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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 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
  57 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
  58 #define from_fix(x)     ((x) >> 16)
  59
  60 /*
  61  * Above this height, the baro sensor doesn't work
  62  */
  63 #define AO_MAX_BARO_HEIGHT      12000
  64
  65 /*
  66  * Above this speed, baro measurements are unreliable
  67  */
  68 #define AO_MAX_BARO_SPEED       200
  69
  70 #define ACCEL_NOSE_UP   (ao_accel_2g >> 2)
  71
  72 enum ao_flight_state {
  73         ao_flight_startup = 0,
  74         ao_flight_idle = 1,
  75         ao_flight_pad = 2,
  76         ao_flight_boost = 3,
  77         ao_flight_fast = 4,
  78         ao_flight_coast = 5,
  79         ao_flight_drogue = 6,
  80         ao_flight_main = 7,
  81         ao_flight_landed = 8,
  82         ao_flight_invalid = 9
  83 };
  84
  85 extern enum ao_flight_state ao_flight_state;
  86
  87 #define FALSE 0
  88 #define TRUE 1
  89
  90 struct ao_adc ao_adc_ring[AO_ADC_RING];
  91 uint8_t ao_adc_head;
  92 int     ao_summary = 0;
  93
  94 #define ao_led_on(l)
  95 #define ao_led_off(l)
  96 #define ao_timer_set_adc_interval(i)
  97 #define ao_wakeup(wchan) ao_dump_state()
  98 #define ao_cmd_register(c)
  99 #define ao_usb_disable()
 100 #define ao_telemetry_set_interval(x)
 101 #define ao_rdf_set(rdf)
 102 #define ao_packet_slave_start()
 103 #define ao_packet_slave_stop()
 104
 105 enum ao_igniter {
 106         ao_igniter_drogue = 0,
 107         ao_igniter_main = 1
 108 };
 109
 110 struct ao_adc ao_adc_static;
 111
 112 int     drogue_height;
 113 double  drogue_time;
 114 int     main_height;
 115 double  main_time;
 116
 117 int     tick_offset;
 118
 119 static int32_t  ao_k_height;
 120
 121 void
 122 ao_ignite(enum ao_igniter igniter)
 123 {
 124         double time = (double) (ao_adc_static.tick + tick_offset) / 100;
 125
 126         if (igniter == ao_igniter_drogue) {
 127                 drogue_time = time;
 128                 drogue_height = ao_k_height >> 16;
 129         } else {
 130                 main_time = time;
 131                 main_height = ao_k_height >> 16;
 132         }
 133 }
 134
 135 struct ao_task {
 136         int dummy;
 137 };
 138
 139 #define ao_add_task(t,f,n)
 140
 141 #define ao_log_start()
 142 #define ao_log_stop()
 143
 144 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
 145 #define AO_SEC_TO_TICKS(s)      ((s) * 100)
 146
 147 #define AO_FLIGHT_TEST
 148
 149 int     ao_flight_debug;
 150
 151 FILE *emulator_in;
 152 char *emulator_app;
 153 char *emulator_name;
 154 double emulator_error_max = 4;
 155
 156 void
 157 ao_dump_state(void);
 158
 159 void
 160 ao_sleep(void *wchan);
 161
 162 const char const * const ao_state_names[] = {
 163         "startup", "idle", "pad", "boost", "fast",
 164         "coast", "drogue", "main", "landed", "invalid"
 165 };
 166
 167 struct ao_cmds {
 168         void            (*func)(void);
 169         const char      *help;
 170 };
 171
 172 #include "ao_convert.c"
 173
 174 struct ao_config {
 175         uint16_t        main_deploy;
 176         int16_t         accel_plus_g;
 177         int16_t         accel_minus_g;
 178 };
 179
 180 #define ao_config_get()
 181
 182 struct ao_config ao_config;
 183
 184 #define DATA_TO_XDATA(x) (x)
 185
 186 #define HAS_FLIGHT 1
 187 #define HAS_ADC 1
 188 #define HAS_USB 1
 189 #define HAS_GPS 1
 190 #ifndef HAS_ACCEL
 191 #define HAS_ACCEL 1
 192 #define HAS_ACCEL_REF 0
 193 #endif
 194
 195 #define GRAVITY 9.80665
 196 extern int16_t ao_ground_accel, ao_flight_accel;
 197 extern int16_t ao_accel_2g;
 198
 199 extern uint16_t ao_sample_tick;
 200
 201 extern int16_t  ao_sample_height;
 202 extern int16_t  ao_sample_accel;
 203 extern int32_t  ao_accel_scale;
 204
 205 int ao_sample_prev_tick;
 206 uint16_t        prev_tick;
 207
 208 #include "ao_kalman.c"
 209 #include "ao_sample.c"
 210 #include "ao_flight.c"
 211
 212 #define to_double(f)    ((f) / 65536.0)
 213
 214 static int      ao_records_read = 0;
 215 static int      ao_eof_read = 0;
 216 static int      ao_flight_ground_accel;
 217 static int      ao_flight_started = 0;
 218 static int      ao_test_max_height;
 219 static double   ao_test_max_height_time;
 220 static int      ao_test_main_height;
 221 static double   ao_test_main_height_time;
 222
 223 void
 224 ao_test_exit(void)
 225 {
 226         double  drogue_error;
 227         double  main_error;
 228
 229         if (!ao_test_main_height_time) {
 230                 ao_test_main_height_time = ao_test_max_height_time;
 231                 ao_test_main_height = ao_test_max_height;
 232         }
 233         drogue_error = fabs(ao_test_max_height_time - drogue_time);
 234         main_error = fabs(ao_test_main_height_time - main_time);
