*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
#define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1))
#define ao_data_ring_prev(n) (((n) - 1) & (AO_DATA_RING - 1))
+#if 0
#define AO_M_TO_HEIGHT(m) ((int16_t) (m))
#define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16))
#define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16))
+#endif
#define AO_GPS_NEW_DATA 1
#define AO_GPS_NEW_TRACKING 2
int ao_gps_new;
+#if !defined(TELEMEGA) && !defined(TELEMETRUM_V2) && !defined(EASYMINI)
+#define TELEMETRUM_V1 1
+#endif
+
#if TELEMEGA
#define AO_ADC_NUM_SENSE 6
#define HAS_MS5607 1
#define HAS_MPU6000 1
#define HAS_MMA655X 1
#define HAS_HMC5883 1
+#define HAS_BEEP 1
+#define AO_CONFIG_MAX_SIZE 1024
+#define AO_MMA655X_INVERT 0
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
+#endif
+
+#if TELEMETRUM_V2
+#define AO_ADC_NUM_SENSE 2
+#define HAS_MS5607 1
+#define HAS_MMA655X 1
+#define AO_MMA655X_INVERT 1
+#define HAS_BEEP 1
+#define AO_CONFIG_MAX_SIZE 1024
+
+struct ao_adc {
+ int16_t sense_a;
+ int16_t sense_m;
+ int16_t v_batt;
+ int16_t temp;
+};
+#endif
+
+#if EASYMINI
+#define AO_ADC_NUM_SENSE 2
+#define HAS_MS5607 1
+#define HAS_BEEP 1
+#define AO_CONFIG_MAX_SIZE 1024
+
+struct ao_adc {
+ int16_t sense_a;
+ int16_t sense_m;
+ int16_t v_batt;
+};
+#endif
+
+#if TELEMETRUM_V1
/*
* One set of samples read from the A/D converter
*/
#include <ao_data.h>
#include <ao_log.h>
#include <ao_telemetry.h>
+#include <ao_sample.h>
#if TELEMEGA
int ao_gps_count;
ao_gps_static.latitude / 1e7,
ao_gps_static.longitude / 1e7,
&dist, &bearing);
- height = ao_gps_static.altitude - ao_gps_prev.altitude;
+ height = AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_static) - AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_prev);
angle = atan2(dist, height);
return angle * 180/M_PI;
#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
#define from_fix(x) ((x) >> 16)
-/*
- * Above this height, the baro sensor doesn't work
- */
-#define AO_BARO_SATURATE 13000
-#define AO_MIN_BARO_VALUE ao_altitude_to_pres(AO_BARO_SATURATE)
-
-/*
- * Above this speed, baro measurements are unreliable
- */
-#define AO_MAX_BARO_SPEED 200
-
#define ACCEL_NOSE_UP (ao_accel_2g >> 2)
extern enum ao_flight_state ao_flight_state;
int tick_offset;
-static int32_t ao_k_height;
+static ao_k_t ao_k_height;
int16_t
ao_time(void)
#define ao_xmemcmp(d,s,c) memcmp(d,s,c)
#define AO_NEED_ALTITUDE_TO_PRES 1
-#if TELEMEGA
+#if TELEMEGA || TELEMETRUM_V2 || EASYMINI
#include "ao_convert_pa.c"
#include <ao_ms5607.h>
-struct ao_ms5607_prom ms5607_prom;
+struct ao_ms5607_prom ao_ms5607_prom;
#include "ao_ms5607_convert.c"
#define AO_PYRO_NUM 4
#include <ao_pyro.h>
#include "ao_convert.c"
#endif
-struct ao_config {
- uint16_t main_deploy;
- int16_t accel_plus_g;
- 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 AO_PAD_ORIENTATION_ANTENNA_DOWN 1
+#include <ao_config.h>
+#include <ao_fake_flight.h>
#define ao_config_get()
#define AO_PYRO_2 2
#define AO_PYRO_3 3
+#define PYRO_DBG 1
+
static void
ao_pyro_pin_set(uint8_t pin, uint8_t value)
{
#else
double accel = 0.0;
#endif
-#if TELEMEGA
+#if TELEMEGA || TELEMETRUM_V2 || EASYMINI
double height;
ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
ao_quaternion_rotate(&ao_out, &ao_x, &ao_rotation);
+#if 0
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],
mag_azel.el,
mag_azel.az);
#endif
+#if 0
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],
(int) floor (ao_gps_angle() + 0.5),
(ao_gps_static.flags & 0xf) * 10);
+#endif
