#include <stdio.h>
#include <stdlib.h>
#include <string.h>
+#include <getopt.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
*/
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;
+
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
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;
#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
+
#include "ao_flight.c"
+#define to_double(f) ((f) / 65536.0)
+
+#define GRAVITY 9.80665
+extern int16_t ao_ground_accel, ao_raw_accel;
+extern int16_t ao_accel_2g;
+
+int32_t drogue_height;
+int32_t main_height;
+
+int tick_offset;
+uint16_t prev_tick;
+static int ao_records_read = 0;
+static int ao_eof_read = 0;
+static int ao_flight_ground_accel;
+static int ao_flight_started = 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_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);
+ if (ao_summary)
+ return;
+ if (ao_flight_state == ao_flight_startup)
+ return;
+ {
+ double height = ao_pres_to_altitude(ao_raw_pres) - 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 (!drogue_height && ao_flight_state >= ao_flight_drogue)
+ drogue_height = ao_k_height;
+ if (!main_height && ao_flight_state >= ao_flight_main)
+ main_height = ao_k_height;
+ if ((prev_tick - ao_adc_static.tick) > 0)
+ tick_offset += 65536;
+ prev_tick = ao_adc_static.tick;
+ printf("%7.2f height %g accel %g state %s k_height %g k_speed %g k_accel %g drogue %g main %g error %d\n",
+ (double) (ao_adc_static.tick + tick_offset) / 100,
+ 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,
+ drogue_height / 65536.0,
+ main_height / 65536.0,
+ ao_error_h_sq_avg);
}
}
-static int ao_records_read = 0;
-static int ao_eof_read = 0;
-static int ao_flight_ground_accel;
-static int ao_flight_started = 0;
-
void
ao_sleep(void *wchan)
{
- ao_dump_state();
if (wchan == &ao_adc_head) {
char type;
uint16_t tick;
{
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_summary)
+ return;
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);
+ }
}
projects / fw / altos / blobdiff