2 * Copyright © 2009 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
28 #define log ao_log_data
30 #define GRAVITY 9.80665
35 #define AO_DATA_RING 64
36 #define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1))
37 #define ao_data_ring_prev(n) (((n) - 1) & (AO_DATA_RING - 1))
40 #define AO_M_TO_HEIGHT(m) ((int16_t) (m))
41 #define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16))
42 #define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16))
45 #define AO_GPS_NEW_DATA 1
46 #define AO_GPS_NEW_TRACKING 2
50 #if !defined(TELEMEGA) && !defined(TELEMETRUM_V2) && !defined(EASYMINI) && !defined(EASYMOTOR_V_2)
51 #define TELEMETRUM_V1 1
55 #define AO_ADC_NUM_SENSE 6
61 #define AO_CONFIG_MAX_SIZE 1024
62 #define AO_MMA655X_INVERT 0
65 int16_t sense[AO_ADC_NUM_SENSE];
73 #define AO_ADC_NUM_SENSE 2
76 #define AO_MMA655X_INVERT 0
78 #define AO_CONFIG_MAX_SIZE 1024
89 #define AO_ADC_NUM_SENSE 2
92 #define AO_CONFIG_MAX_SIZE 1024
103 * One set of samples read from the A/D converter
106 int16_t accel; /* accelerometer */
107 int16_t pres; /* pressure sensor */
108 int16_t pres_real; /* unclipped */
109 int16_t temp; /* temperature sensor */
110 int16_t v_batt; /* battery voltage */
111 int16_t sense_d; /* drogue continuity sense */
112 int16_t sense_m; /* main continuity sense */
117 #define HAS_ACCEL_REF 0
123 #define AO_ADC_NUM_SENSE 0
124 #define HAS_ADXL375 1
126 #define AO_CONFIG_MAX_SIZE 1024
127 #define USE_ADXL375_IMU 1
128 #define AO_ADXL375_INVERT 0
130 #define AO_ADXL375_AXIS x
131 #define AO_ADXL375_ACROSS_AXIS y
132 #define AO_ADXL375_THROUGH_AXIS z
154 #define ao_tick_count (ao_time())
155 #define ao_wakeup(wchan) ao_dump_state()
159 #include <ao_telemetry.h>
160 #include <ao_sample.h>
164 struct ao_telemetry_location ao_gps_first;
165 struct ao_telemetry_location ao_gps_prev;
166 struct ao_telemetry_location ao_gps_static;
168 struct ao_telemetry_satellite ao_gps_tracking;
170 static inline double sqr(double a) { return a * a; }
173 cc_great_circle (double start_lat, double start_lon,
174 double end_lat, double end_lon,
175 double *dist, double *bearing)
177 const double rad = M_PI / 180;
178 const double earth_radius = 6371.2 * 1000; /* in meters */
179 double lat1 = rad * start_lat;
180 double lon1 = rad * -start_lon;
181 double lat2 = rad * end_lat;
182 double lon2 = rad * -end_lon;
184 // double d_lat = lat2 - lat1;
185 double d_lon = lon2 - lon1;
187 /* From http://en.wikipedia.org/wiki/Great-circle_distance */
188 double vdn = sqrt(sqr(cos(lat2) * sin(d_lon)) +
189 sqr(cos(lat1) * sin(lat2) -
190 sin(lat1) * cos(lat2) * cos(d_lon)));
191 double vdd = sin(lat1) * sin(lat2) + cos(lat1) * cos(lat2) * cos(d_lon);
192 double d = atan2(vdn,vdd);
195 if (cos(lat1) < 1e-20) {
204 course = acos((sin(lat2)-sin(lat1)*cos(d)) /
206 if (sin(lon2-lon1) > 0)
207 course = 2 * M_PI-course;
209 *dist = d * earth_radius;
210 *bearing = course * 180/M_PI;
214 ao_distance_from_pad(void)
216 double dist, bearing;
220 cc_great_circle(ao_gps_first.latitude / 1e7,
221 ao_gps_first.longitude / 1e7,
222 ao_gps_static.latitude / 1e7,
223 ao_gps_static.longitude / 1e7,
231 double dist, bearing;
