X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Ftest%2Fao_flight_test.c;h=d3d39f2a1b721b92d9327345964bf432c15b205c;hp=8b737ca1e71a9b123f720da3ad5c0b249a91d0c3;hb=545bdc1f8046b08e237307d97d0044ddae9095b8;hpb=4828be0ca5252ac9cd6061209385dcd6c4c57965

diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index 8b737ca1..d3d39f2a 100644
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -3,7 +3,8 @@
  *
  * 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
@@ -45,7 +46,7 @@
 
 int ao_gps_new;
 
-#if !defined(TELEMEGA) && !defined(TELEMETRUM_V2)
+#if !defined(TELEMEGA) && !defined(TELEMETRUM_V2) && !defined(EASYMINI)
 #define TELEMETRUM_V1 1
 #endif
 
@@ -57,6 +58,7 @@ int ao_gps_new;
 #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];
@@ -70,6 +72,7 @@ struct ao_adc {
 #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
 
@@ -81,6 +84,18 @@ struct ao_adc {
 };
 #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
 /*
@@ -320,7 +335,7 @@ struct ao_cmds {
 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
 
 #define AO_NEED_ALTITUDE_TO_PRES 1
-#if TELEMEGA || TELEMETRUM_V2
+#if TELEMEGA || TELEMETRUM_V2 || EASYMINI
 #include "ao_convert_pa.c"
 #include <ao_ms5607.h>
 struct ao_ms5607_prom	ao_ms5607_prom;
@@ -372,6 +387,8 @@ uint16_t	prev_tick;
 #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)
 {
@@ -470,7 +487,7 @@ ao_insert(void)
 #else
 		double	accel = 0.0;
 #endif
-#if TELEMEGA || TELEMETRUM_V2
+#if TELEMEGA || TELEMETRUM_V2 || EASYMINI
 		double	height;
 
 		ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
@@ -554,9 +571,9 @@ ao_insert(void)
 
 			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],
@@ -600,7 +617,7 @@ ao_insert(void)
 
 #if 1
 			printf("%7.2f height %8.2f accel %8.3f "
-#if TELEMEGA && 0
+#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
@@ -608,7 +625,7 @@ ao_insert(void)
 			       time,
 			       height,
 			       accel,
-#if TELEMEGA && 0
+#if TELEMEGA && 1
 			       ao_sample_orient,
 
 			       ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
@@ -665,6 +682,19 @@ int32(uint8_t *bytes, int off)
 	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
@@ -689,12 +719,14 @@ ao_sleep(void *wchan)
 		for (;;) {
 			if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 			{
+
 #if TELEMEGA
 				ao_data_static.mpu6000 = ao_ground_mpu6000;
 #endif
 #if TELEMETRUM_V1
 				ao_data_static.adc.accel = ao_flight_ground_accel;
 #endif
+
 				ao_insert();
 				return;
 			}
@@ -717,7 +749,7 @@ ao_sleep(void *wchan)
 					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;
 
@@ -764,6 +796,8 @@ ao_sleep(void *wchan)
 					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();
@@ -822,6 +856,72 @@ ao_sleep(void *wchan)
 				}
 			}
 #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;
@@ -893,13 +993,15 @@ ao_sleep(void *wchan)
 				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) {
@@ -998,7 +1100,7 @@ ao_sleep(void *wchan)
 			if (type != 'F' && !ao_flight_started)
 				continue;
 
-#if TELEMEGA || TELEMETRUM_V2
+#if TELEMEGA || TELEMETRUM_V2 || EASYMINI
 			(void) a;
 			(void) b;
 #else