altos-avr: Initial OS port to AVR

This is working with output to the serial line

Signed-off-by: Keith Packard <keithp@keithp.com>

1 files changed, 461 insertions, 0 deletions

diff --git a/src-avr/ao_flight_test.c b/src-avr/ao_flight_test.c
new file mode 100644
index 00000000..57785442
--- /dev/null
+++ b/src-avr/ao_flight_test.c
@@ -0,0 +1,461 @@
+/*
+ * Copyright © 2009 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#define _GNU_SOURCE
+
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <getopt.h>
+#include <math.h>
+
+#define AO_HERTZ	100
+
+#define AO_ADC_RING	64
+#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 {
+	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 */
+	int16_t		sense_m;	/* main continuity sense */
+};
+
+#define __pdata
+#define __data
+#define __xdata
+#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_pad = 2,
+	ao_flight_boost = 3,
+	ao_flight_fast = 4,
+	ao_flight_coast = 5,
+	ao_flight_drogue = 6,
+	ao_flight_main = 7,
+	ao_flight_landed = 8,
+	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_timer_set_adc_interval(i)
+#define ao_wakeup(wchan) ao_dump_state()
+#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;
+
+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)
+{
+	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 {
+	int dummy;
+};
+
+#define ao_add_task(t,f,n)
+
+#define ao_log_start()
+#define ao_log_stop()
+
+#define AO_MS_TO_TICKS(ms)	((ms) / 10)
+#define AO_SEC_TO_TICKS(s)	((s) * 100)
+
+#define AO_FLIGHT_TEST
+
+int	ao_flight_debug;
+
+FILE *emulator_in;
+char *emulator_app;
+char *emulator_name;
+double emulator_error_max = 4;
+
+void
+ao_dump_state(void);
+
+void
+ao_sleep(void *wchan);
+
+const char const * const ao_state_names[] = {
+	"startup", "idle", "pad", "boost", "fast",
+	"coast", "drogue", "main", "landed", "invalid"
+};
+
+struct ao_cmds {
+	void		(*func)(void);
+	const char	*help;
+};
+
+#include "ao_convert.c"
+
+struct ao_config {
+	uint16_t	main_deploy;
+	int16_t		accel_plus_g;
+	int16_t		accel_minus_g;
+};
+
+#define ao_config_get()
+
+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;
+
+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) {
+		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;
+		}
+		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();
+		}
+	}
+}
+
+void
+ao_sleep(void *wchan)
+{
+	if (wchan == &ao_adc_head) {
+		char		type;
+		uint16_t	tick;
+		uint16_t	a, b;
+		int		ret;
+		char		line[1024];
+		char		*saveptr;
+		char		*l;
+		char		*words[64];
+		int		nword;
+
+		for (;;) {
+			if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
+			{
+				ao_adc_static.accel = ao_flight_ground_accel;
+				ao_insert();
+				return;
+			}
+
+			if (!fgets(line, sizeof (line), emulator_in)) {
+				if (++ao_eof_read >= 1000) {
+					if (!ao_summary)
+						printf ("no more data, exiting simulation\n");
+					ao_test_exit();
+				}
+				ao_adc_static.tick += 10;
+				ao_insert();
+				return;
+			}
+			l = line;
+			for (nword = 0; nword < 64; nword++) {
+				words[nword] = strtok_r(l, " \t\n", &saveptr);
+				l = NULL;
+				if (words[nword] == NULL)
+					break;
+			}
+			if (nword == 4) {
+				type = words[0][0];
+				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) {
+					type = 'F';
+					a = atoi(words[26]);
+					ao_flight_started = 1;
+				} else {
+					type = 'A';
+					a = atoi(words[12]);
+					b = atoi(words[14]);
+				}
+			}
+			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':
+				break;
+			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();
+				return;
+			case 'T':
+				ao_adc_static.tick = tick;
+				ao_adc_static.temp = a;
+				ao_adc_static.v_batt = b;
+				break;
+			case 'D':
+			case 'G':
+			case 'N':
+			case 'W':
+			case 'H':
+				break;
+			}
+		}
+
+	}
+}
+#define COUNTS_PER_G 264.8
+
+void
+ao_dump_state(void)
+{
+}
+
+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)
+{
+	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;
+		}
+	}
+
+	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);
+		}
+}