From: Keith Packard Date: Sat, 13 Oct 2012 20:39:03 +0000 (-0700) Subject: altos/test: Add ao_flight_test_mm X-Git-Tag: 1.1.9.1~25 X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=321d0f68c04a5a9c6ea7874081e6245d44c48bb4 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 --- diff --git a/src/test/Makefile b/src/test/Makefile index db3cc04b..37949e86 100644 --- 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 3231194d..6c0bb4da 100644 --- 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 +#include #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 +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 } }