+++ /dev/null
-/*
- * Copyright © 2009 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#define _GNU_SOURCE
-
-#include <stdint.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-
-#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))
-
-/*
- * 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 temp; /* temperature sensor */
- int16_t v_batt; /* battery voltage */
- int16_t sense_d; /* drogue continuity sense */
- int16_t sense_m; /* main continuity sense */
-};
-
-#define __pdata
-#define __data
-#define __xdata
-#define __code
-#define __reentrant
-
-enum ao_flight_state {
- ao_flight_startup = 0,
- ao_flight_idle = 1,
- ao_flight_launchpad = 2,
- ao_flight_boost = 3,
- ao_flight_coast = 4,
- ao_flight_apogee = 5,
- ao_flight_drogue = 6,
- ao_flight_main = 7,
- ao_flight_landed = 8,
- ao_flight_invalid = 9
-};
-
-struct ao_adc ao_adc_ring[AO_ADC_RING];
-uint8_t ao_adc_head;
-
-#define ao_led_on(l)
-#define ao_led_off(l)
-#define ao_timer_set_adc_interval(i)
-#define ao_wakeup(wchan) ao_dump_state()
-#define ao_cmd_register(c)
-#define ao_usb_disable()
-#define ao_telemetry_set_interval(x)
-
-enum ao_igniter {
- ao_igniter_drogue = 0,
- ao_igniter_main = 1
-};
-
-void
-ao_ignite(enum ao_igniter igniter)
-{
- printf ("ignite %s\n", igniter == ao_igniter_drogue ? "drogue" : "main");
-}
-
-struct ao_task {
- int dummy;
-};
-
-#define ao_add_task(t,f,n)
-
-#define ao_log_start()
-#define ao_log_stop()
-
-#define AO_MS_TO_TICKS(ms) ((ms) / 10)
-#define AO_SEC_TO_TICKS(s) ((s) * 100)
-
-#define AO_FLIGHT_TEST
-
-struct ao_adc ao_adc_static;
-
-FILE *emulator_in;
-
-void
-ao_dump_state(void);
-
-void
-ao_sleep(void *wchan);
-
-const char const * const ao_state_names[] = {
- "startup", "idle", "pad", "boost", "coast",
- "apogee", "drogue", "main", "landed", "invalid"
-};
-
-struct ao_cmds {
- char cmd;
- void (*func)(void);
- const char *help;
-};
-
-
-static int16_t altitude_table[2048] = {
-#include "altitude.h"
-};
-
-int16_t
-ao_pres_to_altitude(int16_t pres) __reentrant
-{
- pres = pres >> 4;
- if (pres < 0) pres = 0;
- if (pres > 2047) pres = 2047;
- return altitude_table[pres];
-}
-
-int16_t
-ao_altitude_to_pres(int16_t alt) __reentrant
-{
- int16_t pres;
-
- for (pres = 0; pres < 2047; pres++)
- if (altitude_table[pres] <= alt)
- break;
- return pres << 4;
-}
-
-struct ao_config {
- uint16_t main_deploy;
- int16_t accel_zero_g;
-};
-
-#define ao_config_get()
-
-struct ao_config ao_config = { 250, 16000 };
-
-#include "ao_flight.c"
-
-void
-ao_insert(void)
-{
- ao_adc_ring[ao_adc_head] = ao_adc_static;
- ao_adc_head = ao_adc_ring_next(ao_adc_head);
- if (ao_flight_state != ao_flight_startup) {
- printf("time %g accel %d pres %d\n",
- (double) ao_adc_static.tick / 100,
- ao_adc_static.accel,
- ao_adc_static.pres);
- }
-}
-
-static int ao_records_read = 0;
-static int ao_eof_read = 0;
-static int ao_flight_ground_accel;
-static int ao_flight_started = 0;
-
-void
-ao_sleep(void *wchan)
-{
- ao_dump_state();
- if (wchan == &ao_adc_ring) {
- char type;
- uint16_t tick;
- uint16_t a, b;
- int ret;
- char line[1024];
- char *saveptr;
- char *l;
- char *words[64];
- int nword;
-
- for (;;) {
- if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
- {
- ao_adc_static.accel = ao_flight_ground_accel;
- ao_insert();
- return;
- }
-
- if (!fgets(line, sizeof (line), emulator_in)) {
- if (++ao_eof_read >= 1000) {
- printf ("no more data, exiting simulation\n");
- exit(0);
- }
- ao_adc_static.tick += 10;
- ao_insert();
- return;
- }
- l = line;
- for (nword = 0; nword < 64; nword++) {
- words[nword] = strtok_r(l, " \t\n", &saveptr);
- l = NULL;
- if (words[nword] == NULL)
- break;
- }
- if (nword == 4) {
- type = words[0][0];
- tick = strtoul(words[1], NULL, 16);
- a = strtoul(words[2], NULL, 16);
- b = strtoul(words[2], NULL, 16);
- } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
- tick = atoi(words[10]);
- if (!ao_flight_started) {
- type = 'F';
- a = atoi(words[26]);
- ao_flight_started = 1;
- } else {
- type = 'A';
- a = atoi(words[12]);
- b = atoi(words[14]);
- }
- }
- if (type != 'F' && !ao_flight_started)
- continue;
-
- switch (type) {
- case 'F':
- ao_flight_ground_accel = a;
- ao_flight_started = 1;
- break;
- case 'S':
- break;
- case 'A':
- ao_adc_static.tick = tick;
- ao_adc_static.accel = a;
- ao_adc_static.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;
- break;
- case 'D':
- case 'G':
- case 'N':
- case 'W':
- case 'H':
- break;
- }
- }
-
- }
-}
-#define COUNTS_PER_G 264.8
-
-void
-ao_dump_state(void)
-{
- if (ao_flight_state == ao_flight_startup)
- return;
- printf ("\t\t\t\t\t%s accel %g vel %g alt %d main %d\n",
- ao_state_names[ao_flight_state],
- (ao_ground_accel - ao_flight_accel) / COUNTS_PER_G * GRAVITY,
- (double) ao_flight_vel / 100 / COUNTS_PER_G * GRAVITY,
- ao_pres_to_altitude(ao_flight_pres) - ao_pres_to_altitude(ao_ground_pres),
- ao_pres_to_altitude(ao_main_pres) - ao_pres_to_altitude(ao_ground_pres));
- if (ao_flight_state == ao_flight_landed)
- exit(0);
-}
-
-int
-main (int argc, char **argv)
-{
- emulator_in = fopen (argv[1], "r");
- if (!emulator_in) {
- perror(argv[1]);
- exit(1);
- }
- ao_flight_init();
- ao_flight();
-}
projects / fw / altos / blobdiff