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 temp; /* temperature sensor */
45 int16_t v_batt; /* battery voltage */
46 int16_t sense_d; /* drogue continuity sense */
47 int16_t sense_m; /* main continuity sense */
56 enum ao_flight_state {
57 ao_flight_startup = 0,
69 struct ao_adc ao_adc_ring[AO_ADC_RING];
75 #define ao_timer_set_adc_interval(i)
76 #define ao_wakeup(wchan) ao_dump_state()
77 #define ao_cmd_register(c)
78 #define ao_usb_disable()
79 #define ao_telemetry_set_interval(x)
80 #define ao_rdf_set(rdf)
81 #define ao_packet_slave_start()
82 #define ao_packet_slave_stop()
85 ao_igniter_drogue = 0,
89 struct ao_adc ao_adc_static;
98 static int32_t ao_k_height;
101 ao_ignite(enum ao_igniter igniter)
103 double time = (double) (ao_adc_static.tick + tick_offset) / 100;
105 if (igniter == ao_igniter_drogue) {
107 drogue_height = ao_k_height >> 16;
110 main_height = ao_k_height >> 16;
118 #define ao_add_task(t,f,n)
120 #define ao_log_start()
121 #define ao_log_stop()
123 #define AO_MS_TO_TICKS(ms) ((ms) / 10)
124 #define AO_SEC_TO_TICKS(s) ((s) * 100)
126 #define AO_FLIGHT_TEST
133 double emulator_error_max = 10;
139 ao_sleep(void *wchan);
141 const char const * const ao_state_names[] = {
142 "startup", "idle", "pad", "boost", "fast",
143 "coast", "drogue", "main", "landed", "invalid"
151 #include "ao_convert.c"
154 uint16_t main_deploy;
155 int16_t accel_plus_g;
156 int16_t accel_minus_g;
159 #define ao_config_get()
161 struct ao_config ao_config;
163 #define DATA_TO_XDATA(x) (x)
171 #define HAS_ACCEL_REF 0
174 #include "ao_flight.c"
176 #define to_double(f) ((f) / 65536.0)
178 #define GRAVITY 9.80665
179 extern int16_t ao_ground_accel, ao_raw_accel;
180 extern int16_t ao_accel_2g;
183 static int ao_records_read = 0;
184 static int ao_eof_read = 0;
185 static int ao_flight_ground_accel;
186 static int ao_flight_started = 0;
187 static int ao_test_max_height;
188 static double ao_test_max_height_time;
189 static int ao_test_main_height;
190 static double ao_test_main_height_time;
197 ao_adc_ring[ao_adc_head] = ao_adc_static;
198 ao_adc_head = ao_adc_ring_next(ao_adc_head);
199 if (ao_flight_state != ao_flight_startup) {
200 double height = ao_pres_to_altitude(ao_raw_pres) - ao_ground_height;
201 double accel = ((ao_flight_ground_accel - ao_adc_static.accel) * GRAVITY * 2.0) /
202 (ao_config.accel_minus_g - ao_config.accel_plus_g);
205 tick_offset = -ao_adc_static.tick;
206 if ((prev_tick - ao_adc_static.tick) > 0x400)
207 tick_offset += 65536;
208 prev_tick = ao_adc_static.tick;
209 time = (double) (ao_adc_static.tick + tick_offset) / 100;
211 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",
215 ao_state_names[ao_flight_state],
216 ao_k_height / 65536.0,
217 ao_k_speed / 65536.0 / 16.0,
218 ao_k_accel / 65536.0 / 16.0,
224 if (ao_test_max_height < height) {
225 ao_test_max_height = height;
226 ao_test_max_height_time = time;
228 if (height > ao_config.main_deploy) {
229 ao_test_main_height_time = time;
230 ao_test_main_height = height;
241 if (!ao_test_main_height_time) {
242 ao_test_main_height_time = ao_test_max_height_time;
243 ao_test_main_height = ao_test_max_height;
245 drogue_error = fabs(ao_test_max_height_time - drogue_time);
246 main_error = fabs(ao_test_main_height_time - main_time);
247 if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
249 emulator_app, emulator_name);
250 printf ("\tApogee error %g\n", drogue_error);
251 printf ("\tMain error %g\n", main_error);
252 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f\n",
253 ao_test_max_height, ao_test_max_height_time,
254 ao_test_main_height, ao_test_main_height_time);
255 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f\n",
256 drogue_height, drogue_time, main_height, main_time);
263 ao_sleep(void *wchan)
265 if (wchan == &ao_adc_head) {
277 if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
279 ao_adc_static.accel = ao_flight_ground_accel;
284 if (!fgets(line, sizeof (line), emulator_in)) {
285 if (++ao_eof_read >= 1000) {
287 printf ("no more data, exiting simulation\n");
290 ao_adc_static.tick += 10;
295 for (nword = 0; nword < 64; nword++) {
296 words[nword] = strtok_r(l, " \t\n", &saveptr);
298 if (words[nword] == NULL)
303 tick = strtoul(words[1], NULL, 16);
304 a = strtoul(words[2], NULL, 16);
305 b = strtoul(words[3], NULL, 16);
306 } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
307 ao_config.accel_plus_g = atoi(words[3]);
308 ao_config.accel_minus_g = atoi(words[5]);
309 } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
310 ao_config.main_deploy = atoi(words[2]);
311 } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
312 tick = atoi(words[10]);
313 if (!ao_flight_started) {
316 ao_flight_started = 1;
323 if (type != 'F' && !ao_flight_started)
328 ao_flight_ground_accel = a;
329 if (ao_config.accel_plus_g == 0) {
330 ao_config.accel_plus_g = a;
331 ao_config.accel_minus_g = a + 530;
333 if (ao_config.main_deploy == 0)
334 ao_config.main_deploy = 250;
335 ao_flight_started = 1;
340 ao_adc_static.tick = tick;
341 ao_adc_static.accel = a;
342 ao_adc_static.pres = b;
347 ao_adc_static.tick = tick;
348 ao_adc_static.temp = a;
349 ao_adc_static.v_batt = b;
362 #define COUNTS_PER_G 264.8
369 static const struct option options[] = {
370 { .name = "summary", .has_arg = 0, .val = 's' },
371 { .name = "debug", .has_arg = 0, .val = 'd' },
375 void run_flight_fixed(char *name, FILE *f, int summary)
377 emulator_name = name;
379 ao_summary = summary;
385 main (int argc, char **argv)
396 while ((c = getopt_long(argc, argv, "sd", options, NULL)) != -1) {
408 run_flight_fixed("<stdin>", stdin, summary);
410 for (i = optind; i < argc; i++) {
411 FILE *f = fopen(argv[i], "r");
416 run_flight_fixed(argv[i], f, summary);