235 if (ao_gps_count < 2)
238 cc_great_circle(ao_gps_prev.latitude / 1e7,
239 ao_gps_prev.longitude / 1e7,
240 ao_gps_static.latitude / 1e7,
241 ao_gps_static.longitude / 1e7,
243 height = AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_static) - AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_prev);
245 angle = atan2(dist, height);
246 return angle * 180/M_PI;
250 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
251 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
252 #define from_fix(x) ((x) >> 16)
254 #define ACCEL_NOSE_UP (ao_accel_2g >> 2)
256 extern enum ao_flight_state ao_flight_state;
261 volatile struct ao_data ao_data_ring[AO_DATA_RING];
262 volatile uint8_t ao_data_head;
266 #define ao_led_off(l)
267 #define ao_timer_set_adc_interval(i)
268 #define ao_cmd_register(c)
269 #define ao_usb_disable()
270 #define ao_telemetry_set_interval(x)
271 #define ao_rdf_set(rdf)
272 #define ao_packet_slave_start()
273 #define ao_packet_slave_stop()
277 ao_igniter_drogue = 0,
281 struct ao_data ao_data_static;
290 static ao_k_t ao_k_height;
291 static double simple_speed;
296 return ao_data_static.tick;
300 ao_delay(int16_t interval)
306 ao_ignite(enum ao_igniter igniter)
308 double time = (double) (ao_data_static.tick + tick_offset) / 100;
310 if (igniter == ao_igniter_drogue) {
312 drogue_height = ao_k_height >> 16;
315 main_height = ao_k_height >> 16;
323 #define ao_add_task(t,f,n) ((void) (t))
325 #define ao_log_start()
326 #define ao_log_stop()
328 #define AO_MS_TO_TICKS(ms) ((ms) / 10)
329 #define AO_SEC_TO_TICKS(s) ((s) * 100)
331 #define AO_FLIGHT_TEST 1
335 struct ao_eeprom *eeprom;
336 uint32_t eeprom_offset;
342 double emulator_error_max = 4;
343 double emulator_height_error_max = 20; /* noise in the baro sensor */
346 ao_sleep(void *wchan);
348 const char * const ao_state_names[] = {
349 "startup", "idle", "pad", "boost", "fast",
350 "coast", "drogue", "main", "landed", "invalid"
358 #define AO_NEED_ALTITUDE_TO_PRES 1
359 #if TELEMEGA || TELEMETRUM_V2 || EASYMINI
360 #include "ao_convert_pa.c"
361 #include <ao_ms5607.h>
362 struct ao_ms5607_prom ao_ms5607_prom;
363 #include "ao_ms5607_convert.c"
365 #define AO_PYRO_NUM 4
369 #include "ao_convert.c"
372 #include <ao_config.h>
373 #include <ao_fake_flight.h>
374 #include <ao_eeprom_read.h>
377 #define ao_config_get()
379 struct ao_config ao_config;
381 extern int16_t ao_ground_accel, ao_flight_accel;
382 extern int16_t ao_accel_2g;
384 typedef int16_t accel_t;
386 uint16_t ao_serial_number;
387 int16_t ao_flight_number;
389 extern uint16_t ao_sample_tick;
392 extern alt_t ao_sample_height;
394 extern accel_t ao_sample_accel;
395 extern int32_t ao_accel_scale;
397 extern alt_t ao_ground_height;
398 extern alt_t ao_sample_alt;
401 double ao_sample_qangle;
403 int ao_sample_prev_tick;
407 #include "ao_kalman.c"
409 #include "ao_sample.c"
410 #include "ao_flight.c"
413 #define AO_PYRO_NUM 4
423 ao_pyro_pin_set(uint8_t pin, uint8_t value)
425 printf ("set pyro %d %d\n", pin, value);
430 #include "ao_eeprom_read.c"
431 #include "ao_eeprom_read_old.c"
433 #define to_double(f) ((f) / 65536.0)
435 static int ao_records_read = 0;
