altos/test: Add ao_flight_test_mm

This reads mega metrum eeprom files and runs the flight code over it

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

diff --git a/src/test/Makefile b/src/test/Makefile
index db3cc04b006cd8e512e69b049ebeb914ba350767..37949e86aa127fb5ac33f1fd20551ebbc01e72ff 100644 (file)
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -1,10 +1,11 @@
 vpath % ..:../core:../drivers:../util
 
-PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_flight_test_noisy_accel ao_gps_test ao_gps_test_skytraq ao_convert_test ao_convert_pa_test ao_fec_test
+PROGS=ao_flight_test ao_flight_test_baro ao_flight_test_accel ao_flight_test_noisy_accel ao_flight_test_mm \
+       ao_gps_test ao_gps_test_skytraq ao_convert_test ao_convert_pa_test ao_fec_test
 
 KALMAN=make-kalman 
 
-CFLAGS=-I.. -I. -I../core -I../drivers -O3 -g -Wall
+CFLAGS=-I.. -I. -I../core -I../drivers -O0 -g -Wall
 
 all: $(PROGS)
 
@@ -16,7 +17,7 @@ install:
 ao_flight_test: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c altitude.h ao_kalman.h
        cc $(CFLAGS) -o $@ $<
 
-ao_flight_test_noisy_accel: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c altitude.h ao_kalman.h
+ao_flight_test_noisy_accel: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c altitude-pa.h ao_kalman.h
        cc -DNOISY_ACCEL=1 $(CFLAGS) -o $@ $<
 
 ao_flight_test_baro: ao_flight_test.c ao_host.h ao_flight.c  ao_sample.c ao_kalman.c altitude.h ao_kalman.h
@@ -25,6 +26,9 @@ ao_flight_test_baro: ao_flight_test.c ao_host.h ao_flight.c  ao_sample.c ao_kalm
 ao_flight_test_accel: ao_flight_test.c ao_host.h ao_flight.c  ao_sample.c ao_kalman.c altitude.h ao_kalman.h
        cc $(CFLAGS) -o $@ -DFORCE_ACCEL=1 ao_flight_test.c
 
+ao_flight_test_mm: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c altitude.h ao_kalman.h
+       cc -DMEGAMETRUM=1 $(CFLAGS) -o $@ $<
+
 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 3231194d519467843bff13b798761622e826bf34..6c0bb4da944f2c8565c98051ff7df8e02bb1ffee 100644 (file)
--- a/src/test/ao_flight_test.c
+++ b/src/test/ao_flight_test.c
@@ -35,6 +35,21 @@
 #define AO_MS_TO_SPEED(ms)     ((int16_t) ((ms) * 16))
 #define AO_MSS_TO_ACCEL(mss)   ((int16_t) ((mss) * 16))
 
+#if MEGAMETRUM
+#define AO_ADC_NUM_SENSE       6
+#define HAS_MS5607             1
+#define HAS_MPU6000            1
+#define HAS_MMA655X            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
 /*
  * One set of samples read from the A/D converter
  */
@@ -48,6 +63,13 @@ struct ao_adc {
        int16_t         sense_m;        /* main continuity sense */
 };
 
+#ifndef HAS_ACCEL
+#define HAS_ACCEL 1
+#define HAS_ACCEL_REF 0
+#endif
+
+#endif
+
 #define __pdata
 #define __data
 #define __xdata
@@ -58,12 +80,9 @@ struct ao_adc {
 #define HAS_IGNITE 1
 #define HAS_USB 1
 #define HAS_GPS 1
-#ifndef HAS_ACCEL
-#define HAS_ACCEL 1
-#define HAS_ACCEL_REF 0
-#endif
 
 #include <ao_data.h>
+#include <ao_log.h>
 
 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
@@ -72,7 +91,6 @@ struct ao_adc {
 /*
  * Above this height, the baro sensor doesn't work
  */
-#define AO_MAX_BARO_HEIGHT     12000
 #define AO_BARO_SATURATE       13000
 #define AO_MIN_BARO_VALUE      ao_altitude_to_pres(AO_BARO_SATURATE)
 
@@ -83,19 +101,6 @@ struct ao_adc {
 
 #define ACCEL_NOSE_UP  (ao_accel_2g >> 2)
 
-enum ao_flight_state {
-       ao_flight_startup = 0,
-       ao_flight_idle = 1,
-       ao_flight_pad = 2,
-       ao_flight_boost = 3,
-       ao_flight_fast = 4,
-       ao_flight_coast = 5,
-       ao_flight_drogue = 6,
-       ao_flight_main = 7,
-       ao_flight_landed = 8,
-       ao_flight_invalid = 9
-};
-
 extern enum ao_flight_state ao_flight_state;
 
 #define FALSE 0
@@ -190,7 +195,14 @@ struct ao_cmds {
 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
 
 #define AO_NEED_ALTITUDE_TO_PRES 1
+#if MEGAMETRUM
+#include "ao_convert_pa.c"
+#include <ao_ms5607.h>
+struct ao_ms5607_prom  ms5607_prom;
+#include "ao_ms5607_convert.c"
+#else
 #include "ao_convert.c"
+#endif
 
 struct ao_config {
        uint16_t        main_deploy;
@@ -218,11 +230,11 @@ typedef int16_t   accel_t;
 
 extern uint16_t        ao_sample_tick;
 
