X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Ftest%2Fao_flight_test.c;h=7180f02d2cd4b5dba6ea2df607049e7a71fd404d;hb=fcb801b145e1ae6f1c0b3418a99245d34dbf5aa4;hp=a4ef8dc097c4bb127f6a47f25a9db2fa64c5f177;hpb=aafa8859ecb27383f697b98f6991643b44f4721a;p=fw%2Faltos diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c index a4ef8dc0..7180f02d 100644 --- a/src/test/ao_flight_test.c +++ b/src/test/ao_flight_test.c @@ -35,6 +35,21 @@ #define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16)) #define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16)) +#if MEGAMETRUM +#define AO_ADC_NUM_SENSE 6 +#define HAS_MS5607 1 +#define HAS_MPU6000 1 +#define HAS_MMA655X 1 + +struct ao_adc { + int16_t sense[AO_ADC_NUM_SENSE]; + int16_t v_batt; + int16_t v_pbatt; + int16_t accel_ref; + int16_t accel; + int16_t temp; +}; +#else /* * One set of samples read from the A/D converter */ @@ -48,13 +63,26 @@ struct ao_adc { int16_t sense_m; /* main continuity sense */ }; +#ifndef HAS_ACCEL +#define HAS_ACCEL 1 +#define HAS_ACCEL_REF 0 +#endif + +#endif + #define __pdata #define __data #define __xdata #define __code #define __reentrant +#define HAS_FLIGHT 1 +#define HAS_IGNITE 1 +#define HAS_USB 1 +#define HAS_GPS 1 + #include +#include #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5)) #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5)) @@ -63,7 +91,6 @@ struct ao_adc { /* * Above this height, the baro sensor doesn't work */ -#define AO_MAX_BARO_HEIGHT 12000 #define AO_BARO_SATURATE 13000 #define AO_MIN_BARO_VALUE ao_altitude_to_pres(AO_BARO_SATURATE) @@ -74,19 +101,6 @@ struct ao_adc { #define ACCEL_NOSE_UP (ao_accel_2g >> 2) -enum ao_flight_state { - ao_flight_startup = 0, - ao_flight_idle = 1, - ao_flight_pad = 2, - ao_flight_boost = 3, - ao_flight_fast = 4, - ao_flight_coast = 5, - ao_flight_drogue = 6, - ao_flight_main = 7, - ao_flight_landed = 8, - ao_flight_invalid = 9 -}; - extern enum ao_flight_state ao_flight_state; #define FALSE 0 @@ -181,7 +195,14 @@ struct ao_cmds { #define ao_xmemcmp(d,s,c) memcmp(d,s,c) #define AO_NEED_ALTITUDE_TO_PRES 1 +#if MEGAMETRUM +#include "ao_convert_pa.c" +#include +struct ao_ms5607_prom ms5607_prom; +#include "ao_ms5607_convert.c" +#else #include "ao_convert.c" +#endif struct ao_config { uint16_t main_deploy; @@ -200,27 +221,20 @@ struct ao_config ao_config; #define DATA_TO_XDATA(x) (x) -#define HAS_FLIGHT 1 -#define HAS_IGNITE 1 -#define HAS_ADC 1 -#define HAS_USB 1 -#define HAS_GPS 1 -#ifndef HAS_ACCEL -#define HAS_ACCEL 1 -#define HAS_ACCEL_REF 0 -#endif #define GRAVITY 9.80665 extern int16_t ao_ground_accel, ao_flight_accel; extern int16_t ao_accel_2g; +typedef int16_t accel_t; + extern uint16_t ao_sample_tick; -extern int16_t ao_sample_height; -extern int16_t ao_sample_accel; +extern alt_t ao_sample_height; +extern accel_t ao_sample_accel; extern int32_t ao_accel_scale; -extern int16_t ao_ground_height; -extern int16_t ao_sample_alt; +extern alt_t ao_ground_height; +extern alt_t ao_sample_alt; int ao_sample_prev_tick; uint16_t prev_tick; @@ -246,6 +260,10 @@ static int landed_set; static double landed_time; static double landed_height; +#if HAS_MPU6000 +static struct ao_mpu6000_sample ao_ground_mpu6000; +#endif + void ao_test_exit(void) { @@ -283,6 +301,20 @@ ao_test_exit(void) exit(0); } +#if HAS_MPU6000 +static double +ao_mpu6000_accel(int16_t sensor) +{ + return sensor / 32767.0 * MPU6000_ACCEL_FULLSCALE * GRAVITY; +} + +static double +ao_mpu6000_gyro(int16_t sensor) +{ + return sensor / 32767.0 * MPU6000_GYRO_FULLSCALE; +} +#endif + void ao_insert(void) { @@ -291,9 +323,20 @@ ao_insert(void) 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_data_static.adc.pres_real) - ao_ground_height; - double accel = ((ao_flight_ground_accel - ao_data_static.adc.accel) * GRAVITY * 2.0) / +#if HAS_ACCEL + double accel = ((ao_flight_ground_accel - ao_data_accel_cook(&ao_data_static)) * GRAVITY * 2.0) / (ao_config.accel_minus_g - ao_config.accel_plus_g); +#else + double accel = 0.0; +#endif +#if MEGAMETRUM + 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 if (!tick_offset) tick_offset = -ao_data_static.tick; @@ -325,10 +368,22 @@ ao_insert(void) } if (!ao_summary) { - printf("%7.2f height %8.2f accel %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\n", + printf("%7.2f height %8.2f accel %8.3f " +#if MEGAMETRUM + "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 + "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", time, height, accel, +#if MEGAMETRUM + ao_mpu6000_accel(ao_data_static.mpu6000.accel_x), + ao_mpu6000_accel(ao_data_static.mpu6000.accel_y), + ao_mpu6000_accel(ao_data_static.mpu6000.accel_z), + ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x), + ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y), + ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z), +#endif ao_state_names[ao_flight_state], ao_k_height / 65536.0, ao_k_speed / 65536.0 / 16.0, @@ -467,7 +522,6 @@ union ao_telemetry_all { uint16_t uint16(uint8_t *bytes, int off) { - off++; return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8); } @@ -477,6 +531,22 @@ int16(uint8_t *bytes, int off) return (int16_t) uint16(bytes, off); } +uint32_t +uint32(uint8_t *bytes, int off) +{ + return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) | + (((uint32_t) bytes[off+2]) << 16) | + (((uint32_t) bytes[off+3]) << 24); +} + +int32_t +int32(uint8_t *bytes, int off) +{ + return (int32_t) uint32(bytes, off); +} + +static int log_format; + void ao_sleep(void *wchan) { @@ -495,7 +565,11 @@ ao_sleep(void *wchan) for (;;) { if (ao_records_read > 2 && ao_flight_state == ao_flight_startup) { +#if MEGAMETRUM + ao_data_static.mpu6000 = ao_ground_mpu6000; +#else ao_data_static.adc.accel = ao_flight_ground_accel; +#endif ao_insert(); return; } @@ -517,13 +591,87 @@ ao_sleep(void *wchan) if (words[nword] == NULL) break; } - if (nword == 4) { +#if MEGAMETRUM + if (log_format == AO_LOG_FORMAT_MEGAMETRUM && nword == 30 && 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_ground_accel = int16(bytes, 2); + ao_flight_started = 1; + ao_ground_pres = int32(bytes, 4); + ao_ground_height = ao_pa_to_altitude(ao_ground_pres); + break; + case 'A': + ao_data_static.tick = tick; + ao_data_static.ms5607_raw.pres = int32(bytes, 0); + ao_data_static.ms5607_raw.temp = int32(bytes, 4); + ao_ms5607_convert(&ao_data_static.ms5607_raw, &value); + ao_data_static.mpu6000.accel_x = int16(bytes, 