436 static int ao_eof_read = 0;
438 static int ao_flight_ground_accel;
440 static int ao_flight_started = 0;
441 static int ao_test_max_height;
442 static double ao_test_max_height_time;
443 static int ao_test_main_height;
444 static double ao_test_main_height_time;
445 static double ao_test_landed_time;
446 static double ao_test_landed_height;
447 static double ao_test_landed_time;
448 static int landed_set;
449 static double landed_time;
450 static double landed_height;
452 static uint16_t pyros_fired;
456 static struct ao_mpu6000_sample ao_ground_mpu6000;
465 double landed_time_error;
467 if (!ao_test_main_height_time) {
468 ao_test_main_height_time = ao_test_max_height_time;
469 ao_test_main_height = ao_test_max_height;
471 drogue_error = fabs(ao_test_max_height_time - drogue_time);
472 main_error = fabs(ao_test_main_height_time - main_time);
473 landed_error = fabs(ao_test_landed_height - landed_height);
474 landed_time_error = ao_test_landed_time - landed_time;
475 if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
477 emulator_app, emulator_name);
479 printf ("\t%s\n", emulator_info);
480 printf ("\tApogee error %g\n", drogue_error);
481 printf ("\tMain error %g\n", main_error);
482 printf ("\tLanded height error %g\n", landed_error);
483 printf ("\tLanded time error %g\n", landed_time_error);
484 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
485 ao_test_max_height, ao_test_max_height_time,
486 ao_test_main_height, ao_test_main_height_time,
487 ao_test_landed_height, ao_test_landed_time);
488 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
489 drogue_height, drogue_time, main_height, main_time,
490 landed_height, landed_time);
503 azel (struct ao_azel *r, struct ao_quaternion *q)
507 r->az = floor (atan2(q->y, q->x) * 180/M_PI + 0.5);
508 v = sqrt (q->x*q->x + q->y*q->y);
509 r->el = floor (atan2(q->z, v) * 180/M_PI + 0.5);
518 ao_data_ring[ao_data_head] = ao_data_static;
519 if (ao_flight_state != ao_flight_startup) {
521 double accel = ((ao_flight_ground_accel - ao_data_accel(&ao_data_static)) * GRAVITY * 2.0) /
522 (ao_config.accel_minus_g - ao_config.accel_plus_g);
529 tick_offset = -ao_data_static.tick;
530 if ((prev_tick - ao_data_static.tick) > 0x400)
531 tick_offset += 65536;
533 int ticks = ao_data_static.tick - prev_tick;
536 simple_speed += accel * ticks / 100.0;
538 prev_tick = ao_data_static.tick;
539 time = (double) (ao_data_static.tick + tick_offset) / 100;
543 #if TELEMEGA || TELEMETRUM_V2 || EASYMINI
544 ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
545 height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height;
547 /* Hack to skip baro spike at accidental drogue charge
548 * firing in 2015-09-26-serial-2093-flight-0012.eeprom
549 * so we can test the kalman filter with this data. Just
550 * keep reporting the same baro value across the pressure spike
553 static struct ao_ms5607_sample save;
554 if (ao_serial_number == 2093 && ao_flight_number == 12 && 32.5 < time && time < 33.7) {
555 ao_data_ring[ao_data_head].ms5607_raw = save;
557 save = ao_data_static.ms5607_raw;
561 height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
565 if (ao_test_max_height < height) {
