#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
+#include <stddef.h>
#include <string.h>
#include <getopt.h>
#include <math.h>
+#define GRAVITY 9.80665
+
#define AO_HERTZ 100
#define HAS_ADC 1
#define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16))
#define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16))
+#define AO_GPS_NEW_DATA 1
+#define AO_GPS_NEW_TRACKING 2
+
+int ao_gps_new;
+
+#if TELEMEGA
+#define AO_ADC_NUM_SENSE 6
+#define HAS_MS5607 1
+#define HAS_MPU6000 1
+#define HAS_MMA655X 1
+#define HAS_HMC5883 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
*/
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 <ao_data.h>
+#include <ao_log.h>
+#include <ao_telemetry.h>
+
+#if TELEMEGA
+int ao_gps_count;
+struct ao_telemetry_location ao_gps_first;
+struct ao_telemetry_location ao_gps_prev;
+struct ao_telemetry_location ao_gps_static;
+
+struct ao_telemetry_satellite ao_gps_tracking;
+
+static inline double sqr(double a) { return a * a; }
+
+void
+cc_great_circle (double start_lat, double start_lon,
+ double end_lat, double end_lon,
+ double *dist, double *bearing)
+{
+ const double rad = M_PI / 180;
+ const double earth_radius = 6371.2 * 1000; /* in meters */
+ double lat1 = rad * start_lat;
+ double lon1 = rad * -start_lon;
+ double lat2 = rad * end_lat;
+ double lon2 = rad * -end_lon;
+
+// double d_lat = lat2 - lat1;
+ double d_lon = lon2 - lon1;
+
+ /* From http://en.wikipedia.org/wiki/Great-circle_distance */
+ double vdn = sqrt(sqr(cos(lat2) * sin(d_lon)) +
+ sqr(cos(lat1) * sin(lat2) -
+ sin(lat1) * cos(lat2) * cos(d_lon)));
+ double vdd = sin(lat1) * sin(lat2) + cos(lat1) * cos(lat2) * cos(d_lon);
+ double d = atan2(vdn,vdd);
+ double course;
+
+ if (cos(lat1) < 1e-20) {
+ if (lat1 > 0)
+ course = M_PI;
+ else
+ course = -M_PI;
+ } else {
+ if (d < 1e-10)
+ course = 0;
+ else
+ course = acos((sin(lat2)-sin(lat1)*cos(d)) /
+ (sin(d)*cos(lat1)));
+ if (sin(lon2-lon1) > 0)
+ course = 2 * M_PI-course;
+ }
+ *dist = d * earth_radius;
+ *bearing = course * 180/M_PI;
+}
+
+double
+ao_distance_from_pad(void)
+{
+ double dist, bearing;
+ if (!ao_gps_count)
+ return 0;
+
+ cc_great_circle(ao_gps_first.latitude / 1e7,
+ ao_gps_first.longitude / 1e7,
+ ao_gps_static.latitude / 1e7,
+ ao_gps_static.longitude / 1e7,
+ &dist, &bearing);
+ return dist;
+}
+
+double
+ao_gps_angle(void)
+{
+ double dist, bearing;
+ double height;
+ double angle;
+
+ if (ao_gps_count < 2)
+ return 0;
+
+ cc_great_circle(ao_gps_prev.latitude / 1e7,
+ ao_gps_prev.longitude / 1e7,
+ ao_gps_static.latitude / 1e7,
+ ao_gps_static.longitude / 1e7,
+ &dist, &bearing);
+ height = ao_gps_static.altitude - ao_gps_prev.altitude;
+
+ angle = atan2(dist, height);
+ return angle * 180/M_PI;
+}
+#endif
#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
/*
* 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)
#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
#define ao_rdf_set(rdf)
#define ao_packet_slave_start()
#define ao_packet_slave_stop()
+#define flush()
enum ao_igniter {
ao_igniter_drogue = 0,
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 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
struct ao_config {
uint16_t main_deploy;
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 */
+ int16_t accel_zero_along;
