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;
158 double emulator_height_error_max = 20; /* noise in the baro sensor */
164 ao_sleep(void *wchan);
166 const char const * const ao_state_names[] = {
167 "startup", "idle", "pad", "boost", "fast",
168 "coast", "drogue", "main", "landed", "invalid"
176 #include "ao_convert.c"
179 uint16_t main_deploy;
180 int16_t accel_plus_g;
181 int16_t accel_minus_g;
182 uint8_t pad_orientation;
185 #define AO_PAD_ORIENTATION_ANTENNA_UP 0
186 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
188 #define ao_config_get()
190 struct ao_config ao_config;
192 #define DATA_TO_XDATA(x) (x)
200 #define HAS_ACCEL_REF 0
203 #define GRAVITY 9.80665
204 extern int16_t ao_ground_accel, ao_flight_accel;
205 extern int16_t ao_accel_2g;
207 extern uint16_t ao_sample_tick;
209 extern int16_t ao_sample_height;
210 extern int16_t ao_sample_accel;
211 extern int32_t ao_accel_scale;
212 extern int16_t ao_ground_height;
213 extern int16_t ao_sample_alt;
215 int ao_sample_prev_tick;
218 #include "ao_kalman.c"
219 #include "ao_sample.c"
220 #include "ao_flight.c"
222 #define to_double(f) ((f) / 65536.0)
224 static int ao_records_read = 0;
225 static int ao_eof_read = 0;
226 static int ao_flight_ground_accel;
227 static int ao_flight_started = 0;
228 static int ao_test_max_height;
229 static double ao_test_max_height_time;
230 static int ao_test_main_height;
231 static double ao_test_main_height_time;
232 static double ao_test_landed_time;
233 static double ao_test_landed_height;
234 static double ao_test_landed_time;
235 static int landed_set;
236 static double landed_time;
237 static double landed_height;
245 double landed_time_error;
247 if (!ao_test_main_height_time) {
248 ao_test_main_height_time = ao_test_max_height_time;
249 ao_test_main_height = ao_test_max_height;
251 drogue_error = fabs(ao_test_max_height_time - drogue_time);
252 main_error = fabs(ao_test_main_height_time - main_time);
253 landed_error = fabs(ao_test_landed_height - landed_height);
254 landed_time_error = ao_test_landed_time - landed_time;
255 if (drogue_error > emulator_error_max || main_error > emulator_error_max ||
256 landed_time_error > emulator_error_max || landed_error > emulator_height_error_max) {
258 emulator_app, emulator_name);
259 printf ("\tApogee error %g\n", drogue_error);
260 printf ("\tMain error %g\n", main_error);
261 printf ("\tLanded height error %g\n", landed_error);
262 printf ("\tLanded time error %g\n", landed_time_error);
263 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
264 ao_test_max_height, ao_test_max_height_time,
265 ao_test_main_height, ao_test_main_height_time,
266 ao_test_landed_height, ao_test_landed_time);
267 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
268 drogue_height, drogue_time, main_height, main_time,
269 landed_height, landed_time);
280 ao_adc_ring[ao_adc_head] = ao_adc_static;
281 ao_adc_head = ao_adc_ring_next(ao_adc_head);
282 if (ao_flight_state != ao_flight_startup) {
283 double height = ao_pres_to_altitude(ao_adc_static.pres_real) - ao_ground_height;
284 double accel = ((ao_flight_ground_accel - ao_adc_static.accel) * GRAVITY * 2.0) /
285 (ao_config.accel_minus_g - ao_config.accel_plus_g);
288 tick_offset = -ao_adc_static.tick;
289 if ((prev_tick - ao_adc_static.tick) > 0x400)
290 tick_offset += 65536;
291 prev_tick = ao_adc_static.tick;
292 time = (double) (ao_adc_static.tick + tick_offset) / 100;
294 if (ao_test_max_height < height) {
295 ao_test_max_height = height;
296 ao_test_max_height_time = time;
297 ao_test_landed_height = height;
298 ao_test_landed_time = time;
300 if (height > ao_config.main_deploy) {
301 ao_test_main_height_time = time;
302 ao_test_main_height = height;
305 if (ao_test_landed_height > height) {
306 ao_test_landed_height = height;
307 ao_test_landed_time = time;
310 if (ao_flight_state == ao_flight_landed && !landed_set) {
313 landed_height = height;
317 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",
