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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 #include <getopt.h>
  25
  26 #define AO_HERTZ        100
  27
  28 #define AO_ADC_RING     64
  29 #define ao_adc_ring_next(n)     (((n) + 1) & (AO_ADC_RING - 1))
  30 #define ao_adc_ring_prev(n)     (((n) - 1) & (AO_ADC_RING - 1))
  31
  32 /*
  33  * One set of samples read from the A/D converter
  34  */
  35 struct ao_adc {
  36         uint16_t        tick;           /* tick when the sample was read */
  37         int16_t         accel;          /* accelerometer */
  38         int16_t         pres;           /* pressure sensor */
  39         int16_t         temp;           /* temperature sensor */
  40         int16_t         v_batt;         /* battery voltage */
  41         int16_t         sense_d;        /* drogue continuity sense */
  42         int16_t         sense_m;        /* main continuity sense */
  43 };
  44
  45 #define __pdata
  46 #define __data
  47 #define __xdata
  48 #define __code
  49 #define __reentrant
  50
  51 enum ao_flight_state {
  52         ao_flight_startup = 0,
  53         ao_flight_idle = 1,
  54         ao_flight_pad = 2,
  55         ao_flight_boost = 3,
  56         ao_flight_fast = 4,
  57         ao_flight_coast = 5,
  58         ao_flight_drogue = 6,
  59         ao_flight_main = 7,
  60         ao_flight_landed = 8,
  61         ao_flight_invalid = 9
  62 };
  63
  64 struct ao_adc ao_adc_ring[AO_ADC_RING];
  65 uint8_t ao_adc_head;
  66 int     ao_summary = 0;
  67
  68 #define ao_led_on(l)
  69 #define ao_led_off(l)
  70 #define ao_timer_set_adc_interval(i)
  71 #define ao_wakeup(wchan) ao_dump_state()
  72 #define ao_cmd_register(c)
  73 #define ao_usb_disable()
  74 #define ao_telemetry_set_interval(x)
  75 #define ao_rdf_set(rdf)
  76 #define ao_packet_slave_start()
  77 #define ao_packet_slave_stop()
  78
  79 enum ao_igniter {
  80         ao_igniter_drogue = 0,
  81         ao_igniter_main = 1
  82 };
  83
  84 struct ao_adc ao_adc_static;
  85
  86 void
  87 ao_ignite(enum ao_igniter igniter)
  88 {
  89         printf ("ignite %s at %7.2f\n", igniter == ao_igniter_drogue ? "drogue" : "main",
  90                 (double) ao_adc_static.tick / 100.0);
  91 }
  92
  93 struct ao_task {
  94         int dummy;
  95 };
  96
  97 #define ao_add_task(t,f,n)
  98
  99 #define ao_log_start()
 100 #define ao_log_stop()
 101
 102 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
 103 #define AO_SEC_TO_TICKS(s)      ((s) * 100)
 104
 105 #define AO_FLIGHT_TEST
 106
 107 FILE *emulator_in;
 108
 109 void
 110 ao_dump_state(void);
 111
 112 void
 113 ao_sleep(void *wchan);
 114
 115 const char const * const ao_state_names[] = {
 116         "startup", "idle", "pad", "boost", "fast",
 117         "coast", "drogue", "main", "landed", "invalid"
 118 };
 119
 120 struct ao_cmds {
 121         void            (*func)(void);
 122         const char      *help;
 123 };
 124
 125 #include "ao_convert.c"
 126
 127 struct ao_config {
 128         uint16_t        main_deploy;
 129         int16_t         accel_plus_g;
 130         int16_t         accel_minus_g;
 131 };
 132
 133 #define ao_config_get()
 134
 135 struct ao_config ao_config;
 136
 137 #define DATA_TO_XDATA(x) (x)
 138
 139 #define HAS_FLIGHT 1
 140 #define HAS_ADC 1
 141 #define HAS_USB 1
 142 #define HAS_GPS 1
 143 #ifndef HAS_ACCEL
 144 #define HAS_ACCEL 1
 145 #define HAS_ACCEL_REF 0
 146 #define USE_KALMAN 0
 147 #else
 148 #define USE_KALMAN 1
 149 #endif
 150
 151 #include "ao_flight.c"
 152
 153 #define to_double(f)    ((f) / 65536.0)
 154
 155 void
 156 ao_insert(void)
 157 {
 158         ao_adc_ring[ao_adc_head] = ao_adc_static;
 159         ao_adc_head = ao_adc_ring_next(ao_adc_head);
 160         if (ao_summary)
 161                 return;
 162         if (ao_flight_state != ao_flight_startup) {
 163 #if USE_KALMAN
 164                 printf("time %7.2f accel %d pres %d k_height %8.2f k_speed %8.5f k_accel %8.5f\n",
 165                        (double) ao_adc_static.tick / 100,
 166                        ao_adc_static.accel,
 167                        ao_adc_static.pres,
 168                        to_double(ao_k_height),
 169                        to_double(ao_k_speed),
 170                        to_double(ao_k_accel));
 171 #else
 172                 printf("time %g accel %d pres %d\n",
 173                        (double) ao_adc_static.tick / 100,
 174                        ao_adc_static.accel,
 175                        ao_adc_static.pres);
 176 #endif
 177         }
 178 }
 179
 180 static int      ao_records_read = 0;
 181 static int      ao_eof_read = 0;
 182 static int      ao_flight_ground_accel;
 183 static int      ao_flight_started = 0;
 184
 185 void
 186 ao_sleep(void *wchan)
 187 {
 188         ao_dump_state();
 189         if (wchan == &ao_adc_head) {
 190                 char            type;
 191                 uint16_t        tick;
 192                 uint16_t        a, b;
 193                 int             ret;
 194                 char            line[1024];
 195                 char            *saveptr;
 196                 char            *l;
 197                 char            *words[64];
 198                 int             nword;
 199
 200                 for (;;) {
 201                         if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 202                         {
 203                                 ao_adc_static.accel = ao_flight_ground_accel;
 204                                 ao_insert();
 205                                 return;
 206                         }
 207
 208                         if (!fgets(line, sizeof (line), emulator_in)) {
 209                                 if (++ao_eof_read >= 1000) {
 210                                         printf ("no more data, exiting simulation\n");
 211                                         exit(0);
 212                                 }
 213                                 ao_adc_static.tick += 10;
 214                                 ao_insert();
