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.
30 #define AO_DATA_RING 64
31 #define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1))
32 #define ao_data_ring_prev(n) (((n) - 1) & (AO_DATA_RING - 1))
34 #define AO_M_TO_HEIGHT(m) ((int16_t) (m))
35 #define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16))
36 #define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16))
39 #define AO_ADC_NUM_SENSE 6
45 int16_t sense[AO_ADC_NUM_SENSE];
54 * One set of samples read from the A/D converter
57 int16_t accel; /* accelerometer */
58 int16_t pres; /* pressure sensor */
59 int16_t pres_real; /* unclipped */
60 int16_t temp; /* temperature sensor */
61 int16_t v_batt; /* battery voltage */
62 int16_t sense_d; /* drogue continuity sense */
63 int16_t sense_m; /* main continuity sense */
68 #define HAS_ACCEL_REF 0
87 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
88 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
89 #define from_fix(x) ((x) >> 16)
92 * Above this height, the baro sensor doesn't work
94 #define AO_BARO_SATURATE 13000
95 #define AO_MIN_BARO_VALUE ao_altitude_to_pres(AO_BARO_SATURATE)
98 * Above this speed, baro measurements are unreliable
100 #define AO_MAX_BARO_SPEED 200
102 #define ACCEL_NOSE_UP (ao_accel_2g >> 2)
104 extern enum ao_flight_state ao_flight_state;
109 volatile struct ao_data ao_data_ring[AO_DATA_RING];
110 volatile uint8_t ao_data_head;
114 #define ao_led_off(l)
115 #define ao_timer_set_adc_interval(i)
116 #define ao_wakeup(wchan) ao_dump_state()
117 #define ao_cmd_register(c)
118 #define ao_usb_disable()
119 #define ao_telemetry_set_interval(x)
120 #define ao_rdf_set(rdf)
121 #define ao_packet_slave_start()
122 #define ao_packet_slave_stop()
125 ao_igniter_drogue = 0,
129 struct ao_data ao_data_static;
138 static int32_t ao_k_height;
141 ao_ignite(enum ao_igniter igniter)
143 double time = (double) (ao_data_static.tick + tick_offset) / 100;
145 if (igniter == ao_igniter_drogue) {
147 drogue_height = ao_k_height >> 16;
150 main_height = ao_k_height >> 16;
158 #define ao_add_task(t,f,n) ((void) (t))
160 #define ao_log_start()
161 #define ao_log_stop()
163 #define AO_MS_TO_TICKS(ms) ((ms) / 10)
164 #define AO_SEC_TO_TICKS(s) ((s) * 100)
166 #define AO_FLIGHT_TEST
174 double emulator_error_max = 4;
175 double emulator_height_error_max = 20; /* noise in the baro sensor */
181 ao_sleep(void *wchan);
183 const char const * const ao_state_names[] = {
184 "startup", "idle", "pad", "boost", "fast",
185 "coast", "drogue", "main", "landed", "invalid"
193 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
194 #define ao_xmemset(d,v,c) memset(d,v,c)
195 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
197 #define AO_NEED_ALTITUDE_TO_PRES 1
199 #include "ao_convert_pa.c"
200 #include <ao_ms5607.h>
201 struct ao_ms5607_prom ms5607_prom;
202 #include "ao_ms5607_convert.c"
204 #include "ao_convert.c"
208 uint16_t main_deploy;
209 int16_t accel_plus_g;
210 int16_t accel_minus_g;
211 uint8_t pad_orientation;
212 uint16_t apogee_lockout;
215 #define AO_PAD_ORIENTATION_ANTENNA_UP 0
216 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
218 #define ao_config_get()
220 struct ao_config ao_config;
222 #define DATA_TO_XDATA(x) (x)
225 #define GRAVITY 9.80665
226 extern int16_t ao_ground_accel, ao_flight_accel;
227 extern int16_t ao_accel_2g;
229 typedef int16_t accel_t;
231 extern uint16_t ao_sample_tick;
