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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
  26 #define AO_HERTZ        100
  27
  28 #define AO_ADC_RING     64
  29 #define ao_adc_ring_next(n)     (((n) + 1) & (AO_ADC_RING - 1))
  30 #define ao_adc_ring_prev(n)     (((n) - 1) & (AO_ADC_RING - 1))
  31
  32 #define AO_M_TO_HEIGHT(m)       ((int16_t) (m))
  33 #define AO_MS_TO_SPEED(ms)      ((int16_t) ((ms) * 16))
  34 #define AO_MSS_TO_ACCEL(mss)    ((int16_t) ((mss) * 16))
  35
  36 /*
  37  * One set of samples read from the A/D converter
  38  */
  39 struct ao_adc {
  40         uint16_t        tick;           /* tick when the sample was read */
  41         int16_t         accel;          /* accelerometer */
  42         int16_t         pres;           /* pressure sensor */
  43         int16_t         temp;           /* temperature sensor */
  44         int16_t         v_batt;         /* battery voltage */
  45         int16_t         sense_d;        /* drogue continuity sense */
  46         int16_t         sense_m;        /* main continuity sense */
  47 };
  48
  49 #define __pdata
  50 #define __data
  51 #define __xdata
  52 #define __code
  53 #define __reentrant
  54
  55 enum ao_flight_state {
  56         ao_flight_startup = 0,
  57         ao_flight_idle = 1,
  58         ao_flight_pad = 2,
  59         ao_flight_boost = 3,
  60         ao_flight_fast = 4,
  61         ao_flight_coast = 5,
  62         ao_flight_drogue = 6,
  63         ao_flight_main = 7,
  64         ao_flight_landed = 8,
  65         ao_flight_invalid = 9
  66 };
  67
  68 struct ao_adc ao_adc_ring[AO_ADC_RING];
  69 uint8_t ao_adc_head;
  70 int     ao_summary = 0;
  71
  72 #define ao_led_on(l)
  73 #define ao_led_off(l)
  74 #define ao_timer_set_adc_interval(i)
  75 #define ao_wakeup(wchan) ao_dump_state()
  76 #define ao_cmd_register(c)
  77 #define ao_usb_disable()
  78 #define ao_telemetry_set_interval(x)
  79 #define ao_rdf_set(rdf)
  80 #define ao_packet_slave_start()
  81 #define ao_packet_slave_stop()
  82
  83 enum ao_igniter {
  84         ao_igniter_drogue = 0,
  85         ao_igniter_main = 1
  86 };
  87
  88 struct ao_adc ao_adc_static;
  89
  90 void
  91 ao_ignite(enum ao_igniter igniter)
  92 {
  93         printf ("ignite %s at %7.2f\n", igniter == ao_igniter_drogue ? "drogue" : "main",
  94                 (double) ao_adc_static.tick / 100.0);
  95 }
  96
  97 struct ao_task {
  98         int dummy;
  99 };
 100
 101 #define ao_add_task(t,f,n)
 102
 103 #define ao_log_start()
 104 #define ao_log_stop()
 105
 106 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
 107 #define AO_SEC_TO_TICKS(s)      ((s) * 100)
 108
 109 #define AO_FLIGHT_TEST
 110
 111 FILE *emulator_in;
 112
 113 void
 114 ao_dump_state(void);
 115
 116 void
 117 ao_sleep(void *wchan);
 118
 119 const char const * const ao_state_names[] = {
 120         "startup", "idle", "pad", "boost", "fast",
 121         "coast", "drogue", "main", "landed", "invalid"
 122 };
 123
 124 struct ao_cmds {
 125         void            (*func)(void);
 126         const char      *help;
 127 };
 128
 129 #include "ao_convert.c"
 130
 131 struct ao_config {
 132         uint16_t        main_deploy;
 133         int16_t         accel_plus_g;
 134         int16_t         accel_minus_g;
 135 };
 136
 137 #define ao_config_get()
 138
 139 struct ao_config ao_config;
 140
 141 #define DATA_TO_XDATA(x) (x)
 142
 143 #define HAS_FLIGHT 1
 144 #define HAS_ADC 1
 145 #define HAS_USB 1
 146 #define HAS_GPS 1
 147 #ifndef HAS_ACCEL
 148 #define HAS_ACCEL 1
 149 #define HAS_ACCEL_REF 0
 150 #endif
 151
 152 #include "ao_flight.c"
 153
 154 #define to_double(f)    ((f) / 65536.0)
 155
 156 #define GRAVITY 9.80665
 157 extern int16_t ao_ground_accel, ao_raw_accel;
 158 extern int16_t ao_accel_2g;
 159
 160 int32_t drogue_height;
 161 int32_t main_height;
 162
 163 int             tick_offset;
 164 uint16_t        prev_tick;
 165 static int      ao_records_read = 0;
 166 static int      ao_eof_read = 0;
 167 static int      ao_flight_ground_accel;
 168 static int      ao_flight_started = 0;
 169
 170 void
 171 ao_insert(void)
 172 {
