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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 #include <math.h>
  26
  27 #define AO_HERTZ        100
  28
  29 #define AO_ADC_RING     64
  30 #define ao_adc_ring_next(n)     (((n) + 1) & (AO_ADC_RING - 1))
  31 #define ao_adc_ring_prev(n)     (((n) - 1) & (AO_ADC_RING - 1))
  32
  33 #define AO_M_TO_HEIGHT(m)       ((int16_t) (m))
  34 #define AO_MS_TO_SPEED(ms)      ((int16_t) ((ms) * 16))
  35 #define AO_MSS_TO_ACCEL(mss)    ((int16_t) ((mss) * 16))
  36
  37 /*
  38  * One set of samples read from the A/D converter
  39  */
  40 struct ao_adc {
  41         uint16_t        tick;           /* tick when the sample was read */
  42         int16_t         accel;          /* accelerometer */
  43         int16_t         pres;           /* pressure sensor */
  44         int16_t         pres_real;      /* unclipped */
  45         int16_t         temp;           /* temperature sensor */
  46         int16_t         v_batt;         /* battery voltage */
  47         int16_t         sense_d;        /* drogue continuity sense */
  48         int16_t         sense_m;        /* main continuity sense */
  49 };
  50
  51 #define __pdata
  52 #define __data
  53 #define __xdata
  54 #define __code
  55 #define __reentrant
  56
  57 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
  58 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
  59 #define from_fix(x)     ((x) >> 16)
  60
  61 /*
  62  * Above this height, the baro sensor doesn't work
  63  */
  64 #define AO_MAX_BARO_HEIGHT      12000
  65 #define AO_BARO_SATURATE        13000
  66 #define AO_MIN_BARO_VALUE       ao_altitude_to_pres(AO_BARO_SATURATE)
  67
  68 /*
  69  * Above this speed, baro measurements are unreliable
  70  */
  71 #define AO_MAX_BARO_SPEED       200
  72
  73 #define ACCEL_NOSE_UP   (ao_accel_2g >> 2)
  74
  75 enum ao_flight_state {
  76         ao_flight_startup = 0,
  77         ao_flight_idle = 1,
  78         ao_flight_pad = 2,
  79         ao_flight_boost = 3,
  80         ao_flight_fast = 4,
  81         ao_flight_coast = 5,
  82         ao_flight_drogue = 6,
  83         ao_flight_main = 7,
  84         ao_flight_landed = 8,
  85         ao_flight_invalid = 9
  86 };
  87
  88 extern enum ao_flight_state ao_flight_state;
  89
  90 #define FALSE 0
  91 #define TRUE 1
  92
  93 struct ao_adc ao_adc_ring[AO_ADC_RING];
  94 uint8_t ao_adc_head;
  95 int     ao_summary = 0;
  96
  97 #define ao_led_on(l)
  98 #define ao_led_off(l)
  99 #define ao_timer_set_adc_interval(i)
 100 #define ao_wakeup(wchan) ao_dump_state()
 101 #define ao_cmd_register(c)
 102 #define ao_usb_disable()
 103 #define ao_telemetry_set_interval(x)
 104 #define ao_rdf_set(rdf)
 105 #define ao_packet_slave_start()
 106 #define ao_packet_slave_stop()
 107
 108 enum ao_igniter {
 109         ao_igniter_drogue = 0,
 110         ao_igniter_main = 1
 111 };
 112
 113 struct ao_adc ao_adc_static;
 114
 115 int     drogue_height;
 116 double  drogue_time;
 117 int     main_height;
 118 double  main_time;
 119
 120 int     tick_offset;
 121
 122 static int32_t  ao_k_height;
 123
 124 void
 125 ao_ignite(enum ao_igniter igniter)
 126 {
 127         double time = (double) (ao_adc_static.tick + tick_offset) / 100;
 128
 129         if (igniter == ao_igniter_drogue) {
 130                 drogue_time = time;
 131                 drogue_height = ao_k_height >> 16;
 132         } else {
 133                 main_time = time;
 134                 main_height = ao_k_height >> 16;
 135         }
 136 }
 137
 138 struct ao_task {
 139         int dummy;
 140 };
 141
 142 #define ao_add_task(t,f,n)
 143
 144 #define ao_log_start()
 145 #define ao_log_stop()
 146
 147 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
 148 #define AO_SEC_TO_TICKS(s)      ((s) * 100)
 149
 150 #define AO_FLIGHT_TEST
 151
 152 int     ao_flight_debug;
 153
 154 FILE *emulator_in;
 155 char *emulator_app;
 156 char *emulator_name;
 157 double emulator_error_max = 4;
 158
 159 void
 160 ao_dump_state(void);
 161
 162 void
 163 ao_sleep(void *wchan);
 164
 165 const char const * const ao_state_names[] = {
 166         "startup", "idle", "pad", "boost", "fast",
 167         "coast", "drogue", "main", "landed", "invalid"
 168 };
 169
 170 struct ao_cmds {
 171         void            (*func)(void);
 172         const char      *help;
 173 };
 174
 175 #include "ao_convert.c"
 176
 177 struct ao_config {
 178         uint16_t        main_deploy;
 179         int16_t         accel_plus_g;
 180         int16_t         accel_minus_g;
 181 };
 182
 183 #define ao_config_get()
 184
 185 struct ao_config ao_config;
 186
 187 #define DATA_TO_XDATA(x) (x)
 188
 189 #define HAS_FLIGHT 1
 190 #define HAS_ADC 1
 191 #define HAS_USB 1
 192 #define HAS_GPS 1
 193 #ifndef HAS_ACCEL
 194 #define HAS_ACCEL 1
 195 #define HAS_ACCEL_REF 0
 196 #endif
 197
 198 #define GRAVITY 9.80665
 199 extern int16_t ao_ground_accel, ao_flight_accel;
 200 extern int16_t ao_accel_2g;
 201
 202 extern uint16_t ao_sample_tick;
 203
 204 extern int16_t  ao_sample_height;
 205 extern int16_t  ao_sample_accel;
 206 extern int32_t  ao_accel_scale;
 207 extern int16_t  ao_ground_height;
 208 extern int16_t  ao_sample_alt;
 209
 210 int ao_sample_prev_tick;
 211 uint16_t        prev_tick;
 212
 213 #include "ao_kalman.c"
 214 #include "ao_sample.c"
 215 #include "ao_flight.c"
