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.
29 #define AO_ADC_RING 64
30 #define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1))
31 #define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1))
33 #define AO_M_TO_HEIGHT(m) ((int16_t) (m))
34 #define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16))
35 #define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16))
38 * One set of samples read from the A/D converter
41 uint16_t tick; /* tick when the sample was read */
42 int16_t accel; /* accelerometer */
43 int16_t pres; /* pressure sensor */
44 int16_t pres_real; /* unclipped */
45 int16_t temp; /* temperature sensor */
46 int16_t v_batt; /* battery voltage */
47 int16_t sense_d; /* drogue continuity sense */
48 int16_t sense_m; /* main continuity sense */
57 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
58 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
59 #define from_fix(x) ((x) >> 16)
62 * Above this height, the baro sensor doesn't work
64 #define AO_MAX_BARO_HEIGHT 12000
65 #define AO_BARO_SATURATE 13000
66 #define AO_MIN_BARO_VALUE ao_altitude_to_pres(AO_BARO_SATURATE)
69 * Above this speed, baro measurements are unreliable
71 #define AO_MAX_BARO_SPEED 200
73 #define ACCEL_NOSE_UP (ao_accel_2g >> 2)
75 enum ao_flight_state {
76 ao_flight_startup = 0,
88 extern enum ao_flight_state ao_flight_state;
93 struct ao_adc ao_adc_ring[AO_ADC_RING];
99 #define ao_timer_set_adc_interval(i)
100 #define ao_wakeup(wchan) ao_dump_state()
101 #define ao_cmd_register(c)
102 #define ao_usb_disable()
103 #define ao_telemetry_set_interval(x)
104 #define ao_rdf_set(rdf)
105 #define ao_packet_slave_start()
106 #define ao_packet_slave_stop()
109 ao_igniter_drogue = 0,
113 struct ao_adc ao_adc_static;
122 static int32_t ao_k_height;
125 ao_ignite(enum ao_igniter igniter)
127 double time = (double) (ao_adc_static.tick + tick_offset) / 100;
129 if (igniter == ao_igniter_drogue) {
131 drogue_height = ao_k_height >> 16;
134 main_height = ao_k_height >> 16;
142 #define ao_add_task(t,f,n)
144 #define ao_log_start()
145 #define ao_log_stop()
147 #define AO_MS_TO_TICKS(ms) ((ms) / 10)
148 #define AO_SEC_TO_TICKS(s) ((s) * 100)
150 #define AO_FLIGHT_TEST
157 double emulator_error_max = 4;
163 ao_sleep(void *wchan);
165 const char const * const ao_state_names[] = {
166 "startup", "idle", "pad", "boost", "fast",
167 "coast", "drogue", "main", "landed", "invalid"
175 #include "ao_convert.c"
178 uint16_t main_deploy;
179 int16_t accel_plus_g;
180 int16_t accel_minus_g;
183 #define ao_config_get()
185 struct ao_config ao_config;
187 #define DATA_TO_XDATA(x) (x)
195 #define HAS_ACCEL_REF 0
198 #define GRAVITY 9.80665
199 extern int16_t ao_ground_accel, ao_flight_accel;
200 extern int16_t ao_accel_2g;
202 extern uint16_t ao_sample_tick;
204 extern int16_t ao_sample_height;
205 extern int16_t ao_sample_accel;
206 extern int32_t ao_accel_scale;
207 extern int16_t ao_ground_height;
208 extern int16_t ao_sample_alt;
210 int ao_sample_prev_tick;
213 #include "ao_kalman.c"
214 #include "ao_sample.c"
215 #include "ao_flight.c"
217 #define to_double(f) ((f) / 65536.0)
219 static int ao_records_read = 0;
