+++ /dev/null
-/*
- * Copyright © 2009 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#define _GNU_SOURCE
-
-#include <stdint.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <string.h>
-#include <getopt.h>
-#include <math.h>
-
-#define AO_HERTZ 100
-
-#define AO_ADC_RING 64
-#define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1))
-#define ao_adc_ring_prev(n) (((n) - 1) & (AO_ADC_RING - 1))
-
-#define AO_M_TO_HEIGHT(m) ((int16_t) (m))
-#define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16))
-#define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16))
-
-/*
- * One set of samples read from the A/D converter
- */
-struct ao_adc {
- uint16_t tick; /* tick when the sample was read */
- int16_t accel; /* accelerometer */
- int16_t pres; /* pressure sensor */
- int16_t pres_real; /* unclipped */
- int16_t temp; /* temperature sensor */
- int16_t v_batt; /* battery voltage */
- int16_t sense_d; /* drogue continuity sense */
- int16_t sense_m; /* main continuity sense */
-};
-
-#define __pdata
-#define __data
-#define __xdata
-#define __code
-#define __reentrant
-
-#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
-#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
-#define from_fix(x) ((x) >> 16)
-
-/*
- * Above this height, the baro sensor doesn't work
- */
-#define AO_MAX_BARO_HEIGHT 12000
-#define AO_BARO_SATURATE 13000
-#define AO_MIN_BARO_VALUE ao_altitude_to_pres(AO_BARO_SATURATE)
-
-/*
- * Above this speed, baro measurements are unreliable
- */
-#define AO_MAX_BARO_SPEED 200
-
-#define ACCEL_NOSE_UP (ao_accel_2g >> 2)
-
-enum ao_flight_state {
- ao_flight_startup = 0,
- ao_flight_idle = 1,
- ao_flight_pad = 2,
- ao_flight_boost = 3,
- ao_flight_fast = 4,
- ao_flight_coast = 5,
- ao_flight_drogue = 6,
- ao_flight_main = 7,
- ao_flight_landed = 8,
- ao_flight_invalid = 9
-};
-
-extern enum ao_flight_state ao_flight_state;
-
-#define FALSE 0
-#define TRUE 1
-
-struct ao_adc ao_adc_ring[AO_ADC_RING];
-uint8_t ao_adc_head;
-int ao_summary = 0;
-
-#define ao_led_on(l)
-#define ao_led_off(l)
-#define ao_timer_set_adc_interval(i)
-#define ao_wakeup(wchan) ao_dump_state()
-#define ao_cmd_register(c)
-#define ao_usb_disable()
-#define ao_telemetry_set_interval(x)
-#define ao_rdf_set(rdf)
-#define ao_packet_slave_start()
-#define ao_packet_slave_stop()
-
-enum ao_igniter {
- ao_igniter_drogue = 0,
- ao_igniter_main = 1
-};
-
-struct ao_adc ao_adc_static;
-
-int drogue_height;
-double drogue_time;
-int main_height;
-double main_time;
-
-int tick_offset;
-
-static int32_t ao_k_height;
-
-void
-ao_ignite(enum ao_igniter igniter)
-{
- double time = (double) (ao_adc_static.tick + tick_offset) / 100;
-
- if (igniter == ao_igniter_drogue) {
- drogue_time = time;
- drogue_height = ao_k_height >> 16;
- } else {
- main_time = time;
- main_height = ao_k_height >> 16;
- }
-}
-
-struct ao_task {
- int dummy;
-};
-
-#define ao_add_task(t,f,n)
-
-#define ao_log_start()
-#define ao_log_stop()
-
-#define AO_MS_TO_TICKS(ms) ((ms) / 10)
-#define AO_SEC_TO_TICKS(s) ((s) * 100)
-
-#define AO_FLIGHT_TEST
-
-int ao_flight_debug;
-
-FILE *emulator_in;
-char *emulator_app;
-char *emulator_name;
-double emulator_error_max = 4;
-double emulator_height_error_max = 20; /* noise in the baro sensor */
-
-void
-ao_dump_state(void);
-
-void
-ao_sleep(void *wchan);
-
-const char const * const ao_state_names[] = {