#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],
#endif
#endif
-#if 0
+#if 1
printf("%7.2f height %8.2f accel %8.3f "
-#if TELEMEGA
+#if TELEMEGA && 1
"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
time,
height,
accel,
-#if TELEMEGA
+#if TELEMEGA && 1
ao_sample_orient,
ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
return (int32_t) uint32(bytes, off);
}
+uint32_t
+uint24(uint8_t *bytes, int off)
+{
+ return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
+ (((uint32_t) bytes[off+2]) << 16);
+}
+
+int32_t
+int24(uint8_t *bytes, int off)
+{
+ return (int32_t) uint24(bytes, off);
+}
+
static int log_format;
void
for (;;) {
if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
{
+
#if TELEMEGA
ao_data_static.mpu6000 = ao_ground_mpu6000;
-#else
+#endif
+#if TELEMETRUM_V1
ao_data_static.adc.accel = ao_flight_ground_accel;
#endif
+
ao_insert();
return;
}
break;
}
#if TELEMEGA
- if (log_format == AO_LOG_FORMAT_TELEMEGA && nword == 30 && strlen(words[0]) == 1) {
+ if ((log_format == AO_LOG_FORMAT_TELEMEGA_OLD || log_format == AO_LOG_FORMAT_TELEMEGA) && nword == 30 && strlen(words[0]) == 1) {
int i;
struct ao_ms5607_value value;
ao_data_static.hmc5883.z = int16(bytes, 24);
#if HAS_MMA655X
ao_data_static.mma655x = int16(bytes, 26);
+ if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
+ ao_data_static.mma655x = ao_data_accel_invert(ao_data_static.mma655x);
#endif
ao_records_read++;
ao_insert();
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);
+ {
+ int32_t altitude = int32(bytes, 8);
+ AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_static, altitude);
+ }
ao_gps_static.flags = bytes[13];
if (!ao_gps_count)
ao_gps_first = ao_gps_static;
continue;
} else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
if (strcmp(words[1], "reserved:") == 0)
- ms5607_prom.reserved = strtoul(words[2], NULL, 10);
+ ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10);
else if (strcmp(words[1], "sens:") == 0)
- ms5607_prom.sens = strtoul(words[2], NULL, 10);
+ ao_ms5607_prom.sens = strtoul(words[2], NULL, 10);
else if (strcmp(words[1], "off:") == 0)
- ms5607_prom.off = strtoul(words[2], NULL, 10);
+ ao_ms5607_prom.off = strtoul(words[2], NULL, 10);
else if (strcmp(words[1], "tcs:") == 0)
- ms5607_prom.tcs = strtoul(words[2], NULL, 10);
+ ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10);
else if (strcmp(words[1], "tco:") == 0)
- ms5607_prom.tco = strtoul(words[2], NULL, 10);
+ ao_ms5607_prom.tco = strtoul(words[2], NULL, 10);
else if (strcmp(words[1], "tref:") == 0)
- ms5607_prom.tref = strtoul(words[2], NULL, 10);
+ ao_ms5607_prom.tref = strtoul(words[2], NULL, 10);
else if (strcmp(words[1], "tempsens:") == 0)
- ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
+ ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
else if (strcmp(words[1], "crc:") == 0)
- ms5607_prom.crc = strtoul(words[2], NULL, 10);
+ ao_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);
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);
+ printf("pyro %d condition %s value %d\n", p, words[i-1], val);
*((int16_t *) ((char *) pyro + ao_pyro_values[j].offset)) = val;
}
}
}
-#else
+#endif
+#if EASYMINI
+ if ((log_format == AO_LOG_FORMAT_EASYMINI1 || log_format == AO_LOG_FORMAT_EASYMINI2) && nword == 14 && 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_started = 1;
+ ao_ground_pres = uint32(bytes, 4);
+ ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
+#if 0
+ printf("ground pres %d height %d\n", ao_ground_pres, ao_ground_height);