566 ao_test_max_height = height;
567 ao_test_max_height_time = time;
568 ao_test_landed_height = height;
569 ao_test_landed_time = time;
571 if (height > ao_config.main_deploy) {
572 ao_test_main_height_time = time;
573 ao_test_main_height = height;
576 if (ao_test_landed_height > height) {
577 ao_test_landed_height = height;
578 ao_test_landed_time = time;
581 if (ao_flight_state == ao_flight_landed && !landed_set) {
584 landed_height = height;
589 static struct ao_quaternion ao_ground_mag;
590 static int ao_ground_mag_set;
592 if (!ao_ground_mag_set) {
593 ao_quaternion_init_vector (&ao_ground_mag,
594 ao_data_mag_across(&ao_data_static),
595 ao_data_mag_through(&ao_data_static),
596 ao_data_mag_along(&ao_data_static));
597 ao_quaternion_normalize(&ao_ground_mag, &ao_ground_mag);
598 ao_quaternion_rotate(&ao_ground_mag, &ao_ground_mag, &ao_rotation);
599 ao_ground_mag_set = 1;
602 struct ao_quaternion ao_mag, ao_mag_rot;
604 ao_quaternion_init_vector(&ao_mag,
605 ao_data_mag_across(&ao_data_static),
606 ao_data_mag_through(&ao_data_static),
607 ao_data_mag_along(&ao_data_static));
609 ao_quaternion_normalize(&ao_mag, &ao_mag);
610 ao_quaternion_rotate(&ao_mag_rot, &ao_mag, &ao_rotation);
615 ao_dot = ao_quaternion_dot(&ao_mag_rot, &ao_ground_mag);
617 struct ao_azel ground_azel, mag_azel, rot_azel;
619 azel(&ground_azel, &ao_ground_mag);
620 azel(&mag_azel, &ao_mag);
621 azel(&rot_azel, &ao_mag_rot);
623 ao_mag_angle = floor (acos(ao_dot) * 180 / M_PI + 0.5);
627 static struct ao_quaternion ao_x = { .r = 0, .x = 1, .y = 0, .z = 0 };
628 struct ao_quaternion ao_out;
630 ao_quaternion_rotate(&ao_out, &ao_x, &ao_rotation);
633 int out = floor (atan2(ao_out.y, ao_out.x) * 180 / M_PI);
635 printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d mag_tilt %4d mag_rot %4d\n",
637 ao_state_names[ao_flight_state],
638 ao_k_height / 65536.0,
639 ao_sample_orient, out,
644 printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d dist %12.2f gps_tilt %4d gps_sats %2d\n",
646 ao_state_names[ao_flight_state],
647 ao_k_height / 65536.0,
648 ao_sample_orient, out,
649 ao_distance_from_pad(),
650 (int) floor (ao_gps_angle() + 0.5),
651 (ao_gps_static.flags & 0xf) * 10);
655 printf ("\t\tstate %-8.8s ground az: %4d el %4d mag az %4d el %4d rot az %4d el %4d el_diff %4d az_diff %4d angle %4d tilt %4d ground %8.5f %8.5f %8.5f cur %8.5f %8.5f %8.5f rot %8.5f %8.5f %8.5f\n",
656 ao_state_names[ao_flight_state],
657 ground_azel.az, ground_azel.el,
658 mag_azel.az, mag_azel.el,
659 rot_azel.az, rot_azel.el,
660 ground_azel.el - rot_azel.el,
661 ground_azel.az - rot_azel.az,
677 printf("%7.2f height %8.2f accel %8.3f accel_speed %8.3f "
678 "state %d k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d"
681 "accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f mag_x %8d mag_y %8d, mag_z %8d mag_angle %4d "
688 simple_speed > -100.0 ? simple_speed : -100.0,
689 ao_flight_state * 10,
690 ao_k_height / 65536.0,
691 ao_k_speed / 65536.0 / 16.0,
692 ao_k_accel / 65536.0 / 16.0,
700 ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
701 ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