- "startup", "idle", "pad", "boost", "fast",
- "coast", "drogue", "main", "landed", "invalid"
-};
-
-struct ao_cmds {
- void (*func)(void);
- const char *help;
-};
-
-#include "ao_convert.c"
-
-struct ao_config {
- uint16_t main_deploy;
- int16_t accel_plus_g;
- int16_t accel_minus_g;
- uint8_t pad_orientation;
-};
-
-#define AO_PAD_ORIENTATION_ANTENNA_UP 0
-#define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
-
-#define ao_config_get()
-
-struct ao_config ao_config;
-
-#define DATA_TO_XDATA(x) (x)
-
-#define HAS_FLIGHT 1
-#define HAS_ADC 1
-#define HAS_USB 1
-#define HAS_GPS 1
-#ifndef HAS_ACCEL
-#define HAS_ACCEL 1
-#define HAS_ACCEL_REF 0
-#endif
-
-#define GRAVITY 9.80665
-extern int16_t ao_ground_accel, ao_flight_accel;
-extern int16_t ao_accel_2g;
-
-extern uint16_t ao_sample_tick;
-
-extern int16_t ao_sample_height;
-extern int16_t ao_sample_accel;
-extern int32_t ao_accel_scale;
-extern int16_t ao_ground_height;
-extern int16_t ao_sample_alt;
-
-int ao_sample_prev_tick;
-uint16_t prev_tick;
-
-#include "ao_kalman.c"
-#include "ao_sample.c"
-#include "ao_flight.c"
-
-#define to_double(f) ((f) / 65536.0)
-
-static int ao_records_read = 0;
-static int ao_eof_read = 0;
-static int ao_flight_ground_accel;
-static int ao_flight_started = 0;
-static int ao_test_max_height;
-static double ao_test_max_height_time;
-static int ao_test_main_height;
-static double ao_test_main_height_time;
-static double ao_test_landed_time;
-static double ao_test_landed_height;
-static double ao_test_landed_time;
-static int landed_set;
-static double landed_time;
-static double landed_height;
-
-void
-ao_test_exit(void)
-{
- double drogue_error;
- double main_error;
- double landed_error;
- double landed_time_error;
-
- if (!ao_test_main_height_time) {
- ao_test_main_height_time = ao_test_max_height_time;
- ao_test_main_height = ao_test_max_height;
- }
- drogue_error = fabs(ao_test_max_height_time - drogue_time);
- main_error = fabs(ao_test_main_height_time - main_time);
- landed_error = fabs(ao_test_landed_height - landed_height);
- landed_time_error = ao_test_landed_time - landed_time;
- if (drogue_error > emulator_error_max || main_error > emulator_error_max ||
- landed_time_error > emulator_error_max || landed_error > emulator_height_error_max) {
- printf ("%s %s\n",
- emulator_app, emulator_name);
- printf ("\tApogee error %g\n", drogue_error);
- printf ("\tMain error %g\n", main_error);
- printf ("\tLanded height error %g\n", landed_error);
- printf ("\tLanded time error %g\n", landed_time_error);
- printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
- ao_test_max_height, ao_test_max_height_time,
- ao_test_main_height, ao_test_main_height_time,
- ao_test_landed_height, ao_test_landed_time);
- printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
- drogue_height, drogue_time, main_height, main_time,
- landed_height, landed_time);
- exit (1);
- }
- exit(0);
-}
-
-void
-ao_insert(void)
-{
- double time;
-
- ao_adc_ring[ao_adc_head] = ao_adc_static;
- ao_adc_head = ao_adc_ring_next(ao_adc_head);
- if (ao_flight_state != ao_flight_startup) {
- double height = ao_pres_to_altitude(ao_adc_static.pres_real) - ao_ground_height;
- double accel = ((ao_flight_ground_accel - ao_adc_static.accel) * GRAVITY * 2.0) /
- (ao_config.accel_minus_g - ao_config.accel_plus_g);
-
- if (!tick_offset)
- tick_offset = -ao_adc_static.tick;