+ int16_t accel_zero_across;
+ int16_t accel_zero_through;
+#endif
};
#define AO_PAD_ORIENTATION_ANTENNA_UP 0
#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;
+
+double ao_sample_qangle;
int ao_sample_prev_tick;
uint16_t prev_tick;
+
#include "ao_kalman.c"
+#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)
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)
{
exit(0);
}
+#ifdef TELEMEGA
+struct ao_azel {
+ int az;
+ int el;
+};
+
+static void
+azel (struct ao_azel *r, struct ao_quaternion *q)
+{
+ double v;
+
+ r->az = floor (atan2(q->y, q->x) * 180/M_PI + 0.5);
+ v = sqrt (q->x*q->x + q->y*q->y);
+ r->el = floor (atan2(q->z, v) * 180/M_PI + 0.5);
+}
+#endif
+
void
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 TELEMEGA
+ 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)
}
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",
+#if TELEMEGA
+ static struct ao_quaternion ao_ground_mag;
+ static int ao_ground_mag_set;
+
+ if (!ao_ground_mag_set) {
+ ao_quaternion_init_vector (&ao_ground_mag,
+ ao_data_mag_across(&ao_data_static),
+ ao_data_mag_through(&ao_data_static),
+ ao_data_mag_along(&ao_data_static));
+ ao_quaternion_normalize(&ao_ground_mag, &ao_ground_mag);
+ ao_quaternion_rotate(&ao_ground_mag, &ao_ground_mag, &ao_rotation);
+ ao_ground_mag_set = 1;
+ }
+
+ struct ao_quaternion ao_mag, ao_mag_rot;
+
+ ao_quaternion_init_vector(&ao_mag,
+ ao_data_mag_across(&ao_data_static),
+ ao_data_mag_through(&ao_data_static),
+ ao_data_mag_along(&ao_data_static));
+
+ ao_quaternion_normalize(&ao_mag, &ao_mag);
+ ao_quaternion_rotate(&ao_mag_rot, &ao_mag, &ao_rotation);
+
+ float ao_dot;
+ int ao_mag_angle;
+
+ ao_dot = ao_quaternion_dot(&ao_mag_rot, &ao_ground_mag);
+
+ struct ao_azel ground_azel, mag_azel, rot_azel;
+
+ azel(&ground_azel, &ao_ground_mag);
+ azel(&mag_azel, &ao_mag);
+ azel(&rot_azel, &ao_mag_rot);
+
+ ao_mag_angle = floor (acos(ao_dot) * 180 / M_PI + 0.5);
+
+ (void) ao_mag_angle;
+
+ static struct ao_quaternion ao_x = { .r = 0, .x = 1, .y = 0, .z = 0 };
+ struct ao_quaternion ao_out;
+
+ ao_quaternion_rotate(&ao_out, &ao_x, &ao_rotation);
+
+ int out = floor (atan2(ao_out.y, ao_out.x) * 180 / M_PI);
+
+#if 0
+ printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d mag_tilt %4d mag_rot %4d\n",
+ time,
+ ao_state_names[ao_flight_state],
+ ao_k_height / 65536.0,
+ ao_sample_orient, out,
+ mag_azel.el,
+ mag_azel.az);
+#endif
+ printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d dist %12.2f gps_tilt %4d gps_sats %2d\n",
+ time,
+ ao_state_names[ao_flight_state],
+ ao_k_height / 65536.0,
+ ao_sample_orient, out,
+ ao_distance_from_pad(),
+ (int) floor (ao_gps_angle() + 0.5),
+ (ao_gps_static.flags & 0xf) * 10);
+
+#if 0
+ printf ("\t\tstate %-8.8s ground az: %4d el %4d mag az %4d el %4d rot az %4d el %4d el_diff %4d az_diff %4d angle %4d tilt %4d ground %8.5f %8.5f %8.5f cur %8.5f %8.5f %8.5f rot %8.5f %8.5f %8.5f\n",
+ ao_state_names[ao_flight_state],
+ ground_azel.az, ground_azel.el,
+ mag_azel.az, mag_azel.el,
+ rot_azel.az, rot_azel.el,
+ ground_azel.el - rot_azel.el,
+ ground_azel.az - rot_azel.az,
+ ao_mag_angle,
+ ao_sample_orient,
+ ao_ground_mag.x,
+ ao_ground_mag.y,
+ ao_ground_mag.z,
+ ao_mag.x,
+ ao_mag.y,
+ ao_mag.z,
+ ao_mag_rot.x,
+ ao_mag_rot.y,
+ ao_mag_rot.z);
+#endif
+#endif
+
+#if 0
