diff options
Diffstat (limited to 'src/test')
| -rw-r--r-- | src/test/Makefile | 14 | ||||
| -rw-r--r-- | src/test/ao_aprs_test.c | 132 | ||||
| -rw-r--r-- | src/test/ao_flight_test.c | 17 |
3 files changed, 159 insertions, 4 deletions
diff --git a/src/test/Makefile b/src/test/Makefile index 0dcdc949..092bf360 100644 --- a/src/test/Makefile +++ b/src/test/Makefile @@ -1,7 +1,8 @@ vpath % ..:../core:../drivers:../util 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 + ao_gps_test ao_gps_test_skytraq ao_convert_test ao_convert_pa_test ao_fec_test \ + ao_aprs_test INCS=ao_kalman.h ao_ms5607.h ao_log.h ao_data.h altitude-pa.h altitude.h @@ -9,7 +10,7 @@ KALMAN=make-kalman CFLAGS=-I.. -I. -I../core -I../drivers -O0 -g -Wall -all: $(PROGS) +all: $(PROGS) ao_aprs_data.wav clean: rm -f $(PROGS) run-out.baro run-out.full @@ -49,5 +50,14 @@ ao_kalman.h: $(KALMAN) ao_fec_test: ao_fec_test.c ao_fec_tx.c ao_fec_rx.c cc $(CFLAGS) -DAO_FEC_DEBUG=1 -o $@ ao_fec_test.c ../core/ao_fec_tx.c ../core/ao_fec_rx.c -lm +ao_aprs_test: ao_aprs_test.c ao_aprs.c + cc $(CFLAGS) -o $@ ao_aprs_test.c + +SOX_INPUT_ARGS=--type raw --encoding unsigned-integer -b 8 -c 1 -r 9600 +SOX_OUTPUT_ARGS=--type wav + +ao_aprs_data.wav: ao_aprs_test + ./ao_aprs_test | sox $(SOX_INPUT_ARGS) - $(SOX_OUTPUT_ARGS) $@ + check: ao_fec_test ao_flight_test ao_flight_test_baro run-tests ./ao_fec_test && ./run-tests
\ No newline at end of file diff --git a/src/test/ao_aprs_test.c b/src/test/ao_aprs_test.c new file mode 100644 index 00000000..3b31f2d3 --- /dev/null +++ b/src/test/ao_aprs_test.c @@ -0,0 +1,132 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +#include <stdio.h> +#include <stdlib.h> +#include <string.h> +#include <stdint.h> +#include <stdarg.h> + +#include <ao_telemetry.h> + +struct ao_telemetry_location ao_gps_data; + +#define AO_APRS_TEST + +typedef int16_t (*ao_radio_fill_func)(uint8_t *buffer, int16_t len); + +#define DEBUG 0 +#if DEBUG +void +ao_aprs_bit(uint8_t bit) +{ + static int seq = 0; + printf ("%6d %d\n", seq++, bit ? 1 : 0); +} +#else +void +ao_aprs_bit(uint8_t bit) +{ + putchar (bit ? 0xc0 : 0x40); +} +#endif + +void +ao_radio_send_lots(ao_radio_fill_func fill); + +#include <ao_aprs.c> + +/* + * @section copyright_sec Copyright + * + * Copyright (c) 2001-2009 Michael Gray, KD7LMO + + + * + * + * @section gpl_sec GNU General Public License + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + + */ + +static void +audio_gap(int secs) +{ +#if !DEBUG + int samples = secs * 9600; + + while (samples--) + ao_aprs_bit(0); +#endif +} + +// This is where we go after reset. +int main(int argc, char **argv) +{ + audio_gap(1); + + ao_gps_data.latitude = (45.0 + 28.25 / 60.0) * 10000000; + ao_gps_data.longitude = (-(122 + 44.2649 / 60.0)) * 10000000; + ao_gps_data.altitude = 84; + + /* Transmit one packet */ + ao_aprs_send(); + + tncBuffer[strlen((char *) tncBuffer) - 2] = '\0'; + fprintf(stderr, "packet: %s\n", tncBuffer); + + exit(0); +} + +void +ao_radio_send_lots(ao_radio_fill_func fill) +{ + int16_t len; + uint8_t done = 0; + uint8_t buf[16], *b, c; + uint8_t bit; + + while (!done) { + len = (*fill)(buf, sizeof (buf)); + if (len < 0) { + done = 1; + len = -len; + } + b = buf; + while (len--) { + c = *b++; + for (bit = 0; bit < 8; bit++) { + ao_aprs_bit(c & 0x80); + c <<= 1; + } + } + } +} diff --git a/src/test/ao_flight_test.c b/src/test/ao_flight_test.c index acdf4d92..cdd1f236 100644 --- a/src/test/ao_flight_test.c +++ b/src/test/ao_flight_test.c @@ -236,10 +236,14 @@ extern int32_t ao_accel_scale; extern alt_t ao_ground_height; extern alt_t ao_sample_alt; +double ao_sample_qangle; + int ao_sample_prev_tick; uint16_t prev_tick; + #include "ao_kalman.c" +#include "ao_sqrt.c" #include "ao_sample.c" #include "ao_flight.c" @@ -309,7 +313,7 @@ ao_mpu6000_accel(int16_t sensor) } static double -ao_mpu6000_gyro(int16_t sensor) +ao_mpu6000_gyro(int32_t sensor) { return sensor / 32767.0 * MPU6000_GYRO_FULLSCALE; } @@ -370,6 +374,7 @@ ao_insert(void) if (!ao_summary) { printf("%7.2f height %8.2f accel %8.3f " #if MEGAMETRUM + "roll %8.3f angle %8.3f qangle %8.3f " "accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f " #endif "state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d\n", @@ -377,6 +382,9 @@ ao_insert(void) height, accel, #if MEGAMETRUM + ao_mpu6000_gyro(ao_sample_roll_angle) / 100.0, + ao_mpu6000_gyro(ao_sample_angle) / 100.0, + ao_sample_qangle, ao_mpu6000_accel(ao_data_static.mpu6000.accel_x), ao_mpu6000_accel(ao_data_static.mpu6000.accel_y), ao_mpu6000_accel(ao_data_static.mpu6000.accel_z), @@ -715,12 +723,14 @@ update_orientation (double rate_x, double rate_y, double rate_z, int tick) q_dot.q2 = 0.5 * (ao_orient.q0 * rate_y + ao_orient.q3 * rate_x - ao_orient.q1 * rate_z) + lambda * ao_orient.q2; q_dot.q3 = 0.5 * (ao_orient.q0 * rate_z + ao_orient.q1 * rate_y - ao_orient.q2 * rate_x) + lambda * ao_orient.q3; +#if 0 printf ("update_orientation %g %g %g (%g s)\n", rate_x, rate_y, rate_z, dt); printf ("q_dot (%g) %g %g %g\n", q_dot.q0, q_dot.q1, q_dot.q2, q_dot.q3); +#endif ao_orient.q0 += q_dot.q0 * dt; ao_orient.q1 += q_dot.q1 * dt; @@ -731,6 +741,8 @@ update_orientation (double rate_x, double rate_y, double rate_z, int tick) ao_quat_rot(&ao_current, &ao_up, &ao_orient); + ao_sample_qangle = 180 / M_PI * acos(ao_current.q3 * sqrt(2)); +#if 0 printf ("orient (%g) %g %g %g current (%g) %g %g %g\n", ao_orient.q0, ao_orient.q1, @@ -740,6 +752,7 @@ update_orientation (double rate_x, double rate_y, double rate_z, int tick) ao_current.q1, ao_current.q2, ao_current.q3); +#endif } #endif @@ -845,7 +858,7 @@ ao_sleep(void *wchan) double rate_y = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y); double rate_z = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z); - update_orientation(rate_x, rate_z, rate_y, tick); + update_orientation(rate_x * M_PI / 180, rate_z * M_PI / 180, rate_y * M_PI / 180, tick); } ao_records_read++; ao_insert(); |