702 ao_mpu6000_accel(ao_data_static.mpu6000.accel_z),
703 ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x),
704 ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y),
705 ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z),
706 ao_data_static.hmc5883.x,
707 ao_data_static.hmc5883.y,
708 ao_data_static.hmc5883.z,
710 ao_coast_avg_accel / 16.0
715 // if (ao_flight_state == ao_flight_landed)
719 ao_data_head = ao_data_ring_next(ao_data_head);
724 uint16(uint8_t *bytes, int off)
726 return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
730 int16(uint8_t *bytes, int off)
732 return (int16_t) uint16(bytes, off);
736 uint32(uint8_t *bytes, int off)
738 return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
739 (((uint32_t) bytes[off+2]) << 16) |
740 (((uint32_t) bytes[off+3]) << 24);
744 int32(uint8_t *bytes, int off)
746 return (int32_t) uint32(bytes, off);
750 uint24(uint8_t *bytes, int off)
752 return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
753 (((uint32_t) bytes[off+2]) << 16);
757 int24(uint8_t *bytes, int off)
759 return (int32_t) uint24(bytes, off);
762 static int log_format;
765 ao_sleep(void *wchan)
767 if (wchan == &ao_data_head) {
769 if (ao_flight_state >= ao_flight_boost && ao_flight_state < ao_flight_landed)
773 if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
777 ao_data_static.mpu6000 = ao_ground_mpu6000;
780 ao_data_static.adc.accel = ao_flight_ground_accel;
783 ao_data_static.adxl375.AO_ADXL375_AXIS = ao_flight_ground_accel;
791 #if TELEMEGA || EASYMOTOR_V_2
792 struct ao_log_mega *log_mega;
795 struct ao_log_motor *log_motor;
798 struct ao_log_metrum *log_metrum;
801 struct ao_log_mini *log_mini;
804 struct ao_log_record *log_record;
807 if (eeprom_offset >= eeprom->len) {
808 if (++ao_eof_read >= 1000)
810 printf ("no more data, exiting simulation\n");
812 ao_data_static.tick += 10;
816 switch (eeprom->log_format) {
818 case AO_LOG_FORMAT_TELEMEGA_OLD:
819 case AO_LOG_FORMAT_TELEMEGA:
820 log_mega = (struct ao_log_mega *) &eeprom->data[eeprom_offset];
821 eeprom_offset += sizeof (*log_mega);
822 switch (log_mega->type) {
824 ao_flight_number = log_mega->u.flight.flight;
825 ao_flight_ground_accel = log_mega->u.flight.ground_accel;
826 ao_flight_started = 1;
827 ao_ground_pres = log_mega->u.flight.ground_pres;
828 ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
829 ao_ground_accel_along = log_mega->u.flight.ground_accel_along;
830 ao_ground_accel_across = log_mega->u.flight.ground_accel_across;
831 ao_ground_accel_through = log_mega->u.flight.ground_accel_through;
832 ao_ground_roll = log_mega->u.flight.ground_roll;
833 ao_ground_pitch = log_mega->u.flight.ground_pitch;
834 ao_ground_yaw = log_mega->u.flight.ground_yaw;
835 ao_ground_mpu6000.accel_x = ao_ground_accel_across;
836 ao_ground_mpu6000.accel_y = ao_ground_accel_along;
837 ao_ground_mpu6000.accel_z = ao_ground_accel_through;
838 ao_ground_mpu6000.gyro_x = ao_ground_pitch >> 9;
839 ao_ground_mpu6000.gyro_y = ao_ground_roll >> 9;
840 ao_ground_mpu6000.gyro_z = ao_ground_yaw >> 9;
845 ao_data_static.tick = log_mega->tick;
846 ao_data_static.ms5607_raw.pres = log_mega->u.sensor.pres;
