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 */
59 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
60 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
61 #define from_fix(x) ((x) >> 16)
64 * Above this height, the baro sensor doesn't work
66 #define AO_MAX_BARO_HEIGHT 12000
67 #define AO_BARO_SATURATE 13000
68 #define AO_MIN_BARO_VALUE ao_altitude_to_pres(AO_BARO_SATURATE)
71 * Above this speed, baro measurements are unreliable
73 #define AO_MAX_BARO_SPEED 200
75 #define ACCEL_NOSE_UP (ao_accel_2g >> 2)
77 enum ao_flight_state {
78 ao_flight_startup = 0,
90 extern enum ao_flight_state ao_flight_state;
95 volatile struct ao_data ao_data_ring[AO_DATA_RING];
96 volatile uint8_t ao_data_head;
100 #define ao_led_off(l)
101 #define ao_timer_set_adc_interval(i)
102 #define ao_wakeup(wchan) ao_dump_state()
103 #define ao_cmd_register(c)
104 #define ao_usb_disable()
105 #define ao_telemetry_set_interval(x)
106 #define ao_rdf_set(rdf)
107 #define ao_packet_slave_start()
108 #define ao_packet_slave_stop()
111 ao_igniter_drogue = 0,
115 struct ao_data ao_data_static;
124 static int32_t ao_k_height;
127 ao_ignite(enum ao_igniter igniter)
129 double time = (double) (ao_data_static.tick + tick_offset) / 100;
131 if (igniter == ao_igniter_drogue) {
133 drogue_height = ao_k_height >> 16;
136 main_height = ao_k_height >> 16;
144 #define ao_add_task(t,f,n)
146 #define ao_log_start()
147 #define ao_log_stop()
149 #define AO_MS_TO_TICKS(ms) ((ms) / 10)
150 #define AO_SEC_TO_TICKS(s) ((s) * 100)
152 #define AO_FLIGHT_TEST
159 double emulator_error_max = 4;
160 double emulator_height_error_max = 20; /* noise in the baro sensor */
166 ao_sleep(void *wchan);
168 const char const * const ao_state_names[] = {
169 "startup", "idle", "pad", "boost", "fast",
170 "coast", "drogue", "main", "landed", "invalid"
178 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
179 #define ao_xmemset(d,v,c) memset(d,v,c)
180 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
182 #include "ao_convert.c"
185 uint16_t main_deploy;
186 int16_t accel_plus_g;
187 int16_t accel_minus_g;
188 uint8_t pad_orientation;
189 uint16_t apogee_lockout;
192 #define AO_PAD_ORIENTATION_ANTENNA_UP 0
193 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
195 #define ao_config_get()
197 struct ao_config ao_config;
199 #define DATA_TO_XDATA(x) (x)
207 #define HAS_ACCEL_REF 0
210 #define GRAVITY 9.80665
211 extern int16_t ao_ground_accel, ao_flight_accel;
212 extern int16_t ao_accel_2g;
214 extern uint16_t ao_sample_tick;
216 extern int16_t ao_sample_height;
217 extern int16_t ao_sample_accel;
218 extern int32_t ao_accel_scale;
219 extern int16_t ao_ground_height;
220 extern int16_t ao_sample_alt;
222 int ao_sample_prev_tick;
225 #include "ao_kalman.c"
226 #include "ao_sample_mm.c"
227 #include "ao_flight_mm.c"
229 #define to_double(f) ((f) / 65536.0)
231 static int ao_records_read = 0;
232 static int ao_eof_read = 0;
233 static int ao_flight_ground_accel;
234 static int ao_flight_started = 0;
235 static int ao_test_max_height;
236 static double ao_test_max_height_time;
237 static int ao_test_main_height;
238 static double ao_test_main_height_time;
239 static double ao_test_landed_time;
240 static double ao_test_landed_height;
241 static double ao_test_landed_time;
242 static int landed_set;
243 static double landed_time;
244 static double landed_height;
252 double landed_time_error;
254 if (!ao_test_main_height_time) {