 235         if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
 236                 printf ("%s %s\n",
 237                         emulator_app, emulator_name);
 238                 printf ("\tApogee error %g\n", drogue_error);
 239                 printf ("\tMain error %g\n", main_error);
 240                 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f\n",
 241                         ao_test_max_height, ao_test_max_height_time,
 242                         ao_test_main_height, ao_test_main_height_time);
 243                 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f\n",
 244                         drogue_height, drogue_time, main_height, main_time);
 245                 exit (1);
 246         }
 247         exit(0);
 248 }
 249
 250 void
 251 ao_insert(void)
 252 {
 253         double  time;
 254
 255         ao_adc_ring[ao_adc_head] = ao_adc_static;
 256         ao_adc_head = ao_adc_ring_next(ao_adc_head);
 257         if (ao_flight_state != ao_flight_startup) {
 258                 double  height = ao_pres_to_altitude(ao_sample_pres) - ao_ground_height;
 259                 double  accel = ((ao_flight_ground_accel - ao_adc_static.accel) * GRAVITY * 2.0) /
 260                         (ao_config.accel_minus_g - ao_config.accel_plus_g);
 261
 262                 if (!tick_offset)
 263                         tick_offset = -ao_adc_static.tick;
 264                 if ((prev_tick - ao_adc_static.tick) > 0x400)
 265                         tick_offset += 65536;
 266                 prev_tick = ao_adc_static.tick;
 267                 time = (double) (ao_adc_static.tick + tick_offset) / 100;
 268
 269                 if (ao_test_max_height < height) {
 270                         ao_test_max_height = height;
 271                         ao_test_max_height_time = time;
 272                 }
 273                 if (height > ao_config.main_deploy) {
 274                         ao_test_main_height_time = time;
 275                         ao_test_main_height = height;
 276                 }
 277
 278                 if (!ao_summary) {
 279                         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",
 280                                time,
 281                                height,
 282                                accel,
 283                                ao_state_names[ao_flight_state],
 284                                ao_k_height / 65536.0,
 285                                ao_k_speed / 65536.0 / 16.0,
 286                                ao_k_accel / 65536.0 / 16.0,
 287                                drogue_height,
 288                                main_height,
 289                                ao_error_h_sq_avg);
 290                         if (ao_flight_state == ao_flight_landed)
 291                                 ao_test_exit();
 292                 }
 293         }
 294 }
 295
 296 void
 297 ao_sleep(void *wchan)
 298 {
 299         if (wchan == &ao_adc_head) {
 300                 char            type;
 301                 uint16_t        tick;
 302                 uint16_t        a, b;
 303                 int             ret;
 304                 char            line[1024];
 305                 char            *saveptr;
 306                 char            *l;
 307                 char            *words[64];
 308                 int             nword;
 309
 310                 for (;;) {
 311                         if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 312                         {
 313                                 ao_adc_static.accel = ao_flight_ground_accel;
 314                                 ao_insert();
 315                                 return;
 316                         }
 317
 318                         if (!fgets(line, sizeof (line), emulator_in)) {
 319                                 if (++ao_eof_read >= 1000) {
 320                                         if (!ao_summary)
 321                                                 printf ("no more data, exiting simulation\n");
 322                                         ao_test_exit();
 323                                 }
 324                                 ao_adc_static.tick += 10;
 325                                 ao_insert();
 326                                 return;
 327                         }
 328                         l = line;
 329                         for (nword = 0; nword < 64; nword++) {
 330                                 words[nword] = strtok_r(l, " \t\n", &saveptr);
 331                                 l = NULL;
 332                                 if (words[nword] == NULL)
 333                                         break;
 334                         }
 335                         if (nword == 4) {
 336                                 type = words[0][0];
