X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao_flight_test.c;h=a635803f41b226b2bc988a65b229aaab60520883;hp=fde38dc334b2ccbbdc43902eba076b27241937e4;hb=1e56ed44e562f808addfd76bfb352f981db94094;hpb=5834a12c1d3d71105c9e3d1ceaf9f3ffac9ff1eb

diff --git a/src/ao_flight_test.c b/src/ao_flight_test.c
index fde38dc3..a635803f 100644
--- a/src/ao_flight_test.c
+++ b/src/ao_flight_test.c
@@ -22,6 +22,8 @@
 #include <stdlib.h>
 #include <string.h>
 
+#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))
@@ -51,7 +53,7 @@ enum ao_flight_state {
 	ao_flight_pad = 2,
 	ao_flight_boost = 3,
 	ao_flight_fast = 4,
-	ao_flight_apogee = 5,
+	ao_flight_coast = 5,
 	ao_flight_drogue = 6,
 	ao_flight_main = 7,
 	ao_flight_landed = 8,
@@ -68,6 +70,9 @@ uint8_t ao_adc_head;
 #define ao_cmd_register(c)
 #define ao_usb_disable()
 #define ao_telemetry_set_interval(x)
+#define ao_rdf_set(rdf)
+#define ao_packet_slave_start()
+#define ao_packet_slave_stop()
 
 enum ao_igniter {
 	ao_igniter_drogue = 0,
@@ -106,48 +111,36 @@ ao_sleep(void *wchan);
 
 const char const * const ao_state_names[] = {
 	"startup", "idle", "pad", "boost", "fast",
-	"apogee", "drogue", "main", "landed", "invalid"
+	"coast", "drogue", "main", "landed", "invalid"
 };
 
 struct ao_cmds {
-	char		cmd;
 	void		(*func)(void);
 	const char	*help;
 };
 
-
-static int16_t altitude_table[2048] = {
-#include "altitude.h"
-};
-
-int16_t
-ao_pres_to_altitude(int16_t pres) __reentrant
-{
-	pres = pres >> 4;
-	if (pres < 0) pres = 0;
-	if (pres > 2047) pres = 2047;
-	return altitude_table[pres];
-}
-
-int16_t
-ao_altitude_to_pres(int16_t alt) __reentrant
-{
-	int16_t pres;
-
-	for (pres = 0; pres < 2047; pres++)
-		if (altitude_table[pres] <= alt)
-			break;
-	return pres << 4;
-}
+#include "ao_convert.c"
 
 struct ao_config {
 	uint16_t	main_deploy;
-	int16_t		accel_zero_g;
+	int16_t		accel_plus_g;
+	int16_t		accel_minus_g;
 };
 
 #define ao_config_get()
 
-struct ao_config ao_config = { 250, 16000 };
+struct ao_config ao_config;
+
+#define DATA_TO_XDATA(x) (x)
+
+#define HAS_FLIGHT 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
 
 #include "ao_flight.c"
 
@@ -173,7 +166,7 @@ void
 ao_sleep(void *wchan)
 {
 	ao_dump_state();
-	if (wchan == &ao_adc_ring) {
+	if (wchan == &ao_adc_head) {
 		char		type;
 		uint16_t	tick;
 		uint16_t	a, b;
@@ -212,7 +205,12 @@ ao_sleep(void *wchan)
 				type = words[0][0];
 				tick = strtoul(words[1], NULL, 16);
 				a = strtoul(words[2], NULL, 16);
-				b = strtoul(words[2], NULL, 16);
+				b = strtoul(words[3], NULL, 16);
+			} else if (nword >= 6 && strcmp(words[0], "Accel")) {
+				ao_config.accel_plus_g = atoi(words[3]);
+				ao_config.accel_minus_g = atoi(words[5]);
+			} else if (nword >= 4 && strcmp(words[0], "Main")) {
+				ao_config.main_deploy = atoi(words[2]);
 			} else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
 				tick = atoi(words[10]);
 				if (!ao_flight_started) {
@@ -231,6 +229,12 @@ ao_sleep(void *wchan)
 			switch (type) {
 			case 'F':
 				ao_flight_ground_accel = a;
+				if (ao_config.accel_plus_g == 0) {
+					ao_config.accel_plus_g = a;
+					ao_config.accel_minus_g = a + 530;
+				}
+				if (ao_config.main_deploy == 0)
+					ao_config.main_deploy = 250;
 				ao_flight_started = 1;
 				break;
 			case 'S':
@@ -265,12 +269,19 @@ ao_dump_state(void)
 {
 	if (ao_flight_state == ao_flight_startup)
 		return;
+#if HAS_ACCEL
 	printf ("\t\t\t\t\t%s accel %g vel %g alt %d main %d\n",
 		ao_state_names[ao_flight_state],
 		(ao_ground_accel - ao_flight_accel) / COUNTS_PER_G * GRAVITY,
 		(double) ao_flight_vel / 100 / COUNTS_PER_G * GRAVITY,
 		ao_pres_to_altitude(ao_flight_pres) - ao_pres_to_altitude(ao_ground_pres),
 		ao_pres_to_altitude(ao_main_pres) - ao_pres_to_altitude(ao_ground_pres));
+#else
+	printf ("\t\t\t\t\t%s alt %d main %d\n",
+		ao_state_names[ao_flight_state],
+		ao_pres_to_altitude(ao_flight_pres) - ao_pres_to_altitude(ao_ground_pres),
+		ao_pres_to_altitude(ao_main_pres) - ao_pres_to_altitude(ao_ground_pres));
+#endif
 	if (ao_flight_state == ao_flight_landed)
 		exit(0);
 }