altos/test: Build ao_flight_test_motor

[fw/altos] / src / test / ao_flight_test.c

diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index ff480e2db9fd7ff7890ebbc46f309870c51e9c64..804f1f94bcc6beba2a029ec8398ba1e27f036fde 100644 (file)
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -47,7 +47,7 @@
 
 int ao_gps_new;
 
-#if !defined(TELEMEGA) && !defined(TELEMETRUM_V2) && !defined(EASYMINI)
+#if !defined(TELEMEGA) && !defined(TELEMETRUM_V2) && !defined(EASYMINI) && !defined(EASYMOTOR_V_2)
 #define TELEMETRUM_V1 1
 #endif
 
@@ -119,6 +119,25 @@ struct ao_adc {
 
 #endif
 
+#if EASYMOTOR_V_2
+#define AO_ADC_NUM_SENSE       0
+#define HAS_ADXL375            1
+#define HAS_BEEP               1
+#define AO_CONFIG_MAX_SIZE     1024
+#define USE_ADXL375_IMU                1
+#define AO_ADXL375_INVERT      0
+#define HAS_IMU                        1
+#define AO_ADXL375_AXIS                x
+#define AO_ADXL375_ACROSS_AXIS y
+#define AO_ADXL375_THROUGH_AXIS        z
+
+struct ao_adc {
+       int16_t                 pressure;
+       int16_t                 v_batt;
+};
+
+#endif
+
 #define const
 
 #define HAS_FLIGHT 1
@@ -369,11 +388,15 @@ int16_t           ao_flight_number;
 
 extern uint16_t        ao_sample_tick;
 
+#if HAS_BARO
 extern alt_t   ao_sample_height;
+#endif
 extern accel_t ao_sample_accel;
 extern int32_t ao_accel_scale;
+#if HAS_BARO
 extern alt_t   ao_ground_height;
 extern alt_t   ao_sample_alt;
+#endif
 
 double ao_sample_qangle;
 
@@ -385,6 +408,7 @@ uint16_t    prev_tick;
 #include "ao_sqrt.c"
 #include "ao_sample.c"
 #include "ao_flight.c"
+#include "ao_data.c"
 #if TELEMEGA
 #define AO_PYRO_NUM    4
 
@@ -514,9 +538,11 @@ ao_insert(void)
                prev_tick = ao_data_static.tick;
                time = (double) (ao_data_static.tick + tick_offset) / 100;
 
+               double height = 0;
+#if HAS_BARO
 #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;
+               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
@@ -532,7 +558,8 @@ ao_insert(void)
                        }
                }
 #else
-               double  height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
+               height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
+#endif
 #endif
 
                if (ao_test_max_height < height) {
@@ -752,15 +779,21 @@ ao_sleep(void *wchan)
 #if TELEMETRUM_V1
                                ao_data_static.adc.accel = ao_flight_ground_accel;
 #endif
+#if EASYMOTOR_V_2
+                               ao_data_static.adxl375.AO_ADXL375_AXIS = ao_flight_ground_accel;
+#endif
 
                                ao_insert();
                                return;
                        }
 
                        if (eeprom) {
-#if TELEMEGA
+#if TELEMEGA || EASYMOTOR_V_2
                                struct ao_log_mega      *log_mega;
 #endif
+#if EASYMOTOR_V_2
+                               struct ao_log_motor     *log_motor;
+#endif
 #if TELEMETRUM_V2
                                struct ao_log_metrum    *log_metrum;
 #endif
@@ -928,6 +961,63 @@ ao_sleep(void *wchan)
                                                break;
                                        }
                                        break;
+#endif
+#if EASYMOTOR_V_2
+                               case AO_LOG_FORMAT_TELEMEGA_3:
+                                       log_mega = (struct ao_log_mega *) &eeprom->data[eeprom_offset];
+                                       eeprom_offset += sizeof (*log_mega);
+                                       switch (log_mega->type) {
+                                       case AO_LOG_FLIGHT:
+                                               ao_flight_number = log_mega->u.flight.flight;
+                                               ao_flight_ground_accel = log_mega->u.flight.ground_accel;
+                                               ao_flight_started = 1;
+                                               break;
+                                       case AO_LOG_SENSOR:
+                                               ao_data_static.tick = log_mega->tick;
+                                               ao_data_static.adxl375.AO_ADXL375_AXIS = -log_mega->u.sensor.accel;
+                                               ao_records_read++;
+                                               ao_insert();
+                                               return;
+                                       }
+                                       break;
+                               case AO_LOG_FORMAT_TELEMEGA_4:
+                                       log_mega = (struct ao_log_mega *) &eeprom->data[eeprom_offset];
+                                       eeprom_offset += sizeof (*log_mega);
+                                       switch (log_mega->type) {
+                                       case AO_LOG_FLIGHT:
+                                               ao_flight_number = log_mega->u.flight.flight;
+                                               ao_flight_ground_accel = log_mega->u.flight.ground_accel;
+                                               ao_flight_started = 1;
+                                               break;
+                                       case AO_LOG_SENSOR:
+                                               ao_data_static.tick = log_mega->tick;
+                                               ao_data_static.adxl375.AO_ADXL375_AXIS = log_mega->u.sensor.accel;
+                                               ao_records_read++;
+                                               ao_insert();
+                                               return;
+                                       }
+                                       break;
+                               case AO_LOG_FORMAT_EASYMOTOR:
+                                       log_motor = (struct ao_log_motor *) &eeprom->data[eeprom_offset];
+                                       eeprom_offset += sizeof (*log_motor);
+                                       switch (log_motor->type) {
+                                       case AO_LOG_FLIGHT:
+                                               ao_flight_number = log_motor->u.flight.flight;
+                                               ao_flight_ground_accel = log_motor->u.flight.ground_accel;
+                                               ao_flight_started = 1;
+                                               break;
+                                       case AO_LOG_SENSOR:
+                                               ao_data_static.tick = log_motor->tick;
+                                               ao_data_static.adc.pressure = log_motor->u.sensor.pressure;
+                                               ao_data_static.adc.v_batt = log_motor->u.sensor.v_batt;
+                                               ao_data_static.adxl375.AO_ADXL375_AXIS = log_motor->u.sensor.accel_along;
+                                               ao_data_static.adxl375.AO_ADXL375_ACROSS_AXIS = log_motor->u.sensor.accel_across;
+                                               ao_data_static.adxl375.AO_ADXL375_THROUGH_AXIS = log_motor->u.sensor.accel_through;
+                                               ao_records_read++;
+                                               ao_insert();
+                                               return;
+                                       }
+                                       break;
 #endif
                                default:
                                        printf ("invalid log format %d\n", log_format);