255 ao_test_main_height_time = ao_test_max_height_time;
256 ao_test_main_height = ao_test_max_height;
258 drogue_error = fabs(ao_test_max_height_time - drogue_time);
259 main_error = fabs(ao_test_main_height_time - main_time);
260 landed_error = fabs(ao_test_landed_height - landed_height);
261 landed_time_error = ao_test_landed_time - landed_time;
262 if (drogue_error > emulator_error_max || main_error > emulator_error_max ||
263 landed_time_error > emulator_error_max || landed_error > emulator_height_error_max) {
265 emulator_app, emulator_name);
266 printf ("\tApogee error %g\n", drogue_error);
267 printf ("\tMain error %g\n", main_error);
268 printf ("\tLanded height error %g\n", landed_error);
269 printf ("\tLanded time error %g\n", landed_time_error);
270 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
271 ao_test_max_height, ao_test_max_height_time,
272 ao_test_main_height, ao_test_main_height_time,
273 ao_test_landed_height, ao_test_landed_time);
274 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
275 drogue_height, drogue_time, main_height, main_time,
276 landed_height, landed_time);
287 ao_data_ring[ao_data_head] = ao_data_static;
288 ao_data_head = ao_data_ring_next(ao_data_head);
289 if (ao_flight_state != ao_flight_startup) {
290 double height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
291 double accel = ((ao_flight_ground_accel - ao_data_static.adc.accel) * GRAVITY * 2.0) /
292 (ao_config.accel_minus_g - ao_config.accel_plus_g);
295 tick_offset = -ao_data_static.tick;
296 if ((prev_tick - ao_data_static.tick) > 0x400)
297 tick_offset += 65536;
298 prev_tick = ao_data_static.tick;
299 time = (double) (ao_data_static.tick + tick_offset) / 100;
301 if (ao_test_max_height < height) {
302 ao_test_max_height = height;
303 ao_test_max_height_time = time;
304 ao_test_landed_height = height;
305 ao_test_landed_time = time;
307 if (height > ao_config.main_deploy) {
308 ao_test_main_height_time = time;
309 ao_test_main_height = height;
312 if (ao_test_landed_height > height) {
313 ao_test_landed_height = height;
314 ao_test_landed_time = time;
317 if (ao_flight_state == ao_flight_landed && !landed_set) {
320 landed_height = height;
324 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",
328 ao_state_names[ao_flight_state],
329 ao_k_height / 65536.0,
330 ao_k_speed / 65536.0 / 16.0,
331 ao_k_accel / 65536.0 / 16.0,
337 // if (ao_flight_state == ao_flight_landed)
343 #define AO_MAX_CALLSIGN 8
344 #define AO_MAX_VERSION 8
345 #define AO_MAX_TELEMETRY 128
347 struct ao_telemetry_generic {
348 uint16_t serial; /* 0 */
349 uint16_t tick; /* 2 */
350 uint8_t type; /* 4 */
351 uint8_t payload[27]; /* 5 */
355 #define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01
356 #define AO_TELEMETRY_SENSOR_TELEMINI 0x02
357 #define AO_TELEMETRY_SENSOR_TELENANO 0x03
359 struct ao_telemetry_sensor {
360 uint16_t serial; /* 0 */
361 uint16_t tick; /* 2 */
362 uint8_t type; /* 4 */
364 uint8_t state; /* 5 flight state */
365 int16_t accel; /* 6 accelerometer (TM only) */
366 int16_t pres; /* 8 pressure sensor */
367 int16_t temp; /* 10 temperature sensor */
368 int16_t v_batt; /* 12 battery voltage */
369 int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */
370 int16_t sense_m; /* 16 main continuity sense (TM/Tm) */
372 int16_t acceleration; /* 18 m/s² * 16 */
373 int16_t speed; /* 20 m/s * 16 */
374 int16_t height; /* 22 m */
376 int16_t ground_pres; /* 24 average pres on pad */