233 extern alt_t ao_sample_height;
234 extern accel_t ao_sample_accel;
235 extern int32_t ao_accel_scale;
236 extern alt_t ao_ground_height;
237 extern alt_t ao_sample_alt;
239 int ao_sample_prev_tick;
242 #include "ao_kalman.c"
243 #include "ao_sample.c"
244 #include "ao_flight.c"
246 #define to_double(f) ((f) / 65536.0)
248 static int ao_records_read = 0;
249 static int ao_eof_read = 0;
250 static int ao_flight_ground_accel;
251 static int ao_flight_started = 0;
252 static int ao_test_max_height;
253 static double ao_test_max_height_time;
254 static int ao_test_main_height;
255 static double ao_test_main_height_time;
256 static double ao_test_landed_time;
257 static double ao_test_landed_height;
258 static double ao_test_landed_time;
259 static int landed_set;
260 static double landed_time;
261 static double landed_height;
269 double landed_time_error;
271 if (!ao_test_main_height_time) {
272 ao_test_main_height_time = ao_test_max_height_time;
273 ao_test_main_height = ao_test_max_height;
275 drogue_error = fabs(ao_test_max_height_time - drogue_time);
276 main_error = fabs(ao_test_main_height_time - main_time);
277 landed_error = fabs(ao_test_landed_height - landed_height);
278 landed_time_error = ao_test_landed_time - landed_time;
279 if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
281 emulator_app, emulator_name);
283 printf ("\t%s\n", emulator_info);
284 printf ("\tApogee error %g\n", drogue_error);
285 printf ("\tMain error %g\n", main_error);
286 printf ("\tLanded height error %g\n", landed_error);
287 printf ("\tLanded time error %g\n", landed_time_error);
288 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
289 ao_test_max_height, ao_test_max_height_time,
290 ao_test_main_height, ao_test_main_height_time,
291 ao_test_landed_height, ao_test_landed_time);
292 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
293 drogue_height, drogue_time, main_height, main_time,
294 landed_height, landed_time);
305 ao_data_ring[ao_data_head] = ao_data_static;
306 ao_data_head = ao_data_ring_next(ao_data_head);
307 if (ao_flight_state != ao_flight_startup) {
309 double accel = ((ao_flight_ground_accel - ao_data_accel_cook(&ao_data_static)) * GRAVITY * 2.0) /
310 (ao_config.accel_minus_g - ao_config.accel_plus_g);
317 ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
318 height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height;
320 double height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
324 tick_offset = -ao_data_static.tick;
325 if ((prev_tick - ao_data_static.tick) > 0x400)
326 tick_offset += 65536;
327 prev_tick = ao_data_static.tick;
328 time = (double) (ao_data_static.tick + tick_offset) / 100;
330 if (ao_test_max_height < height) {
331 ao_test_max_height = height;
332 ao_test_max_height_time = time;
333 ao_test_landed_height = height;
334 ao_test_landed_time = time;
336 if (height > ao_config.main_deploy) {
337 ao_test_main_height_time = time;
338 ao_test_main_height = height;
341 if (ao_test_landed_height > height) {
342 ao_test_landed_height = height;
343 ao_test_landed_time = time;
346 if (ao_flight_state == ao_flight_landed && !landed_set) {
349 landed_height = height;
353 printf("%7.2f height %8.2f accel %8.3f 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",
357 ao_state_names[ao_flight_state],
358 ao_k_height / 65536.0,
359 ao_k_speed / 65536.0 / 16.0,
360 ao_k_accel / 65536.0 / 16.0,
366 // if (ao_flight_state == ao_flight_landed)
