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; version 2 of the License.
8 * This program is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * General Public License for more details.
13 * You should have received a copy of the GNU General Public License along
14 * with this program; if not, write to the Free Software Foundation, Inc.,
15 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
30 #define AO_DATA_RING 64
31 #define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1))
32 #define ao_data_ring_prev(n) (((n) - 1) & (AO_DATA_RING - 1))
34 #define AO_M_TO_HEIGHT(m) ((int16_t) (m))
35 #define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16))
36 #define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16))
39 #define AO_ADC_NUM_SENSE 6
45 int16_t sense[AO_ADC_NUM_SENSE];
54 * One set of samples read from the A/D converter
57 int16_t accel; /* accelerometer */
58 int16_t pres; /* pressure sensor */
59 int16_t pres_real; /* unclipped */
60 int16_t temp; /* temperature sensor */
61 int16_t v_batt; /* battery voltage */
62 int16_t sense_d; /* drogue continuity sense */
63 int16_t sense_m; /* main continuity sense */
68 #define HAS_ACCEL_REF 0
87 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
88 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
89 #define from_fix(x) ((x) >> 16)
92 * Above this height, the baro sensor doesn't work
94 #define AO_BARO_SATURATE 13000
95 #define AO_MIN_BARO_VALUE ao_altitude_to_pres(AO_BARO_SATURATE)
98 * Above this speed, baro measurements are unreliable
100 #define AO_MAX_BARO_SPEED 200
102 #define ACCEL_NOSE_UP (ao_accel_2g >> 2)
104 extern enum ao_flight_state ao_flight_state;
109 volatile struct ao_data ao_data_ring[AO_DATA_RING];
110 volatile uint8_t ao_data_head;
114 #define ao_led_off(l)
115 #define ao_timer_set_adc_interval(i)
116 #define ao_wakeup(wchan) ao_dump_state()
117 #define ao_cmd_register(c)
118 #define ao_usb_disable()
119 #define ao_telemetry_set_interval(x)
120 #define ao_rdf_set(rdf)
121 #define ao_packet_slave_start()
122 #define ao_packet_slave_stop()
125 ao_igniter_drogue = 0,
129 struct ao_data ao_data_static;
138 static int32_t ao_k_height;
141 ao_ignite(enum ao_igniter igniter)
143 double time = (double) (ao_data_static.tick + tick_offset) / 100;
145 if (igniter == ao_igniter_drogue) {
147 drogue_height = ao_k_height >> 16;
150 main_height = ao_k_height >> 16;
158 #define ao_add_task(t,f,n) ((void) (t))
160 #define ao_log_start()
161 #define ao_log_stop()
163 #define AO_MS_TO_TICKS(ms) ((ms) / 10)
164 #define AO_SEC_TO_TICKS(s) ((s) * 100)
166 #define AO_FLIGHT_TEST
174 double emulator_error_max = 4;
175 double emulator_height_error_max = 20; /* noise in the baro sensor */
181 ao_sleep(void *wchan);
183 const char const * const ao_state_names[] = {
184 "startup", "idle", "pad", "boost", "fast",
185 "coast", "drogue", "main", "landed", "invalid"
193 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
194 #define ao_xmemset(d,v,c) memset(d,v,c)
195 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
197 #define AO_NEED_ALTITUDE_TO_PRES 1
199 #include "ao_convert_pa.c"
200 #include <ao_ms5607.h>
201 struct ao_ms5607_prom ms5607_prom;
202 #include "ao_ms5607_convert.c"
204 #include "ao_convert.c"
208 uint16_t main_deploy;
209 int16_t accel_plus_g;
210 int16_t accel_minus_g;
211 uint8_t pad_orientation;
212 uint16_t apogee_lockout;
215 #define AO_PAD_ORIENTATION_ANTENNA_UP 0
216 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
218 #define ao_config_get()
220 struct ao_config ao_config;
222 #define DATA_TO_XDATA(x) (x)
225 #define GRAVITY 9.80665
226 extern int16_t ao_ground_accel, ao_flight_accel;
227 extern int16_t ao_accel_2g;
229 typedef int16_t accel_t;
231 extern uint16_t ao_sample_tick;
233 extern alt_t ao_sample_height;
234 extern accel_t ao_sample_accel;
235 extern int32_t ao_accel_scale;
236 extern alt_t ao_ground_height;
237 extern alt_t ao_sample_alt;