220 static int ao_eof_read = 0;
221 static int ao_flight_ground_accel;
222 static int ao_flight_started = 0;
223 static int ao_test_max_height;
224 static double ao_test_max_height_time;
225 static int ao_test_main_height;
226 static double ao_test_main_height_time;
234 if (!ao_test_main_height_time) {
235 ao_test_main_height_time = ao_test_max_height_time;
236 ao_test_main_height = ao_test_max_height;
238 drogue_error = fabs(ao_test_max_height_time - drogue_time);
239 main_error = fabs(ao_test_main_height_time - main_time);
240 if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
242 emulator_app, emulator_name);
243 printf ("\tApogee error %g\n", drogue_error);
244 printf ("\tMain error %g\n", main_error);
245 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f\n",
246 ao_test_max_height, ao_test_max_height_time,
247 ao_test_main_height, ao_test_main_height_time);
248 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f\n",
249 drogue_height, drogue_time, main_height, main_time);
260 ao_adc_ring[ao_adc_head] = ao_adc_static;
261 ao_adc_head = ao_adc_ring_next(ao_adc_head);
262 if (ao_flight_state != ao_flight_startup) {
263 double height = ao_pres_to_altitude(ao_adc_static.pres_real) - ao_ground_height;
264 double accel = ((ao_flight_ground_accel - ao_adc_static.accel) * GRAVITY * 2.0) /
265 (ao_config.accel_minus_g - ao_config.accel_plus_g);
268 tick_offset = -ao_adc_static.tick;
269 if ((prev_tick - ao_adc_static.tick) > 0x400)
270 tick_offset += 65536;
271 prev_tick = ao_adc_static.tick;
272 time = (double) (ao_adc_static.tick + tick_offset) / 100;
274 if (ao_test_max_height < height) {
275 ao_test_max_height = height;
276 ao_test_max_height_time = time;
278 if (height > ao_config.main_deploy) {
279 ao_test_main_height_time = time;
280 ao_test_main_height = height;
284 printf("%7.2f height %g accel %g state %s k_height %g k_speed %g k_accel %g drogue %d main %d error %d\n",
288 ao_state_names[ao_flight_state],
289 ao_k_height / 65536.0,
290 ao_k_speed / 65536.0 / 16.0,
291 ao_k_accel / 65536.0 / 16.0,
295 if (ao_flight_state == ao_flight_landed)
301 #define AO_MAX_CALLSIGN 8
302 #define AO_MAX_VERSION 8
303 #define AO_MAX_TELEMETRY 128
305 struct ao_telemetry_generic {
306 uint16_t serial; /* 0 */
307 uint16_t tick; /* 2 */
308 uint8_t type; /* 4 */
309 uint8_t payload[27]; /* 5 */
313 #define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01
314 #define AO_TELEMETRY_SENSOR_TELEMINI 0x02
315 #define AO_TELEMETRY_SENSOR_TELENANO 0x03
317 struct ao_telemetry_sensor {
318 uint16_t serial; /* 0 */
319 uint16_t tick; /* 2 */
320 uint8_t type; /* 4 */
322 uint8_t state; /* 5 flight state */
323 int16_t accel; /* 6 accelerometer (TM only) */
324 int16_t pres; /* 8 pressure sensor */
325 int16_t temp; /* 10 temperature sensor */
326 int16_t v_batt; /* 12 battery voltage */
327 int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */
328 int16_t sense_m; /* 16 main continuity sense (TM/Tm) */
330 int16_t acceleration; /* 18 m/s² * 16 */
331 int16_t speed; /* 20 m/s * 16 */
332 int16_t height; /* 22 m */
334 int16_t ground_pres; /* 24 average pres on pad */
335 int16_t ground_accel; /* 26 average accel on pad */