 337                                 tick = strtoul(words[1], NULL, 16);
 338                                 a = strtoul(words[2], NULL, 16);
 339                                 b = strtoul(words[3], NULL, 16);
 340                         } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
 341                                 ao_config.accel_plus_g = atoi(words[3]);
 342                                 ao_config.accel_minus_g = atoi(words[5]);
 343                         } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
 344                                 ao_config.main_deploy = atoi(words[2]);
 345                         } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
 346                                 tick = atoi(words[10]);
 347                                 if (!ao_flight_started) {
 348                                         type = 'F';
 349                                         a = atoi(words[26]);
 350                                         ao_flight_started = 1;
 351                                 } else {
 352                                         type = 'A';
 353                                         a = atoi(words[12]);
 354                                         b = atoi(words[14]);
 355                                 }
 356                         }
 357                         if (type != 'F' && !ao_flight_started)
 358                                 continue;
 359
 360                         switch (type) {
 361                         case 'F':
 362                                 ao_flight_ground_accel = a;
 363                                 if (ao_config.accel_plus_g == 0) {
 364                                         ao_config.accel_plus_g = a;
 365                                         ao_config.accel_minus_g = a + 530;
 366                                 }
 367                                 if (ao_config.main_deploy == 0)
 368                                         ao_config.main_deploy = 250;
 369                                 ao_flight_started = 1;
 370                                 break;
 371                         case 'S':
 372                                 break;
 373                         case 'A':
 374                                 ao_adc_static.tick = tick;
 375                                 ao_adc_static.accel = a;
 376                                 ao_adc_static.pres = b;
 377                                 ao_records_read++;
 378                                 ao_insert();
 379                                 return;
 380                         case 'T':
 381                                 ao_adc_static.tick = tick;
 382                                 ao_adc_static.temp = a;
 383                                 ao_adc_static.v_batt = b;
 384                                 break;
 385                         case 'D':
 386                         case 'G':
 387                         case 'N':
 388                         case 'W':
 389                         case 'H':
 390                                 break;
 391                         }
 392                 }
 393
 394         }
 395 }
 396 #define COUNTS_PER_G 264.8
 397
 398 void
 399 ao_dump_state(void)
 400 {
 401 }
 402
 403 static const struct option options[] = {
 404         { .name = "summary", .has_arg = 0, .val = 's' },
 405         { .name = "debug", .has_arg = 0, .val = 'd' },
 406         { 0, 0, 0, 0},
 407 };
 408
 409 void run_flight_fixed(char *name, FILE *f, int summary)
 410 {
 411         emulator_name = name;
 412         emulator_in = f;
 413         ao_summary = summary;
 414         ao_flight_init();
 415         ao_flight();
 416 }
 417
 418 int
 419 main (int argc, char **argv)
 420 {
 421         int     summary = 0;
 422         int     c;
 423         int     i;
 424
 425 #if HAS_ACCEL
 426         emulator_app="full";
 427 #else
 428         emulator_app="baro";
 429 #endif
 430         while ((c = getopt_long(argc, argv, "sd", options, NULL)) != -1) {
 431                 switch (c) {
 432                 case 's':
 433                         summary = 1;
 434                         break;
 435                 case 'd':
 436                         ao_flight_debug = 1;
 437                         break;
 438                 }
 439         }
 440
 441         if (optind == argc)
 442                 run_flight_fixed("<stdin>", stdin, summary);
 443         else
 444                 for (i = optind; i < argc; i++) {
 445                         FILE    *f = fopen(argv[i], "r");
 446                         if (!f) {
 447                                 perror(argv[i]);
 448                                 continue;
 449                         }
 450                         run_flight_fixed(argv[i], f, summary);
 451                         fclose(f);
 452                 }
 453 }