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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_ADC_RING     64
  26 #define ao_adc_ring_next(n)     (((n) + 1) & (AO_ADC_RING - 1))
  27 #define ao_adc_ring_prev(n)     (((n) - 1) & (AO_ADC_RING - 1))
  28
  29 /*
  30  * One set of samples read from the A/D converter
  31  */
  32 struct ao_adc {
  33         uint16_t        tick;           /* tick when the sample was read */
  34         int16_t         accel;          /* accelerometer */
  35         int16_t         pres;           /* pressure sensor */
  36         int16_t         temp;           /* temperature sensor */
  37         int16_t         v_batt;         /* battery voltage */
  38         int16_t         sense_d;        /* drogue continuity sense */
  39         int16_t         sense_m;        /* main continuity sense */
  40 };
  41
  42 #define __pdata
  43 #define __data
  44 #define __xdata
  45 #define __code
  46 #define __reentrant
  47
  48 enum ao_flight_state {
  49         ao_flight_startup = 0,
  50         ao_flight_idle = 1,
  51         ao_flight_pad = 2,
  52         ao_flight_boost = 3,
  53         ao_flight_fast = 4,
  54         ao_flight_coast = 5,
  55         ao_flight_drogue = 6,
  56         ao_flight_main = 7,
  57         ao_flight_landed = 8,
  58         ao_flight_invalid = 9
  59 };
  60
  61 struct ao_adc ao_adc_ring[AO_ADC_RING];
  62 uint8_t ao_adc_head;
  63
  64 #define ao_led_on(l)
  65 #define ao_led_off(l)
  66 #define ao_timer_set_adc_interval(i)
  67 #define ao_wakeup(wchan) ao_dump_state()
  68 #define ao_cmd_register(c)
  69 #define ao_usb_disable()
  70 #define ao_telemetry_set_interval(x)
  71 #define ao_rdf_set(rdf)
  72 #define ao_packet_slave_start()
  73
  74 enum ao_igniter {
  75         ao_igniter_drogue = 0,
  76         ao_igniter_main = 1
  77 };
  78
  79 void
  80 ao_ignite(enum ao_igniter igniter)
  81 {
  82         printf ("ignite %s\n", igniter == ao_igniter_drogue ? "drogue" : "main");
  83 }
  84
  85 struct ao_task {
  86         int dummy;
  87 };
  88
  89 #define ao_add_task(t,f,n)
  90
  91 #define ao_log_start()
  92 #define ao_log_stop()
  93
  94 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
  95 #define AO_SEC_TO_TICKS(s)      ((s) * 100)
  96
  97 #define AO_FLIGHT_TEST
  98
  99 struct ao_adc ao_adc_static;
 100
 101 FILE *emulator_in;
 102
 103 void
 104 ao_dump_state(void);
 105
 106 void
 107 ao_sleep(void *wchan);
 108
 109 const char const * const ao_state_names[] = {
 110         "startup", "idle", "pad", "boost", "fast",
 111         "coast", "drogue", "main", "landed", "invalid"
 112 };
 113
 114 struct ao_cmds {
 115         char            cmd;
 116         void            (*func)(void);
 117         const char      *help;
 118 };
 119
 120
 121 static int16_t altitude_table[2048] = {
 122 #include "altitude.h"
 123 };
 124
 125 int16_t
 126 ao_pres_to_altitude(int16_t pres) __reentrant
 127 {
 128         pres = pres >> 4;
 129         if (pres < 0) pres = 0;
 130         if (pres > 2047) pres = 2047;
 131         return altitude_table[pres];
 132 }
 133
 134 int16_t
 135 ao_altitude_to_pres(int16_t alt) __reentrant
 136 {
 137         int16_t pres;
 138
 139         for (pres = 0; pres < 2047; pres++)
 140                 if (altitude_table[pres] <= alt)
 141                         break;
 142         return pres << 4;
 143 }
 144
 145 struct ao_config {
 146         uint16_t        main_deploy;
 147         int16_t         accel_zero_g;
 148 };
 149
 150 #define ao_config_get()
 151
 152 struct ao_config ao_config = { 250, 16000 };
 153
 154 #include "ao_flight.c"
 155
 156 void
 157 ao_insert(void)
 158 {
 159         ao_adc_ring[ao_adc_head] = ao_adc_static;
 160         ao_adc_head = ao_adc_ring_next(ao_adc_head);
 161         if (ao_flight_state != ao_flight_startup) {
 162                 printf("time %g accel %d pres %d\n",
 163                        (double) ao_adc_static.tick / 100,
 164                        ao_adc_static.accel,
 165                        ao_adc_static.pres);
 166         }
 167 }
 168
 169 static int      ao_records_read = 0;
 170 static int      ao_eof_read = 0;
 171 static int      ao_flight_ground_accel;
 172 static int      ao_flight_started = 0;
 173
 174 void
 175 ao_sleep(void *wchan)
 176 {
 177         ao_dump_state();
 178         if (wchan == &ao_adc_ring) {
 179                 char            type;
 180                 uint16_t        tick;
 181                 uint16_t        a, b;
 182                 int             ret;
 183                 char            line[1024];
 184                 char            *saveptr;
 185                 char            *l;
 186                 char            *words[64];
