {
+ int16_t val = strtoul(words[++i], NULL, 10);
+ *((int16_t *) ((char *) pyro + ao_pyro_values[j].offset)) = val;
+ }
+ }
}
#else
- if (nword == 4 && log_format != AO_LOG_FORMAT_MEGAMETRUM) {
+ if (nword == 4 && log_format != AO_LOG_FORMAT_TELEMEGA) {
type = words[0][0];
tick = strtoul(words[1], NULL, 16);
a = strtoul(words[2], NULL, 16);
if (type != 'F' && !ao_flight_started)
continue;
-#if MEGAMETRUM
+#if TELEMEGA
(void) a;
(void) b;
#else