- if ((prev_tick - ao_adc_static.tick) > 0x400)
- tick_offset += 65536;
- prev_tick = ao_adc_static.tick;
- time = (double) (ao_adc_static.tick + tick_offset) / 100;
-
- if (ao_test_max_height < height) {
- ao_test_max_height = height;
- ao_test_max_height_time = time;
- ao_test_landed_height = height;
- ao_test_landed_time = time;
- }
- if (height > ao_config.main_deploy) {
- ao_test_main_height_time = time;
- ao_test_main_height = height;
- }
-
- if (ao_test_landed_height > height) {
- ao_test_landed_height = height;
- ao_test_landed_time = time;
- }
-
- if (ao_flight_state == ao_flight_landed && !landed_set) {
- landed_set = 1;
- landed_time = time;
- landed_height = height;
- }
-
- if (!ao_summary) {
- printf("%7.2f height %8.2f accel %8.3f state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d\n",
- time,
- height,
- accel,
- ao_state_names[ao_flight_state],
- ao_k_height / 65536.0,
- ao_k_speed / 65536.0 / 16.0,
- ao_k_accel / 65536.0 / 16.0,
- ao_avg_height,
- drogue_height,
- main_height,
- ao_error_h_sq_avg);
-
-// if (ao_flight_state == ao_flight_landed)
-// ao_test_exit();
- }
- }
-}
-
-#define AO_MAX_CALLSIGN 8
-#define AO_MAX_VERSION 8
-#define AO_MAX_TELEMETRY 128
-
-struct ao_telemetry_generic {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
- uint8_t payload[27]; /* 5 */
- /* 32 */
-};
-
-#define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01
-#define AO_TELEMETRY_SENSOR_TELEMINI 0x02
-#define AO_TELEMETRY_SENSOR_TELENANO 0x03
-
-struct ao_telemetry_sensor {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
-
- uint8_t state; /* 5 flight state */
- int16_t accel; /* 6 accelerometer (TM only) */
- int16_t pres; /* 8 pressure sensor */
- int16_t temp; /* 10 temperature sensor */
- int16_t v_batt; /* 12 battery voltage */
- int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */
- int16_t sense_m; /* 16 main continuity sense (TM/Tm) */
-
- int16_t acceleration; /* 18 m/s² * 16 */
- int16_t speed; /* 20 m/s * 16 */
- int16_t height; /* 22 m */
-
- int16_t ground_pres; /* 24 average pres on pad */
- int16_t ground_accel; /* 26 average accel on pad */
- int16_t accel_plus_g; /* 28 accel calibration at +1g */
- int16_t accel_minus_g; /* 30 accel calibration at -1g */
- /* 32 */
-};
-
-#define AO_TELEMETRY_CONFIGURATION 0x04
-
-struct ao_telemetry_configuration {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
-
- uint8_t device; /* 5 device type */
- uint16_t flight; /* 6 flight number */
- uint8_t config_major; /* 8 Config major version */
- uint8_t config_minor; /* 9 Config minor version */
- uint16_t apogee_delay; /* 10 Apogee deploy delay in seconds */
- uint16_t main_deploy; /* 12 Main deploy alt in meters */
- uint16_t flight_log_max; /* 14 Maximum flight log size in kB */
- char callsign[AO_MAX_CALLSIGN]; /* 16 Radio operator identity */
- char version[AO_MAX_VERSION]; /* 24 Software version */
- /* 32 */
-};
-
-#define AO_TELEMETRY_LOCATION 0x05
-
-#define AO_GPS_MODE_NOT_VALID 'N'
-#define AO_GPS_MODE_AUTONOMOUS 'A'
-#define AO_GPS_MODE_DIFFERENTIAL 'D'
-#define AO_GPS_MODE_ESTIMATED 'E'
-#define AO_GPS_MODE_MANUAL 'M'
-#define AO_GPS_MODE_SIMULATED 'S'
-
-struct ao_telemetry_location {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
-
- uint8_t flags; /* 5 Number of sats and other flags */
- int16_t altitude; /* 6 GPS reported altitude (m) */