372 #define AO_MAX_CALLSIGN 8
373 #define AO_MAX_VERSION 8
374 #define AO_MAX_TELEMETRY 128
376 struct ao_telemetry_generic {
377 uint16_t serial; /* 0 */
378 uint16_t tick; /* 2 */
379 uint8_t type; /* 4 */
380 uint8_t payload[27]; /* 5 */
384 #define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01
385 #define AO_TELEMETRY_SENSOR_TELEMINI 0x02
386 #define AO_TELEMETRY_SENSOR_TELENANO 0x03
388 struct ao_telemetry_sensor {
389 uint16_t serial; /* 0 */
390 uint16_t tick; /* 2 */
391 uint8_t type; /* 4 */
393 uint8_t state; /* 5 flight state */
394 int16_t accel; /* 6 accelerometer (TM only) */
395 int16_t pres; /* 8 pressure sensor */
396 int16_t temp; /* 10 temperature sensor */
397 int16_t v_batt; /* 12 battery voltage */
398 int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */
399 int16_t sense_m; /* 16 main continuity sense (TM/Tm) */
401 int16_t acceleration; /* 18 m/s² * 16 */
402 int16_t speed; /* 20 m/s * 16 */
403 int16_t height; /* 22 m */
405 int16_t ground_pres; /* 24 average pres on pad */
406 int16_t ground_accel; /* 26 average accel on pad */
407 int16_t accel_plus_g; /* 28 accel calibration at +1g */
408 int16_t accel_minus_g; /* 30 accel calibration at -1g */
412 #define AO_TELEMETRY_CONFIGURATION 0x04
414 struct ao_telemetry_configuration {
415 uint16_t serial; /* 0 */
416 uint16_t tick; /* 2 */
417 uint8_t type; /* 4 */
419 uint8_t device; /* 5 device type */
420 uint16_t flight; /* 6 flight number */
421 uint8_t config_major; /* 8 Config major version */
422 uint8_t config_minor; /* 9 Config minor version */
423 uint16_t apogee_delay; /* 10 Apogee deploy delay in seconds */
424 uint16_t main_deploy; /* 12 Main deploy alt in meters */
425 uint16_t flight_log_max; /* 14 Maximum flight log size in kB */
426 char callsign[AO_MAX_CALLSIGN]; /* 16 Radio operator identity */
427 char version[AO_MAX_VERSION]; /* 24 Software version */
431 #define AO_TELEMETRY_LOCATION 0x05
433 #define AO_GPS_MODE_NOT_VALID 'N'
434 #define AO_GPS_MODE_AUTONOMOUS 'A'
435 #define AO_GPS_MODE_DIFFERENTIAL 'D'
436 #define AO_GPS_MODE_ESTIMATED 'E'
437 #define AO_GPS_MODE_MANUAL 'M'
438 #define AO_GPS_MODE_SIMULATED 'S'
440 struct ao_telemetry_location {
441 uint16_t serial; /* 0 */
442 uint16_t tick; /* 2 */
443 uint8_t type; /* 4 */
445 uint8_t flags; /* 5 Number of sats and other flags */
446 int16_t altitude; /* 6 GPS reported altitude (m) */
447 int32_t latitude; /* 8 latitude (degrees * 10⁷) */
448 int32_t longitude; /* 12 longitude (degrees * 10⁷) */
449 uint8_t year; /* 16 (- 2000) */
450 uint8_t month; /* 17 (1-12) */
451 uint8_t day; /* 18 (1-31) */
452 uint8_t hour; /* 19 (0-23) */
453 uint8_t minute; /* 20 (0-59) */
454 uint8_t second; /* 21 (0-59) */
455 uint8_t pdop; /* 22 (m * 5) */
456 uint8_t hdop; /* 23 (m * 5) */
457 uint8_t vdop; /* 24 (m * 5) */
458 uint8_t mode; /* 25 */
459 uint16_t ground_speed; /* 26 cm/s */
460 int16_t climb_rate; /* 28 cm/s */
461 uint8_t course; /* 30 degrees / 2 */
462 uint8_t unused[1]; /* 31 */
466 #define AO_TELEMETRY_SATELLITE 0x06
468 struct ao_telemetry_satellite_info {
473 struct ao_telemetry_satellite {
474 uint16_t serial; /* 0 */
475 uint16_t tick; /* 2 */
476 uint8_t type; /* 4 */
477 uint8_t channels; /* 5 number of reported sats */
479 struct ao_telemetry_satellite_info sats[12]; /* 6 */
480 uint8_t unused[2]; /* 30 */
484 union ao_telemetry_all {
485 struct ao_telemetry_generic generic;