336 int16_t accel_plus_g; /* 28 accel calibration at +1g */
337 int16_t accel_minus_g; /* 30 accel calibration at -1g */
341 #define AO_TELEMETRY_CONFIGURATION 0x04
343 struct ao_telemetry_configuration {
344 uint16_t serial; /* 0 */
345 uint16_t tick; /* 2 */
346 uint8_t type; /* 4 */
348 uint8_t device; /* 5 device type */
349 uint16_t flight; /* 6 flight number */
350 uint8_t config_major; /* 8 Config major version */
351 uint8_t config_minor; /* 9 Config minor version */
352 uint16_t apogee_delay; /* 10 Apogee deploy delay in seconds */
353 uint16_t main_deploy; /* 12 Main deploy alt in meters */
354 uint16_t flight_log_max; /* 14 Maximum flight log size in kB */
355 char callsign[AO_MAX_CALLSIGN]; /* 16 Radio operator identity */
356 char version[AO_MAX_VERSION]; /* 24 Software version */
360 #define AO_TELEMETRY_LOCATION 0x05
362 #define AO_GPS_MODE_NOT_VALID 'N'
363 #define AO_GPS_MODE_AUTONOMOUS 'A'
364 #define AO_GPS_MODE_DIFFERENTIAL 'D'
365 #define AO_GPS_MODE_ESTIMATED 'E'
366 #define AO_GPS_MODE_MANUAL 'M'
367 #define AO_GPS_MODE_SIMULATED 'S'
369 struct ao_telemetry_location {
370 uint16_t serial; /* 0 */
371 uint16_t tick; /* 2 */
372 uint8_t type; /* 4 */
374 uint8_t flags; /* 5 Number of sats and other flags */
375 int16_t altitude; /* 6 GPS reported altitude (m) */
376 int32_t latitude; /* 8 latitude (degrees * 10⁷) */
377 int32_t longitude; /* 12 longitude (degrees * 10⁷) */
378 uint8_t year; /* 16 (- 2000) */
379 uint8_t month; /* 17 (1-12) */
380 uint8_t day; /* 18 (1-31) */
381 uint8_t hour; /* 19 (0-23) */
382 uint8_t minute; /* 20 (0-59) */
383 uint8_t second; /* 21 (0-59) */
384 uint8_t pdop; /* 22 (m * 5) */
385 uint8_t hdop; /* 23 (m * 5) */
386 uint8_t vdop; /* 24 (m * 5) */
387 uint8_t mode; /* 25 */
388 uint16_t ground_speed; /* 26 cm/s */
389 int16_t climb_rate; /* 28 cm/s */
390 uint8_t course; /* 30 degrees / 2 */
391 uint8_t unused[1]; /* 31 */
395 #define AO_TELEMETRY_SATELLITE 0x06
397 struct ao_telemetry_satellite_info {
402 struct ao_telemetry_satellite {
403 uint16_t serial; /* 0 */
404 uint16_t tick; /* 2 */
405 uint8_t type; /* 4 */
406 uint8_t channels; /* 5 number of reported sats */
408 struct ao_telemetry_satellite_info sats[12]; /* 6 */
409 uint8_t unused[2]; /* 30 */
413 union ao_telemetry_all {
414 struct ao_telemetry_generic generic;
415 struct ao_telemetry_sensor sensor;
416 struct ao_telemetry_configuration configuration;
417 struct ao_telemetry_location location;
418 struct ao_telemetry_satellite satellite;
422 uint16(uint8_t *bytes, int off)
425 return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
429 int16(uint8_t *bytes, int off)
431 return (int16_t) uint16(bytes, off);
435 ao_sleep(void *wchan)
437 if (wchan == &ao_adc_head) {
443 union ao_telemetry_all telem;
451 if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
453 ao_adc_static.accel = ao_flight_ground_accel;
458 if (!fgets(line, sizeof (line), emulator_in)) {
459 if (++ao_eof_read >= 1000) {
461 printf ("no more data, exiting simulation\n");
464 ao_adc_static.tick += 10;
469 for (nword = 0; nword < 64; nword++) {
470 words[nword] = strtok_r(l, " \t\n", &saveptr);
472 if (words[nword] == NULL)
