`#H3D3F3L3P3TF'.|BN{A@ <`H@BQH@QAC6 < #@`H@QH@Q #@A #@A #@A #@A@ #@A6 #@A6 #@AC">??AABBCCDD Preempt 128/sec Preempt 64/sec Preempt 32/sec Preempt 16/sec Preempt 8/sec IMU tracking off - IMU tracking on - Preempt 4/sec Preempt 2/sec Preempt 1/sec PIT Vector installed (c) 2004 Francis N. Henderson - ALL RIGHTS RESERVED TAngel BIOS - ITAMEG Up Load - CPM68k May 4,2004 TAngel BIOS - ROM Resident - CPM68k May 4,2004 IMU tracking, ESCC Clk = 16 MHz Introl ANSI Procomm Terminal Emulation - TeleVideo 910 Gyro Position Integration - Auto Calibration Accelerometer Integration - Auto Calibration 128,64,32,16,8,4,2,1 /sec - Preemptive Tasking RAM Reserved 16K: 00000 -> 04000 ROM CPU32BUG 64K: C0000 -> D0000 RAM Resident 496K: 04000 -> 80000, Free = %6d ROM Resident 192K: D0000 -> 100000, Free = %6d RAM UpLoad 112K: 04000 -> 20000, Free = %6d ROM UpLoad 384K: 20000 -> 80000, Free = %6d start - %8X ROM initstart - %8X ROM initsize - %8X ROM ( %d Dec Init length) initend - %8X ROM (%d Dec Rom length) ramstart - %8X RAM UnInitialized Data ramend - %8X RAM UnInitialized Data datastart - %8X RAM Initialized Data datasize - %8X RAM Initialized Size dataend - %8X RAM Initialized Data (%d Dec Ram length) TAngel started. Start 10,000 - %02d:%02d:%02d Finish 10,000 - %02d:%02d:%02d IMU input good IMU input invalidMisDirected Msg gps total msg length = %d Error fr to RFL GPS %02d:%02d:%02d.%-1d fr to RFL GPS %02d:%02d:%02d.%-1d Error gps msg = %d; length = %d %s fr to RFL GPS %02d:%02d:%02d.%-1d %s fr to RFL GPS %02d:%02d:%02d.%-1d length = %d Stack Base Top Max%% Sleep%% pit_stack %4x %6d preempt128_STK %4x -> %4x %6d %6d preempt64_STK %4x -> %4x %6d %6d preempt32_STK %4x -> %4x %6d %6d preempt16_STK %4x -> %4x %6d %6d preempt8_STK %4x -> %4x %6d %6d preempt4_STK %4x -> %4x %6d %6d preempt2_STK %4x -> %4x %6d %6d preempt1_STK %4x -> %4x %6d %6d Rx GPS STK %4x -> %4x %6d %6d RFL U1 STK %4x -> %4x %6d %6d SCI U2 STK %4x -> %4x %6d %6d tport_STK %4x -> %4x %6d %6d MANMSG SteeringPos=%d Step=%d, ThrottlePos=%d Step=%d, BrakePos=%d Step=%d, TransSet=%d SETMSG Servo#0=%d, StepSize=%d, TransSet=%d BITMSG Starter=%d, Ignition=%d, Emergency Halt-NA Slew blocked. 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Format 'dan ' (0 - 7)Chn %d is doing Offset CalRetry Chn %d Offset CalPos Count Weight Neg Count Weight Chn= %d %2d %6d%7d%7d %6d%7d Offset=%7f Center=%d Data sample=%d variation_index=%d Total= %d, Bounds discard= %d %2d:%2d:%2d Roll Rate DAS1Pitch Rate DAS2Yaw Rate DAS3Lift Accel DAS4Thrust Accel DAS5Side Accel DAS6Air Speed DAS7Altimeter DAS8Angle of Atk ADC1Air Temp ADC27.2 Volt Bat ADC34.8 Volt Bat