From: Keith Packard Date: Fri, 21 Jul 2017 23:14:31 +0000 (-0700) Subject: altos/test: Add EasyMini test mode X-Git-Tag: 1.8~15 X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=545bdc1f8046b08e237307d97d0044ddae9095b8 altos/test: Add EasyMini test mode Use baro-only mode, parse easymini logs. Signed-off-by: Keith Packard --- diff --git a/src/test/Makefile b/src/test/Makefile index a22abe46..a0c2d5fe 100644 --- a/src/test/Makefile +++ b/src/test/Makefile @@ -1,7 +1,7 @@ vpath % ..:../kernel:../drivers:../util:../micropeak:../aes:../product:../lisp 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_flight_test_metrum ao_flight_test_mini \ 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 ao_lisp_test @@ -37,6 +37,9 @@ ao_flight_test_mm: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman. 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_flight_test_mini: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c ao_pyro.c ao_pyro.h $(INCS) + cc -DEASYMINI=1 -DHAS_ACCEL=0 $(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 25ddb48f..d3d39f2a 100644 --- a/src/test/ao_flight_test.c +++ b/src/test/ao_flight_test.c @@ -46,7 +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 @@ -84,6 +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 /* @@ -323,7 +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 struct ao_ms5607_prom ao_ms5607_prom; @@ -475,7 +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); @@ -670,6 +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 @@ -694,12 +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; } @@ -829,6 +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; @@ -1007,7 +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