 215                                 return;
 216                         }
 217                         l = line;
 218                         for (nword = 0; nword < 64; nword++) {
 219                                 words[nword] = strtok_r(l, " \t\n", &saveptr);
 220                                 l = NULL;
 221                                 if (words[nword] == NULL)
 222                                         break;
 223                         }
 224                         if (nword == 4) {
 225                                 type = words[0][0];
 226                                 tick = strtoul(words[1], NULL, 16);
 227                                 a = strtoul(words[2], NULL, 16);
 228                                 b = strtoul(words[3], NULL, 16);
 229                         } else if (nword >= 6 && strcmp(words[0], "Accel")) {
 230                                 ao_config.accel_plus_g = atoi(words[3]);
 231                                 ao_config.accel_minus_g = atoi(words[5]);
 232                         } else if (nword >= 4 && strcmp(words[0], "Main")) {
 233                                 ao_config.main_deploy = atoi(words[2]);
 234                         } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
 235                                 tick = atoi(words[10]);
 236                                 if (!ao_flight_started) {
 237                                         type = 'F';
 238                                         a = atoi(words[26]);
 239                                         ao_flight_started = 1;
 240                                 } else {
 241                                         type = 'A';
 242                                         a = atoi(words[12]);
 243                                         b = atoi(words[14]);
 244                                 }
 245                         }
 246                         if (type != 'F' && !ao_flight_started)
 247                                 continue;
 248
 249                         switch (type) {
 250                         case 'F':
 251                                 ao_flight_ground_accel = a;
 252                                 if (ao_config.accel_plus_g == 0) {
 253                                         ao_config.accel_plus_g = a;
 254                                         ao_config.accel_minus_g = a + 530;
 255                                 }
 256                                 if (ao_config.main_deploy == 0)
 257                                         ao_config.main_deploy = 250;
 258                                 ao_flight_started = 1;
 259                                 break;
 260                         case 'S':
 261                                 break;
 262                         case 'A':
 263                                 ao_adc_static.tick = tick;
 264                                 ao_adc_static.accel = a;
 265                                 ao_adc_static.pres = b;
 266                                 ao_records_read++;
 267                                 ao_insert();
 268                                 return;
 269                         case 'T':
 270                                 ao_adc_static.tick = tick;
 271                                 ao_adc_static.temp = a;
 272                                 ao_adc_static.v_batt = b;
 273                                 break;
 274                         case 'D':
 275                         case 'G':
 276                         case 'N':
 277                         case 'W':
 278                         case 'H':
 279                                 break;
 280                         }
 281                 }
 282
 283         }
 284 }
 285 #define COUNTS_PER_G 264.8
 286
 287 void
 288 ao_dump_state(void)
 289 {
 290         if (ao_flight_state == ao_flight_startup)
 291                 return;
 292         if (ao_summary)
 293                 return;
 294 #if HAS_ACCEL
 295         printf ("\t\t\t\t\t%s accel %g vel %g alt %d main %d\n",
 296                 ao_state_names[ao_flight_state],
 297                 (ao_ground_accel - ao_flight_accel) / COUNTS_PER_G * GRAVITY,
 298                 (double) ao_flight_vel / 100 / COUNTS_PER_G * GRAVITY,
 299                 ao_pres_to_altitude(ao_flight_pres) - ao_pres_to_altitude(ao_ground_pres),
 300                 ao_pres_to_altitude(ao_main_pres) - ao_pres_to_altitude(ao_ground_pres));
 301 #else
 302         printf ("\t\t\t\t\t%s alt %d main %d\n",
 303                 ao_state_names[ao_flight_state],
 304                 ao_pres_to_altitude(ao_flight_pres) - ao_pres_to_altitude(ao_ground_pres),
 305                 ao_pres_to_altitude(ao_main_pres) - ao_pres_to_altitude(ao_ground_pres));
 306 #endif
 307         if (ao_flight_state == ao_flight_landed)
 308                 exit(0);
 309 }
 310
 311 static const struct option options[] = {
 312         { .name = "summary", .has_arg = 0, .val = 's' },
 313         { 0, 0, 0, 0},
 314 };
 315
 316 void run_flight_fixed(char *name, FILE *f, int summary)
 317 {
 318         emulator_in = f;
 319         ao_summary = summary;
 320         ao_flight_init();
 321         ao_flight();
 322 }
 323
 324 int
 325 main (int argc, char **argv)
 326 {
 327         int     summary = 0;
 328         int     c;
 329         int     i;
 330
 331         while ((c = getopt_long(argc, argv, "s", options, NULL)) != -1) {
 332                 switch (c) {
 333                 case 's':
 334                         summary = 1;
 335                         break;
 336                 }
 337         }
 338
 339         if (optind == argc)
 340                 run_flight_fixed("<stdin>", stdin, summary);
 341         else
 342                 for (i = optind; i < argc; i++) {
 343                         FILE    *f = fopen(argv[i], "r");
 344                         if (!f) {
 345                                 perror(argv[i]);
 346                                 continue;
 347                         }
 348                         run_flight_fixed(argv[i], f, summary);
 349                         fclose(f);
 350                 }
 351 }