#include <stdio.h>
#include <stdlib.h>
#include <string.h>
+#include <getopt.h>
+
+#define AO_HERTZ 100
#define AO_ADC_RING 64
#define ao_adc_ring_next(n) (((n) + 1) & (AO_ADC_RING - 1))
enum ao_flight_state {
ao_flight_startup = 0,
ao_flight_idle = 1,
- ao_flight_launchpad = 2,
+ ao_flight_pad = 2,
ao_flight_boost = 3,
- ao_flight_coast = 4,
- ao_flight_apogee = 5,
+ ao_flight_fast = 4,
+ ao_flight_coast = 5,
ao_flight_drogue = 6,
ao_flight_main = 7,
ao_flight_landed = 8,
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_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;
+
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
ao_sleep(void *wchan);
const char const * const ao_state_names[] = {
- "startup", "idle", "pad", "boost", "coast",
- "apogee", "drogue", "main", "landed", "invalid"
+ "startup", "idle", "pad", "boost", "fast",
+ "coast", "drogue", "main", "landed", "invalid"
};
struct ao_cmds {
- char cmd;
void (*func)(void);
const char *help;
};
-
-static int16_t altitude_table[2048] = {
-#include "altitude.h"
-};
-
-int16_t
-ao_pres_to_altitude(int16_t pres) __reentrant
-{
- pres = pres >> 4;
- if (pres < 0) pres = 0;
- if (pres > 2047) pres = 2047;
- return altitude_table[pres];
-}
-
-int16_t
-ao_altitude_to_pres(int16_t alt) __reentrant
-{
- int16_t pres;
-
- for (pres = 0; pres < 2047; pres++)
- if (altitude_table[pres] <= alt)
- break;
- return pres << 4;
-}
+#include "ao_convert.c"
struct ao_config {
uint16_t main_deploy;
- int16_t accel_zero_g;
+ int16_t accel_plus_g;
+ int16_t accel_minus_g;
};
#define ao_config_get()
-struct ao_config ao_config = { 250, 16000 };
+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
+#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
}
}
ao_sleep(void *wchan)
{
ao_dump_state();
- if (wchan == &ao_adc_ring) {
+ if (wchan == &ao_adc_head) {
char type;
uint16_t tick;
uint16_t a, b;
type = words[0][0];
tick = strtoul(words[1], NULL, 16);
a = strtoul(words[2], NULL, 16);
- b = strtoul(words[2], NULL, 16);
+ b = strtoul(words[3], NULL, 16);
+ } else if (nword >= 6 && strcmp(words[0], "Accel")) {
+ ao_config.accel_plus_g = atoi(words[3]);
+ ao_config.accel_minus_g = atoi(words[5]);
+ } else if (nword >= 4 && strcmp(words[0], "Main")) {
+ ao_config.main_deploy = atoi(words[2]);
} else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
tick = atoi(words[10]);
if (!ao_flight_started) {
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':
{
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],
(ao_ground_accel - ao_flight_accel) / COUNTS_PER_G * GRAVITY,
(double) ao_flight_vel / 100 / COUNTS_PER_G * GRAVITY,
ao_pres_to_altitude(ao_flight_pres) - ao_pres_to_altitude(ao_ground_pres),
ao_pres_to_altitude(ao_main_pres) - ao_pres_to_altitude(ao_ground_pres));
+#else
+ printf ("\t\t\t\t\t%s alt %d main %d\n",
+ ao_state_names[ao_flight_state],
+ ao_pres_to_altitude(ao_flight_pres) - ao_pres_to_altitude(ao_ground_pres),
+ ao_pres_to_altitude(ao_main_pres) - ao_pres_to_altitude(ao_ground_pres));
+#endif
if (ao_flight_state == ao_flight_landed)
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);
+ }
}