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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 #define _GNU_SOURCE
  19
  20 #include <stdint.h>
  21 #include <stdio.h>
  22 #include <stdlib.h>
  23 #include <string.h>
  24
  25 #define AO_ADC_RING     64
  26 #define ao_adc_ring_next(n)     (((n) + 1) & (AO_ADC_RING - 1))
  27 #define ao_adc_ring_prev(n)     (((n) - 1) & (AO_ADC_RING - 1))
  28
  29 /*
  30  * One set of samples read from the A/D converter
  31  */
  32 struct ao_adc {
  33         uint16_t        tick;           /* tick when the sample was read */
  34         int16_t         accel;          /* accelerometer */
  35         int16_t         pres;           /* pressure sensor */
  36         int16_t         temp;           /* temperature sensor */
  37         int16_t         v_batt;         /* battery voltage */
  38         int16_t         sense_d;        /* drogue continuity sense */
  39         int16_t         sense_m;        /* main continuity sense */
  40 };
  41
  42 #define __pdata
  43 #define __data
  44 #define __xdata
  45 #define __code
  46 #define __reentrant
  47
  48 enum ao_flight_state {
  49         ao_flight_startup = 0,
  50         ao_flight_idle = 1,
  51         ao_flight_pad = 2,
  52         ao_flight_boost = 3,
  53         ao_flight_fast = 4,
  54         ao_flight_coast = 5,
  55         ao_flight_drogue = 6,
  56         ao_flight_main = 7,
  57         ao_flight_landed = 8,
  58         ao_flight_invalid = 9
  59 };
  60
  61 struct ao_adc ao_adc_ring[AO_ADC_RING];
  62 uint8_t ao_adc_head;
  63
  64 #define ao_led_on(l)
  65 #define ao_led_off(l)
  66 #define ao_timer_set_adc_interval(i)
  67 #define ao_wakeup(wchan) ao_dump_state()
  68 #define ao_cmd_register(c)
  69 #define ao_usb_disable()
  70 #define ao_telemetry_set_interval(x)
  71
  72 enum ao_igniter {
  73         ao_igniter_drogue = 0,
  74         ao_igniter_main = 1
  75 };
  76
  77 void
  78 ao_ignite(enum ao_igniter igniter)
  79 {
  80         printf ("ignite %s\n", igniter == ao_igniter_drogue ? "drogue" : "main");
  81 }
  82
  83 struct ao_task {
  84         int dummy;
  85 };
  86
  87 #define ao_add_task(t,f,n)
  88
  89 #define ao_log_start()
  90 #define ao_log_stop()
  91
  92 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
  93 #define AO_SEC_TO_TICKS(s)      ((s) * 100)
  94
  95 #define AO_FLIGHT_TEST
  96
  97 struct ao_adc ao_adc_static;
  98
  99 FILE *emulator_in;
 100
 101 void
 102 ao_dump_state(void);
 103
 104 void
 105 ao_sleep(void *wchan);
 106
 107 const char const * const ao_state_names[] = {
 108         "startup", "idle", "pad", "boost", "fast",
 109         "coast", "drogue", "main", "landed", "invalid"
 110 };
 111
 112 struct ao_cmds {
 113         char            cmd;
 114         void            (*func)(void);
 115         const char      *help;
 116 };
 117
 118
 119 static int16_t altitude_table[2048] = {
 120 #include "altitude.h"
 121 };
 122
 123 int16_t
 124 ao_pres_to_altitude(int16_t pres) __reentrant
 125 {
 126         pres = pres >> 4;
 127         if (pres < 0) pres = 0;
 128         if (pres > 2047) pres = 2047;
 129         return altitude_table[pres];
 130 }
 131
 132 int16_t
 133 ao_altitude_to_pres(int16_t alt) __reentrant
 134 {
 135         int16_t pres;
 136
 137         for (pres = 0; pres < 2047; pres++)
 138                 if (altitude_table[pres] <= alt)
 139                         break;
 140         return pres << 4;
 141 }
 142
 143 struct ao_config {
 144         uint16_t        main_deploy;
 145         int16_t         accel_zero_g;
 146 };
 147
 148 #define ao_config_get()
 149
 150 struct ao_config ao_config = { 250, 16000 };
 151
 152 #include "ao_flight.c"
 153
 154 void
 155 ao_insert(void)
 156 {
 157         ao_adc_ring[ao_adc_head] = ao_adc_static;
 158         ao_adc_head = ao_adc_ring_next(ao_adc_head);
 159         if (ao_flight_state != ao_flight_startup) {
 160                 printf("time %g accel %d pres %d\n",
 161                        (double) ao_adc_static.tick / 100,
 162                        ao_adc_static.accel,
 163                        ao_adc_static.pres);
 164         }
 165 }
 166
 167 static int      ao_records_read = 0;
 168 static int      ao_eof_read = 0;
 169 static int      ao_flight_ground_accel;
 170 static int      ao_flight_started = 0;
 171
 172 void
 173 ao_sleep(void *wchan)
 174 {
 175         ao_dump_state();
 176         if (wchan == &ao_adc_ring) {
 177                 char            type;
 178                 uint16_t        tick;
 179                 uint16_t        a, b;
 180                 int             ret;
 181                 char            line[1024];
 182                 char            *saveptr;
 183                 char            *l;
