X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao_flight_test.c;h=91aa0f738064703eee090fd6f6b5398a6815ffff;hp=e0cfa47a2a8e3ecc11ffed2c87b36c39e7a4eae6;hb=43a94380032300a2e33e1faa1efe93e858e0a2cf;hpb=ab31b1c737d8fd32af482e5b06699f1b832a25a1 diff --git a/src/ao_flight_test.c b/src/ao_flight_test.c index e0cfa47a..91aa0f73 100644 --- a/src/ao_flight_test.c +++ b/src/ao_flight_test.c @@ -21,6 +21,8 @@ #include #include #include +#include +#include #define AO_HERTZ 100 @@ -28,6 +30,10 @@ #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 */ @@ -62,6 +68,7 @@ enum ao_flight_state { 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) @@ -72,16 +79,36 @@ uint8_t ao_adc_head; #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 { @@ -98,9 +125,12 @@ 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; void ao_dump_state(void); @@ -114,35 +144,11 @@ const char const * const ao_state_names[] = { }; 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; @@ -152,35 +158,114 @@ struct ao_config { #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 + #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; + +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; +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; + +void +ao_test_exit(void) +{ + double drogue_error; + double main_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); + if (drogue_error > emulator_error_max || main_error > emulator_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 ("\tActual: apogee: %d at %7.2f main: %d at %7.2f\n", + ao_test_max_height, ao_test_max_height_time, + ao_test_main_height, ao_test_main_height_time); + printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f\n", + drogue_height, drogue_time, main_height, main_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_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 ((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; + } + if (height > ao_config.main_deploy) { + ao_test_main_height_time = time; + ao_test_main_height = height; + } + + if (!ao_summary) { + printf("%7.2f height %g accel %g state %s k_height %g k_speed %g k_accel %g drogue %d main %d error %d\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, + 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; - 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; @@ -201,8 +286,9 @@ ao_sleep(void *wchan) 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(); @@ -220,6 +306,11 @@ ao_sleep(void *wchan) tick = strtoul(words[1], NULL, 16); a = strtoul(words[2], NULL, 16); b = strtoul(words[3], NULL, 16); + } 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) { @@ -238,6 +329,12 @@ ao_sleep(void *wchan) 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': @@ -270,26 +367,56 @@ ao_sleep(void *wchan) 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, 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); + } }