377 int16_t ground_accel; /* 26 average accel on pad */
378 int16_t accel_plus_g; /* 28 accel calibration at +1g */
379 int16_t accel_minus_g; /* 30 accel calibration at -1g */
383 #define AO_TELEMETRY_CONFIGURATION 0x04
385 struct ao_telemetry_configuration {
386 uint16_t serial; /* 0 */
387 uint16_t tick; /* 2 */
388 uint8_t type; /* 4 */
390 uint8_t device; /* 5 device type */
391 uint16_t flight; /* 6 flight number */
392 uint8_t config_major; /* 8 Config major version */
393 uint8_t config_minor; /* 9 Config minor version */
394 uint16_t apogee_delay; /* 10 Apogee deploy delay in seconds */
395 uint16_t main_deploy; /* 12 Main deploy alt in meters */
396 uint16_t flight_log_max; /* 14 Maximum flight log size in kB */
397 char callsign[AO_MAX_CALLSIGN]; /* 16 Radio operator identity */
398 char version[AO_MAX_VERSION]; /* 24 Software version */
402 #define AO_TELEMETRY_LOCATION 0x05
404 #define AO_GPS_MODE_NOT_VALID 'N'
405 #define AO_GPS_MODE_AUTONOMOUS 'A'
406 #define AO_GPS_MODE_DIFFERENTIAL 'D'
407 #define AO_GPS_MODE_ESTIMATED 'E'
408 #define AO_GPS_MODE_MANUAL 'M'
409 #define AO_GPS_MODE_SIMULATED 'S'
411 struct ao_telemetry_location {
412 uint16_t serial; /* 0 */
413 uint16_t tick; /* 2 */
414 uint8_t type; /* 4 */
416 uint8_t flags; /* 5 Number of sats and other flags */
417 int16_t altitude; /* 6 GPS reported altitude (m) */
418 int32_t latitude; /* 8 latitude (degrees * 10⁷) */
419 int32_t longitude; /* 12 longitude (degrees * 10⁷) */
420 uint8_t year; /* 16 (- 2000) */
421 uint8_t month; /* 17 (1-12) */
422 uint8_t day; /* 18 (1-31) */
423 uint8_t hour; /* 19 (0-23) */
424 uint8_t minute; /* 20 (0-59) */
425 uint8_t second; /* 21 (0-59) */
426 uint8_t pdop; /* 22 (m * 5) */
427 uint8_t hdop; /* 23 (m * 5) */
428 uint8_t vdop; /* 24 (m * 5) */
429 uint8_t mode; /* 25 */
430 uint16_t ground_speed; /* 26 cm/s */
431 int16_t climb_rate; /* 28 cm/s */
432 uint8_t course; /* 30 degrees / 2 */
433 uint8_t unused[1]; /* 31 */
437 #define AO_TELEMETRY_SATELLITE 0x06
439 struct ao_telemetry_satellite_info {
444 struct ao_telemetry_satellite {
445 uint16_t serial; /* 0 */
446 uint16_t tick; /* 2 */
447 uint8_t type; /* 4 */
448 uint8_t channels; /* 5 number of reported sats */
450 struct ao_telemetry_satellite_info sats[12]; /* 6 */
451 uint8_t unused[2]; /* 30 */
455 union ao_telemetry_all {
456 struct ao_telemetry_generic generic;
457 struct ao_telemetry_sensor sensor;
458 struct ao_telemetry_configuration configuration;
459 struct ao_telemetry_location location;
460 struct ao_telemetry_satellite satellite;
464 uint16(uint8_t *bytes, int off)
467 return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
471 int16(uint8_t *bytes, int off)
473 return (int16_t) uint16(bytes, off);
477 ao_sleep(void *wchan)
479 if (wchan == &ao_data_head) {
485 union ao_telemetry_all telem;
493 if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
495 ao_data_static.adc.accel = ao_flight_ground_accel;
500 if (!fgets(line, sizeof (line), emulator_in)) {
501 if (++ao_eof_read >= 1000) {
503 printf ("no more data, exiting simulation\n");
506 ao_data_static.tick += 10;
511 for (nword = 0; nword < 64; nword++) {
512 words[nword] = strtok_r(l, " \t\n", &saveptr);
514 if (words[nword] == NULL)
519 tick = strtoul(words[1], NULL, 16);
520 a = strtoul(words[2], NULL, 16);
521 b = strtoul(words[3], NULL, 16);
524 } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
525 ao_config.accel_plus_g = atoi(words[3]);
