#include <stdio.h>
#include <stdlib.h>
#include <string.h>
+#include <getopt.h>
+#include <math.h>
#define AO_HERTZ 100
#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
*/
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 */
#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_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_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)
{
- printf ("ignite %s\n", igniter == ao_igniter_drogue ? "drogue" : "main");
+ 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 {
#define AO_FLIGHT_TEST
-struct ao_adc ao_adc_static;
+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);
};
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_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 = { 250, 15937, 16467 };
+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) {
- printf("time %g accel %d pres %d\n",
- (double) ao_adc_static.tick / 100,
- ao_adc_static.accel,
- ao_adc_static.pres);
+ 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();
+ }
}
}
-static int ao_records_read = 0;
-static int ao_eof_read = 0;
-static int ao_flight_ground_accel;
-static int ao_flight_started = 0;
+#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)
{
- ao_dump_state();
- if (wchan == &ao_adc_ring) {
+ 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;
if (!fgets(line, sizeof (line), emulator_in)) {
if (++ao_eof_read >= 1000) {
- printf ("no more data, exiting simulation\n");
- exit(0);
+ if (!ao_summary)
+ printf ("no more data, exiting simulation\n");
+ ao_test_exit();
}
ao_adc_static.tick += 10;
ao_insert();
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) {
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':
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();
void
ao_dump_state(void)
{
- if (ao_flight_state == ao_flight_startup)
- return;
- 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));
- if (ao_flight_state == ao_flight_landed)
- exit(0);
+}
+
+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)
{
- emulator_in = fopen (argv[1], "r");
- if (!emulator_in) {
- perror(argv[1]);
- exit(1);
+ 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;
+ }
}
- 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);
+ }
}
projects / fw / altos / blobdiff