239 double ao_sample_qangle;
241 int ao_sample_prev_tick;
245 #include "ao_kalman.c"
247 #include "ao_sample.c"
248 #include "ao_flight.c"
250 #define to_double(f) ((f) / 65536.0)
252 static int ao_records_read = 0;
253 static int ao_eof_read = 0;
254 static int ao_flight_ground_accel;
255 static int ao_flight_started = 0;
256 static int ao_test_max_height;
257 static double ao_test_max_height_time;
258 static int ao_test_main_height;
259 static double ao_test_main_height_time;
260 static double ao_test_landed_time;
261 static double ao_test_landed_height;
262 static double ao_test_landed_time;
263 static int landed_set;
264 static double landed_time;
265 static double landed_height;
268 static struct ao_mpu6000_sample ao_ground_mpu6000;
277 double landed_time_error;
279 if (!ao_test_main_height_time) {
280 ao_test_main_height_time = ao_test_max_height_time;
281 ao_test_main_height = ao_test_max_height;
283 drogue_error = fabs(ao_test_max_height_time - drogue_time);
284 main_error = fabs(ao_test_main_height_time - main_time);
285 landed_error = fabs(ao_test_landed_height - landed_height);
286 landed_time_error = ao_test_landed_time - landed_time;
287 if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
289 emulator_app, emulator_name);
291 printf ("\t%s\n", emulator_info);
292 printf ("\tApogee error %g\n", drogue_error);
293 printf ("\tMain error %g\n", main_error);
294 printf ("\tLanded height error %g\n", landed_error);
295 printf ("\tLanded time error %g\n", landed_time_error);
296 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
297 ao_test_max_height, ao_test_max_height_time,
298 ao_test_main_height, ao_test_main_height_time,
299 ao_test_landed_height, ao_test_landed_time);
300 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
301 drogue_height, drogue_time, main_height, main_time,
302 landed_height, landed_time);
310 ao_mpu6000_accel(int16_t sensor)
312 return sensor / 32767.0 * MPU6000_ACCEL_FULLSCALE * GRAVITY;
316 ao_mpu6000_gyro(int32_t sensor)
318 return sensor / 32767.0 * MPU6000_GYRO_FULLSCALE;
327 ao_data_ring[ao_data_head] = ao_data_static;
328 ao_data_head = ao_data_ring_next(ao_data_head);
329 if (ao_flight_state != ao_flight_startup) {
331 double accel = ((ao_flight_ground_accel - ao_data_accel_cook(&ao_data_static)) * GRAVITY * 2.0) /
332 (ao_config.accel_minus_g - ao_config.accel_plus_g);
339 ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
340 height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height;
342 double height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
346 tick_offset = -ao_data_static.tick;
347 if ((prev_tick - ao_data_static.tick) > 0x400)
348 tick_offset += 65536;
349 prev_tick = ao_data_static.tick;
350 time = (double) (ao_data_static.tick + tick_offset) / 100;
352 if (ao_test_max_height < height) {
353 ao_test_max_height = height;
354 ao_test_max_height_time = time;
355 ao_test_landed_height = height;
356 ao_test_landed_time = time;
358 if (height > ao_config.main_deploy) {
359 ao_test_main_height_time = time;
360 ao_test_main_height = height;
363 if (ao_test_landed_height > height) {
364 ao_test_landed_height = height;
365 ao_test_landed_time = time;
368 if (ao_flight_state == ao_flight_landed && !landed_set) {
371 landed_height = height;
375 printf("%7.2f height %8.2f accel %8.3f "
377 "roll %8.3f angle %8.3f qangle %8.3f "
378 "accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f "
380 "state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d\n",
385 ao_mpu6000_gyro(ao_sample_roll_angle) / 100.0,
386 ao_mpu6000_gyro(ao_sample_angle) / 100.0,
388 ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
389 ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
390 ao_mpu6000_accel(ao_data_static.mpu6000.accel_z),
391 ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x),
392 ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y),
393 ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z),
