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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_HERTZ        100
  26
  27 #define AO_ADC_RING     64
  28 #define ao_adc_ring_next(n)     (((n) + 1) & (AO_ADC_RING - 1))
  29 #define ao_adc_ring_prev(n)     (((n) - 1) & (AO_ADC_RING - 1))
  30
  31 /*
  32  * One set of samples read from the A/D converter
  33  */
  34 struct ao_adc {
  35         uint16_t        tick;           /* tick when the sample was read */
  36         int16_t         accel;          /* accelerometer */
  37         int16_t         pres;           /* pressure sensor */
  38         int16_t         temp;           /* temperature sensor */
  39         int16_t         v_batt;         /* battery voltage */
  40         int16_t         sense_d;        /* drogue continuity sense */
  41         int16_t         sense_m;        /* main continuity sense */
  42 };
  43
  44 #define __pdata
  45 #define __data
  46 #define __xdata
  47 #define __code
  48 #define __reentrant
  49
  50 enum ao_flight_state {
  51         ao_flight_startup = 0,
  52         ao_flight_idle = 1,
  53         ao_flight_pad = 2,
  54         ao_flight_boost = 3,
  55         ao_flight_fast = 4,
  56         ao_flight_coast = 5,
  57         ao_flight_drogue = 6,
  58         ao_flight_main = 7,
  59         ao_flight_landed = 8,
  60         ao_flight_invalid = 9
  61 };
  62
  63 struct ao_adc ao_adc_ring[AO_ADC_RING];
  64 uint8_t ao_adc_head;
  65
  66 #define ao_led_on(l)
  67 #define ao_led_off(l)
  68 #define ao_timer_set_adc_interval(i)
  69 #define ao_wakeup(wchan) ao_dump_state()
  70 #define ao_cmd_register(c)
  71 #define ao_usb_disable()
  72 #define ao_telemetry_set_interval(x)
  73 #define ao_rdf_set(rdf)
  74 #define ao_packet_slave_start()
  75
  76 enum ao_igniter {
  77         ao_igniter_drogue = 0,
  78         ao_igniter_main = 1
  79 };
  80
  81 void
  82 ao_ignite(enum ao_igniter igniter)
  83 {
  84         printf ("ignite %s\n", igniter == ao_igniter_drogue ? "drogue" : "main");
  85 }
  86
  87 struct ao_task {
  88         int dummy;
  89 };
  90
  91 #define ao_add_task(t,f,n)
  92
  93 #define ao_log_start()
  94 #define ao_log_stop()
  95
  96 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
  97 #define AO_SEC_TO_TICKS(s)      ((s) * 100)
  98
  99 #define AO_FLIGHT_TEST
 100
 101 struct ao_adc ao_adc_static;
 102
 103 FILE *emulator_in;
 104
 105 void
 106 ao_dump_state(void);
 107
 108 void
 109 ao_sleep(void *wchan);
 110
 111 const char const * const ao_state_names[] = {
 112         "startup", "idle", "pad", "boost", "fast",
 113         "coast", "drogue", "main", "landed", "invalid"
 114 };
 115
 116 struct ao_cmds {
 117         char            cmd;
 118         void            (*func)(void);
 119         const char      *help;
 120 };
 121
 122
 123 static int16_t altitude_table[2048] = {
 124 #include "altitude.h"
 125 };
 126
 127 int16_t
 128 ao_pres_to_altitude(int16_t pres) __reentrant
 129 {
 130         pres = pres >> 4;
 131         if (pres < 0) pres = 0;
 132         if (pres > 2047) pres = 2047;
 133         return altitude_table[pres];
 134 }
 135
 136 int16_t
 137 ao_altitude_to_pres(int16_t alt) __reentrant
 138 {
 139         int16_t pres;
 140
 141         for (pres = 0; pres < 2047; pres++)
 142                 if (altitude_table[pres] <= alt)
 143                         break;
 144         return pres << 4;
 145 }
 146
 147 struct ao_config {
 148         uint16_t        main_deploy;
 149         int16_t         accel_plus_g;
 150         int16_t         accel_minus_g;
 151 };
 152
 153 #define ao_config_get()
 154
 155 struct ao_config ao_config = { 250, 15937, 16467 };
 156
 157 #include "ao_flight.c"
 158
 159 void
 160 ao_insert(void)
 161 {
 162         ao_adc_ring[ao_adc_head] = ao_adc_static;
 163         ao_adc_head = ao_adc_ring_next(ao_adc_head);
 164         if (ao_flight_state != ao_flight_startup) {
 165                 printf("time %g accel %d pres %d\n",
 166                        (double) ao_adc_static.tick / 100,
 167                        ao_adc_static.accel,
 168                        ao_adc_static.pres);
 169         }
 170 }
 171
 172 static int      ao_records_read = 0;
 173 static int      ao_eof_read = 0;
 174 static int      ao_flight_ground_accel;
 175 static int      ao_flight_started = 0;
 176
 177 void
 178 ao_sleep(void *wchan)
 179 {
 180         ao_dump_state();
 181         if (wchan == &ao_adc_ring) {
 182                 char            type;
 183                 uint16_t        tick;
 184                 uint16_t        a, b;
 185                 int             ret;
 186                 char            line[1024];
 187                 char            *saveptr;
 188                 char            *l;