 216
 217 #define to_double(f)    ((f) / 65536.0)
 218
 219 static int      ao_records_read = 0;
 220 static int      ao_eof_read = 0;
 221 static int      ao_flight_ground_accel;
 222 static int      ao_flight_started = 0;
 223 static int      ao_test_max_height;
 224 static double   ao_test_max_height_time;
 225 static int      ao_test_main_height;
 226 static double   ao_test_main_height_time;
 227
 228 void
 229 ao_test_exit(void)
 230 {
 231         double  drogue_error;
 232         double  main_error;
 233
 234         if (!ao_test_main_height_time) {
 235                 ao_test_main_height_time = ao_test_max_height_time;
 236                 ao_test_main_height = ao_test_max_height;
 237         }
 238         drogue_error = fabs(ao_test_max_height_time - drogue_time);
 239         main_error = fabs(ao_test_main_height_time - main_time);
 240         if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
 241                 printf ("%s %s\n",
 242                         emulator_app, emulator_name);
 243                 printf ("\tApogee error %g\n", drogue_error);
 244                 printf ("\tMain error %g\n", main_error);
 245                 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f\n",
 246                         ao_test_max_height, ao_test_max_height_time,
 247                         ao_test_main_height, ao_test_main_height_time);
 248                 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f\n",
 249                         drogue_height, drogue_time, main_height, main_time);
 250                 exit (1);
 251         }
 252         exit(0);
 253 }
 254
 255 void
 256 ao_insert(void)
 257 {
 258         double  time;
 259
 260         ao_adc_ring[ao_adc_head] = ao_adc_static;
 261         ao_adc_head = ao_adc_ring_next(ao_adc_head);
 262         if (ao_flight_state != ao_flight_startup) {
 263                 double  height = ao_pres_to_altitude(ao_adc_static.pres_real) - ao_ground_height;
 264                 double  accel = ((ao_flight_ground_accel - ao_adc_static.accel) * GRAVITY * 2.0) /
 265                         (ao_config.accel_minus_g - ao_config.accel_plus_g);
 266
 267                 if (!tick_offset)
 268                         tick_offset = -ao_adc_static.tick;
 269                 if ((prev_tick - ao_adc_static.tick) > 0x400)
 270                         tick_offset += 65536;
 271                 prev_tick = ao_adc_static.tick;
 272                 time = (double) (ao_adc_static.tick + tick_offset) / 100;
 273
 274                 if (ao_test_max_height < height) {
 275                         ao_test_max_height = height;
 276                         ao_test_max_height_time = time;
 277                 }
 278                 if (height > ao_config.main_deploy) {
 279                         ao_test_main_height_time = time;
 280                         ao_test_main_height = height;
 281                 }
 282
 283                 if (!ao_summary) {
 284                         printf("%7.2f height %g accel %g state %s k_height %g k_speed %g k_accel %g drogue %d main %d error %d\n",
 285                                time,
 286                                height,
 287                                accel,
 288                                ao_state_names[ao_flight_state],
 289                                ao_k_height / 65536.0,
 290                                ao_k_speed / 65536.0 / 16.0,
 291                                ao_k_accel / 65536.0 / 16.0,
 292                                drogue_height,
 293                                main_height,
 294                                ao_error_h_sq_avg);
 295                         if (ao_flight_state == ao_flight_landed)
 296                                 ao_test_exit();
 297                 }
 298         }
 299 }
 300
 301 void
 302 ao_sleep(void *wchan)
 303 {
 304         if (wchan == &ao_adc_head) {
 305                 char            type;
 306                 uint16_t        tick;
 307                 uint16_t        a, b;
 308                 int             ret;
 309                 char            line[1024];
 310                 char            *saveptr;
 311                 char            *l;
 312                 char            *words[64];
 313                 int             nword;
 314
 315                 for (;;) {
 316                         if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 317                         {
 318                                 ao_adc_static.accel = ao_flight_ground_accel;
 319                                 ao_insert();
 320                                 return;
 321                         }
 322
 323                         if (!fgets(line, sizeof (line), emulator_in)) {
 324                                 if (++ao_eof_read >= 1000) {
 325                                         if (!ao_summary)
 326                                                 printf ("no more data, exiting simulation\n");
 327                                         ao_test_exit();
 328                                 }
 329                                 ao_adc_static.tick += 10;
 330                                 ao_insert();
 331                                 return;
 332                         }
 333                         l = line;
 334                         for (nword = 0; nword < 64; nword++) {
