#include <stdio.h>
#include <stdlib.h>
#include <string.h>
+#include <getopt.h>
#define AO_HERTZ 100
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)
ao_igniter_main = 1
};
+struct ao_adc ao_adc_static;
+
void
ao_ignite(enum ao_igniter igniter)
{
- printf ("ignite %s\n", igniter == ao_igniter_drogue ? "drogue" : "main");
+ printf ("ignite %s at %7.2f\n", igniter == ao_igniter_drogue ? "drogue" : "main",
+ (double) ao_adc_static.tick / 100.0);
}
struct ao_task {
#define AO_FLIGHT_TEST
-struct ao_adc ao_adc_static;
-
FILE *emulator_in;
void
#ifndef HAS_ACCEL
#define HAS_ACCEL 1
#define HAS_ACCEL_REF 0
+#define USE_KALMAN 0
+#else
+#define USE_KALMAN 1
#endif
#include "ao_flight.c"
+#define to_double(f) ((f) / 65536.0)
+
void
ao_insert(void)
{
ao_adc_ring[ao_adc_head] = ao_adc_static;
ao_adc_head = ao_adc_ring_next(ao_adc_head);
+ if (ao_summary)
+ return;
if (ao_flight_state != ao_flight_startup) {
+#if USE_KALMAN
+ printf("time %7.2f accel %d pres %d k_height %8.2f k_speed %8.5f k_accel %8.5f\n",
+ (double) ao_adc_static.tick / 100,
+ ao_adc_static.accel,
+ ao_adc_static.pres,
+ to_double(ao_k_height),
+ to_double(ao_k_speed),
+ to_double(ao_k_accel));
+#else
printf("time %g accel %d pres %d\n",
(double) ao_adc_static.tick / 100,
ao_adc_static.accel,
ao_adc_static.pres);
+#endif
}
}
{
if (ao_flight_state == ao_flight_startup)
return;
+ if (ao_summary)
+ return;
#if HAS_ACCEL
printf ("\t\t\t\t\t%s accel %g vel %g alt %d main %d\n",
ao_state_names[ao_flight_state],
exit(0);
}
+static const struct option options[] = {
+ { .name = "summary", .has_arg = 0, .val = 's' },
+ { 0, 0, 0, 0},
+};
+
+void run_flight_fixed(char *name, FILE *f, int summary)
+{
+ emulator_in = f;
+ ao_summary = summary;
+ ao_flight_init();
+ ao_flight();
+}
+
int
main (int argc, char **argv)
{
- emulator_in = fopen (argv[1], "r");
- if (!emulator_in) {
- perror(argv[1]);
- exit(1);
+ int summary = 0;
+ int c;
+ int i;
+
+ while ((c = getopt_long(argc, argv, "s", options, NULL)) != -1) {
+ switch (c) {
+ case 's':
+ summary = 1;
+ break;
+ }
}
- ao_flight_init();
- ao_flight();
+
+ 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);
+ }
}