#define AO_HERTZ 100
-#define AO_ADC_RING 64
-#define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1))
-#define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1))
+#define HAS_ADC 1
+#define AO_DATA_RING 64
+#define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1))
+#define ao_data_ring_prev(n) (((n) - 1) & (AO_DATA_RING - 1))
#define AO_M_TO_HEIGHT(m) ((int16_t) (m))
#define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16))
* One set of samples read from the A/D converter
*/
struct ao_adc {
- uint16_t tick; /* tick when the sample was read */
int16_t accel; /* accelerometer */
int16_t pres; /* pressure sensor */
int16_t pres_real; /* unclipped */
#define __code
#define __reentrant
+#define HAS_FLIGHT 1
+#define HAS_IGNITE 1
+#define HAS_USB 1
+#define HAS_GPS 1
+#ifndef HAS_ACCEL
+#define HAS_ACCEL 1
+#define HAS_ACCEL_REF 0
+#endif
+
+#include <ao_data.h>
+
#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
#define from_fix(x) ((x) >> 16)
#define FALSE 0
#define TRUE 1
-struct ao_adc ao_adc_ring[AO_ADC_RING];
-uint8_t ao_adc_head;
+volatile struct ao_data ao_data_ring[AO_DATA_RING];
+volatile uint8_t ao_data_head;
int ao_summary = 0;
#define ao_led_on(l)
ao_igniter_main = 1
};
-struct ao_adc ao_adc_static;
+struct ao_data ao_data_static;
int drogue_height;
double drogue_time;
void
ao_ignite(enum ao_igniter igniter)
{
- double time = (double) (ao_adc_static.tick + tick_offset) / 100;
+ double time = (double) (ao_data_static.tick + tick_offset) / 100;
if (igniter == ao_igniter_drogue) {
drogue_time = time;
int dummy;
};
-#define ao_add_task(t,f,n)
+#define ao_add_task(t,f,n) ((void) (t))
#define ao_log_start()
#define ao_log_stop()
FILE *emulator_in;
char *emulator_app;
char *emulator_name;
+char *emulator_info;
double emulator_error_max = 4;
double emulator_height_error_max = 20; /* noise in the baro sensor */
const char *help;
};
+#define ao_xmemcpy(d,s,c) memcpy(d,s,c)
+#define ao_xmemset(d,v,c) memset(d,v,c)
+#define ao_xmemcmp(d,s,c) memcmp(d,s,c)
+
+#define AO_NEED_ALTITUDE_TO_PRES 1
#include "ao_convert.c"
struct ao_config {
int16_t accel_plus_g;
int16_t accel_minus_g;
uint8_t pad_orientation;
+ uint16_t apogee_lockout;
};
#define AO_PAD_ORIENTATION_ANTENNA_UP 0
#define DATA_TO_XDATA(x) (x)
-#define HAS_FLIGHT 1
-#define HAS_ADC 1
-#define HAS_USB 1
-#define HAS_GPS 1
-#ifndef HAS_ACCEL
-#define HAS_ACCEL 1
-#define HAS_ACCEL_REF 0
-#endif
#define GRAVITY 9.80665
extern int16_t ao_ground_accel, ao_flight_accel;
extern int16_t ao_accel_2g;
+typedef int16_t accel_t;
+
extern uint16_t ao_sample_tick;
extern int16_t ao_sample_height;
-extern int16_t ao_sample_accel;
+extern accel_t ao_sample_accel;
extern int32_t ao_accel_scale;
extern int16_t ao_ground_height;
extern int16_t ao_sample_alt;
main_error = fabs(ao_test_main_height_time - main_time);
landed_error = fabs(ao_test_landed_height - landed_height);
landed_time_error = ao_test_landed_time - landed_time;
- if (drogue_error > emulator_error_max || main_error > emulator_error_max ||
- landed_time_error > emulator_error_max || landed_error > emulator_height_error_max) {
+ if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
printf ("%s %s\n",
emulator_app, emulator_name);
+ if (emulator_info)
+ printf ("\t%s\n", emulator_info);
printf ("\tApogee error %g\n", drogue_error);
printf ("\tMain error %g\n", main_error);
printf ("\tLanded height error %g\n", landed_error);
{
double time;
- ao_adc_ring[ao_adc_head] = ao_adc_static;
- ao_adc_head = ao_adc_ring_next(ao_adc_head);
+ ao_data_ring[ao_data_head] = ao_data_static;
+ ao_data_head = ao_data_ring_next(ao_data_head);
if (ao_flight_state != ao_flight_startup) {
- double height = ao_pres_to_altitude(ao_adc_static.pres_real) - ao_ground_height;
- double accel = ((ao_flight_ground_accel - ao_adc_static.accel) * GRAVITY * 2.0) /
+ double height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
+ double accel = ((ao_flight_ground_accel - ao_data_static.adc.accel) * GRAVITY * 2.0) /
(ao_config.accel_minus_g - ao_config.accel_plus_g);
if (!tick_offset)
- tick_offset = -ao_adc_static.tick;
- if ((prev_tick - ao_adc_static.tick) > 0x400)
+ tick_offset = -ao_data_static.tick;
+ if ((prev_tick - ao_data_static.tick) > 0x400)
tick_offset += 65536;
- prev_tick = ao_adc_static.tick;
- time = (double) (ao_adc_static.tick + tick_offset) / 100;
