1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
|
/*
* Copyright © 2014 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; either version 2 of the License, or
* (at your option) any later version.
*
* 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.
*/
#include <ao.h>
#include <ao_fake_flight.h>
#if HAS_MS5607 || HAS_MS5611
#include <ao_ms5607.h>
#endif
uint8_t ao_fake_flight_active;
static uint8_t ao_fake_has_cur;
static volatile uint8_t ao_fake_has_next;
static uint8_t ao_fake_has_offset;
static uint16_t ao_fake_tick_offset;
static struct ao_data ao_fake_cur, ao_fake_next;
void
ao_fake_flight_poll(void)
{
if (ao_fake_has_next && (ao_tick_count - ao_fake_next.tick) >= 0) {
ao_fake_cur = ao_fake_next;
ao_fake_has_next = 0;
ao_wakeup((void *) &ao_fake_has_next);
ao_fake_has_cur = 1;
}
if (!ao_fake_has_cur)
return;
ao_data_ring[ao_data_head] = ao_fake_cur;
ao_data_ring[ao_data_head].tick = ao_tick_count;
ao_data_head = ao_data_ring_next(ao_data_head);
ao_wakeup((void *) &ao_data_head);
}
static uint8_t
ao_fake_data_read(void)
{
uint8_t i;
uint8_t *d = (void *) &ao_fake_next;
if (getchar() == 0)
return false;
for (i = 0; i < sizeof (struct ao_data); i++)
*d++ = getchar();
if (!ao_fake_has_offset) {
ao_fake_tick_offset = (ao_tick_count + 1000) - ao_fake_next.tick;
ao_fake_next.tick = ao_tick_count;
ao_fake_has_offset = 1;
} else
ao_fake_next.tick += ao_fake_tick_offset;
ao_fake_has_next = 1;
return true;
}
static void
ao_fake_calib_get(struct ao_fake_calib *calib)
{
#if HAS_ACCEL
calib->accel_plus_g = ao_config.accel_plus_g;
calib->accel_minus_g = ao_config.accel_minus_g;
#endif
#if HAS_GYRO
calib->accel_zero_along = ao_config.accel_zero_along;
calib->accel_zero_across = ao_config.accel_zero_across;
calib->accel_zero_through = ao_config.accel_zero_through;
#endif
#if HAS_MS5607 || HAS_MS5611
calib->ms5607_prom = ao_ms5607_prom;
#endif
}
static void
ao_fake_calib_set(struct ao_fake_calib *calib)
{
#if HAS_ACCEL
ao_config.accel_plus_g = calib->accel_plus_g;
ao_config.accel_minus_g = calib->accel_minus_g;
#endif
#if HAS_GYRO
ao_config.accel_zero_along = calib->accel_zero_along;
ao_config.accel_zero_across = calib->accel_zero_across;
ao_config.accel_zero_through = calib->accel_zero_through;
#endif
#if HAS_MS5607 || HAS_MS5611
ao_ms5607_prom = calib->ms5607_prom;
#endif
}
static uint8_t
ao_fake_calib_read(void)
{
struct ao_fake_calib ao_calib;
uint8_t *d = (void *) &ao_calib;
uint16_t i;
/* Read calibration data */
for (i = 0; i < sizeof (struct ao_fake_calib); i++)
*d++ = getchar();
if (ao_calib.major != AO_FAKE_CALIB_MAJOR
#if AO_FAKE_CALIB_MINOR != 0
|| ao_calib.minor < AO_FAKE_CALIB_MINOR
#endif
) {
printf ("Calibration data major version mismatch %d.%d <= %d.%d\n",
ao_calib.major, ao_calib.minor, AO_FAKE_CALIB_MAJOR, AO_FAKE_CALIB_MINOR);
return false;
}
ao_fake_calib_set(&ao_calib);
return true;
}
static void
ao_fake_flight(void)
{
int16_t calib_size, data_size;
struct ao_fake_calib save_calib;
uint16_t my_pyro_fired = 0;
enum ao_flight_state my_state = ao_flight_invalid;
int i;
calib_size = ao_cmd_hex();
if (ao_cmd_status != ao_cmd_success)
return;
data_size = ao_cmd_hex();
if (ao_cmd_status != ao_cmd_success)
return;
if ((unsigned) calib_size != sizeof (struct ao_fake_calib)) {
printf ("calib size %d larger than actual size %d\n",
calib_size, sizeof (struct ao_fake_calib));
ao_cmd_status = ao_cmd_syntax_error;
return;
}
if (data_size != sizeof (struct ao_data)) {
printf ("data size %d doesn't match actual size %d\n",
data_size, sizeof (struct ao_data));
ao_cmd_status = ao_cmd_syntax_error;
return;
}
ao_fake_calib_get(&save_calib);
if (!ao_fake_calib_read())
return;
ao_fake_has_next = 0;
ao_fake_has_cur = 0;
ao_fake_flight_active = 1;
ao_sample_init();
#if PACKET_HAS_SLAVE
ao_packet_slave_stop();
#endif
#if AO_LED_RED
/* Turn on the LED to indicate startup */
ao_led_on(AO_LED_RED);
#endif
ao_flight_state = ao_flight_startup;
for (;;) {
if (my_state != ao_flight_state) {
printf("state %d\n", ao_flight_state);
my_state = ao_flight_state;
flush();
}
if (my_pyro_fired != ao_pyro_fired) {
int pyro;
for (pyro = 0; pyro < AO_PYRO_NUM; pyro++) {
uint16_t bit = (1 << pyro);
if (!(my_pyro_fired & bit) && (ao_pyro_fired & bit))
printf ("fire %d\n", pyro);
}
my_pyro_fired = ao_pyro_fired;
}
while (ao_fake_has_next)
ao_sleep((void *) &ao_fake_has_next);
if (!ao_fake_data_read())
break;
}
/* Wait 20 seconds to see if we enter landed state */
for (i = 0; i < 200; i++)
{
if (ao_flight_state == ao_flight_landed)
break;
ao_delay(AO_MS_TO_TICKS(100));
}
#if AO_LED_RED
/* Turn on the LED to indicate startup */
ao_led_on(AO_LED_RED);
#endif
ao_fake_flight_active = 0;
ao_flight_state = ao_flight_startup;
ao_sample_init();
ao_fake_calib_set(&save_calib);
}
static const struct ao_cmds ao_fake_flight_cmds[] = {
{ ao_fake_flight, "F <calib-size> <data-size>\0Start fake flight" },
{ 0, NULL }
};
void
ao_fake_flight_init(void)
{
ao_cmd_register(&ao_fake_flight_cmds[0]);
}
|
