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 * One set of samples read from the A/D converter
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 */
63 #define HAS_ACCEL_REF 0
68 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
69 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
70 #define from_fix(x) ((x) >> 16)
73 * Above this height, the baro sensor doesn't work
75 #define AO_MAX_BARO_HEIGHT 12000
76 #define AO_BARO_SATURATE 13000
77 #define AO_MIN_BARO_VALUE ao_altitude_to_pres(AO_BARO_SATURATE)
80 * Above this speed, baro measurements are unreliable
82 #define AO_MAX_BARO_SPEED 200
84 #define ACCEL_NOSE_UP (ao_accel_2g >> 2)
86 enum ao_flight_state {
87 ao_flight_startup = 0,
99 extern enum ao_flight_state ao_flight_state;
104 volatile struct ao_data ao_data_ring[AO_DATA_RING];
105 volatile uint8_t ao_data_head;
109 #define ao_led_off(l)
110 #define ao_timer_set_adc_interval(i)
111 #define ao_wakeup(wchan) ao_dump_state()
112 #define ao_cmd_register(c)
113 #define ao_usb_disable()
114 #define ao_telemetry_set_interval(x)
115 #define ao_rdf_set(rdf)
116 #define ao_packet_slave_start()
117 #define ao_packet_slave_stop()
120 ao_igniter_drogue = 0,
124 struct ao_data ao_data_static;
133 static int32_t ao_k_height;
136 ao_ignite(enum ao_igniter igniter)
138 double time = (double) (ao_data_static.tick + tick_offset) / 100;
140 if (igniter == ao_igniter_drogue) {
142 drogue_height = ao_k_height >> 16;
145 main_height = ao_k_height >> 16;
153 #define ao_add_task(t,f,n) ((void) (t))
155 #define ao_log_start()
156 #define ao_log_stop()
158 #define AO_MS_TO_TICKS(ms) ((ms) / 10)
159 #define AO_SEC_TO_TICKS(s) ((s) * 100)
161 #define AO_FLIGHT_TEST
169 double emulator_error_max = 4;
170 double emulator_height_error_max = 20; /* noise in the baro sensor */
176 ao_sleep(void *wchan);
178 const char const * const ao_state_names[] = {
179 "startup", "idle", "pad", "boost", "fast",
180 "coast", "drogue", "main", "landed", "invalid"
188 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
189 #define ao_xmemset(d,v,c) memset(d,v,c)
190 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
192 #define AO_NEED_ALTITUDE_TO_PRES 1
193 #include "ao_convert.c"
196 uint16_t main_deploy;
197 int16_t accel_plus_g;
198 int16_t accel_minus_g;
199 uint8_t pad_orientation;
200 uint16_t apogee_lockout;
203 #define AO_PAD_ORIENTATION_ANTENNA_UP 0
204 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
206 #define ao_config_get()
208 struct ao_config ao_config;
210 #define DATA_TO_XDATA(x) (x)
213 #define GRAVITY 9.80665
214 extern int16_t ao_ground_accel, ao_flight_accel;
215 extern int16_t ao_accel_2g;
217 typedef int16_t accel_t;
219 extern uint16_t ao_sample_tick;
221 extern int16_t ao_sample_height;
222 extern accel_t ao_sample_accel;
223 extern int32_t ao_accel_scale;
224 extern int16_t ao_ground_height;
225 extern int16_t ao_sample_alt;
227 int ao_sample_prev_tick;
230 #include "ao_kalman.c"
231 #include "ao_sample.c"
232 #include "ao_flight.c"
234 #define to_double(f) ((f) / 65536.0)
236 static int ao_records_read = 0;
237 static int ao_eof_read = 0;
238 static int ao_flight_ground_accel;
239 static int ao_flight_started = 0;
240 static int ao_test_max_height;
241 static double ao_test_max_height_time;
242 static int ao_test_main_height;
243 static double ao_test_main_height_time;
244 static double ao_test_landed_time;
245 static double ao_test_landed_height;
246 static double ao_test_landed_time;
247 static int landed_set;
248 static double landed_time;