ADC4Pitch Temp ADC5Yaw Temp ADC6Roll Temp ADC7Lift Temp ADC8 Min%6u%6u%6u%6u%6u%6u Cur%6u%6u%6u%6u%6u%6u Max%6u%6u%6u%6u%6u%6u %11f %11f %11f%d%s%s %s %s %11f %11f %11f %11f%4u %6u%11f%s%s Detected -%s Retry -%s Absent -%s Unknown Sensor State = %d %s Nose Heading%9f, Ascension%9f, Tilt%9f Wing Heading%9f Orthog%9f, Max ortho%9f, Count%9d Warning! North_________deg, East_________deg, Up_________deg Nose %11f %11f, %11f %11f, %11f %11f Wing %11f %11f, %11f %11f, %11f %11f Pilot %11f %11f, %11f %11f, %11f %11f Bad correct_ortho() tilt=%f input to sinfd Bad correct_ortho() ascension input=%f to cosfd Bad correct_ortho() temp1=%f /temp2=%f input to sinfd correct_ortho temp2 is not normal=%f Bad correct_heading() tilt=%f input to sinfd Bad correct_heading() ascension input=%f to cosfd correct_heading temp2 is not normal=%f 30.123456789f deg sinfd(%f)=%f, asin_deg(%f)=%f cosfd(%f)=%f, acos_deg(%f)=%f 30.0 deg sinfd(%f)=%f, asin_deg(%f)=%f cosfd(%f)=%f, acos_deg(%f)=%f Test acos_deg( %f)= %f ulong = %X Test acos_deg(%f)= %f ulong = %X %f/0.0f = %f, ulong = %X %f/0.0f = %f, ulong = %X %e/%e = %e, ulong = %X %e/%e = %e, ulong = %X %e * %e = %e, ulong = %X %e * %e = %e, ulong = %X a - Do righting c - Calibrate i - Initialize o - OrthoAbort (d1 < 0.0) || (fabsf(a1) < 0.00001) d1=%f, a1=%fAbort (fabsf(u) > 1) u=%fAbort (d2 < 0.0) || (fabsf(a2) < 0.00001) d1=%f, a1=%fAbort (fabsf(v1) > 1) v1=%fAbort (fabsf(v2) > 1) v2=%fAbort (ascension=%f) > ascension_limit) Bad do_yaw_righting() correction_yaw=%f to sinfd Bad do_yaw_righting() correction_yaw=%f to cosfd Bad do_pitch_righting() correction_pitch=%f to sinfd Bad do_pitch_righting() correction_pitch=%f to cosfd Bad do_roll_righting() correction_roll=%f to sinfd Bad do_roll_righting() correction_roll=%f to cosfd sin(%d) sin(%d) cos(%d) cos(%d)%f sscanf sinfd(%f)= %f = %E sscanf cosfd(%f)= %f = %E Zs-Gc}@w&@w&@$w&@)w&@.w&@"3w&@&8w&@*=w&@.Bw&@2Gw&@6Lw&@:Qw&@>Vw&@B[w&@F`w&@Jew&jw& 0 Steering PWM Output 1 Throttle PWM 2 Brake PWM 3 Trans 0 Bit Output 4 Trans 1 Bit 5 Trans 2 Bit 6 Ignition Bit Output 7 Starter Bit Output 8 Reserved 1mhz Mod16 Free Running Timer 9 Oil Bit Input10 Brake Bit Input 11 Engine RPM Input12 Drive Shaft RPM13 Wheel #1 RPM14 Wheel #2 RPM 15 Reserved GPS Time Mark %s %d %d Chn#=%d is too big. Select 0 - 7 Pulse Width %d is > Period %d. Select (%d - %d) Pulse Width=%d is ouside normal servo range (%d - %d). X (exit) CR (continue) Inpt format: 'TPU', 'TPU X', 'TPU X YYYY' %4d < > On Off < > On Off On Off Odometer RPS %8d %5.2f TP 0 Interrupt CountersTP 1TP 2TP 3TP 4TP 5TP 6TP 7TP 8TP 9TP ATP BTP CTP DTP ETP FSunMonTueWedThuFriSat%d%*s %d%2d:%2d:%2d gpsbuff: id_code=%d; length=%d M1000bigi: id_code=%d; length=%dCHN SVID State C/No TAngel Global Positioning System UTC Date GPS Week UTC Time Height (M) Latitude Longitude Ground Speed True Course Climb Rate Climb Accel Linear Accel Cross Accel -< CH1 %2d %1d %2dMode: ACQ Mode: 2D NAVCirErr > 50%Mode: 3D NAV %1d/%02d/%04d CH2 %2d %1d %2dSol VALID Sol INVALID %s %4d CH3 %2d %1d %2dSats Used %2d CH4 %2d %1d %2dVtlPosEr %3d %8.2f CH5 %2d %1d %2dHozPosEr %3d %c %3.7f CH6 %2d %1d %2dTimeEr %4d %c%3.7f CH7 %2d %1d %2dHozVelEr %3d %3.2f mps CH8 %2d %1d %2dMg1000%6d %3.2f deg CH9 %2d %1d %2dMg1002%6d %3.2f mps CH10 %2d %1d %2dMg1108%6d %3.2f mps/s CH11 %2d %1d %2dOthers%6d %3.2f mps/s CH12 %2d %1d %2dAngRate %2.2f %3.2f mps/s Magnetic Variation=%f, Geoidal Separation=%f IMU heading=%f ascension =%f IMU tilt =%f$PRWIIPRO,0,RBIN*3F GPS Track on.off. GPS Msg trace on.off. GPS error trace on.off. Tx Msg trace on.off. Rx Msg trace on.off. %s %s %20c%10u%10d%10u%10l%10lu%10lu %12.1f %8lu %lx %lx %lx %lx %lx %lx%lx Changed WM adr to even=%x%x %c%x %c %x Adr=%x, Size=%c, WriteOnly=%d Adr=%x is ouside normal RAM range (%x - %x hex). X (exit) CR (continue) ?%x%lx %lx %lx%lx %lx %lx different at %lu %02d:%02d:%02d%d %d %02d:%02d:%02d.%-1dT# Task Count Background Forground %2d %10lu %10lu %10lu %10lu %10luTask# Count Stack%% uSec/exe Max uSec CPU%% %10lu PIT %10lu %8lu %9lu %9lu %4lu%14lu 128/Sec 64/Sec 32/Sec 16/Sec 8/Sec 4/Sec 2/Sec 1/Sec Rx GPS RFL U1 SCI U2 TPort %10lu %8lu %9lu %9lu %4lu %12lu %3.3f RF Pass thru OFF RF Pass thru ON Proxim Init Proxim uses ESC Tport uses CTRL-X Procom uses ESC Tport uses CTRL-XPmon On, Off GPS SyncPmon Off, ReSync to GPS Send CPM68k file, Now: File format error, 60 Header missingSingle Seg load Multiple Seg load. Invalid segment type Timeout Abort # of Bytes Expected = %lx bytes # of Bytes Received = %lx bytes Start adr = %lx # of Bytes = %lx bytes Checksum = %lx Start adr = %lx Jump to Start adr? (N/Y) - RAM Load adr is %x - ROM!PIT @ Time MarkPIT sync state1.048576 cks/secusec max driftMea phase countReAcquire gpsReSync PITSum Drift Req - pit1mhz - gps1mhz - dif1mhzTime Since ResetMax % TP StackDAS countDAS FIFO errorsDIP SW INGPS Good receive Header errors Data scca buf ovflowRFL Msg sent Not sentRFL Good receive CSum errors sccb buf ovflowSCI countSCI errorsUnexpected TRAPsSince ResetAsin errorsAcos errorsSqrt errorssin too bigsin too smallcos too bigcos too smallSince Reset Test will wipe RAM. ESC now to exit, or ESC during test to reboot On error: Red LED is on. Registers are displayed. 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