 173         ao_adc_ring[ao_adc_head] = ao_adc_static;
 174         ao_adc_head = ao_adc_ring_next(ao_adc_head);
 175         if (ao_summary)
 176                 return;
 177         if (ao_flight_state == ao_flight_startup)
 178                 return;
 179         {
 180                 double  height = ao_pres_to_altitude(ao_raw_pres) - ao_ground_height;
 181                 double  accel = ((ao_flight_ground_accel - ao_adc_static.accel) * GRAVITY * 2.0) /
 182                         (ao_config.accel_minus_g - ao_config.accel_plus_g);
 183
 184                 if (!tick_offset)
 185                         tick_offset = ao_adc_static.tick;
 186                 if (!drogue_height && ao_flight_state >= ao_flight_drogue)
 187                         drogue_height = ao_k_height;
 188                 if (!main_height && ao_flight_state >= ao_flight_main)
 189                         main_height = ao_k_height;
 190                 if ((prev_tick - ao_adc_static.tick) > 0)
 191                         tick_offset += 65536;
 192                 prev_tick = ao_adc_static.tick;
 193                 printf("%7.2f height %g accel %g state %s k_height %g k_speed %g k_accel %g drogue %g main %g error %d\n",
 194                        (double) (ao_adc_static.tick + tick_offset) / 100,
 195                        height,
 196                        accel,
 197                        ao_state_names[ao_flight_state],
 198                        ao_k_height / 65536.0,
 199                        ao_k_speed / 65536.0 / 16.0,
 200                        ao_k_accel / 65536.0 / 16.0,
 201                        drogue_height / 65536.0,
 202                        main_height / 65536.0,
 203                        ao_error_h_sq_avg);
 204         }
 205 }
 206
 207 void
 208 ao_sleep(void *wchan)
 209 {
 210         if (wchan == &ao_adc_head) {
 211                 char            type;
 212                 uint16_t        tick;
 213                 uint16_t        a, b;
 214                 int             ret;
 215                 char            line[1024];
 216                 char            *saveptr;
 217                 char            *l;
 218                 char            *words[64];
 219                 int             nword;
 220
 221                 for (;;) {
 222                         if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 223                         {
 224                                 ao_adc_static.accel = ao_flight_ground_accel;
 225                                 ao_insert();
 226                                 return;
 227                         }
 228
 229                         if (!fgets(line, sizeof (line), emulator_in)) {
 230                                 if (++ao_eof_read >= 1000) {
 231                                         printf ("no more data, exiting simulation\n");
 232                                         exit(0);
 233                                 }
 234                                 ao_adc_static.tick += 10;
 235                                 ao_insert();
 236                                 return;
 237                         }
 238                         l = line;
 239                         for (nword = 0; nword < 64; nword++) {
 240                                 words[nword] = strtok_r(l, " \t\n", &saveptr);
 241                                 l = NULL;
 242                                 if (words[nword] == NULL)
 243                                         break;
 244                         }
 245                         if (nword == 4) {
 246                                 type = words[0][0];
 247                                 tick = strtoul(words[1], NULL, 16);
 248                                 a = strtoul(words[2], NULL, 16);
 249                                 b = strtoul(words[3], NULL, 16);
 250                         } else if (nword >= 6 && strcmp(words[0], "Accel")) {
 251                                 ao_config.accel_plus_g = atoi(words[3]);
 252                                 ao_config.accel_minus_g = atoi(words[5]);
 253                         } else if (nword >= 4 && strcmp(words[0], "Main")) {
