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   1 /*
   2  * Copyright © 2009 Keith Packard <keithp@keithp.com>
   3  *
   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.
   7  *
   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.
  12  *
  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.
  16  */
  17
  18 #include <stdint.h>
  19 #include <stdio.h>
  20 #include <stdlib.h>
  21
  22 #define AO_ADC_RING     64
  23 #define ao_adc_ring_next(n)     (((n) + 1) & (AO_ADC_RING - 1))
  24 #define ao_adc_ring_prev(n)     (((n) - 1) & (AO_ADC_RING - 1))
  25
  26 /*
  27  * One set of samples read from the A/D converter
  28  */
  29 struct ao_adc {
  30         uint16_t        tick;           /* tick when the sample was read */
  31         int16_t         accel;          /* accelerometer */
  32         int16_t         pres;           /* pressure sensor */
  33         int16_t         temp;           /* temperature sensor */
  34         int16_t         v_batt;         /* battery voltage */
  35         int16_t         sense_d;        /* drogue continuity sense */
  36         int16_t         sense_m;        /* main continuity sense */
  37 };
  38
  39 #define __pdata
  40 #define __data
  41 #define __xdata
  42
  43 enum ao_flight_state {
  44         ao_flight_startup = 0,
  45         ao_flight_idle = 1,
  46         ao_flight_launchpad = 2,
  47         ao_flight_boost = 3,
  48         ao_flight_coast = 4,
  49         ao_flight_apogee = 5,
  50         ao_flight_drogue = 6,
  51         ao_flight_main = 7,
  52         ao_flight_landed = 8,
  53         ao_flight_invalid = 9
  54 };
  55
  56 struct ao_adc ao_adc_ring[AO_ADC_RING];
  57 uint8_t ao_adc_head;
  58
  59 #define ao_led_on(l)
  60 #define ao_led_off(l)
  61 #define ao_timer_set_adc_interval(i)
  62 #define ao_wakeup(wchan) ao_dump_state()
  63
  64 enum ao_igniter {
  65         ao_igniter_drogue = 0,
  66         ao_igniter_main = 1
  67 };
  68
  69 void
  70 ao_ignite(enum ao_igniter igniter)
  71 {
  72         printf ("ignite %s\n", igniter == ao_igniter_drogue ? "drogue" : "main");
  73 }
  74
  75 struct ao_task {
  76         int dummy;
  77 };
  78
  79 #define ao_add_task(t,f,n)
  80
  81 #define ao_log_start()
  82 #define ao_log_stop()
  83
  84 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
  85 #define AO_SEC_TO_TICKS(s)      ((s) * 100)
  86
  87 #define AO_FLIGHT_TEST
  88
  89 struct ao_adc ao_adc_static;
  90
  91 FILE *emulator_in;
  92
  93 void
  94 ao_dump_state(void);
  95
  96 void
  97 ao_sleep(void *wchan);
  98
  99 #include "ao_flight.c"
 100
 101 void
 102 ao_insert(void)
 103 {
 104         ao_adc_ring[ao_adc_head] = ao_adc_static;
 105         ao_adc_head = ao_adc_ring_next(ao_adc_head);
 106         if (ao_flight_state != ao_flight_startup) {
 107                 printf("time %g accel %d pres %d\n",
 108                        (double) ao_adc_static.tick / 100,
 109                        ao_adc_static.accel,
 110                        ao_adc_static.pres);
 111         }
 112 }
 113
 114 static int      ao_records_read = 0;
 115
 116 void
 117 ao_sleep(void *wchan)
 118 {
 119         ao_dump_state();
 120         if (wchan == &ao_adc_ring) {
 121                 char            type;
 122                 uint16_t        tick;
 123                 uint16_t        a, b;
 124                 int             ret;
 125
 126                 for (;;) {
 127                         if (ao_records_read > 20 && ao_flight_state == ao_flight_startup)
 128                         {
 129                                 ao_insert();
 130                                 return;
 131                         }
 132
 133                         ret = fscanf(emulator_in, "%c %hx %hx %hx\n", &type, &tick, &a, &b);
 134                         if (ret == EOF) {
 135                                 printf ("no more data, exiting simulation\n");
 136                                 exit(0);
 137                                 return;
 138                         }
 139                         if (ret != 4)
 140                                 continue;
 141                         switch (type) {
 142                         case 'F':
 143                                 break;
 144                         case 'S':
 145                                 break;
 146                         case 'A':
 147                                 ao_adc_static.tick = tick;
 148                                 ao_adc_static.accel = a;
 149                                 ao_adc_static.pres = b;
 150                                 ao_records_read++;
 151                                 ao_insert();
 152                                 return;
 153                         case 'T':
 154                                 ao_adc_static.tick = tick;
 155                                 ao_adc_static.temp = a;
 156                                 ao_adc_static.v_batt = b;
 157                                 break;
 158                         case 'D':
 159                         case 'G':
 160                         case 'N':
 161                         case 'W':
 162                         case 'H':
 163                                 break;
 164                         }
 165                 }
 166
 167         }
 168 }
 169
 170 const char const * const ao_state_names[] = {
 171         "startup", "idle", "pad", "boost", "coast",
 172         "apogee", "drogue", "main", "landed", "invalid"
 173 };
 174
 175 static int16_t altitude[2048] = {
 176 #include "altitude.h"
 177 };
 178
 179 #define COUNTS_PER_G 264.8
 180
 181 void
 182 ao_dump_state(void)
 183 {
 184         if (ao_flight_state == ao_flight_startup)
 185                 return;
 186         printf ("\t%s accel %g vel %g alt %d\n",
 187                 ao_state_names[ao_flight_state],
 188                 (ao_flight_accel - ao_ground_accel) / COUNTS_PER_G * GRAVITY,
 189                 (double) ao_flight_vel / 100 / COUNTS_PER_G * GRAVITY,
 190                 altitude[ao_flight_pres >> 4]);
 191         if (ao_flight_state == ao_flight_landed)
 192                 exit(0);
 193 }
 194
 195 int
 196 main (int argc, char **argv)
 197 {
 198         emulator_in = fopen (argv[1], "r");
 199         if (!emulator_in) {
 200                 perror(argv[1]);
 201                 exit(1);
 202         }
 203         ao_flight_init();
 204         ao_flight();
 205 }