 189                 char            *words[64];
 190                 int             nword;
 191
 192                 for (;;) {
 193                         if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 194                         {
 195                                 ao_adc_static.accel = ao_flight_ground_accel;
 196                                 ao_insert();
 197                                 return;
 198                         }
 199
 200                         if (!fgets(line, sizeof (line), emulator_in)) {
 201                                 if (++ao_eof_read >= 1000) {
 202                                         printf ("no more data, exiting simulation\n");
 203                                         exit(0);
 204                                 }
 205                                 ao_adc_static.tick += 10;
 206                                 ao_insert();
 207                                 return;
 208                         }
 209                         l = line;
 210                         for (nword = 0; nword < 64; nword++) {
 211                                 words[nword] = strtok_r(l, " \t\n", &saveptr);
 212                                 l = NULL;
 213                                 if (words[nword] == NULL)
 214                                         break;
 215                         }
 216                         if (nword == 4) {
 217                                 type = words[0][0];
 218                                 tick = strtoul(words[1], NULL, 16);
 219                                 a = strtoul(words[2], NULL, 16);
 220                                 b = strtoul(words[3], NULL, 16);
 221                         } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
 222                                 tick = atoi(words[10]);
 223                                 if (!ao_flight_started) {
 224                                         type = 'F';
 225                                         a = atoi(words[26]);
 226                                         ao_flight_started = 1;
 227                                 } else {
 228                                         type = 'A';
 229                                         a = atoi(words[12]);
 230                                         b = atoi(words[14]);
 231                                 }
 232                         }
 233                         if (type != 'F' && !ao_flight_started)
 234                                 continue;
 235
 236                         switch (type) {
 237                         case 'F':
 238                                 ao_flight_ground_accel = a;
 239                                 ao_flight_started = 1;
 240                                 break;
 241                         case 'S':
 242                                 break;
 243                         case 'A':
 244                                 ao_adc_static.tick = tick;
 245                                 ao_adc_static.accel = a;
 246                                 ao_adc_static.pres = b;
 247                                 ao_records_read++;
 248                                 ao_insert();
 249                                 return;
 250                         case 'T':
 251                                 ao_adc_static.tick = tick;
 252                                 ao_adc_static.temp = a;
 253                                 ao_adc_static.v_batt = b;
 254                                 break;
 255                         case 'D':
 256                         case 'G':
 257                         case 'N':
 258                         case 'W':
 259                         case 'H':
 260                                 break;
 261                         }
 262                 }
 263
 264         }
 265 }
 266 #define COUNTS_PER_G 264.8
 267
 268 void
 269 ao_dump_state(void)
 270 {
 271         if (ao_flight_state == ao_flight_startup)
 272                 return;
 273         printf ("\t\t\t\t\t%s accel %g vel %g alt %d main %d\n",
 274                 ao_state_names[ao_flight_state],
 275                 (ao_ground_accel - ao_flight_accel) / COUNTS_PER_G * GRAVITY,
 276                 (double) ao_flight_vel / 100 / COUNTS_PER_G * GRAVITY,
 277                 ao_pres_to_altitude(ao_flight_pres) - ao_pres_to_altitude(ao_ground_pres),
 278                 ao_pres_to_altitude(ao_main_pres) - ao_pres_to_altitude(ao_ground_pres));
 279         if (ao_flight_state == ao_flight_landed)
 280                 exit(0);
 281 }
 282
 283 int
 284 main (int argc, char **argv)
 285 {
 286         emulator_in = fopen (argv[1], "r");
 287         if (!emulator_in) {
 288                 perror(argv[1]);
 289                 exit(1);
 290         }
 291         ao_flight_init();
 292         ao_flight();
 293 }