+ printf("sens %d off %d tcs %d tco %d tref %d tempsens %d crc %d\n",
+ ao_ms5607_prom.sens,
+ ao_ms5607_prom.off,
+ ao_ms5607_prom.tcs,
+ ao_ms5607_prom.tco,
+ ao_ms5607_prom.tref,
+ ao_ms5607_prom.tempsens,
+ ao_ms5607_prom.crc);
+#endif
+ break;
+ case 'A':
+ ao_data_static.tick = tick;
+ ao_data_static.ms5607_raw.pres = int24(bytes, 0);
+ ao_data_static.ms5607_raw.temp = int24(bytes, 3);
+#if 0
+ printf("raw pres %d temp %d\n",
+ ao_data_static.ms5607_raw.pres,
+ ao_data_static.ms5607_raw.temp);
+#endif
+ ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
+// printf("pres %d height %d\n", value.pres, ao_pa_to_altitude(value.pres));
+ ao_records_read++;
+ ao_insert();
+ return;
+ }
+ continue;
+ } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
+ if (strcmp(words[1], "reserved:") == 0)
+ ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10);
+ else if (strcmp(words[1], "sens:") == 0)
+ ao_ms5607_prom.sens = strtoul(words[2], NULL, 10);
+ else if (strcmp(words[1], "off:") == 0)
+ ao_ms5607_prom.off = strtoul(words[2], NULL, 10);
+ else if (strcmp(words[1], "tcs:") == 0)
+ ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10);
+ else if (strcmp(words[1], "tco:") == 0)
+ ao_ms5607_prom.tco = strtoul(words[2], NULL, 10);
+ else if (strcmp(words[1], "tref:") == 0)
+ ao_ms5607_prom.tref = strtoul(words[2], NULL, 10);
+ else if (strcmp(words[1], "tempsens:") == 0)
+ ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
+ else if (strcmp(words[1], "crc:") == 0)
+ ao_ms5607_prom.crc = strtoul(words[2], NULL, 10);
+ continue;
+ }
+#endif
+#if TELEMETRUM_V2
+ if (log_format == AO_LOG_FORMAT_TELEMETRUM && nword == 14 && 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.mma655x = int16(bytes, 8);
+ ao_records_read++;
+ ao_insert();
+ return;
+ }
+ continue;
+ } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
+ if (strcmp(words[1], "reserved:") == 0)
+ ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10);
+ else if (strcmp(words[1], "sens:") == 0)
+ ao_ms5607_prom.sens = strtoul(words[2], NULL, 10);
+ else if (strcmp(words[1], "off:") == 0)
+ ao_ms5607_prom.off = strtoul(words[2], NULL, 10);
+ else if (strcmp(words[1], "tcs:") == 0)
+ ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10);
+ else if (strcmp(words[1], "tco:") == 0)
+ ao_ms5607_prom.tco = strtoul(words[2], NULL, 10);
+ else if (strcmp(words[1], "tref:") == 0)
+ ao_ms5607_prom.tref = strtoul(words[2], NULL, 10);
+ else if (strcmp(words[1], "tempsens:") == 0)
+ ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
+ else if (strcmp(words[1], "crc:") == 0)
+ ao_ms5607_prom.crc = strtoul(words[2], NULL, 10);
+ continue;
+ }
+#endif
+#if TELEMETRUM_V1
if (nword == 4 && log_format != AO_LOG_FORMAT_TELEMEGA) {
type = words[0][0];
tick = strtoul(words[1], NULL, 16);
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 &&
strcmp(words[1], "lockout:") == 0) {
ao_config.apogee_lockout = atoi(words[2]);
+ } else if (nword >= 3 && strcmp(words[0], "Pad") == 0 &&
+ strcmp(words[1], "orientation:") == 0) {
+ ao_config.pad_orientation = atoi(words[2]);
} else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
tick = atoi(words[10]);
if (!ao_flight_started) {
if (type != 'F' && !ao_flight_started)
continue;
-#if TELEMEGA
+#if TELEMEGA || TELEMETRUM_V2 || EASYMINI
(void) a;
(void) b;
#else
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_data_static.adc.pres = b;
ao_records_read++;
ao_insert();
emulator_in = f;
emulator_info = info;
ao_summary = summary;
+
ao_flight_init();
ao_flight();
}
projects / fw / altos / blobdiff