486 struct ao_telemetry_sensor sensor;
487 struct ao_telemetry_configuration configuration;
488 struct ao_telemetry_location location;
489 struct ao_telemetry_satellite satellite;
493 uint16(uint8_t *bytes, int off)
495 return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
499 int16(uint8_t *bytes, int off)
501 return (int16_t) uint16(bytes, off);
505 uint32(uint8_t *bytes, int off)
507 return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
508 (((uint32_t) bytes[off+2]) << 16) |
509 (((uint32_t) bytes[off+3]) << 24);
513 int32(uint8_t *bytes, int off)
515 return (int32_t) uint32(bytes, off);
518 static int log_format;
521 ao_sleep(void *wchan)
523 if (wchan == &ao_data_head) {
526 uint16_t a = 0, b = 0;
528 union ao_telemetry_all telem;
536 if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
540 ao_data_static.adc.accel = ao_flight_ground_accel;
546 if (!fgets(line, sizeof (line), emulator_in)) {
547 if (++ao_eof_read >= 1000) {
549 printf ("no more data, exiting simulation\n");
552 ao_data_static.tick += 10;
557 for (nword = 0; nword < 64; nword++) {
558 words[nword] = strtok_r(l, " \t\n", &saveptr);
560 if (words[nword] == NULL)
564 if (log_format == AO_LOG_FORMAT_MEGAMETRUM && nword == 30 && strlen(words[0]) == 1) {
566 struct ao_ms5607_value value;
569 tick = strtoul(words[1], NULL, 16);
570 // printf ("%c %04x", type, tick);
571 for (i = 2; i < nword; i++) {
572 bytes[i - 2] = strtoul(words[i], NULL, 16);
573 // printf(" %02x", bytes[i-2]);
578 ao_flight_ground_accel = int16(bytes, 2);
579 ao_flight_started = 1;
580 ao_ground_pres = int32(bytes, 4);
581 ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
584 ao_data_static.tick = tick;
585 ao_data_static.ms5607_raw.pres = int32(bytes, 0);
586 ao_data_static.ms5607_raw.temp = int32(bytes, 4);
587 ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
588 ao_data_set_accel(&ao_data_static, -int16(bytes, 10));
589 // printf ("accel %d pres %d\n", ao_data_accel_cook(&ao_data_static), value.pres);
595 } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
596 if (strcmp(words[1], "reserved:") == 0)
597 ms5607_prom.reserved = strtoul(words[2], NULL, 10);
598 else if (strcmp(words[1], "sens:") == 0)
599 ms5607_prom.sens = strtoul(words[2], NULL, 10);
600 else if (strcmp(words[1], "off:") == 0)
601 ms5607_prom.off = strtoul(words[2], NULL, 10);
602 else if (strcmp(words[1], "tcs:") == 0)
603 ms5607_prom.tcs = strtoul(words[2], NULL, 10);
604 else if (strcmp(words[1], "tco:") == 0)
605 ms5607_prom.tco = strtoul(words[2], NULL, 10);
606 else if (strcmp(words[1], "tref:") == 0)
607 ms5607_prom.tref = strtoul(words[2], NULL, 10);
608 else if (strcmp(words[1], "tempsens:") == 0)
609 ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
610 else if (strcmp(words[1], "crc:") == 0)
611 ms5607_prom.crc = strtoul(words[2], NULL, 10);
615 if (nword == 4 && log_format != AO_LOG_FORMAT_MEGAMETRUM) {
617 tick = strtoul(words[1], NULL, 16);
618 a = strtoul(words[2], NULL, 16);
619 b = strtoul(words[3], NULL, 16);
624 else if (nword == 2 && strcmp(words[0], "log-format") == 0) {
625 log_format = strtoul(words[1], NULL, 10);
626 } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
627 ao_config.accel_plus_g = atoi(words[3]);
628 ao_config.accel_minus_g = atoi(words[5]);
629 } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
630 ao_config.main_deploy = atoi(words[2]);
