altos: Add motor pressure calibration data to easy motor log

Compute an average of ground motor pressure values and store those in
the log data in the AO_FLIGHT record.

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

diff --git a/src/easymotor-v2/ao_pins.h b/src/easymotor-v2/ao_pins.h
index 6ea08e1a13ee7080a57aa368955b97746e18c18b..1d970e1927df605d35743c0539f237ee743422b5 100644 (file)
--- a/src/easymotor-v2/ao_pins.h
+++ b/src/easymotor-v2/ao_pins.h
@@ -104,14 +104,14 @@
 #define AO_DATA_RING           64
 
 struct ao_adc {
-       int16_t                 pressure;
+       int16_t                 motor_pressure;
        int16_t                 v_batt;
 };
 
 #define AO_ADC_DUMP(p) \
-       printf("tick: %5u pressure: %5d batt: %5d\n", \
+       printf("tick: %5u motor_pressure: %5d batt: %5d\n", \
               (p)->tick, \
-              (p)->adc.pressure, \
+              (p)->adc.motor_pressure, \
               (p)->adc.v_batt);
 
 
@@ -162,4 +162,10 @@ struct ao_adc {
 #define HAS_IMU                        1
 #define USE_ADXL375_IMU                1
 
+/* Motor pressure */
+#define HAS_MOTOR_PRESSURE     1
+#define ao_data_motor_pressure(packet) ((packet)->adc.motor_pressure)
+
+typedef int16_t        motor_pressure_t;
+
 #endif /* _AO_PINS_H_ */

diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h
index 12eefe74621a2261decfab7dbba290b5b2ac8f0c..5c150abcefac88a4fb2dc4444d01d4b8a9c0e190 100644 (file)
--- a/src/kernel/ao_log.h
+++ b/src/kernel/ao_log.h
@@ -514,7 +514,8 @@ struct ao_log_motor {
                        int16_t         ground_accel_along;     /* 8 */
                        int16_t         ground_accel_across;    /* 10 */
                        int16_t         ground_accel_through;   /* 12 */
-               } flight;
+                       int16_t         ground_motor_pressure;  /* 14 */
+               } flight;                                       /* 16 */
                /* AO_LOG_STATE */
                struct {
                        uint16_t        state;                  /* 4 */

diff --git a/src/kernel/ao_log_motor.c b/src/kernel/ao_log_motor.c
index 18d6b79e3069f8b7becffd5995c718bbf06a5c77..3fca80fb2b0e3bf74a75429796be842af6a44975 100644 (file)
--- a/src/kernel/ao_log_motor.c
+++ b/src/kernel/ao_log_motor.c
@@ -48,6 +48,9 @@ ao_log(void)
        ao_log_data.type = AO_LOG_FLIGHT;
        ao_log_data.tick = ao_sample_tick;
        ao_log_data.u.flight.ground_accel = ao_ground_accel;
+       ao_log_data.u.flight.ground_accel_along = ao_ground_accel_along;
+       ao_log_data.u.flight.ground_accel_through = ao_ground_accel_through;
+       ao_log_data.u.flight.ground_motor_pressure = ao_ground_motor_pressure;
        ao_log_data.u.flight.flight = ao_flight_number;
        ao_log_write(&ao_log_data);
 
@@ -63,7 +66,7 @@ ao_log(void)
                        ao_log_data.tick = ao_data_ring[ao_log_data_pos].tick;
                        if ((int16_t) (ao_log_data.tick - next_sensor) >= 0) {
                                ao_log_data.type = AO_LOG_SENSOR;
-                               ao_log_data.u.sensor.pressure = ao_data_ring[ao_log_data_pos].adc.pressure;
+                               ao_log_data.u.sensor.pressure = ao_data_motor_pressure(&ao_data_ring[ao_log_data_pos]);
                                ao_log_data.u.sensor.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt;
                                ao_log_data.u.sensor.accel = ao_data_accel(&ao_data_ring[ao_log_data_pos]);
                                ao_log_data.u.sensor.accel_across = ao_data_across(&ao_data_ring[ao_log_data_pos]);

diff --git a/src/kernel/ao_sample.c b/src/kernel/ao_sample.c
index 46771496b69a4745cd6ea24597f9fa048c7243ba..874c91100a665ca1f0ec3680e4392ede174e9acc 100644 (file)
--- a/src/kernel/ao_sample.c
+++ b/src/kernel/ao_sample.c
@@ -57,6 +57,9 @@ angle_t               ao_sample_orient;
 angle_t                ao_sample_orients[AO_NUM_ORIENT];
 uint8_t                ao_sample_orient_pos;
 #endif
+#ifdef HAS_MOTOR_PRESSURE
+motor_pressure_t       ao_sample_motor_pressure;
+#endif
 
 uint8_t                ao_sample_data;
 
@@ -87,6 +90,10 @@ int32_t              ao_ground_yaw;
 int32_t                ao_ground_roll;
 #endif
 
+#if HAS_MOTOR_PRESSURE
+motor_pressure_t       ao_ground_motor_pressure;
+#endif
+
 static uint8_t ao_preflight;           /* in preflight mode */
 
 static uint16_t        nsamples;
@@ -107,6 +114,9 @@ int32_t ao_sample_yaw_sum;
 int32_t        ao_sample_roll_sum;
 static struct ao_quaternion ao_rotation;
 #endif
+#if HAS_MOTOR_PRESSURE
+int32_t ao_sample_motor_pressure_sum;
+#endif
 
 #if HAS_FLIGHT_DEBUG
 extern uint8_t ao_orient_test;
@@ -130,6 +140,9 @@ ao_sample_preflight_add(void)
        ao_sample_pitch_sum += ao_sample_pitch;
        ao_sample_yaw_sum += ao_sample_yaw;
        ao_sample_roll_sum += ao_sample_roll;
+#endif
+#if HAS_MOTOR_PRESSURE
+       ao_sample_motor_pressure_sum += ao_sample_motor_pressure;
 #endif
        ++nsamples;
 }
@@ -199,6 +212,9 @@ ao_sample_preflight_set(void)
        ao_ground_accel_through = ao_sample_accel_through_sum >> 9;
 
 #endif
+#if HAS_MOTOR_PRESSURE
+       ao_ground_motor_pressure = ao_sample_motor_pressure_sum >> 9;
+#endif
 #if HAS_GYRO
        ao_ground_pitch = ao_sample_pitch_sum;
        ao_ground_yaw = ao_sample_yaw_sum;
@@ -379,6 +395,9 @@ ao_sample(void)
                ao_sample_yaw = ao_data_yaw(ao_data);
                ao_sample_roll = ao_data_roll(ao_data);
 #endif
+#if HAS_MOTOR_PRESSURE
+               ao_sample_motor_pressure = ao_data_motor_pressure(ao_data);
+#endif
 
                if (ao_preflight)
                        ao_sample_preflight();

diff --git a/src/kernel/ao_sample.h b/src/kernel/ao_sample.h
index 475b3f6326ef8fc57301fcf1172c0310a14d262b..8e64095b79a407478d1f5af3082f3e26fedbee81 100644 (file)
--- a/src/kernel/ao_sample.h
+++ b/src/kernel/ao_sample.h
@@ -156,6 +156,10 @@ extern angle_t     ao_sample_orient;
 extern angle_t ao_sample_orients[AO_NUM_ORIENT];
 extern uint8_t ao_sample_orient_pos;
 #endif
+#if HAS_MOTOR_PRESSURE
+extern motor_pressure_t ao_ground_motor_pressure;
+extern motor_pressure_t ao_sample_motor_pressure;
+#endif
 
 void ao_sample_init(void);