2 * Copyright © 2009 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; version 2 of the License.
8 * This program is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * General Public License for more details.
13 * You should have received a copy of the GNU General Public License along
14 * with this program; if not, write to the Free Software Foundation, Inc.,
15 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
28 #define AO_ADC_RING 64
29 #define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1))
30 #define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1))
33 * One set of samples read from the A/D converter
36 uint16_t tick; /* tick when the sample was read */
37 int16_t accel; /* accelerometer */
38 int16_t pres; /* pressure sensor */
39 int16_t temp; /* temperature sensor */
40 int16_t v_batt; /* battery voltage */
41 int16_t sense_d; /* drogue continuity sense */
42 int16_t sense_m; /* main continuity sense */
51 enum ao_flight_state {
52 ao_flight_startup = 0,
64 struct ao_adc ao_adc_ring[AO_ADC_RING];
70 #define ao_timer_set_adc_interval(i)
71 #define ao_wakeup(wchan) ao_dump_state()
72 #define ao_cmd_register(c)
73 #define ao_usb_disable()
74 #define ao_telemetry_set_interval(x)
75 #define ao_rdf_set(rdf)
76 #define ao_packet_slave_start()
77 #define ao_packet_slave_stop()
80 ao_igniter_drogue = 0,
84 struct ao_adc ao_adc_static;
87 ao_ignite(enum ao_igniter igniter)
89 printf ("ignite %s at %7.2f\n", igniter == ao_igniter_drogue ? "drogue" : "main",
90 (double) ao_adc_static.tick / 100.0);
97 #define ao_add_task(t,f,n)
99 #define ao_log_start()
100 #define ao_log_stop()
102 #define AO_MS_TO_TICKS(ms) ((ms) / 10)
103 #define AO_SEC_TO_TICKS(s) ((s) * 100)
105 #define AO_FLIGHT_TEST
113 ao_sleep(void *wchan);
115 const char const * const ao_state_names[] = {
116 "startup", "idle", "pad", "boost", "fast",
117 "coast", "drogue", "main", "landed", "invalid"
125 #include "ao_convert.c"
128 uint16_t main_deploy;
129 int16_t accel_plus_g;
130 int16_t accel_minus_g;
133 #define ao_config_get()
135 struct ao_config ao_config;
137 #define DATA_TO_XDATA(x) (x)
145 #define HAS_ACCEL_REF 0
151 #include "ao_flight.c"
153 #define to_double(f) ((f) / 65536.0)
158 ao_adc_ring[ao_adc_head] = ao_adc_static;
159 ao_adc_head = ao_adc_ring_next(ao_adc_head);
162 if (ao_flight_state != ao_flight_startup) {
164 printf("time %7.2f accel %d pres %d k_height %8.2f k_speed %8.5f k_accel %8.5f\n",
165 (double) ao_adc_static.tick / 100,
168 to_double(ao_k_height),
169 to_double(ao_k_speed),
170 to_double(ao_k_accel));
172 printf("time %g accel %d pres %d\n",
173 (double) ao_adc_static.tick / 100,
180 static int ao_records_read = 0;
181 static int ao_eof_read = 0;
182 static int ao_flight_ground_accel;
183 static int ao_flight_started = 0;
186 ao_sleep(void *wchan)
189 if (wchan == &ao_adc_head) {
201 if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
203 ao_adc_static.accel = ao_flight_ground_accel;
208 if (!fgets(line, sizeof (line), emulator_in)) {
209 if (++ao_eof_read >= 1000) {
210 printf ("no more data, exiting simulation\n");
213 ao_adc_static.tick += 10;
218 for (nword = 0; nword < 64; nword++) {
219 words[nword] = strtok_r(l, " \t\n", &saveptr);
221 if (words[nword] == NULL)
226 tick = strtoul(words[1], NULL, 16);
227 a = strtoul(words[2], NULL, 16);
228 b = strtoul(words[3], NULL, 16);
229 } else if (nword >= 6 && strcmp(words[0], "Accel")) {
230 ao_config.accel_plus_g = atoi(words[3]);
231 ao_config.accel_minus_g = atoi(words[5]);
232 } else if (nword >= 4 && strcmp(words[0], "Main")) {
233 ao_config.main_deploy = atoi(words[2]);
234 } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
235 tick = atoi(words[10]);
236 if (!ao_flight_started) {
239 ao_flight_started = 1;
246 if (type != 'F' && !ao_flight_started)
251 ao_flight_ground_accel = a;
252 if (ao_config.accel_plus_g == 0) {
253 ao_config.accel_plus_g = a;
254 ao_config.accel_minus_g = a + 530;
256 if (ao_config.main_deploy == 0)
257 ao_config.main_deploy = 250;
258 ao_flight_started = 1;
263 ao_adc_static.tick = tick;
264 ao_adc_static.accel = a;
265 ao_adc_static.pres = b;
270 ao_adc_static.tick = tick;
271 ao_adc_static.temp = a;
272 ao_adc_static.v_batt = b;
285 #define COUNTS_PER_G 264.8
290 if (ao_flight_state == ao_flight_startup)
295 printf ("\t\t\t\t\t%s accel %g vel %g alt %d main %d\n",
296 ao_state_names[ao_flight_state],
297 (ao_ground_accel - ao_flight_accel) / COUNTS_PER_G * GRAVITY,
298 (double) ao_flight_vel / 100 / COUNTS_PER_G * GRAVITY,
299 ao_pres_to_altitude(ao_flight_pres) - ao_pres_to_altitude(ao_ground_pres),
300 ao_pres_to_altitude(ao_main_pres) - ao_pres_to_altitude(ao_ground_pres));
302 printf ("\t\t\t\t\t%s alt %d main %d\n",
303 ao_state_names[ao_flight_state],
304 ao_pres_to_altitude(ao_flight_pres) - ao_pres_to_altitude(ao_ground_pres),
305 ao_pres_to_altitude(ao_main_pres) - ao_pres_to_altitude(ao_ground_pres));
307 if (ao_flight_state == ao_flight_landed)
311 static const struct option options[] = {
312 { .name = "summary", .has_arg = 0, .val = 's' },
316 void run_flight_fixed(char *name, FILE *f, int summary)
319 ao_summary = summary;
325 main (int argc, char **argv)
331 while ((c = getopt_long(argc, argv, "s", options, NULL)) != -1) {
340 run_flight_fixed("<stdin>", stdin, summary);
342 for (i = optind; i < argc; i++) {
343 FILE *f = fopen(argv[i], "r");
348 run_flight_fixed(argv[i], f, summary);