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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 #define DATA_TO_XDATA(x) (x)
 158
 159 #include "ao_flight.c"
 160
 161 void
 162 ao_insert(void)
 163 {
 164         ao_adc_ring[ao_adc_head] = ao_adc_static;
 165         ao_adc_head = ao_adc_ring_next(ao_adc_head);
 166         if (ao_flight_state != ao_flight_startup) {
 167                 printf("time %g accel %d pres %d\n",
 168                        (double) ao_adc_static.tick / 100,
 169                        ao_adc_static.accel,
 170                        ao_adc_static.pres);
 171         }
 172 }
 173
 174 static int      ao_records_read = 0;
 175 static int      ao_eof_read = 0;
 176 static int      ao_flight_ground_accel;
 177 static int      ao_flight_started = 0;
 178
 179 void
 180 ao_sleep(void *wchan)
 181 {
 182         ao_dump_state();
 183         if (wchan == &ao_adc_ring) {
 184                 char            type;
 185                 uint16_t        tick;
 186                 uint16_t        a, b;
 187                 int             ret;
 188                 char            line[1024];
 189                 char            *saveptr;
 190                 char            *l;
 191                 char            *words[64];
 192                 int             nword;
 193
 194                 for (;;) {
 195                         if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 196                         {
 197                                 ao_adc_static.accel = ao_flight_ground_accel;
 198                                 ao_insert();
 199                                 return;
 200                         }
 201
 202                         if (!fgets(line, sizeof (line), emulator_in)) {
 203                                 if (++ao_eof_read >= 1000) {
 204                                         printf ("no more data, exiting simulation\n");
 205                                         exit(0);
 206                                 }
 207                                 ao_adc_static.tick += 10;
 208                                 ao_insert();
 209                                 return;
 210                         }
 211                         l = line;
 212                         for (nword = 0; nword < 64; nword++) {
 213                                 words[nword] = strtok_r(l, " \t\n", &saveptr);
 214                                 l = NULL;
 215                                 if (words[nword] == NULL)
 216                                         break;
 217                         }
 218                         if (nword == 4) {
 219                                 type = words[0][0];
 220                                 tick = strtoul(words[1], NULL, 16);
 221                                 a = strtoul(words[2], NULL, 16);
 222                                 b = strtoul(words[3], NULL, 16);
 223                         } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
 224                                 tick = atoi(words[10]);
 225                                 if (!ao_flight_started) {
 226                                         type = 'F';
 227                                         a = atoi(words[26]);
 228                                         ao_flight_started = 1;
 229                                 } else {
 230                                         type = 'A';
 231                                         a = atoi(words[12]);
 232                                         b = atoi(words[14]);
 233                                 }
 234                         }
 235                         if (type != 'F' && !ao_flight_started)
 236                                 continue;
 237
 238                         switch (type) {
 239                         case 'F':
 240                                 ao_flight_ground_accel = a;
 241                                 ao_flight_started = 1;
 242                                 break;
 243                         case 'S':
 244                                 break;
 245                         case 'A':
 246                                 ao_adc_static.tick = tick;
 247                                 ao_adc_static.accel = a;
 248                                 ao_adc_static.pres = b;
 249                                 ao_records_read++;
 250                                 ao_insert();
 251                                 return;
 252                         case 'T':
 253                                 ao_adc_static.tick = tick;
 254                                 ao_adc_static.temp = a;
 255                                 ao_adc_static.v_batt = b;
 256                                 break;
 257                         case 'D':
 258                         case 'G':
 259                         case 'N':
 260                         case 'W':
 261                         case 'H':
 262                                 break;
 263                         }
 264                 }
 265
 266         }
 267 }
 268 #define COUNTS_PER_G 264.8
 269
 270 void
 271 ao_dump_state(void)
 272 {
 273         if (ao_flight_state == ao_flight_startup)
 274                 return;
 275         printf ("\t\t\t\t\t%s accel %g vel %g alt %d main %d\n",
 276                 ao_state_names[ao_flight_state],
 277                 (ao_ground_accel - ao_flight_accel) / COUNTS_PER_G * GRAVITY,
 278                 (double) ao_flight_vel / 100 / COUNTS_PER_G * GRAVITY,
 279                 ao_pres_to_altitude(ao_flight_pres) - ao_pres_to_altitude(ao_ground_pres),
 280                 ao_pres_to_altitude(ao_main_pres) - ao_pres_to_altitude(ao_ground_pres));
 281         if (ao_flight_state == ao_flight_landed)
 282                 exit(0);
 283 }
 284
 285 int
 286 main (int argc, char **argv)
 287 {
 288         emulator_in = fopen (argv[1], "r");
 289         if (!emulator_in) {
 290                 perror(argv[1]);
 291                 exit(1);
 292         }
 293         ao_flight_init();
 294         ao_flight();
 295 }