+ prev_tick = ao_data_static.tick;
+ time = (double) (ao_data_static.tick + tick_offset) / 100;
if (ao_test_max_height < height) {
ao_test_max_height = height;
uint16_t
uint16(uint8_t *bytes, int off)
{
- off++;
return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
}
void
ao_sleep(void *wchan)
{
- if (wchan == &ao_adc_head) {
- char type;
- uint16_t tick;
- uint16_t a, b;
- int ret;
+ if (wchan == &ao_data_head) {
+ char type = 0;
+ uint16_t tick = 0;
+ uint16_t a = 0, b = 0;
uint8_t bytes[1024];
union ao_telemetry_all telem;
char line[1024];
for (;;) {
if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
{
- ao_adc_static.accel = ao_flight_ground_accel;
+ ao_data_static.adc.accel = ao_flight_ground_accel;
ao_insert();
return;
}
printf ("no more data, exiting simulation\n");
ao_test_exit();
}
- ao_adc_static.tick += 10;
+ ao_data_static.tick += 10;
ao_insert();
return;
}
ao_config.accel_minus_g = atoi(words[5]);
} else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
ao_config.main_deploy = atoi(words[2]);
+ } else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 &&
+ strcmp(words[1], "lockout:") == 0) {
+ ao_config.apogee_lockout = atoi(words[2]);
} else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
tick = atoi(words[10]);
if (!ao_flight_started) {
ao_flight_started = 1;
}
} else if (nword == 2 && strcmp(words[0], "TELEM") == 0) {
- char *hex = words[1];
+ __xdata char *hex = words[1];
char elt[3];
int i, len;
uint8_t sum;
continue;
}
if (len == 36) {
- memcpy(&telem, bytes + 1, 32);
+ ao_xmemcpy(&telem, bytes + 1, 32);
tick = telem.generic.tick;
switch (telem.generic.type) {
case AO_TELEMETRY_SENSOR_TELEMETRUM:
}
} else if (len == 99) {
ao_flight_started = 1;
- tick = uint16(bytes, 21);
- ao_flight_ground_accel = int16(bytes, 7);
- ao_config.accel_plus_g = int16(bytes, 17);
- ao_config.accel_minus_g = int16(bytes, 19);
+ tick = uint16(bytes+1, 21);
+ ao_flight_ground_accel = int16(bytes+1, 7);
+ ao_config.accel_plus_g = int16(bytes+1, 17);
+ ao_config.accel_minus_g = int16(bytes+1, 19);
type = 'A';
- a = int16(bytes, 23);
- b = int16(bytes, 25);
+ a = int16(bytes+1, 23);
+ b = int16(bytes+1, 25);
} else if (len == 98) {
ao_flight_started = 1;
- tick = uint16(bytes, 20);
- ao_flight_ground_accel = int16(bytes, 6);
- ao_config.accel_plus_g = int16(bytes, 16);
- ao_config.accel_minus_g = int16(bytes, 18);
+ tick = uint16(bytes+1, 20);
+ ao_flight_ground_accel = int16(bytes+1, 6);
+ ao_config.accel_plus_g = int16(bytes+1, 16);
+ ao_config.accel_minus_g = int16(bytes+1, 18);
type = 'A';
- a = int16(bytes, 22);
- b = int16(bytes, 24);
+ a = int16(bytes+1, 22);
+ b = int16(bytes+1, 24);
} else {
printf("unknown len %d\n", len);
continue;
case 'S':
break;
case 'A':
- ao_adc_static.tick = tick;
- ao_adc_static.accel = a;
- ao_adc_static.pres_real = b;
+ 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_adc_static.pres = b;
+ ao_data_static.adc.pres = b;
ao_records_read++;
ao_insert();
return;
case 'T':
- ao_adc_static.tick = tick;
- ao_adc_static.temp = a;
- ao_adc_static.v_batt = b;
+ ao_data_static.tick = tick;
+ ao_data_static.adc.temp = a;
+ ao_data_static.adc.v_batt = b;
break;
case 'D':
case 'G':
static const struct option options[] = {
{ .name = "summary", .has_arg = 0, .val = 's' },
{ .name = "debug", .has_arg = 0, .val = 'd' },
+ { .name = "info", .has_arg = 1, .val = 'i' },
{ 0, 0, 0, 0},
};
-void run_flight_fixed(char *name, FILE *f, int summary)
+void run_flight_fixed(char *name, FILE *f, int summary, char *info)
{
emulator_name = name;
emulator_in = f;
+ emulator_info = info;
ao_summary = summary;
ao_flight_init();
ao_flight();
int summary = 0;
int c;
int i;
+ char *info = NULL;
#if HAS_ACCEL
emulator_app="full";
#else
emulator_app="baro";
#endif
- while ((c = getopt_long(argc, argv, "sd", options, NULL)) != -1) {
+ while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) {
switch (c) {
case 's':
summary = 1;
case 'd':
ao_flight_debug = 1;
break;
+ case 'i':
+ info = optarg;
+ break;
}
}
if (optind == argc)
- run_flight_fixed("<stdin>", stdin, summary);
+ run_flight_fixed("<stdin>", stdin, summary, info);
else
for (i = optind; i < argc; i++) {
FILE *f = fopen(argv[i], "r");
perror(argv[i]);
continue;
}
- run_flight_fixed(argv[i], f, summary);
+ run_flight_fixed(argv[i], f, summary, info);
fclose(f);
}
+ exit(0);
}
projects / fw / altos / blobdiff