 187                 int             nword;
 188
 189                 for (;;) {
 190                         if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 191                         {
 192                                 ao_adc_static.accel = ao_flight_ground_accel;
 193                                 ao_insert();
 194                                 return;
 195                         }
 196
 197                         if (!fgets(line, sizeof (line), emulator_in)) {
 198                                 if (++ao_eof_read >= 1000) {
 199                                         printf ("no more data, exiting simulation\n");
 200                                         exit(0);
 201                                 }
 202                                 ao_adc_static.tick += 10;
 203                                 ao_insert();
 204                                 return;
 205                         }
 206                         l = line;
 207                         for (nword = 0; nword < 64; nword++) {
 208                                 words[nword] = strtok_r(l, " \t\n", &saveptr);
 209                                 l = NULL;
 210                                 if (words[nword] == NULL)
 211                                         break;
 212                         }
 213                         if (nword == 4) {
 214                                 type = words[0][0];
 215                                 tick = strtoul(words[1], NULL, 16);
 216                                 a = strtoul(words[2], NULL, 16);
 217                                 b = strtoul(words[2], NULL, 16);
 218                         } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
 219                                 tick = atoi(words[10]);
 220                                 if (!ao_flight_started) {
 221                                         type = 'F';
 222                                         a = atoi(words[26]);
 223                                         ao_flight_started = 1;
 224                                 } else {
 225                                         type = 'A';
 226                                         a = atoi(words[12]);
 227                                         b = atoi(words[14]);
 228                                 }
 229                         }
 230                         if (type != 'F' && !ao_flight_started)
 231                                 continue;
 232
 233                         switch (type) {
 234                         case 'F':
 235                                 ao_flight_ground_accel = a;
 236                                 ao_flight_started = 1;
 237                                 break;
 238                         case 'S':
 239                                 break;
 240                         case 'A':
 241                                 ao_adc_static.tick = tick;
 242                                 ao_adc_static.accel = a;
 243                                 ao_adc_static.pres = b;
 244                                 ao_records_read++;
 245                                 ao_insert();
 246                                 return;
 247                         case 'T':
 248                                 ao_adc_static.tick = tick;
 249                                 ao_adc_static.temp = a;
 250                                 ao_adc_static.v_batt = b;
 251                                 break;
 252                         case 'D':
 253                         case 'G':
 254                         case 'N':
 255                         case 'W':
 256                         case 'H':
 257                                 break;
 258                         }
 259                 }
 260
 261         }
 262 }
 263 #define COUNTS_PER_G 264.8
 264
 265 void
 266 ao_dump_state(void)
 267 {
 268         if (ao_flight_state == ao_flight_startup)
 269                 return;
 270         printf ("\t\t\t\t\t%s accel %g vel %g alt %d main %d\n",
 271                 ao_state_names[ao_flight_state],
 272                 (ao_ground_accel - ao_flight_accel) / COUNTS_PER_G * GRAVITY,
 273                 (double) ao_flight_vel / 100 / COUNTS_PER_G * GRAVITY,
 274                 ao_pres_to_altitude(ao_flight_pres) - ao_pres_to_altitude(ao_ground_pres),
 275                 ao_pres_to_altitude(ao_main_pres) - ao_pres_to_altitude(ao_ground_pres));
 276         if (ao_flight_state == ao_flight_landed)
 277                 exit(0);
 278 }
 279
 280 int
 281 main (int argc, char **argv)
 282 {
 283         emulator_in = fopen (argv[1], "r");
 284         if (!emulator_in) {
 285                 perror(argv[1]);
 286                 exit(1);
 287         }
 288         ao_flight_init();
 289         ao_flight();
 290 }