321 ao_state_names[ao_flight_state],
322 ao_k_height / 65536.0,
323 ao_k_speed / 65536.0 / 16.0,
324 ao_k_accel / 65536.0 / 16.0,
330 // if (ao_flight_state == ao_flight_landed)
336 #define AO_MAX_CALLSIGN 8
337 #define AO_MAX_VERSION 8
338 #define AO_MAX_TELEMETRY 128
340 struct ao_telemetry_generic {
341 uint16_t serial; /* 0 */
342 uint16_t tick; /* 2 */
343 uint8_t type; /* 4 */
344 uint8_t payload[27]; /* 5 */
348 #define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01
349 #define AO_TELEMETRY_SENSOR_TELEMINI 0x02
350 #define AO_TELEMETRY_SENSOR_TELENANO 0x03
352 struct ao_telemetry_sensor {
353 uint16_t serial; /* 0 */
354 uint16_t tick; /* 2 */
355 uint8_t type; /* 4 */
357 uint8_t state; /* 5 flight state */
358 int16_t accel; /* 6 accelerometer (TM only) */
359 int16_t pres; /* 8 pressure sensor */
360 int16_t temp; /* 10 temperature sensor */
361 int16_t v_batt; /* 12 battery voltage */
362 int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */
363 int16_t sense_m; /* 16 main continuity sense (TM/Tm) */
365 int16_t acceleration; /* 18 m/s² * 16 */
366 int16_t speed; /* 20 m/s * 16 */
367 int16_t height; /* 22 m */
369 int16_t ground_pres; /* 24 average pres on pad */
370 int16_t ground_accel; /* 26 average accel on pad */
371 int16_t accel_plus_g; /* 28 accel calibration at +1g */
372 int16_t accel_minus_g; /* 30 accel calibration at -1g */
376 #define AO_TELEMETRY_CONFIGURATION 0x04
378 struct ao_telemetry_configuration {
379 uint16_t serial; /* 0 */
380 uint16_t tick; /* 2 */
381 uint8_t type; /* 4 */
383 uint8_t device; /* 5 device type */
384 uint16_t flight; /* 6 flight number */
385 uint8_t config_major; /* 8 Config major version */
386 uint8_t config_minor; /* 9 Config minor version */
387 uint16_t apogee_delay; /* 10 Apogee deploy delay in seconds */
388 uint16_t main_deploy; /* 12 Main deploy alt in meters */
389 uint16_t flight_log_max; /* 14 Maximum flight log size in kB */
390 char callsign[AO_MAX_CALLSIGN]; /* 16 Radio operator identity */
391 char version[AO_MAX_VERSION]; /* 24 Software version */
395 #define AO_TELEMETRY_LOCATION 0x05
397 #define AO_GPS_MODE_NOT_VALID 'N'
398 #define AO_GPS_MODE_AUTONOMOUS 'A'
399 #define AO_GPS_MODE_DIFFERENTIAL 'D'
400 #define AO_GPS_MODE_ESTIMATED 'E'
401 #define AO_GPS_MODE_MANUAL 'M'
402 #define AO_GPS_MODE_SIMULATED 'S'
404 struct ao_telemetry_location {
405 uint16_t serial; /* 0 */
406 uint16_t tick; /* 2 */
407 uint8_t type; /* 4 */
409 uint8_t flags; /* 5 Number of sats and other flags */
410 int16_t altitude; /* 6 GPS reported altitude (m) */
411 int32_t latitude; /* 8 latitude (degrees * 10⁷) */
412 int32_t longitude; /* 12 longitude (degrees * 10⁷) */
413 uint8_t year; /* 16 (- 2000) */
414 uint8_t month; /* 17 (1-12) */
415 uint8_t day; /* 18 (1-31) */
416 uint8_t hour; /* 19 (0-23) */
417 uint8_t minute; /* 20 (0-59) */
418 uint8_t second; /* 21 (0-59) */
419 uint8_t pdop; /* 22 (m * 5) */
420 uint8_t hdop; /* 23 (m * 5) */
421 uint8_t vdop; /* 24 (m * 5) */
422 uint8_t mode; /* 25 */
423 uint16_t ground_speed; /* 26 cm/s */
424 int16_t climb_rate; /* 28 cm/s */
425 uint8_t course; /* 30 degrees / 2 */
426 uint8_t unused[1]; /* 31 */
430 #define AO_TELEMETRY_SATELLITE 0x06
432 struct ao_telemetry_satellite_info {
437 struct ao_telemetry_satellite {
438 uint16_t serial; /* 0 */
439 uint16_t tick; /* 2 */
440 uint8_t type; /* 4 */
441 uint8_t channels; /* 5 number of reported sats */
443 struct ao_telemetry_satellite_info sats[12]; /* 6 */
444 uint8_t unused[2]; /* 30 */
448 union ao_telemetry_all {
449 struct ao_telemetry_generic generic;
450 struct ao_telemetry_sensor sensor;
451 struct ao_telemetry_configuration configuration;
452 struct ao_telemetry_location location;
453 struct ao_telemetry_satellite satellite;
457 uint16(uint8_t *bytes, int off)
460 return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
464 int16(uint8_t *bytes, int off)
466 return (int16_t) uint16(bytes, off);
470 ao_sleep(void *wchan)