 335                                 words[nword] = strtok_r(l, " \t\n", &saveptr);
 336                                 l = NULL;
 337                                 if (words[nword] == NULL)
 338                                         break;
 339                         }
 340                         if (nword == 4) {
 341                                 type = words[0][0];
 342                                 tick = strtoul(words[1], NULL, 16);
 343                                 a = strtoul(words[2], NULL, 16);
 344                                 b = strtoul(words[3], NULL, 16);
 345                         } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
 346                                 ao_config.accel_plus_g = atoi(words[3]);
 347                                 ao_config.accel_minus_g = atoi(words[5]);
 348                         } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
 349                                 ao_config.main_deploy = atoi(words[2]);
 350                         } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
 351                                 tick = atoi(words[10]);
 352                                 if (!ao_flight_started) {
 353                                         type = 'F';
 354                                         a = atoi(words[26]);
 355                                         ao_flight_started = 1;
 356                                 } else {
 357                                         type = 'A';
 358                                         a = atoi(words[12]);
 359                                         b = atoi(words[14]);
 360                                 }
 361                         }
 362                         if (type != 'F' && !ao_flight_started)
 363                                 continue;
 364
 365                         switch (type) {
 366                         case 'F':
 367                                 ao_flight_ground_accel = a;
 368                                 if (ao_config.accel_plus_g == 0) {
 369                                         ao_config.accel_plus_g = a;
 370                                         ao_config.accel_minus_g = a + 530;
 371                                 }
 372                                 if (ao_config.main_deploy == 0)
 373                                         ao_config.main_deploy = 250;
 374                                 ao_flight_started = 1;
 375                                 break;
 376                         case 'S':
 377                                 break;
 378                         case 'A':
 379                                 ao_adc_static.tick = tick;
 380                                 ao_adc_static.accel = a;
 381                                 ao_adc_static.pres_real = b;
 382                                 if (b < AO_MIN_BARO_VALUE)
 383                                         b = AO_MIN_BARO_VALUE;
 384                                 ao_adc_static.pres = b;
 385                                 ao_records_read++;
 386                                 ao_insert();
 387                                 return;
 388                         case 'T':
 389                                 ao_adc_static.tick = tick;
 390                                 ao_adc_static.temp = a;
 391                                 ao_adc_static.v_batt = b;
 392                                 break;
 393                         case 'D':
 394                         case 'G':
 395                         case 'N':
 396                         case 'W':
 397                         case 'H':
 398                                 break;
 399                         }
 400                 }
 401
 402         }
 403 }
 404 #define COUNTS_PER_G 264.8
 405
 406 void
 407 ao_dump_state(void)
 408 {
 409 }
 410
 411 static const struct option options[] = {
 412         { .name = "summary", .has_arg = 0, .val = 's' },
 413         { .name = "debug", .has_arg = 0, .val = 'd' },
 414         { 0, 0, 0, 0},
 415 };
 416
 417 void run_flight_fixed(char *name, FILE *f, int summary)
 418 {
 419         emulator_name = name;
 420         emulator_in = f;
 421         ao_summary = summary;
 422         ao_flight_init();
 423         ao_flight();
 424 }
 425
 426 int
 427 main (int argc, char **argv)
 428 {
 429         int     summary = 0;
 430         int     c;
 431         int     i;
 432
 433 #if HAS_ACCEL
 434         emulator_app="full";
 435 #else
 436         emulator_app="baro";
 437 #endif
 438         while ((c = getopt_long(argc, argv, "sd", options, NULL)) != -1) {
 439                 switch (c) {
 440                 case 's':
 441                         summary = 1;
 442                         break;
 443                 case 'd':
 444                         ao_flight_debug = 1;
 445                         break;
 446                 }
 447         }
 448
 449         if (optind == argc)
 450                 run_flight_fixed("<stdin>", stdin, summary);
 451         else
 452                 for (i = optind; i < argc; i++) {
 453                         FILE    *f = fopen(argv[i], "r");
 454                         if (!f) {
 455                                 perror(argv[i]);
 456                                 continue;
 457                         }
 458                         run_flight_fixed(argv[i], f, summary);
 459                         fclose(f);
 460                 }
 461 }