847 ao_data_static.ms5607_raw.temp = log_mega->u.sensor.temp;
848 ao_data_static.mpu6000.accel_x = log_mega->u.sensor.accel_x;
849 ao_data_static.mpu6000.accel_y = log_mega->u.sensor.accel_y;
850 ao_data_static.mpu6000.accel_z = log_mega->u.sensor.accel_z;
851 ao_data_static.mpu6000.gyro_x = log_mega->u.sensor.gyro_x;
852 ao_data_static.mpu6000.gyro_y = log_mega->u.sensor.gyro_y;
853 ao_data_static.mpu6000.gyro_z = log_mega->u.sensor.gyro_z;
854 ao_data_static.hmc5883.x = log_mega->u.sensor.mag_x;
855 ao_data_static.hmc5883.y = log_mega->u.sensor.mag_y;
856 ao_data_static.hmc5883.z = log_mega->u.sensor.mag_z;
857 ao_data_static.mma655x = log_mega->u.sensor.accel;
858 if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
859 ao_data_static.mma655x = ao_data_accel_invert(ao_data_static.mma655x);
863 case AO_LOG_TEMP_VOLT:
864 if (pyros_fired != log_mega->u.volt.pyro) {
865 printf("pyro changed %x -> %x\n", pyros_fired, log_mega->u.volt.pyro);
866 pyros_fired = log_mega->u.volt.pyro;
869 case AO_LOG_GPS_TIME:
870 ao_gps_prev = ao_gps_static;
871 ao_gps_static.tick = log_mega->tick;
872 ao_gps_static.latitude = log_mega->u.gps.latitude;
873 ao_gps_static.longitude = log_mega->u.gps.longitude;
875 int16_t altitude_low = log_mega->u.gps.altitude_low;
876 int16_t altitude_high = log_mega->u.gps.altitude_high;
877 int32_t altitude = altitude_low | ((int32_t) altitude_high << 16);
879 AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_static, altitude);
881 ao_gps_static.flags = log_mega->u.gps.flags;
883 ao_gps_first = ao_gps_static;
892 case AO_LOG_FORMAT_TELEMETRUM:
893 log_metrum = (struct ao_log_metrum *) &eeprom->data[eeprom_offset];
894 eeprom_offset += sizeof (*log_metrum);
895 switch (log_metrum->type) {
897 ao_flight_started = 1;
898 ao_flight_number = log_metrum->u.flight.flight;
899 ao_flight_ground_accel = log_metrum->u.flight.ground_accel;
900 ao_ground_pres = log_metrum->u.flight.ground_pres;
901 ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
904 ao_data_static.tick = log_metrum->tick;
905 ao_data_static.ms5607_raw.pres = log_metrum->u.sensor.pres;
906 ao_data_static.ms5607_raw.temp = log_metrum->u.sensor.temp;
907 ao_data_static.mma655x = log_metrum->u.sensor.accel;
915 case AO_LOG_FORMAT_EASYMINI1:
916 case AO_LOG_FORMAT_EASYMINI2:
917 case AO_LOG_FORMAT_TELEMINI3:
918 log_mini = (struct ao_log_mini *) &eeprom->data[eeprom_offset];
919 eeprom_offset += sizeof (*log_mini);
920 switch (log_mini->type) {
922 ao_flight_started = 1;
923 ao_flight_number = log_mini->u.flight.flight;
924 ao_ground_pres = log_mini->u.flight.ground_pres;
925 ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
928 ao_data_static.tick = log_mini->tick;
929 ao_data_static.ms5607_raw.pres = int24(log_mini->u.sensor.pres, 0);
930 ao_data_static.ms5607_raw.temp = int24(log_mini->u.sensor.temp, 0);
938 case AO_LOG_FORMAT_FULL:
939 case AO_LOG_FORMAT_TINY:
940 log_record = (struct ao_log_record *) &eeprom->data[eeprom_offset];
941 eeprom_offset += sizeof (*log_record);
942 switch (log_record->type) {
944 ao_flight_started = 1;
945 ao_flight_ground_accel = log_record->u.flight.ground_accel;
946 ao_flight_number = log_record->u.flight.flight;
