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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 #define ao_packet_slave_stop()
  76
  77 enum ao_igniter {
  78         ao_igniter_drogue = 0,
  79         ao_igniter_main = 1
  80 };
  81
  82 void
  83 ao_ignite(enum ao_igniter igniter)
  84 {
  85         printf ("ignite %s\n", igniter == ao_igniter_drogue ? "drogue" : "main");
  86 }
  87
  88 struct ao_task {
  89         int dummy;
  90 };
  91
  92 #define ao_add_task(t,f,n)
  93
  94 #define ao_log_start()
  95 #define ao_log_stop()
  96
  97 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
  98 #define AO_SEC_TO_TICKS(s)      ((s) * 100)
  99
 100 #define AO_FLIGHT_TEST
 101
 102 struct ao_adc ao_adc_static;
 103
 104 FILE *emulator_in;
 105
 106 void
 107 ao_dump_state(void);
 108
 109 void
 110 ao_sleep(void *wchan);
 111
 112 const char const * const ao_state_names[] = {
 113         "startup", "idle", "pad", "boost", "fast",
 114         "coast", "drogue", "main", "landed", "invalid"
 115 };
 116
 117 struct ao_cmds {
 118         void            (*func)(void);
 119         const char      *help;
 120 };
 121
 122 #include "ao_convert.c"
 123
 124 struct ao_config {
 125         uint16_t        main_deploy;
 126         int16_t         accel_plus_g;
 127         int16_t         accel_minus_g;
 128 };
 129
 130 #define ao_config_get()
 131
 132 struct ao_config ao_config;
 133
 134 #define DATA_TO_XDATA(x) (x)
 135
 136 #define HAS_FLIGHT 1
 137 #define HAS_ADC 1
 138 #define HAS_USB 1
 139 #define HAS_GPS 1
 140 #ifndef HAS_ACCEL
 141 #define HAS_ACCEL 1
 142 #define HAS_ACCEL_REF 0
 143 #endif
 144
 145 #include "ao_flight.c"
 146
 147 void
 148 ao_insert(void)
 149 {
 150         ao_adc_ring[ao_adc_head] = ao_adc_static;
 151         ao_adc_head = ao_adc_ring_next(ao_adc_head);
 152         if (ao_flight_state != ao_flight_startup) {
 153                 printf("time %g accel %d pres %d\n",
 154                        (double) ao_adc_static.tick / 100,
 155                        ao_adc_static.accel,
 156                        ao_adc_static.pres);
 157         }
 158 }
 159
 160 static int      ao_records_read = 0;
 161 static int      ao_eof_read = 0;
 162 static int      ao_flight_ground_accel;
 163 static int      ao_flight_started = 0;
 164
 165 void
 166 ao_sleep(void *wchan)
 167 {
 168         ao_dump_state();
 169         if (wchan == &ao_adc_head) {
 170                 char            type;
 171                 uint16_t        tick;
 172                 uint16_t        a, b;
 173                 int             ret;
 174                 char            line[1024];
 175                 char            *saveptr;
 176                 char            *l;
 177                 char            *words[64];
 178                 int             nword;
 179
 180                 for (;;) {
 181                         if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 182                         {
 183                                 ao_adc_static.accel = ao_flight_ground_accel;
 184                                 ao_insert();
 185                                 return;
 186                         }
 187
 188                         if (!fgets(line, sizeof (line), emulator_in)) {
 189                                 if (++ao_eof_read >= 1000) {
 190                                         printf ("no more data, exiting simulation\n");
 191                                         exit(0);
 192                                 }
 193                                 ao_adc_static.tick += 10;
 194                                 ao_insert();
 195                                 return;
 196                         }
 197                         l = line;
 198                         for (nword = 0; nword < 64; nword++) {
 199                                 words[nword] = strtok_r(l, " \t\n", &saveptr);
 200                                 l = NULL;
 201                                 if (words[nword] == NULL)
 202                                         break;
 203                         }
 204                         if (nword == 4) {
 205                                 type = words[0][0];
 206                                 tick = strtoul(words[1], NULL, 16);
 207                                 a = strtoul(words[2], NULL, 16);
 208                                 b = strtoul(words[3], NULL, 16);
 209                         } else if (nword >= 6 && strcmp(words[0], "Accel")) {
 210                                 ao_config.accel_plus_g = atoi(words[3]);
 211                                 ao_config.accel_minus_g = atoi(words[5]);
 212                         } else if (nword >= 4 && strcmp(words[0], "Main")) {
 213                                 ao_config.main_deploy = atoi(words[2]);
 214                         } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
 215                                 tick = atoi(words[10]);
 216                                 if (!ao_flight_started) {
 217                                         type = 'F';
 218                                         a = atoi(words[26]);
 219                                         ao_flight_started = 1;
 220                                 } else {
 221                                         type = 'A';
 222                                         a = atoi(words[12]);
 223                                         b = atoi(words[14]);
 224                                 }
 225                         }
 226                         if (type != 'F' && !ao_flight_started)
 227                                 continue;
 228
 229                         switch (type) {
 230                         case 'F':
 231                                 ao_flight_ground_accel = a;
 232                                 if (ao_config.accel_plus_g == 0) {
 233                                         ao_config.accel_plus_g = a;
 234                                         ao_config.accel_minus_g = a + 530;
 235                                 }
 236                                 if (ao_config.main_deploy == 0)
 237                                         ao_config.main_deploy = 250;
 238                                 ao_flight_started = 1;
 239                                 break;
 240                         case 'S':
 241                                 break;
 242                         case 'A':
 243                                 ao_adc_static.tick = tick;
 244                                 ao_adc_static.accel = a;
 245                                 ao_adc_static.pres = b;
 246                                 ao_records_read++;
 247                                 ao_insert();
 248                                 return;
 249                         case 'T':
 250                                 ao_adc_static.tick = tick;
 251                                 ao_adc_static.temp = a;
 252                                 ao_adc_static.v_batt = b;
 253                                 break;
 254                         case 'D':
 255                         case 'G':
 256                         case 'N':
 257                         case 'W':
 258                         case 'H':
 259                                 break;
 260                         }
 261                 }
 262
 263         }
 264 }
 265 #define COUNTS_PER_G 264.8
 266
 267 void
 268 ao_dump_state(void)
 269 {
 270         if (ao_flight_state == ao_flight_startup)
 271                 return;
 272 #if HAS_ACCEL
 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 #else
 280         printf ("\t\t\t\t\t%s alt %d main %d\n",
 281                 ao_state_names[ao_flight_state],
 282                 ao_pres_to_altitude(ao_flight_pres) - ao_pres_to_altitude(ao_ground_pres),
 283                 ao_pres_to_altitude(ao_main_pres) - ao_pres_to_altitude(ao_ground_pres));
 284 #endif
 285         if (ao_flight_state == ao_flight_landed)
 286                 exit(0);
 287 }
 288
 289 int
 290 main (int argc, char **argv)
 291 {
 292         emulator_in = fopen (argv[1], "r");
 293         if (!emulator_in) {
 294                 perror(argv[1]);
 295                 exit(1);
 296         }
 297         ao_flight_init();
 298         ao_flight();
 299 }