 184                 char            *words[64];
 185                 int             nword;
 186
 187                 for (;;) {
 188                         if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 189                         {
 190                                 ao_adc_static.accel = ao_flight_ground_accel;
 191                                 ao_insert();
 192                                 return;
 193                         }
 194
 195                         if (!fgets(line, sizeof (line), emulator_in)) {
 196                                 if (++ao_eof_read >= 1000) {
 197                                         printf ("no more data, exiting simulation\n");
 198                                         exit(0);
 199                                 }
 200                                 ao_adc_static.tick += 10;
 201                                 ao_insert();
 202                                 return;
 203                         }
 204                         l = line;
 205                         for (nword = 0; nword < 64; nword++) {
 206                                 words[nword] = strtok_r(l, " \t\n", &saveptr);
 207                                 l = NULL;
 208                                 if (words[nword] == NULL)
 209                                         break;
 210                         }
 211                         if (nword == 4) {
 212                                 type = words[0][0];
 213                                 tick = strtoul(words[1], NULL, 16);
 214                                 a = strtoul(words[2], NULL, 16);
 215                                 b = strtoul(words[2], NULL, 16);
 216                         } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
 217                                 tick = atoi(words[10]);
 218                                 if (!ao_flight_started) {
 219                                         type = 'F';
 220                                         a = atoi(words[26]);
 221                                         ao_flight_started = 1;
 222                                 } else {
 223                                         type = 'A';
 224                                         a = atoi(words[12]);
 225                                         b = atoi(words[14]);
 226                                 }
 227                         }
 228                         if (type != 'F' && !ao_flight_started)
 229                                 continue;
 230
 231                         switch (type) {
 232                         case 'F':
 233                                 ao_flight_ground_accel = a;
 234                                 ao_flight_started = 1;
 235                                 break;
 236                         case 'S':
 237                                 break;
 238                         case 'A':
 239                                 ao_adc_static.tick = tick;
 240                                 ao_adc_static.accel = a;
 241                                 ao_adc_static.pres = b;
 242                                 ao_records_read++;
 243                                 ao_insert();
 244                                 return;
 245                         case 'T':
 246                                 ao_adc_static.tick = tick;
 247                                 ao_adc_static.temp = a;
 248                                 ao_adc_static.v_batt = b;
 249                                 break;
 250                         case 'D':
 251                         case 'G':
 252                         case 'N':
 253                         case 'W':
 254                         case 'H':
 255                                 break;
 256                         }
 257                 }
 258
 259         }
 260 }
 261 #define COUNTS_PER_G 264.8
 262
 263 void
 264 ao_dump_state(void)
 265 {
 266         if (ao_flight_state == ao_flight_startup)
 267                 return;
 268         printf ("\t\t\t\t\t%s accel %g vel %g alt %d main %d\n",
 269                 ao_state_names[ao_flight_state],
 270                 (ao_ground_accel - ao_flight_accel) / COUNTS_PER_G * GRAVITY,
 271                 (double) ao_flight_vel / 100 / COUNTS_PER_G * GRAVITY,
 272                 ao_pres_to_altitude(ao_flight_pres) - ao_pres_to_altitude(ao_ground_pres),
 273                 ao_pres_to_altitude(ao_main_pres) - ao_pres_to_altitude(ao_ground_pres));
 274         if (ao_flight_state == ao_flight_landed)
 275                 exit(0);
 276 }
 277
 278 int
 279 main (int argc, char **argv)
 280 {
 281         emulator_in = fopen (argv[1], "r");
 282         if (!emulator_in) {
 283                 perror(argv[1]);
 284                 exit(1);
 285         }
 286         ao_flight_init();
 287         ao_flight();
 288 }