8); + ao_data_static.mpu6000.accel_y = -int16(bytes, 10); + ao_data_static.mpu6000.accel_z = int16(bytes, 12); + ao_data_static.mpu6000.gyro_x = int16(bytes, 14); + ao_data_static.mpu6000.gyro_y = -int16(bytes, 16); + ao_data_static.mpu6000.gyro_z = int16(bytes, 18); +#if HAS_MMA655X + ao_data_static.mma655x = int16(bytes, 26); +#endif + if (ao_records_read == 0) + ao_ground_mpu6000 = ao_data_static.mpu6000; + else if (ao_records_read < 10) { +#define f(f) ao_ground_mpu6000.f = ao_ground_mpu6000.f + ((ao_data_static.mpu6000.f - ao_ground_mpu6000.f) >> 2) + f(accel_x); + f(accel_y); + f(accel_z); + f(gyro_x); + f(gyro_y); + f(gyro_z); + } + ao_records_read++; + ao_insert(); + return; + } + continue; + } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) { + if (strcmp(words[1], "reserved:") == 0) + ms5607_prom.reserved = strtoul(words[2], NULL, 10); + else if (strcmp(words[1], "sens:") == 0) + ms5607_prom.sens = strtoul(words[2], NULL, 10); + else if (strcmp(words[1], "off:") == 0) + ms5607_prom.off = strtoul(words[2], NULL, 10); + else if (strcmp(words[1], "tcs:") == 0) + ms5607_prom.tcs = strtoul(words[2], NULL, 10); + else if (strcmp(words[1], "tco:") == 0) + ms5607_prom.tco = strtoul(words[2], NULL, 10); + else if (strcmp(words[1], "tref:") == 0) + ms5607_prom.tref = strtoul(words[2], NULL, 10); + else if (strcmp(words[1], "tempsens:") == 0) + ms5607_prom.tempsens = strtoul(words[2], NULL, 10); + else if (strcmp(words[1], "crc:") == 0) + ms5607_prom.crc = strtoul(words[2], NULL, 10); + continue; + } +#else + if (nword == 4 && log_format != AO_LOG_FORMAT_MEGAMETRUM) { type = words[0][0]; tick = strtoul(words[1], NULL, 16); a = strtoul(words[2], NULL, 16); b = strtoul(words[3], NULL, 16); if (type == 'P') type = 'A'; + } +#endif + else if (nword == 2 && strcmp(words[0], "log-format") == 0) { + log_format = 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]); @@ -606,22 +754,22 @@ ao_sleep(void *wchan) } } else if (len == 99) { ao_flight_started = 1; - tick = uint16(bytes, 21); - ao_flight_ground_accel = int16(bytes, 7); - ao_config.accel_plus_g = int16(bytes, 17); - ao_config.accel_minus_g = int16(bytes, 19); + tick = uint16(bytes+1, 21); + ao_flight_ground_accel = int16(bytes+1, 7); + ao_config.accel_plus_g = int16(bytes+1, 17); + ao_config.accel_minus_g = int16(bytes+1, 19); type = 'A'; - a = int16(bytes, 23); - b = int16(bytes, 25); + a = int16(bytes+1, 23); + b = int16(bytes+1, 25); } else if (len == 98) { ao_flight_started = 1; - tick = uint16(bytes, 20); - ao_flight_ground_accel = int16(bytes, 6); - ao_config.accel_plus_g = int16(bytes, 16); - ao_config.accel_minus_g = int16(bytes, 18); + tick = uint16(bytes+1, 20); + ao_flight_ground_accel = int16(bytes+1, 6); + ao_config.accel_plus_g = int16(bytes+1, 16); + ao_config.accel_minus_g = int16(bytes+1, 18); type = 'A'; - a = int16(bytes, 22); - b = int16(bytes, 24); + a = int16(bytes+1, 22); + b = int16(bytes+1, 24); } else { printf("unknown len %d\n", len); continue; @@ -630,6 +778,8 @@ ao_sleep(void *wchan) if (type != 'F' && !ao_flight_started) continue; +#if MEGAMETRUM +#else switch (type) { case 'F': ao_flight_ground_accel = a; @@ -665,6 +815,7 @@ ao_sleep(void *wchan) case 'H': break; } +#endif } }