diff options
Diffstat (limited to 'src/test')
| -rw-r--r-- | src/test/Makefile | 4 | ||||
| -rw-r--r-- | src/test/ao_flight_test.c | 108 | ||||
| -rwxr-xr-x | src/test/plottest | 6 |
3 files changed, 93 insertions, 25 deletions
diff --git a/src/test/Makefile b/src/test/Makefile index 017f7f71..02e1d22b 100644 --- a/src/test/Makefile +++ b/src/test/Makefile @@ -1,6 +1,7 @@ vpath % ..:../kernel:../drivers:../util:../micropeak:../aes:../product 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_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 @@ -33,6 +34,9 @@ ao_flight_test_accel: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kal ao_flight_test_mm: ao_flight_test.c ao_host.h ao_flight.c ao_sample.c ao_kalman.c ao_pyro.c ao_pyro.h $(INCS) cc -DTELEMEGA=1 $(CFLAGS) -o $@ $< -lm +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_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 bb5c3a7d..8b737ca1 100644 --- a/src/test/ao_flight_test.c +++ b/src/test/ao_flight_test.c @@ -45,6 +45,10 @@ int ao_gps_new; +#if !defined(TELEMEGA) && !defined(TELEMETRUM_V2) +#define TELEMETRUM_V1 1 +#endif + #if TELEMEGA #define AO_ADC_NUM_SENSE 6 #define HAS_MS5607 1 @@ -60,7 +64,25 @@ struct ao_adc { int16_t v_pbatt; int16_t temp; }; -#else +#endif + +#if TELEMETRUM_V2 +#define AO_ADC_NUM_SENSE 2 +#define HAS_MS5607 1 +#define HAS_MMA655X 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; + int16_t temp; +}; +#endif + + +#if TELEMETRUM_V1 /* * One set of samples read from the A/D converter */ @@ -189,17 +211,6 @@ ao_gps_angle(void) #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5)) #define from_fix(x) ((x) >> 16) -/* - * Above this height, the baro sensor doesn't work - */ -#define AO_BARO_SATURATE 13000 -#define AO_MIN_BARO_VALUE ao_altitude_to_pres(AO_BARO_SATURATE) - -/* - * Above this speed, baro measurements are unreliable - */ -#define AO_MAX_BARO_SPEED 200 - #define ACCEL_NOSE_UP (ao_accel_2g >> 2) extern enum ao_flight_state ao_flight_state; @@ -309,7 +320,7 @@ struct ao_cmds { #define ao_xmemcmp(d,s,c) memcmp(d,s,c) #define AO_NEED_ALTITUDE_TO_PRES 1 -#if TELEMEGA +#if TELEMEGA || TELEMETRUM_V2 #include "ao_convert_pa.c" #include <ao_ms5607.h> struct ao_ms5607_prom ao_ms5607_prom; @@ -459,7 +470,7 @@ ao_insert(void) #else double accel = 0.0; #endif -#if TELEMEGA +#if TELEMEGA || TELEMETRUM_V2 double height; ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked); @@ -554,6 +565,7 @@ ao_insert(void) mag_azel.el, mag_azel.az); #endif +#if 0 printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d dist %12.2f gps_tilt %4d gps_sats %2d\n", time, ao_state_names[ao_flight_state], @@ -563,6 +575,7 @@ ao_insert(void) (int) floor (ao_gps_angle() + 0.5), (ao_gps_static.flags & 0xf) * 10); +#endif #if 0 printf ("\t\tstate %-8.8s ground az: %4d el %4d mag az %4d el %4d rot az %4d el %4d el_diff %4d az_diff %4d angle %4d tilt %4d ground %8.5f %8.5f %8.5f cur %8.5f %8.5f %8.5f rot %8.5f %8.5f %8.5f\n", ao_state_names[ao_flight_state], @@ -585,9 +598,9 @@ ao_insert(void) #endif #endif -#if 0 +#if 1 printf("%7.2f height %8.2f accel %8.3f " -#if TELEMEGA +#if TELEMEGA && 0 "angle %5d " "accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f mag_x %8d mag_y %8d, mag_z %8d mag_angle %4d " #endif @@ -595,7 +608,7 @@ ao_insert(void) time, height, accel, -#if TELEMEGA +#if TELEMEGA && 0 ao_sample_orient, ao_mpu6000_accel(ao_data_static.mpu6000.accel_x), @@ -678,7 +691,8 @@ ao_sleep(void *wchan) { #if TELEMEGA ao_data_static.mpu6000 = ao_ground_mpu6000; -#else +#endif +#if TELEMETRUM_V1 ao_data_static.adc.accel = ao_flight_ground_accel; #endif ao_insert(); @@ -807,7 +821,59 @@ ao_sleep(void *wchan) } } } -#else +#endif +#if TELEMETRUM_V2 + if (log_format == AO_LOG_FORMAT_TELEMETRUM && 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_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_static.mma655x = int16(bytes, 8); + 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_V1 if (nword == 4 && log_format != AO_LOG_FORMAT_TELEMEGA) { type = words[0][0]; tick = strtoul(words[1], NULL, 16); @@ -932,7 +998,7 @@ ao_sleep(void *wchan) if (type != 'F' && !ao_flight_started) continue; -#if TELEMEGA +#if TELEMEGA || TELEMETRUM_V2 (void) a; (void) b; #else @@ -953,8 +1019,6 @@ ao_sleep(void *wchan) ao_data_static.tick = tick; ao_data_static.adc.accel = a; ao_data_static.adc.pres_real = b; - if (b < AO_MIN_BARO_VALUE) - b = AO_MIN_BARO_VALUE; ao_data_static.adc.pres = b; ao_records_read++; ao_insert(); diff --git a/src/test/plottest b/src/test/plottest index 76af5ee7..7d253ff1 100755 --- a/src/test/plottest +++ b/src/test/plottest @@ -10,7 +10,7 @@ plot "$1" using 1:3 with lines axes x1y1 title "raw height",\ "$1" using 1:9 with lines axes x1y1 title "height",\ "$1" using 1:11 with lines axes x1y2 title "speed",\ "$1" using 1:13 with lines axes x1y2 title "accel",\ -"$1" using 1:15 with lines axes x1y1 title "drogue",\ -"$1" using 1:17 with lines axes x1y1 title "main",\ -"$1" using 1:19 with lines axes x1y1 title "error" +"$1" using 1:17 with lines axes x1y1 title "drogue",\ +"$1" using 1:19 with lines axes x1y1 title "main",\ +"$1" using 1:21 with lines axes x1y1 title "error" EOF |