631 } else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 &&
632 strcmp(words[1], "lockout:") == 0) {
633 ao_config.apogee_lockout = atoi(words[2]);
634 } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
635 tick = atoi(words[10]);
636 if (!ao_flight_started) {
639 ao_flight_started = 1;
645 } else if (nword == 3 && strcmp(words[0], "BARO") == 0) {
646 tick = strtol(words[1], NULL, 16);
648 b = strtol(words[2], NULL, 10);
650 if (!ao_flight_started) {
651 ao_flight_ground_accel = 16384 - 328;
652 ao_config.accel_plus_g = 16384 - 328;
653 ao_config.accel_minus_g = 16384 + 328;
654 ao_flight_started = 1;
656 } else if (nword == 2 && strcmp(words[0], "TELEM") == 0) {
657 __xdata char *hex = words[1];
663 if (len > sizeof (bytes) * 2) {
664 len = sizeof (bytes)*2;
667 for (i = 0; i < len; i += 2) {
671 bytes[i/2] = (uint8_t) strtol(elt, NULL, 16);
674 if (bytes[0] != len - 2) {
675 printf ("bad length %d != %d\n", bytes[0], len - 2);
679 for (i = 1; i < len-1; i++)
681 if (sum != bytes[len-1]) {
682 printf ("bad checksum\n");
685 if ((bytes[len-2] & 0x80) == 0) {
689 ao_xmemcpy(&telem, bytes + 1, 32);
690 tick = telem.generic.tick;
691 switch (telem.generic.type) {
692 case AO_TELEMETRY_SENSOR_TELEMETRUM:
693 case AO_TELEMETRY_SENSOR_TELEMINI:
694 case AO_TELEMETRY_SENSOR_TELENANO:
695 if (!ao_flight_started) {
696 ao_flight_ground_accel = telem.sensor.ground_accel;
697 ao_config.accel_plus_g = telem.sensor.accel_plus_g;
698 ao_config.accel_minus_g = telem.sensor.accel_minus_g;
699 ao_flight_started = 1;
702 a = telem.sensor.accel;
703 b = telem.sensor.pres;
706 } else if (len == 99) {
707 ao_flight_started = 1;
708 tick = uint16(bytes+1, 21);
709 ao_flight_ground_accel = int16(bytes+1, 7);
710 ao_config.accel_plus_g = int16(bytes+1, 17);
711 ao_config.accel_minus_g = int16(bytes+1, 19);
713 a = int16(bytes+1, 23);
714 b = int16(bytes+1, 25);
715 } else if (len == 98) {
716 ao_flight_started = 1;
717 tick = uint16(bytes+1, 20);
718 ao_flight_ground_accel = int16(bytes+1, 6);
719 ao_config.accel_plus_g = int16(bytes+1, 16);
720 ao_config.accel_minus_g = int16(bytes+1, 18);
722 a = int16(bytes+1, 22);
723 b = int16(bytes+1, 24);
725 printf("unknown len %d\n", len);
729 if (type != 'F' && !ao_flight_started)
736 ao_flight_ground_accel = a;
737 if (ao_config.accel_plus_g == 0) {
738 ao_config.accel_plus_g = a;
739 ao_config.accel_minus_g = a + 530;
741 if (ao_config.main_deploy == 0)
742 ao_config.main_deploy = 250;
743 ao_flight_started = 1;
748 ao_data_static.tick = tick;
749 ao_data_static.adc.accel = a;
750 ao_data_static.adc.pres_real = b;
751 if (b < AO_MIN_BARO_VALUE)
752 b = AO_MIN_BARO_VALUE;
753 ao_data_static.adc.pres = b;
758 ao_data_static.tick = tick;
759 ao_data_static.adc.temp = a;
760 ao_data_static.adc.v_batt = b;
774 #define COUNTS_PER_G 264.8
781 static const struct option options[] = {
782 { .name = "summary", .has_arg = 0, .val = 's' },
783 { .name = "debug", .has_arg = 0, .val = 'd' },
784 { .name = "info", .has_arg = 1, .val = 'i' },
788 void run_flight_fixed(char *name, FILE *f, int summary, char *info)
790 emulator_name = name;
792 emulator_info = info;
793 ao_summary = summary;
799 main (int argc, char **argv)
811 while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) {
826 run_flight_fixed("<stdin>", stdin, summary, info);
828 for (i = optind; i < argc; i++) {
829 FILE *f = fopen(argv[i], "r");
834 run_flight_fixed(argv[i], f, summary, info);