+ printf("%7.2f height %8.2f accel %8.3f "
+#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",
time,
height,
accel,
+#if TELEMEGA
+ ao_sample_orient,
+
+ 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),
+ ao_data_static.hmc5883.x,
+ ao_data_static.hmc5883.y,
+ ao_data_static.hmc5883.z,
+ ao_mag_angle,
+#endif
ao_state_names[ao_flight_state],
ao_k_height / 65536.0,
ao_k_speed / 65536.0 / 16.0,
drogue_height,
main_height,
ao_error_h_sq_avg);
+#endif
// if (ao_flight_state == ao_flight_landed)
// ao_test_exit();
}
}
-#define AO_MAX_CALLSIGN 8
-#define AO_MAX_VERSION 8
-#define AO_MAX_TELEMETRY 128
-
-struct ao_telemetry_generic {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
- uint8_t payload[27]; /* 5 */
- /* 32 */
-};
-
-#define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01
-#define AO_TELEMETRY_SENSOR_TELEMINI 0x02
-#define AO_TELEMETRY_SENSOR_TELENANO 0x03
-
-struct ao_telemetry_sensor {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
-
- uint8_t state; /* 5 flight state */
- int16_t accel; /* 6 accelerometer (TM only) */
- int16_t pres; /* 8 pressure sensor */
- int16_t temp; /* 10 temperature sensor */
- int16_t v_batt; /* 12 battery voltage */
- int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */
- int16_t sense_m; /* 16 main continuity sense (TM/Tm) */
-
- int16_t acceleration; /* 18 m/s² * 16 */
- int16_t speed; /* 20 m/s * 16 */
- int16_t height; /* 22 m */
-
- int16_t ground_pres; /* 24 average pres on pad */
- int16_t ground_accel; /* 26 average accel on pad */
- int16_t accel_plus_g; /* 28 accel calibration at +1g */
- int16_t accel_minus_g; /* 30 accel calibration at -1g */
- /* 32 */
-};
-
-#define AO_TELEMETRY_CONFIGURATION 0x04
-
-struct ao_telemetry_configuration {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
-
- uint8_t device; /* 5 device type */
- uint16_t flight; /* 6 flight number */
- uint8_t config_major; /* 8 Config major version */
- uint8_t config_minor; /* 9 Config minor version */
- uint16_t apogee_delay; /* 10 Apogee deploy delay in seconds */
- uint16_t main_deploy; /* 12 Main deploy alt in meters */
- uint16_t flight_log_max; /* 14 Maximum flight log size in kB */
- char callsign[AO_MAX_CALLSIGN]; /* 16 Radio operator identity */
- char version[AO_MAX_VERSION]; /* 24 Software version */
- /* 32 */
-};
-
-#define AO_TELEMETRY_LOCATION 0x05
-
-#define AO_GPS_MODE_NOT_VALID 'N'
-#define AO_GPS_MODE_AUTONOMOUS 'A'
-#define AO_GPS_MODE_DIFFERENTIAL 'D'
-#define AO_GPS_MODE_ESTIMATED 'E'
-#define AO_GPS_MODE_MANUAL 'M'
-#define AO_GPS_MODE_SIMULATED 'S'
-
-struct ao_telemetry_location {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
-
- uint8_t flags; /* 5 Number of sats and other flags */
- int16_t altitude; /* 6 GPS reported altitude (m) */
- int32_t latitude; /* 8 latitude (degrees * 10⁷) */
- int32_t longitude; /* 12 longitude (degrees * 10⁷) */
- uint8_t year; /* 16 (- 2000) */
- uint8_t month; /* 17 (1-12) */
- uint8_t day; /* 18 (1-31) */
- uint8_t hour; /* 19 (0-23) */
- uint8_t minute; /* 20 (0-59) */
- uint8_t second; /* 21 (0-59) */
- uint8_t pdop; /* 22 (m * 5) */
- uint8_t hdop; /* 23 (m * 5) */
- uint8_t vdop; /* 24 (m * 5) */
- uint8_t mode; /* 25 */
- uint16_t ground_speed; /* 26 cm/s */
- int16_t climb_rate; /* 28 cm/s */
- uint8_t course; /* 30 degrees / 2 */