526 ao_config.accel_minus_g = atoi(words[5]);
527 } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
528 ao_config.main_deploy = atoi(words[2]);
529 } else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 &&
530 strcmp(words[1], "lockout:") == 0) {
531 ao_config.apogee_lockout = atoi(words[2]);
532 } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
533 tick = atoi(words[10]);
534 if (!ao_flight_started) {
537 ao_flight_started = 1;
543 } else if (nword == 3 && strcmp(words[0], "BARO") == 0) {
544 tick = strtol(words[1], NULL, 16);
546 b = strtol(words[2], NULL, 10);
548 if (!ao_flight_started) {
549 ao_flight_ground_accel = 16384 - 328;
550 ao_config.accel_plus_g = 16384 - 328;
551 ao_config.accel_minus_g = 16384 + 328;
552 ao_flight_started = 1;
554 } else if (nword == 2 && strcmp(words[0], "TELEM") == 0) {
555 __xdata char *hex = words[1];
561 if (len > sizeof (bytes) * 2) {
562 len = sizeof (bytes)*2;
565 for (i = 0; i < len; i += 2) {
569 bytes[i/2] = (uint8_t) strtol(elt, NULL, 16);
572 if (bytes[0] != len - 2) {
573 printf ("bad length %d != %d\n", bytes[0], len - 2);
577 for (i = 1; i < len-1; i++)
579 if (sum != bytes[len-1]) {
580 printf ("bad checksum\n");
583 if ((bytes[len-2] & 0x80) == 0) {
587 ao_xmemcpy(&telem, bytes + 1, 32);
588 tick = telem.generic.tick;
589 switch (telem.generic.type) {
590 case AO_TELEMETRY_SENSOR_TELEMETRUM:
591 case AO_TELEMETRY_SENSOR_TELEMINI:
592 case AO_TELEMETRY_SENSOR_TELENANO:
593 if (!ao_flight_started) {
594 ao_flight_ground_accel = telem.sensor.ground_accel;
595 ao_config.accel_plus_g = telem.sensor.accel_plus_g;
596 ao_config.accel_minus_g = telem.sensor.accel_minus_g;
597 ao_flight_started = 1;
600 a = telem.sensor.accel;
601 b = telem.sensor.pres;
604 } else if (len == 99) {
605 ao_flight_started = 1;
606 tick = uint16(bytes, 21);
607 ao_flight_ground_accel = int16(bytes, 7);
608 ao_config.accel_plus_g = int16(bytes, 17);
609 ao_config.accel_minus_g = int16(bytes, 19);
611 a = int16(bytes, 23);
612 b = int16(bytes, 25);
613 } else if (len == 98) {
614 ao_flight_started = 1;
615 tick = uint16(bytes, 20);
616 ao_flight_ground_accel = int16(bytes, 6);
617 ao_config.accel_plus_g = int16(bytes, 16);
618 ao_config.accel_minus_g = int16(bytes, 18);
620 a = int16(bytes, 22);
621 b = int16(bytes, 24);
623 printf("unknown len %d\n", len);
627 if (type != 'F' && !ao_flight_started)
632 ao_flight_ground_accel = a;
633 if (ao_config.accel_plus_g == 0) {
634 ao_config.accel_plus_g = a;
635 ao_config.accel_minus_g = a + 530;
637 if (ao_config.main_deploy == 0)
638 ao_config.main_deploy = 250;
639 ao_flight_started = 1;
644 ao_data_static.tick = tick;
645 ao_data_static.adc.accel = a;
646 ao_data_static.adc.pres_real = b;
647 if (b < AO_MIN_BARO_VALUE)
648 b = AO_MIN_BARO_VALUE;
649 ao_data_static.adc.pres = b;
654 ao_data_static.tick = tick;
655 ao_data_static.adc.temp = a;
656 ao_data_static.adc.v_batt = b;
669 #define COUNTS_PER_G 264.8
676 static const struct option options[] = {
677 { .name = "summary", .has_arg = 0, .val = 's' },
678 { .name = "debug", .has_arg = 0, .val = 'd' },
682 void run_flight_fixed(char *name, FILE *f, int summary)
684 emulator_name = name;
686 ao_summary = summary;
692 main (int argc, char **argv)
703 while ((c = getopt_long(argc, argv, "sd", options, NULL)) != -1) {
715 run_flight_fixed("<stdin>", stdin, summary);
717 for (i = optind; i < argc; i++) {
718 FILE *f = fopen(argv[i], "r");
723 run_flight_fixed(argv[i], f, summary);