altos: Make telescience-v0.1 build with new ao_data struct

[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 4a8625cfaab0e44b7394fd675e1b45d8f6f515ba..baf2ad1dcea2f2dd3f5b4368a29fd5ffba427c0c 100644 (file)
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -26,9 +26,10 @@
 
 #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))
@@ -38,7 +39,6 @@
  * 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 */
@@ -54,6 +54,8 @@ struct ao_adc {
 #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)
@@ -90,8 +92,8 @@ extern enum ao_flight_state ao_flight_state;
 #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)
@@ -110,7 +112,7 @@ enum ao_igniter {
        ao_igniter_main = 1
 };
 
-struct ao_adc ao_adc_static;
+struct ao_data ao_data_static;
 
 int    drogue_height;
 double drogue_time;
@@ -124,7 +126,7 @@ static int32_t      ao_k_height;
 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;
@@ -221,8 +223,8 @@ int ao_sample_prev_tick;
 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)
 
@@ -282,19 +284,19 @@ ao_insert(void)
 {
        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;
@@ -474,7 +476,7 @@ int16(uint8_t *bytes, int off)
 void
 ao_sleep(void *wchan)
 {
-       if (wchan == &ao_adc_head) {
+       if (wchan == &ao_data_head) {
                char            type;
                uint16_t        tick;
                uint16_t        a, b;
@@ -490,7 +492,7 @@ ao_sleep(void *wchan)
                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;
                        }
@@ -501,7 +503,7 @@ ao_sleep(void *wchan)
                                                printf ("no more data, exiting simulation\n");
                                        ao_test_exit();
                                }
-                               ao_adc_static.tick += 10;
+                               ao_data_static.tick += 10;
                                ao_insert();
                                return;
                        }
@@ -639,19 +641,19 @@ ao_sleep(void *wchan)
                        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':