From: Keith Packard <keithp@keithp.com>
Date: Mon, 5 Sep 2022 04:05:25 +0000 (-0700)
Subject: ao-eeprom: Add easy motor support
X-Git-Tag: 1.9.12~1^2~27
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=681638032041efcb05b9623e2a0332ca4e2d0958

ao-eeprom: Add easy motor support

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

diff --git a/ao-tools/ao-eeprom/ao-eeprom.c b/ao-tools/ao-eeprom/ao-eeprom.c
index e249af9e..f6367630 100644
--- a/ao-tools/ao-eeprom/ao-eeprom.c
+++ b/ao-tools/ao-eeprom/ao-eeprom.c
@@ -148,7 +148,7 @@ ao_thrust(int16_t value, int16_t max_adc, double ref, double r1, double r2)
 }
 
 static void
-ao_pressure(int16_t value, int16_t max_adc, double ref, double r1, double r2)
+ao_pressure(int16_t value, int16_t max_adc, double ref, double r1, double r2, double sensor_range)
 {
 	printf(" pressure %5d", value);
 	if (r1 && r2 && ref) {
@@ -156,7 +156,7 @@ ao_pressure(int16_t value, int16_t max_adc, double ref, double r1, double r2)
 		if (volts < 0.5) volts = 0.5;
 		if (volts > 4.5) volts = 4.5;
 
-		double psi = (volts - 0.5) / 4.0 * 2500.0;
+		double psi = (volts - 0.5) / 4.0 * sensor_range;
 		double pa = psi_to_pa(psi);
 		printf(" %9.3f kPa", pa / 1000.0);
 	}
@@ -261,6 +261,7 @@ main (int argc, char **argv)
 		double	sense_r1 = 0.0, sense_r2 = 0.0;
 		double	batt_r1 = 0.0, batt_r2 = 0.0;
 		double	adc_ref = 0.0;
+		double	pressure_sensor = 0.0;
 		int16_t	max_adc = 0;
 
 		switch (eeprom->log_format) {
@@ -315,6 +316,7 @@ main (int argc, char **argv)
 			break;
 		case AO_LOG_FORMAT_TELEFIRETWO:
 			len = 32;
+			pressure_sensor = 2500.0;
 			max_adc = 4095;
 			adc_ref = 3.3;
 			sense_r1 = batt_r1 = 5600;
@@ -361,6 +363,16 @@ main (int argc, char **argv)
 			sense_r1 = 100e3;
 			sense_r2 = 27e3;
 			break;
+		case AO_LOG_FORMAT_EASYMOTOR:
+			len = 16;
+			max_adc = 32767;
+			adc_ref = 3.3;
+			pressure_sensor = 1600.0;
+			batt_r1 = 5600;
+			batt_r2 = 10000;
+			sense_r1 = 5600;
+			sense_r2 = 10000;
+			break;
 		}
 		if (arg_len)
 			len = arg_len;
@@ -385,6 +397,7 @@ main (int argc, char **argv)
 				struct ao_log_metrum *log_metrum;
 				struct ao_log_gps *log_gps;
 				struct ao_log_firetwo *log_firetwo;
+				struct ao_log_motor *log_motor;
 
 				if (!csum && !ao_csum_valid(&eeprom->data[pos], len)) {
 					if (verbose)
@@ -626,7 +639,8 @@ main (int argc, char **argv)
 					case AO_LOG_SENSOR:
 						ao_pressure(log_firetwo->u.sensor.pressure,
 							    max_adc, adc_ref,
-							    sense_r1, sense_r2);
+							    sense_r1, sense_r2,
+							    pressure_sensor);
 						ao_thrust(log_firetwo->u.sensor.thrust,
 							  max_adc, adc_ref,
 							  sense_r1, sense_r2);
@@ -683,6 +697,31 @@ main (int argc, char **argv)
 					break;
 				case AO_LOG_FORMAT_DETHERM:
 					break;
+				case AO_LOG_FORMAT_EASYMOTOR:
+					log_motor = (struct ao_log_motor *) &eeprom->data[pos];
+					switch (log_motor->type) {
+					case AO_LOG_FLIGHT:
+						printf(" serial %5u flight %5u",
+						       eeprom->serial_number,
+						       log_motor->u.flight.flight);
+						break;
+					case AO_LOG_STATE:
+						ao_state(log_motor->u.state.state,
+							 log_motor->u.state.reason);
+						break;
+					case AO_LOG_SENSOR:
+						ao_pressure(log_motor->u.sensor.pressure,
+							    max_adc, adc_ref,
+							    sense_r1, sense_r2,
+							    pressure_sensor);
+						ao_volts("v_batt",
+							 log_motor->u.sensor.v_batt,
+							 max_adc,
+							 adc_ref,
+							 batt_r1, batt_r2);
+						break;
+					}
+					break;
 				}
 			}
 			printf("\n");
diff --git a/ao-tools/lib/ao-eeprom-read.h b/ao-tools/lib/ao-eeprom-read.h
index e4a9b0cc..11e4f91d 100644
--- a/ao-tools/lib/ao-eeprom-read.h
+++ b/ao-tools/lib/ao-eeprom-read.h
@@ -45,6 +45,7 @@
 #define AO_LOG_FORMAT_TELESTATIC	17	/* 32 byte typed telestatic records */
 #define AO_LOG_FORMAT_MICROPEAK2	18	/* 2-byte baro values with header */
 #define AO_LOG_FORMAT_TELEMEGA_4	19	/* 32 byte typed telemega records with 32 bit gyro cal and Bmx160 */
+#define AO_LOG_FORMAT_EASYMOTOR		20	/* 16 byte typed easymotor records with pressure sensor and adxl375 */
 #define AO_LOG_FORMAT_NONE		127	/* No log at all */
 
 enum ao_pyro_flag {
@@ -515,6 +516,37 @@ struct ao_log_gps {
 	} u;
 };
 
+struct ao_log_motor {
+	char			type;			/* 0 */
+	uint8_t			csum;			/* 1 */
+	uint16_t		tick;			/* 2 */
+	union {						/* 4 */
+		/* AO_LOG_FLIGHT */
+		struct {
+			uint16_t	flight;			/* 4 */
+			int16_t		ground_accel;		/* 6 */
+			int16_t		ground_accel_along;	/* 8 */
+			int16_t		ground_accel_across;	/* 10 */
+			int16_t		ground_accel_through;	/* 12 */
+			int16_t		ground_motor_pressure;	/* 14 */
+		} flight;					/* 16 */
+		/* AO_LOG_STATE */
+		struct {
+			uint16_t	state;			/* 4 */
+			uint16_t	reason;			/* 6 */
+		} state;
+		/* AO_LOG_SENSOR */
+		struct {
+			uint16_t	pressure;		/* 4 */
+			uint16_t	v_batt;			/* 6 */
+			int16_t		accel;			/* 8 */
+			int16_t		accel_across;		/* 10 */
+			int16_t		accel_along;		/* 12 */
+			int16_t		accel_through;		/* 14 */
+		} sensor;					/* 16 */
+	} u;
+};
+
 struct ao_eeprom {
 	struct ao_config	config;
 	struct ao_ms5607_prom	ms5607_prom;