249 static double landed_height;
257 double landed_time_error;
259 if (!ao_test_main_height_time) {
260 ao_test_main_height_time = ao_test_max_height_time;
261 ao_test_main_height = ao_test_max_height;
263 drogue_error = fabs(ao_test_max_height_time - drogue_time);
264 main_error = fabs(ao_test_main_height_time - main_time);
265 landed_error = fabs(ao_test_landed_height - landed_height);
266 landed_time_error = ao_test_landed_time - landed_time;
267 if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
269 emulator_app, emulator_name);
271 printf ("\t%s\n", emulator_info);
272 printf ("\tApogee error %g\n", drogue_error);
273 printf ("\tMain error %g\n", main_error);
274 printf ("\tLanded height error %g\n", landed_error);
275 printf ("\tLanded time error %g\n", landed_time_error);
276 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
277 ao_test_max_height, ao_test_max_height_time,
278 ao_test_main_height, ao_test_main_height_time,
279 ao_test_landed_height, ao_test_landed_time);
280 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
281 drogue_height, drogue_time, main_height, main_time,
282 landed_height, landed_time);
293 ao_data_ring[ao_data_head] = ao_data_static;
294 ao_data_head = ao_data_ring_next(ao_data_head);
295 if (ao_flight_state != ao_flight_startup) {
296 double height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
297 double accel = ((ao_flight_ground_accel - ao_data_static.adc.accel) * GRAVITY * 2.0) /
298 (ao_config.accel_minus_g - ao_config.accel_plus_g);
301 tick_offset = -ao_data_static.tick;
302 if ((prev_tick - ao_data_static.tick) > 0x400)
303 tick_offset += 65536;
304 prev_tick = ao_data_static.tick;
305 time = (double) (ao_data_static.tick + tick_offset) / 100;
307 if (ao_test_max_height < height) {
308 ao_test_max_height = height;
309 ao_test_max_height_time = time;
310 ao_test_landed_height = height;
311 ao_test_landed_time = time;
313 if (height > ao_config.main_deploy) {
314 ao_test_main_height_time = time;
315 ao_test_main_height = height;
318 if (ao_test_landed_height > height) {
319 ao_test_landed_height = height;
320 ao_test_landed_time = time;
323 if (ao_flight_state == ao_flight_landed && !landed_set) {
326 landed_height = height;
330 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",
334 ao_state_names[ao_flight_state],
335 ao_k_height / 65536.0,
336 ao_k_speed / 65536.0 / 16.0,
337 ao_k_accel / 65536.0 / 16.0,
343 // if (ao_flight_state == ao_flight_landed)
349 #define AO_MAX_CALLSIGN 8
350 #define AO_MAX_VERSION 8
351 #define AO_MAX_TELEMETRY 128
353 struct ao_telemetry_generic {
354 uint16_t serial; /* 0 */
355 uint16_t tick; /* 2 */
356 uint8_t type; /* 4 */
357 uint8_t payload[27]; /* 5 */
361 #define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01
362 #define AO_TELEMETRY_SENSOR_TELEMINI 0x02
363 #define AO_TELEMETRY_SENSOR_TELENANO 0x03
365 struct ao_telemetry_sensor {
366 uint16_t serial; /* 0 */
367 uint16_t tick; /* 2 */
368 uint8_t type; /* 4 */
370 uint8_t state; /* 5 flight state */
371 int16_t accel; /* 6 accelerometer (TM only) */
372 int16_t pres; /* 8 pressure sensor */
373 int16_t temp; /* 10 temperature sensor */
374 int16_t v_batt; /* 12 battery voltage */
375 int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */
376 int16_t sense_m; /* 16 main continuity sense (TM/Tm) */
378 int16_t acceleration; /* 18 m/s² * 16 */
379 int16_t speed; /* 20 m/s * 16 */
380 int16_t height; /* 22 m */
382 int16_t ground_pres; /* 24 average pres on pad */
