altos/test: Build TeleMetrumV2 flight test variant

Parses TeleMetrumV2 eeprom files and runs the TeleMetrumV2 flight code.

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/src/test/Makefile b/src/test/Makefile
index 017f7f71788d24fc3fb46a0f675e2fb34e64e084..02e1d22b6c1b502ff92c71a11498084b5ed8c518 100644 (file)
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -1,6 +1,7 @@
 vpath % ..:../kernel:../drivers:../util:../micropeak:../aes:../product
 
 PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_flight_test_noisy_accel ao_flight_test_mm \
+       ao_flight_test_metrum \
        ao_gps_test ao_gps_test_skytraq ao_gps_test_ublox ao_convert_test ao_convert_pa_test ao_fec_test \
        ao_aprs_test ao_micropeak_test ao_fat_test ao_aes_test ao_int64_test \
        ao_ms5607_convert_test ao_quaternion_test
@@ -33,6 +34,9 @@ ao_flight_test_accel: ao_flight_test.c ao_host.h ao_flight.c  ao_sample.c ao_kal
 ao_flight_test_mm: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c ao_pyro.c ao_pyro.h $(INCS)
        cc -DTELEMEGA=1 $(CFLAGS) -o $@ $< -lm
 
+ao_flight_test_metrum: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c ao_pyro.c ao_pyro.h $(INCS)
+       cc -DTELEMETRUM_V2=1 $(CFLAGS) -o $@ $< -lm
+
 ao_gps_test: ao_gps_test.c ao_gps_sirf.c ao_gps_print.c ao_host.h
        cc $(CFLAGS) -o $@ $<
 

diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c
index bb5c3a7d86d7618938e05d8795b5f7ef684eca79..8b737ca1e71a9b123f720da3ad5c0b249a91d0c3 100644 (file)
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -45,6 +45,10 @@
 
 int ao_gps_new;
 
+#if !defined(TELEMEGA) && !defined(TELEMETRUM_V2)
+#define TELEMETRUM_V1 1
+#endif
+
 #if TELEMEGA
 #define AO_ADC_NUM_SENSE       6
 #define HAS_MS5607             1
@@ -60,7 +64,25 @@ struct ao_adc {
        int16_t                 v_pbatt;
        int16_t                 temp;
 };
-#else
+#endif
+
+#if TELEMETRUM_V2
+#define AO_ADC_NUM_SENSE       2
+#define HAS_MS5607             1
+#define HAS_MMA655X            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 TELEMETRUM_V1
 /*
  * One set of samples read from the A/D converter
  */
@@ -189,17 +211,6 @@ ao_gps_angle(void)
 #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;
@@ -309,7 +320,7 @@ struct ao_cmds {
 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
 
 #define AO_NEED_ALTITUDE_TO_PRES 1
-#if TELEMEGA
+#if TELEMEGA || TELEMETRUM_V2
 #include "ao_convert_pa.c"
 #include <ao_ms5607.h>
 struct ao_ms5607_prom  ao_ms5607_prom;
@@ -459,7 +470,7 @@ ao_insert(void)
 #else
                double  accel = 0.0;
 #endif
-#if TELEMEGA
+#if TELEMEGA || TELEMETRUM_V2
                double  height;
 
                ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
@@ -554,6 +565,7 @@ ao_insert(void)
                                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],
@@ -563,6 +575,7 @@ ao_insert(void)
                                (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],
@@ -585,9 +598,9 @@ ao_insert(void)
 #endif
 #endif
 
-#if 0
+#if 1
                        printf("%7.2f height %8.2f accel %8.3f "
-#if TELEMEGA
+#if TELEMEGA && 0
                               "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
@@ -595,7 +608,7 @@ ao_insert(void)
                               time,
                               height,
                               accel,
-#if TELEMEGA
+#if TELEMEGA && 0
                               ao_sample_orient,
 
                               ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
@@ -678,7 +691,8 @@ ao_sleep(void *wchan)
                        {
 #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();
@@ -807,7 +821,59 @@ ao_sleep(void *wchan)
                                        }
                                }
                        }
-#else
+#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);
@@ -932,7 +998,7 @@ ao_sleep(void *wchan)
                        if (type != 'F' && !ao_flight_started)
                                continue;
 
-#if TELEMEGA
+#if TELEMEGA || TELEMETRUM_V2
                        (void) a;
                        (void) b;
 #else
@@ -953,8 +1019,6 @@ ao_sleep(void *wchan)
                                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();

diff --git a/src/test/plottest b/src/test/plottest
index 76af5ee73f190fead49ca9b275382b7c8f44b5aa..7d253ff123ccedaa43b9580adf75544af9d70a87 100755 (executable)
--- a/src/test/plottest
+++ b/src/test/plottest
@@ -10,7 +10,7 @@ plot "$1" using 1:3 with lines axes x1y1 title "raw height",\
 "$1" using 1:9 with lines axes x1y1 title "height",\
 "$1" using 1:11 with lines axes x1y2 title "speed",\
 "$1" using 1:13 with lines axes x1y2 title "accel",\
-"$1" using 1:15 with lines axes x1y1 title "drogue",\
-"$1" using 1:17 with lines axes x1y1 title "main",\
-"$1" using 1:19 with lines axes x1y1 title "error"
+"$1" using 1:17 with lines axes x1y1 title "drogue",\
+"$1" using 1:19 with lines axes x1y1 title "main",\
+"$1" using 1:21 with lines axes x1y1 title "error"
 EOF