-extern int16_t ao_sample_height;
+extern alt_t   ao_sample_height;
 extern accel_t ao_sample_accel;
 extern int32_t ao_accel_scale;
-extern int16_t ao_ground_height;
-extern int16_t ao_sample_alt;
+extern alt_t   ao_ground_height;
+extern alt_t   ao_sample_alt;
 
 int ao_sample_prev_tick;
 uint16_t       prev_tick;
@@ -293,9 +305,20 @@ ao_insert(void)
        ao_data_ring[ao_data_head] = ao_data_static;
        ao_data_head = ao_data_ring_next(ao_data_head);
        if (ao_flight_state != ao_flight_startup) {
-               double  height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
-               double  accel = ((ao_flight_ground_accel - ao_data_static.adc.accel) * GRAVITY * 2.0) /
+#if HAS_ACCEL
+               double  accel = ((ao_flight_ground_accel - ao_data_accel_cook(&ao_data_static)) * GRAVITY * 2.0) /
                        (ao_config.accel_minus_g - ao_config.accel_plus_g);
+#else
+               double  accel = 0.0;
+#endif
+#if MEGAMETRUM
+               double  height;
+
+               ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
+               height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height;
+#else
+               double  height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
+#endif
 
                if (!tick_offset)
                        tick_offset = -ao_data_static.tick;
@@ -478,6 +501,22 @@ int16(uint8_t *bytes, int off)
        return (int16_t) uint16(bytes, off);
 }
 
+uint32_t
+uint32(uint8_t *bytes, int off)
+{
+       return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
+               (((uint32_t) bytes[off+2]) << 16) |
+               (((uint32_t) bytes[off+3]) << 24);
+}
+
+int32_t
+int32(uint8_t *bytes, int off)
+{
+       return (int32_t) uint32(bytes, off);
+}
+
+static int log_format;
+
 void
 ao_sleep(void *wchan)
 {
@@ -496,7 +535,10 @@ ao_sleep(void *wchan)
                for (;;) {
                        if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
                        {
+#if MEGAMETRUM
+#else
                                ao_data_static.adc.accel = ao_flight_ground_accel;
+#endif
                                ao_insert();
                                return;
                        }
@@ -518,13 +560,69 @@ ao_sleep(void *wchan)
                                if (words[nword] == NULL)
                                        break;
                        }
-                       if (nword == 4) {
+#if MEGAMETRUM
+                       if (log_format == AO_LOG_FORMAT_MEGAMETRUM && nword == 30 && 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_set_accel(&ao_data_static, -int16(bytes, 10));
+//                                     printf ("accel %d pres %d\n", ao_data_accel_cook(&ao_data_static), value.pres);
+                                       ao_records_read++;
+                                       ao_insert();
+                                       return;
+                               }
+                               continue;
+                       } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
+                               if (strcmp(words[1], "reserved:") == 0)
+                                       ms5607_prom.reserved = strtoul(words[2], NULL, 10);
+                               else if (strcmp(words[1], "sens:") == 0)
+                                       ms5607_prom.sens = strtoul(words[2], NULL, 10);
+                               else if (strcmp(words[1], "off:") == 0)
+                                       ms5607_prom.off = strtoul(words[2], NULL, 10);
+                               else if (strcmp(words[1], "tcs:") == 0)
+                                       ms5607_prom.tcs = strtoul(words[2], NULL, 10);
+                               else if (strcmp(words[1], "tco:") == 0)
+                                       ms5607_prom.tco = strtoul(words[2], NULL, 10);
+                               else if (strcmp(words[1], "tref:") == 0)
+                                       ms5607_prom.tref = strtoul(words[2], NULL, 10);
+                               else if (strcmp(words[1], "tempsens:") == 0)
+                                       ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
+                               else if (strcmp(words[1], "crc:") == 0)
+                                       ms5607_prom.crc = strtoul(words[2], NULL, 10);
+                               continue;
+                       }
+#else
+                       if (nword == 4 && log_format != AO_LOG_FORMAT_MEGAMETRUM) {
                                type = words[0][0];
                                tick = strtoul(words[1], NULL, 16);
                                a = strtoul(words[2], NULL, 16);
                                b = strtoul(words[3], NULL, 16);
                                if (type == 'P')
                                        type = 'A';
+                       }
+#endif
+                       else if (nword == 2 && strcmp(words[0], "log-format") == 0) {
+                               log_format = strtoul(words[1], NULL, 10);
                        } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
                                ao_config.accel_plus_g = atoi(words[3]);
                                ao_config.accel_minus_g = atoi(words[5]);
@@ -631,6 +729,8 @@ ao_sleep(void *wchan)
                        if (type != 'F' && !ao_flight_started)
                                continue;
 
+#if MEGAMETRUM
+#else
                        switch (type) {
                        case 'F':
                                ao_flight_ground_accel = a;
@@ -666,6 +766,7 @@ ao_sleep(void *wchan)
                        case 'H':
                                break;
                        }
+#endif
                }
 
        }