#define _GNU_SOURCE
#include <stdint.h>
+#include <stdbool.h>
#include <stdio.h>
#include <stdlib.h>
#include <stddef.h>
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
#define HAS_MMA655X 1
#define HAS_HMC5883 1
#define HAS_BEEP 1
+#define HAS_BARO 1
#define AO_CONFIG_MAX_SIZE 1024
#define AO_MMA655X_INVERT 0
#define HAS_MMA655X 1
#define AO_MMA655X_INVERT 0
#define HAS_BEEP 1
+#define HAS_BARO 1
#define AO_CONFIG_MAX_SIZE 1024
struct ao_adc {
#define HAS_ACCEL 1
#define HAS_ACCEL_REF 0
#endif
+#define HAS_BARO 1
+
+#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 HAS_USB 1
#define HAS_GPS 1
+int16_t
+ao_time(void);
+
+void
+ao_dump_state(void);
+
+#define ao_tick_count (ao_time())
+#define ao_wakeup(wchan) ao_dump_state()
+
#include <ao_data.h>
#include <ao_log.h>
#include <ao_telemetry.h>
#define ao_led_on(l)
#define ao_led_off(l)
#define ao_timer_set_adc_interval(i)
-#define ao_wakeup(wchan) ao_dump_state()
#define ao_cmd_register(c)
#define ao_usb_disable()
#define ao_telemetry_set_interval(x)
double emulator_error_max = 4;
double emulator_height_error_max = 20; /* noise in the baro sensor */
-void
-ao_dump_state(void);
-
void
ao_sleep(void *wchan);
const char *help;
};
-#define ao_xmemcpy(d,s,c) memcpy(d,s,c)
-#define ao_xmemset(d,v,c) memset(d,v,c)
-#define ao_xmemcmp(d,s,c) memcmp(d,s,c)
-
#define AO_NEED_ALTITUDE_TO_PRES 1
#if TELEMEGA || TELEMETRUM_V2 || EASYMINI
#include "ao_convert_pa.c"
struct ao_config ao_config;
-#define x (x)
-
-
extern int16_t ao_ground_accel, ao_flight_accel;
extern int16_t ao_accel_2g;
uint16_t ao_serial_number;
int16_t ao_flight_number;
-extern uint16_t ao_sample_tick;
+extern AO_TICK_TYPE 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;
-int ao_sample_prev_tick;
-uint16_t prev_tick;
+AO_TICK_TYPE ao_sample_prev_tick;
+AO_TICK_TYPE prev_tick;
#include "ao_kalman.c"
#include "ao_sqrt.c"
#include "ao_sample.c"
#include "ao_flight.c"
+#include "ao_data.c"
#if TELEMEGA
#define AO_PYRO_NUM 4
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
}
}
#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) {
#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 "
+ "avg_accel %8.3f "
#endif
"\n",
time,
ao_data_static.hmc5883.x,
ao_data_static.hmc5883.y,
ao_data_static.hmc5883.z,
- ao_mag_angle
+ ao_mag_angle,
+ ao_coast_avg_accel / 16.0
#endif
);
#endif
#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
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);
projects / fw / altos / blobdiff