383 int16_t ground_accel; /* 26 average accel on pad */
384 int16_t accel_plus_g; /* 28 accel calibration at +1g */
385 int16_t accel_minus_g; /* 30 accel calibration at -1g */
389 #define AO_TELEMETRY_CONFIGURATION 0x04
391 struct ao_telemetry_configuration {
392 uint16_t serial; /* 0 */
393 uint16_t tick; /* 2 */
394 uint8_t type; /* 4 */
396 uint8_t device; /* 5 device type */
397 uint16_t flight; /* 6 flight number */
398 uint8_t config_major; /* 8 Config major version */
399 uint8_t config_minor; /* 9 Config minor version */
400 uint16_t apogee_delay; /* 10 Apogee deploy delay in seconds */
401 uint16_t main_deploy; /* 12 Main deploy alt in meters */
402 uint16_t flight_log_max; /* 14 Maximum flight log size in kB */
403 char callsign[AO_MAX_CALLSIGN]; /* 16 Radio operator identity */
404 char version[AO_MAX_VERSION]; /* 24 Software version */
408 #define AO_TELEMETRY_LOCATION 0x05
410 #define AO_GPS_MODE_NOT_VALID 'N'
411 #define AO_GPS_MODE_AUTONOMOUS 'A'
412 #define AO_GPS_MODE_DIFFERENTIAL 'D'
413 #define AO_GPS_MODE_ESTIMATED 'E'
414 #define AO_GPS_MODE_MANUAL 'M'
415 #define AO_GPS_MODE_SIMULATED 'S'
417 struct ao_telemetry_location {
418 uint16_t serial; /* 0 */
419 uint16_t tick; /* 2 */
420 uint8_t type; /* 4 */
422 uint8_t flags; /* 5 Number of sats and other flags */
423 int16_t altitude; /* 6 GPS reported altitude (m) */
424 int32_t latitude; /* 8 latitude (degrees * 10⁷) */
425 int32_t longitude; /* 12 longitude (degrees * 10⁷) */
426 uint8_t year; /* 16 (- 2000) */
427 uint8_t month; /* 17 (1-12) */
428 uint8_t day; /* 18 (1-31) */
429 uint8_t hour; /* 19 (0-23) */
430 uint8_t minute; /* 20 (0-59) */
431 uint8_t second; /* 21 (0-59) */
432 uint8_t pdop; /* 22 (m * 5) */
433 uint8_t hdop; /* 23 (m * 5) */
434 uint8_t vdop; /* 24 (m * 5) */
435 uint8_t mode; /* 25 */
436 uint16_t ground_speed; /* 26 cm/s */
437 int16_t climb_rate; /* 28 cm/s */
438 uint8_t course; /* 30 degrees / 2 */
439 uint8_t unused[1]; /* 31 */
443 #define AO_TELEMETRY_SATELLITE 0x06
445 struct ao_telemetry_satellite_info {
450 struct ao_telemetry_satellite {
451 uint16_t serial; /* 0 */
452 uint16_t tick; /* 2 */
453 uint8_t type; /* 4 */
454 uint8_t channels; /* 5 number of reported sats */
456 struct ao_telemetry_satellite_info sats[12]; /* 6 */
457 uint8_t unused[2]; /* 30 */
461 union ao_telemetry_all {
462 struct ao_telemetry_generic generic;
463 struct ao_telemetry_sensor sensor;
464 struct ao_telemetry_configuration configuration;
465 struct ao_telemetry_location location;
466 struct ao_telemetry_satellite satellite;
470 uint16(uint8_t *bytes, int off)
473 return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
477 int16(uint8_t *bytes, int off)
479 return (int16_t) uint16(bytes, off);
483 ao_sleep(void *wchan)
485 if (wchan == &ao_data_head) {
488 uint16_t a = 0, b = 0;
490 union ao_telemetry_all telem;
498 if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
500 ao_data_static.adc.accel = ao_flight_ground_accel;
505 if (!fgets(line, sizeof (line), emulator_in)) {
506 if (++ao_eof_read >= 1000) {
508 printf ("no more data, exiting simulation\n");
511 ao_data_static.tick += 10;
516 for (nword = 0; nword < 64; nword++) {
517 words[nword] = strtok_r(l, " \t\n", &saveptr);
519 if (words[nword] == NULL)
524 tick = strtoul(words[1], NULL, 16);
525 a = strtoul(words[2], NULL, 16);
526 b = strtoul(words[3], NULL, 16);
529 } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
530 ao_config.accel_plus_g = atoi(words[3]);
531 ao_config.accel_minus_g = atoi(words[5]);