477 tick = strtoul(words[1], NULL, 16);
478 a = strtoul(words[2], NULL, 16);
479 b = strtoul(words[3], NULL, 16);
482 } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
483 ao_config.accel_plus_g = atoi(words[3]);
484 ao_config.accel_minus_g = atoi(words[5]);
485 } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
486 ao_config.main_deploy = atoi(words[2]);
487 } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
488 tick = atoi(words[10]);
489 if (!ao_flight_started) {
492 ao_flight_started = 1;
498 } else if (nword == 2 && strcmp(words[0], "TELEM") == 0) {
499 char *hex = words[1];
505 if (len > sizeof (bytes) * 2) {
506 len = sizeof (bytes)*2;
509 for (i = 0; i < len; i += 2) {
513 bytes[i/2] = (uint8_t) strtol(elt, NULL, 16);
516 if (bytes[0] != len - 2) {
517 printf ("bad length %d != %d\n", bytes[0], len - 2);
521 for (i = 1; i < len-1; i++)
523 if (sum != bytes[len-1]) {
524 printf ("bad checksum\n");
527 if ((bytes[len-2] & 0x80) == 0) {
531 memcpy(&telem, bytes + 1, 32);
532 tick = telem.generic.tick;
533 switch (telem.generic.type) {
534 case AO_TELEMETRY_SENSOR_TELEMETRUM:
535 case AO_TELEMETRY_SENSOR_TELEMINI:
536 case AO_TELEMETRY_SENSOR_TELENANO:
537 if (!ao_flight_started) {
538 ao_flight_ground_accel = telem.sensor.ground_accel;
539 ao_config.accel_plus_g = telem.sensor.accel_plus_g;
540 ao_config.accel_minus_g = telem.sensor.accel_minus_g;
541 ao_flight_started = 1;
544 a = telem.sensor.accel;
545 b = telem.sensor.pres;
548 } else if (len == 99) {
549 ao_flight_started = 1;
550 tick = uint16(bytes, 21);
551 ao_flight_ground_accel = int16(bytes, 7);
552 ao_config.accel_plus_g = int16(bytes, 17);
553 ao_config.accel_minus_g = int16(bytes, 19);
555 a = int16(bytes, 23);
556 b = int16(bytes, 25);
557 } else if (len == 98) {
558 ao_flight_started = 1;
559 tick = uint16(bytes, 20);
560 ao_flight_ground_accel = int16(bytes, 6);
561 ao_config.accel_plus_g = int16(bytes, 16);
562 ao_config.accel_minus_g = int16(bytes, 18);
564 a = int16(bytes, 22);
565 b = int16(bytes, 24);
567 printf("unknown len %d\n", len);
571 if (type != 'F' && !ao_flight_started)
576 ao_flight_ground_accel = a;
577 if (ao_config.accel_plus_g == 0) {
578 ao_config.accel_plus_g = a;
579 ao_config.accel_minus_g = a + 530;
581 if (ao_config.main_deploy == 0)
582 ao_config.main_deploy = 250;
583 ao_flight_started = 1;
588 ao_adc_static.tick = tick;
589 ao_adc_static.accel = a;
590 ao_adc_static.pres_real = b;
591 if (b < AO_MIN_BARO_VALUE)
592 b = AO_MIN_BARO_VALUE;
593 ao_adc_static.pres = b;
598 ao_adc_static.tick = tick;
599 ao_adc_static.temp = a;
600 ao_adc_static.v_batt = b;
613 #define COUNTS_PER_G 264.8
620 static const struct option options[] = {
621 { .name = "summary", .has_arg = 0, .val = 's' },
622 { .name = "debug", .has_arg = 0, .val = 'd' },
626 void run_flight_fixed(char *name, FILE *f, int summary)
628 emulator_name = name;
630 ao_summary = summary;
636 main (int argc, char **argv)
647 while ((c = getopt_long(argc, argv, "sd", options, NULL)) != -1) {
659 run_flight_fixed("<stdin>", stdin, summary);
661 for (i = optind; i < argc; i++) {
662 FILE *f = fopen(argv[i], "r");
667 run_flight_fixed(argv[i], f, summary);