- uint8_t unused[1]; /* 31 */
- /* 32 */
-};
-
-#define AO_TELEMETRY_SATELLITE 0x06
-
-struct ao_telemetry_satellite_info {
- uint8_t svid;
- uint8_t c_n_1;
-};
-
-struct ao_telemetry_satellite {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
- uint8_t channels; /* 5 number of reported sats */
-
- struct ao_telemetry_satellite_info sats[12]; /* 6 */
- uint8_t unused[2]; /* 30 */
- /* 32 */
-};
-
-union ao_telemetry_all {
- struct ao_telemetry_generic generic;
- struct ao_telemetry_sensor sensor;
- struct ao_telemetry_configuration configuration;
- struct ao_telemetry_location location;
- struct ao_telemetry_satellite satellite;
-};
uint16_t
uint16(uint8_t *bytes, int off)
{
- off++;
return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
}
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)
{
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 TELEMEGA
+ ao_data_static.mpu6000 = ao_ground_mpu6000;
+#else
ao_data_static.adc.accel = ao_flight_ground_accel;
+#endif
ao_insert();
return;
}
if (words[nword] == NULL)
break;
}
- if (nword == 4) {
+#if TELEMEGA
+ if (log_format == AO_LOG_FORMAT_TELEMEGA && 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);
+ ao_ground_accel_along = int16(bytes, 8);
+ ao_ground_accel_across = int16(bytes, 10);
+ ao_ground_accel_through = int16(bytes, 12);
+ ao_ground_roll = int16(bytes, 14);
+ ao_ground_pitch = int16(bytes, 16);
+ ao_ground_yaw = int16(bytes, 18);
+ ao_ground_mpu6000.accel_x = ao_ground_accel_across;
+ ao_ground_mpu6000.accel_y = ao_ground_accel_along;
+ ao_ground_mpu6000.accel_z = ao_ground_accel_through;
+ ao_ground_mpu6000.gyro_x = ao_ground_pitch >> 9;
+ ao_ground_mpu6000.gyro_y = ao_ground_roll >> 9;
+ ao_ground_mpu6000.gyro_z = ao_ground_yaw >> 9;
+ 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);
+ ao_data_static.hmc5883.x = int16(bytes, 20);
+ ao_data_static.hmc5883.y = int16(bytes, 22);
+ ao_data_static.hmc5883.z = int16(bytes, 24);
+#if HAS_MMA655X
+ ao_data_static.mma655x = int16(bytes, 26);
+#endif
+ ao_records_read++;
+ ao_insert();
+ return;
+ case 'G':
+ ao_gps_prev = ao_gps_static;
+ ao_gps_static.tick = tick;
+ ao_gps_static.latitude = int32(bytes, 0);
+ ao_gps_static.longitude = int32(bytes, 4);
+ ao_gps_static.altitude = int32(bytes, 8);
+ ao_gps_static.flags = bytes[13];
+ if (!ao_gps_count)
+ ao_gps_first = ao_gps_static;
+ ao_gps_count++;
+ break;
+ }
+ 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 >= 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[i], 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_TELEMEGA) {
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]);
+#ifdef TELEMEGA
+ } else if (nword >= 8 && strcmp(words[0], "IMU") == 0) {
+ ao_config.accel_zero_along = atoi(words[3]);
+ ao_config.accel_zero_across = atoi(words[5]);
+ ao_config.accel_zero_through = atoi(words[7]);
+ printf ("%d %d %d\n", ao_config.accel_zero_along, ao_config.accel_zero_across, ao_config.accel_zero_through);
+#endif
} 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 &&
}
} 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;
if (type != 'F' && !ao_flight_started)
continue;
+#if TELEMEGA
+ (void) a;
+ (void) b;
+#else
switch (type) {
case 'F':
ao_flight_ground_accel = a;
case 'H':
break;
}
+#endif
}
}
projects / fw / altos / blobdiff