532 } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
533 ao_config.main_deploy = atoi(words[2]);
534 } else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 &&
535 strcmp(words[1], "lockout:") == 0) {
536 ao_config.apogee_lockout = atoi(words[2]);
537 } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
538 tick = atoi(words[10]);
539 if (!ao_flight_started) {
542 ao_flight_started = 1;
548 } else if (nword == 3 && strcmp(words[0], "BARO") == 0) {
549 tick = strtol(words[1], NULL, 16);
551 b = strtol(words[2], NULL, 10);
553 if (!ao_flight_started) {
554 ao_flight_ground_accel = 16384 - 328;
555 ao_config.accel_plus_g = 16384 - 328;
556 ao_config.accel_minus_g = 16384 + 328;
557 ao_flight_started = 1;
559 } else if (nword == 2 && strcmp(words[0], "TELEM") == 0) {
560 __xdata char *hex = words[1];
566 if (len > sizeof (bytes) * 2) {
567 len = sizeof (bytes)*2;
570 for (i = 0; i < len; i += 2) {
574 bytes[i/2] = (uint8_t) strtol(elt, NULL, 16);
577 if (bytes[0] != len - 2) {
578 printf ("bad length %d != %d\n", bytes[0], len - 2);
582 for (i = 1; i < len-1; i++)
584 if (sum != bytes[len-1]) {
585 printf ("bad checksum\n");
588 if ((bytes[len-2] & 0x80) == 0) {
592 ao_xmemcpy(&telem, bytes + 1, 32);
593 tick = telem.generic.tick;
594 switch (telem.generic.type) {
595 case AO_TELEMETRY_SENSOR_TELEMETRUM:
596 case AO_TELEMETRY_SENSOR_TELEMINI:
597 case AO_TELEMETRY_SENSOR_TELENANO:
598 if (!ao_flight_started) {
599 ao_flight_ground_accel = telem.sensor.ground_accel;
600 ao_config.accel_plus_g = telem.sensor.accel_plus_g;
601 ao_config.accel_minus_g = telem.sensor.accel_minus_g;
602 ao_flight_started = 1;
605 a = telem.sensor.accel;
606 b = telem.sensor.pres;
609 } else if (len == 99) {
610 ao_flight_started = 1;
611 tick = uint16(bytes, 21);
612 ao_flight_ground_accel = int16(bytes, 7);
613 ao_config.accel_plus_g = int16(bytes, 17);
614 ao_config.accel_minus_g = int16(bytes, 19);
616 a = int16(bytes, 23);
617 b = int16(bytes, 25);
618 } else if (len == 98) {
619 ao_flight_started = 1;
620 tick = uint16(bytes, 20);
621 ao_flight_ground_accel = int16(bytes, 6);
622 ao_config.accel_plus_g = int16(bytes, 16);
623 ao_config.accel_minus_g = int16(bytes, 18);
625 a = int16(bytes, 22);
626 b = int16(bytes, 24);
628 printf("unknown len %d\n", len);
632 if (type != 'F' && !ao_flight_started)
637 ao_flight_ground_accel = a;
638 if (ao_config.accel_plus_g == 0) {
639 ao_config.accel_plus_g = a;
640 ao_config.accel_minus_g = a + 530;
642 if (ao_config.main_deploy == 0)
643 ao_config.main_deploy = 250;
644 ao_flight_started = 1;
649 ao_data_static.tick = tick;
650 ao_data_static.adc.accel = a;
651 ao_data_static.adc.pres_real = b;
652 if (b < AO_MIN_BARO_VALUE)
653 b = AO_MIN_BARO_VALUE;
654 ao_data_static.adc.pres = b;
659 ao_data_static.tick = tick;
660 ao_data_static.adc.temp = a;
661 ao_data_static.adc.v_batt = b;
674 #define COUNTS_PER_G 264.8
681 static const struct option options[] = {
682 { .name = "summary", .has_arg = 0, .val = 's' },
683 { .name = "debug", .has_arg = 0, .val = 'd' },
684 { .name = "info", .has_arg = 1, .val = 'i' },
688 void run_flight_fixed(char *name, FILE *f, int summary, char *info)
690 emulator_name = name;
692 emulator_info = info;
693 ao_summary = summary;
699 main (int argc, char **argv)
711 while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) {
726 run_flight_fixed("<stdin>", stdin, summary, info);
728 for (i = optind; i < argc; i++) {
729 FILE *f = fopen(argv[i], "r");
734 run_flight_fixed(argv[i], f, summary, info);