 254                                 ao_config.main_deploy = atoi(words[2]);
 255                         } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
 256                                 tick = atoi(words[10]);
 257                                 if (!ao_flight_started) {
 258                                         type = 'F';
 259                                         a = atoi(words[26]);
 260                                         ao_flight_started = 1;
 261                                 } else {
 262                                         type = 'A';
 263                                         a = atoi(words[12]);
 264                                         b = atoi(words[14]);
 265                                 }
 266                         }
 267                         if (type != 'F' && !ao_flight_started)
 268                                 continue;
 269
 270                         switch (type) {
 271                         case 'F':
 272                                 ao_flight_ground_accel = a;
 273                                 if (ao_config.accel_plus_g == 0) {
 274                                         ao_config.accel_plus_g = a;
 275                                         ao_config.accel_minus_g = a + 530;
 276                                 }
 277                                 if (ao_config.main_deploy == 0)
 278                                         ao_config.main_deploy = 250;
 279                                 ao_flight_started = 1;
 280                                 break;
 281                         case 'S':
 282                                 break;
 283                         case 'A':
 284                                 ao_adc_static.tick = tick;
 285                                 ao_adc_static.accel = a;
 286                                 ao_adc_static.pres = b;
 287                                 ao_records_read++;
 288                                 ao_insert();
 289                                 return;
 290                         case 'T':
 291                                 ao_adc_static.tick = tick;
 292                                 ao_adc_static.temp = a;
 293                                 ao_adc_static.v_batt = b;
 294                                 break;
 295                         case 'D':
 296                         case 'G':
 297                         case 'N':
 298                         case 'W':
 299                         case 'H':
 300                                 break;
 301                         }
 302                 }
 303
 304         }
 305 }
 306 #define COUNTS_PER_G 264.8
 307
 308 void
 309 ao_dump_state(void)
 310 {
 311         if (ao_flight_state == ao_flight_startup)
 312                 return;
 313         if (ao_summary)
 314                 return;
 315         if (ao_flight_state == ao_flight_landed)
 316                 exit(0);
 317 }
 318
 319 static const struct option options[] = {
 320         { .name = "summary", .has_arg = 0, .val = 's' },
 321         { 0, 0, 0, 0},
 322 };
 323
 324 void run_flight_fixed(char *name, FILE *f, int summary)
 325 {
 326         emulator_in = f;
 327         ao_summary = summary;
 328         ao_flight_init();
 329         ao_flight();
 330 }
 331
 332 int
 333 main (int argc, char **argv)
 334 {
 335         int     summary = 0;
 336         int     c;
 337         int     i;
 338
 339         while ((c = getopt_long(argc, argv, "s", options, NULL)) != -1) {
 340                 switch (c) {
 341                 case 's':
 342                         summary = 1;
 343                         break;
 344                 }
 345         }
 346
 347         if (optind == argc)
 348                 run_flight_fixed("<stdin>", stdin, summary);
 349         else
 350                 for (i = optind; i < argc; i++) {
 351                         FILE    *f = fopen(argv[i], "r");
 352                         if (!f) {
 353                                 perror(argv[i]);
 354                                 continue;
 355                         }
 356                         run_flight_fixed(argv[i], f, summary);
 357                         fclose(f);
 358                 }
 359 }