949 case 'P': /* ancient telemini */
950 ao_data_static.tick = log_record->tick;
951 ao_data_static.adc.accel = log_record->u.sensor.accel;
952 ao_data_static.adc.pres_real = log_record->u.sensor.pres;
953 ao_data_static.adc.pres = log_record->u.sensor.pres;
957 case AO_LOG_TEMP_VOLT:
958 ao_data_static.tick = log_record->tick;;
959 ao_data_static.adc.temp = log_record->u.temp_volt.temp;
960 ao_data_static.adc.v_batt = log_record->u.temp_volt.v_batt;
966 case AO_LOG_FORMAT_TELEMEGA_3:
967 log_mega = (struct ao_log_mega *) &eeprom->data[eeprom_offset];
968 eeprom_offset += sizeof (*log_mega);
969 switch (log_mega->type) {
971 ao_flight_number = log_mega->u.flight.flight;
972 ao_flight_ground_accel = log_mega->u.flight.ground_accel;
973 ao_flight_started = 1;
976 ao_data_static.tick = log_mega->tick;
977 ao_data_static.adxl375.AO_ADXL375_AXIS = -log_mega->u.sensor.accel;
983 case AO_LOG_FORMAT_TELEMEGA_4:
984 log_mega = (struct ao_log_mega *) &eeprom->data[eeprom_offset];
985 eeprom_offset += sizeof (*log_mega);
986 switch (log_mega->type) {
988 ao_flight_number = log_mega->u.flight.flight;
989 ao_flight_ground_accel = log_mega->u.flight.ground_accel;
990 ao_flight_started = 1;
993 ao_data_static.tick = log_mega->tick;
994 ao_data_static.adxl375.AO_ADXL375_AXIS = log_mega->u.sensor.accel;
1000 case AO_LOG_FORMAT_EASYMOTOR:
1001 log_motor = (struct ao_log_motor *) &eeprom->data[eeprom_offset];
1002 eeprom_offset += sizeof (*log_motor);
1003 switch (log_motor->type) {
1005 ao_flight_number = log_motor->u.flight.flight;
1006 ao_flight_ground_accel = log_motor->u.flight.ground_accel;
1007 ao_flight_started = 1;
1010 ao_data_static.tick = log_motor->tick;
1011 ao_data_static.adc.pressure = log_motor->u.sensor.pressure;
1012 ao_data_static.adc.v_batt = log_motor->u.sensor.v_batt;
1013 ao_data_static.adxl375.AO_ADXL375_AXIS = log_motor->u.sensor.accel_along;
1014 ao_data_static.adxl375.AO_ADXL375_ACROSS_AXIS = log_motor->u.sensor.accel_across;
1015 ao_data_static.adxl375.AO_ADXL375_THROUGH_AXIS = log_motor->u.sensor.accel_through;
1023 printf ("invalid log format %d\n", log_format);
1031 #define COUNTS_PER_G 264.8
1038 static const struct option options[] = {
1039 { .name = "summary", .has_arg = 0, .val = 's' },
1040 { .name = "debug", .has_arg = 0, .val = 'd' },
1041 { .name = "info", .has_arg = 1, .val = 'i' },
1045 void run_flight_fixed(char *name, FILE *f, int summary, char *info)
1047 emulator_name = name;
1049 emulator_info = info;
1050 ao_summary = summary;
1052 if (strstr(name, ".eeprom") != NULL) {
1058 eeprom = ao_eeprom_read(f);
1060 eeprom = ao_eeprom_read_old(f);
1064 ao_ms5607_prom = eeprom->ms5607_prom;
1066 ao_config = eeprom->config;
1067 ao_serial_number = eeprom->serial_number;
1068 log_format = eeprom->log_format;
1077 main (int argc, char **argv)
1085 emulator_app="full";
1087 emulator_app="baro";
1089 while ((c = getopt_long(argc, argv, "sdpi:", options, NULL)) != -1) {
1095 ao_flight_debug = 1;
1109 run_flight_fixed("<stdin>", stdin, summary, info);
1111 for (i = optind; i < argc; i++) {
1112 FILE *f = fopen(argv[i], "r");
1117 run_flight_fixed(argv[i], f, summary, info);