- int32_t latitude; /* 8 latitude (degrees * 10⁷) */
- int32_t longitude; /* 12 longitude (degrees * 10⁷) */
- uint8_t year; /* 16 (- 2000) */
- uint8_t month; /* 17 (1-12) */
- uint8_t day; /* 18 (1-31) */
- uint8_t hour; /* 19 (0-23) */
- uint8_t minute; /* 20 (0-59) */
- uint8_t second; /* 21 (0-59) */
- uint8_t pdop; /* 22 (m * 5) */
- uint8_t hdop; /* 23 (m * 5) */
- uint8_t vdop; /* 24 (m * 5) */
- uint8_t mode; /* 25 */
- uint16_t ground_speed; /* 26 cm/s */
- int16_t climb_rate; /* 28 cm/s */
- uint8_t course; /* 30 degrees / 2 */
- uint8_t unused[1]; /* 31 */
- /* 32 */
-};
-
-#define AO_TELEMETRY_SATELLITE 0x06
-
-struct ao_telemetry_satellite_info {
- uint8_t svid;
- uint8_t c_n_1;
-};
-
-struct ao_telemetry_satellite {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
- uint8_t channels; /* 5 number of reported sats */
-
- struct ao_telemetry_satellite_info sats[12]; /* 6 */
- uint8_t unused[2]; /* 30 */
- /* 32 */
-};
-
-union ao_telemetry_all {
- struct ao_telemetry_generic generic;
- struct ao_telemetry_sensor sensor;
- struct ao_telemetry_configuration configuration;
- struct ao_telemetry_location location;
- struct ao_telemetry_satellite satellite;
-};
-
-uint16_t
-uint16(uint8_t *bytes, int off)
-{
- off++;
- return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
-}
-
-int16_t
-int16(uint8_t *bytes, int off)
-{
- return (int16_t) uint16(bytes, off);
-}
-
-void
-ao_sleep(void *wchan)
-{
- if (wchan == &ao_adc_head) {
- char type;
- uint16_t tick;
- uint16_t a, b;
- int ret;
- uint8_t bytes[1024];
- union ao_telemetry_all telem;
- char line[1024];
- char *saveptr;
- char *l;
- char *words[64];
- int nword;
-
- for (;;) {
- if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
- {
- ao_adc_static.accel = ao_flight_ground_accel;
- ao_insert();
- return;
- }
-
- if (!fgets(line, sizeof (line), emulator_in)) {
- if (++ao_eof_read >= 1000) {
- if (!ao_summary)
- printf ("no more data, exiting simulation\n");
- ao_test_exit();
- }
- ao_adc_static.tick += 10;
- ao_insert();
- return;
- }
- l = line;
- for (nword = 0; nword < 64; nword++) {
- words[nword] = strtok_r(l, " \t\n", &saveptr);
- l = NULL;
- if (words[nword] == NULL)
- break;
- }
- if (nword == 4) {
- type = words[0][0];
- tick = strtoul(words[1], NULL, 16);
- a = strtoul(words[2], NULL, 16);
- b = strtoul(words[3], NULL, 16);
- if (type == 'P')
- type = 'A';
- } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
- ao_config.accel_plus_g = atoi(words[3]);
- ao_config.accel_minus_g = atoi(words[5]);
- } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
- ao_config.main_deploy = atoi(words[2]);
- } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
- tick = atoi(words[10]);
- if (!ao_flight_started) {
- type = 'F';
- a = atoi(words[26]);
- ao_flight_started = 1;
- } else {
- type = 'A';
- a = atoi(words[12]);
- b = atoi(words[14]);
- }
- } else if (nword == 3 && strcmp(words[0], "BARO") == 0) {
- tick = strtol(words[1], NULL, 16);
- a = 16384 - 328;
- b = strtol(words[2], NULL, 10);
- type = 'A';
- if (!ao_flight_started) {
- ao_flight_ground_accel = 16384 - 328;
- ao_config.accel_plus_g = 16384 - 328;
- ao_config.accel_minus_g = 16384 + 328;
- ao_flight_started = 1;
- }
- } else if (nword == 2 && strcmp(words[0], "TELEM") == 0) {
- char *hex = words[1];
- char elt[3];
- int i, len;
- uint8_t sum;
-
- len = strlen(hex);
- if (len > sizeof (bytes) * 2) {