472 if (wchan == &ao_adc_head) {
478 union ao_telemetry_all telem;
486 if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
488 ao_adc_static.accel = ao_flight_ground_accel;
493 if (!fgets(line, sizeof (line), emulator_in)) {
494 if (++ao_eof_read >= 1000) {
496 printf ("no more data, exiting simulation\n");
499 ao_adc_static.tick += 10;
504 for (nword = 0; nword < 64; nword++) {
505 words[nword] = strtok_r(l, " \t\n", &saveptr);
507 if (words[nword] == NULL)
512 tick = strtoul(words[1], NULL, 16);
513 a = strtoul(words[2], NULL, 16);
514 b = strtoul(words[3], NULL, 16);
517 } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
518 ao_config.accel_plus_g = atoi(words[3]);
519 ao_config.accel_minus_g = atoi(words[5]);
520 } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
521 ao_config.main_deploy = atoi(words[2]);
522 } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
523 tick = atoi(words[10]);
524 if (!ao_flight_started) {
527 ao_flight_started = 1;
533 } else if (nword == 3 && strcmp(words[0], "BARO") == 0) {
534 tick = strtol(words[1], NULL, 16);
536 b = strtol(words[2], NULL, 10);
538 if (!ao_flight_started) {
539 ao_flight_ground_accel = 16384 - 328;
540 ao_config.accel_plus_g = 16384 - 328;
541 ao_config.accel_minus_g = 16384 + 328;
542 ao_flight_started = 1;
544 } else if (nword == 2 && strcmp(words[0], "TELEM") == 0) {
545 char *hex = words[1];
551 if (len > sizeof (bytes) * 2) {
552 len = sizeof (bytes)*2;
555 for (i = 0; i < len; i += 2) {
559 bytes[i/2] = (uint8_t) strtol(elt, NULL, 16);
562 if (bytes[0] != len - 2) {
563 printf ("bad length %d != %d\n", bytes[0], len - 2);
567 for (i = 1; i < len-1; i++)
569 if (sum != bytes[len-1]) {
570 printf ("bad checksum\n");
573 if ((bytes[len-2] & 0x80) == 0) {
577 memcpy(&telem, bytes + 1, 32);
578 tick = telem.generic.tick;
579 switch (telem.generic.type) {
580 case AO_TELEMETRY_SENSOR_TELEMETRUM:
581 case AO_TELEMETRY_SENSOR_TELEMINI:
582 case AO_TELEMETRY_SENSOR_TELENANO:
583 if (!ao_flight_started) {
584 ao_flight_ground_accel = telem.sensor.ground_accel;
585 ao_config.accel_plus_g = telem.sensor.accel_plus_g;
586 ao_config.accel_minus_g = telem.sensor.accel_minus_g;
587 ao_flight_started = 1;
590 a = telem.sensor.accel;
591 b = telem.sensor.pres;
594 } else if (len == 99) {
595 ao_flight_started = 1;
596 tick = uint16(bytes, 21);
597 ao_flight_ground_accel = int16(bytes, 7);
598 ao_config.accel_plus_g = int16(bytes, 17);
599 ao_config.accel_minus_g = int16(bytes, 19);
601 a = int16(bytes, 23);
602 b = int16(bytes, 25);
603 } else if (len == 98) {
604 ao_flight_started = 1;
605 tick = uint16(bytes, 20);
606 ao_flight_ground_accel = int16(bytes, 6);
607 ao_config.accel_plus_g = int16(bytes, 16);
608 ao_config.accel_minus_g = int16(bytes, 18);
610 a = int16(bytes, 22);
611 b = int16(bytes, 24);
613 printf("unknown len %d\n", len);
617 if (type != 'F' && !ao_flight_started)
622 ao_flight_ground_accel = a;
623 if (ao_config.accel_plus_g == 0) {
624 ao_config.accel_plus_g = a;
625 ao_config.accel_minus_g = a + 530;
627 if (ao_config.main_deploy == 0)
628 ao_config.main_deploy = 250;
629 ao_flight_started = 1;
634 ao_adc_static.tick = tick;
635 ao_adc_static.accel = a;
636 ao_adc_static.pres_real = b;
637 if (b < AO_MIN_BARO_VALUE)
638 b = AO_MIN_BARO_VALUE;
639 ao_adc_static.pres = b;
644 ao_adc_static.tick = tick;
645 ao_adc_static.temp = a;
646 ao_adc_static.v_batt = b;
659 #define COUNTS_PER_G 264.8
666 static const struct option options[] = {
667 { .name = "summary", .has_arg = 0, .val = 's' },
668 { .name = "debug", .has_arg = 0, .val = 'd' },
672 void run_flight_fixed(char *name, FILE *f, int summary)
674 emulator_name = name;
676 ao_summary = summary;
682 main (int argc, char **argv)
693 while ((c = getopt_long(argc, argv, "sd", options, NULL)) != -1) {
705 run_flight_fixed("<stdin>", stdin, summary);
707 for (i = optind; i < argc; i++) {
708 FILE *f = fopen(argv[i], "r");
713 run_flight_fixed(argv[i], f, summary);