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