- len = sizeof (bytes)*2;
- hex[len] = '\0';
- }
- for (i = 0; i < len; i += 2) {
- elt[0] = hex[i];
- elt[1] = hex[i+1];
- elt[2] = '\0';
- bytes[i/2] = (uint8_t) strtol(elt, NULL, 16);
- }
- len = i/2;
- if (bytes[0] != len - 2) {
- printf ("bad length %d != %d\n", bytes[0], len - 2);
- continue;
- }
- sum = 0x5a;
- for (i = 1; i < len-1; i++)
- sum += bytes[i];
- if (sum != bytes[len-1]) {
- printf ("bad checksum\n");
- continue;
- }
- if ((bytes[len-2] & 0x80) == 0) {
- continue;
- }
- if (len == 36) {
- memcpy(&telem, bytes + 1, 32);
- tick = telem.generic.tick;
- switch (telem.generic.type) {
- case AO_TELEMETRY_SENSOR_TELEMETRUM:
- case AO_TELEMETRY_SENSOR_TELEMINI:
- case AO_TELEMETRY_SENSOR_TELENANO:
- if (!ao_flight_started) {
- ao_flight_ground_accel = telem.sensor.ground_accel;
- ao_config.accel_plus_g = telem.sensor.accel_plus_g;
- ao_config.accel_minus_g = telem.sensor.accel_minus_g;
- ao_flight_started = 1;
- }
- type = 'A';
- a = telem.sensor.accel;
- b = telem.sensor.pres;
- break;
- }
- } else if (len == 99) {
- ao_flight_started = 1;
- tick = uint16(bytes, 21);
- ao_flight_ground_accel = int16(bytes, 7);
- ao_config.accel_plus_g = int16(bytes, 17);
- ao_config.accel_minus_g = int16(bytes, 19);
- type = 'A';
- a = int16(bytes, 23);
- b = int16(bytes, 25);
- } else if (len == 98) {
- ao_flight_started = 1;
- tick = uint16(bytes, 20);
- ao_flight_ground_accel = int16(bytes, 6);
- ao_config.accel_plus_g = int16(bytes, 16);
- ao_config.accel_minus_g = int16(bytes, 18);
- type = 'A';
- a = int16(bytes, 22);
- b = int16(bytes, 24);
- } else {
- printf("unknown len %d\n", len);
- continue;
- }
- }
- if (type != 'F' && !ao_flight_started)
- continue;
-
- switch (type) {
- case 'F':
- ao_flight_ground_accel = a;
- if (ao_config.accel_plus_g == 0) {
- ao_config.accel_plus_g = a;
- ao_config.accel_minus_g = a + 530;
- }
- if (ao_config.main_deploy == 0)
- ao_config.main_deploy = 250;
- ao_flight_started = 1;
- break;
- case 'S':
- break;
- case 'A':
- ao_adc_static.tick = tick;
- ao_adc_static.accel = a;
- ao_adc_static.pres_real = b;
- if (b < AO_MIN_BARO_VALUE)
- b = AO_MIN_BARO_VALUE;
- ao_adc_static.pres = b;
- ao_records_read++;
- ao_insert();
- return;
- case 'T':
- ao_adc_static.tick = tick;
- ao_adc_static.temp = a;
- ao_adc_static.v_batt = b;
- break;
- case 'D':
- case 'G':
- case 'N':
- case 'W':
- case 'H':
- break;
- }
- }
-
- }
-}
-#define COUNTS_PER_G 264.8
-
-void
-ao_dump_state(void)
-{
-}
-
-static const struct option options[] = {
- { .name = "summary", .has_arg = 0, .val = 's' },
- { .name = "debug", .has_arg = 0, .val = 'd' },
- { 0, 0, 0, 0},
-};
-
-void run_flight_fixed(char *name, FILE *f, int summary)
-{
- emulator_name = name;
- emulator_in = f;
- ao_summary = summary;
- ao_flight_init();
- ao_flight();
-}
-
-int
-main (int argc, char **argv)
-{
- int summary = 0;
- int c;
- int i;
-
-#if HAS_ACCEL
- emulator_app="full";
-#else
- emulator_app="baro";
-#endif
- while ((c = getopt_long(argc, argv, "sd", options, NULL)) != -1) {
- switch (c) {
- case 's':
- summary = 1;
- break;
- case 'd':
- ao_flight_debug = 1;
- break;
- }
- }
-
- if (optind == argc)
- run_flight_fixed("<stdin>", stdin, summary);
- else
- for (i = optind; i < argc; i++) {
- FILE *f = fopen(argv[i], "r");
- if (!f) {
- perror(argv[i]);
- continue;
- }
- run_flight_fixed(argv[i], f, summary);
- fclose(f);
- }
-}