395 ao_state_names[ao_flight_state],
396 ao_k_height / 65536.0,
397 ao_k_speed / 65536.0 / 16.0,
398 ao_k_accel / 65536.0 / 16.0,
404 // if (ao_flight_state == ao_flight_landed)
410 #define AO_MAX_CALLSIGN 8
411 #define AO_MAX_VERSION 8
412 #define AO_MAX_TELEMETRY 128
414 struct ao_telemetry_generic {
415 uint16_t serial; /* 0 */
416 uint16_t tick; /* 2 */
417 uint8_t type; /* 4 */
418 uint8_t payload[27]; /* 5 */
422 #define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01
423 #define AO_TELEMETRY_SENSOR_TELEMINI 0x02
424 #define AO_TELEMETRY_SENSOR_TELENANO 0x03
426 struct ao_telemetry_sensor {
427 uint16_t serial; /* 0 */
428 uint16_t tick; /* 2 */
429 uint8_t type; /* 4 */
431 uint8_t state; /* 5 flight state */
432 int16_t accel; /* 6 accelerometer (TM only) */
433 int16_t pres; /* 8 pressure sensor */
434 int16_t temp; /* 10 temperature sensor */
435 int16_t v_batt; /* 12 battery voltage */
436 int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */
437 int16_t sense_m; /* 16 main continuity sense (TM/Tm) */
439 int16_t acceleration; /* 18 m/s² * 16 */
440 int16_t speed; /* 20 m/s * 16 */
441 int16_t height; /* 22 m */
443 int16_t ground_pres; /* 24 average pres on pad */
444 int16_t ground_accel; /* 26 average accel on pad */
445 int16_t accel_plus_g; /* 28 accel calibration at +1g */
446 int16_t accel_minus_g; /* 30 accel calibration at -1g */
450 #define AO_TELEMETRY_CONFIGURATION 0x04
452 struct ao_telemetry_configuration {
453 uint16_t serial; /* 0 */
454 uint16_t tick; /* 2 */
455 uint8_t type; /* 4 */
457 uint8_t device; /* 5 device type */
458 uint16_t flight; /* 6 flight number */
459 uint8_t config_major; /* 8 Config major version */
460 uint8_t config_minor; /* 9 Config minor version */
461 uint16_t apogee_delay; /* 10 Apogee deploy delay in seconds */
462 uint16_t main_deploy; /* 12 Main deploy alt in meters */
463 uint16_t flight_log_max; /* 14 Maximum flight log size in kB */
464 char callsign[AO_MAX_CALLSIGN]; /* 16 Radio operator identity */
465 char version[AO_MAX_VERSION]; /* 24 Software version */
469 #define AO_TELEMETRY_LOCATION 0x05
471 #define AO_GPS_MODE_NOT_VALID 'N'
472 #define AO_GPS_MODE_AUTONOMOUS 'A'
473 #define AO_GPS_MODE_DIFFERENTIAL 'D'
474 #define AO_GPS_MODE_ESTIMATED 'E'
475 #define AO_GPS_MODE_MANUAL 'M'
476 #define AO_GPS_MODE_SIMULATED 'S'
478 struct ao_telemetry_location {
479 uint16_t serial; /* 0 */
480 uint16_t tick; /* 2 */
481 uint8_t type; /* 4 */
483 uint8_t flags; /* 5 Number of sats and other flags */
484 int16_t altitude; /* 6 GPS reported altitude (m) */
485 int32_t latitude; /* 8 latitude (degrees * 10⁷) */
486 int32_t longitude; /* 12 longitude (degrees * 10⁷) */
487 uint8_t year; /* 16 (- 2000) */
488 uint8_t month; /* 17 (1-12) */
489 uint8_t day; /* 18 (1-31) */
490 uint8_t hour; /* 19 (0-23) */
491 uint8_t minute; /* 20 (0-59) */
492 uint8_t second; /* 21 (0-59) */
493 uint8_t pdop; /* 22 (m * 5) */
494 uint8_t hdop; /* 23 (m * 5) */
495 uint8_t vdop; /* 24 (m * 5) */
496 uint8_t mode; /* 25 */
497 uint16_t ground_speed; /* 26 cm/s */
498 int16_t climb_rate; /* 28 cm/s */
499 uint8_t course; /* 30 degrees / 2 */
500 uint8_t unused[1]; /* 31 */
504 #define AO_TELEMETRY_SATELLITE 0x06
506 struct ao_telemetry_satellite_info {
511 struct ao_telemetry_satellite {
512 uint16_t serial; /* 0 */
513 uint16_t tick; /* 2 */
514 uint8_t type; /* 4 */
515 uint8_t channels; /* 5 number of reported sats */
517 struct ao_telemetry_satellite_info sats[12]; /* 6 */
518 uint8_t unused[2]; /* 30 */
522 union ao_telemetry_all {
523 struct ao_telemetry_generic generic;
524 struct ao_telemetry_sensor sensor;
525 struct ao_telemetry_configuration configuration;
526 struct ao_telemetry_location location;
527 struct ao_telemetry_satellite satellite;
531 uint16(uint8_t *bytes, int off)
533 return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
537 int16(uint8_t *bytes, int off)
539 return (int16_t) uint16(bytes, off);
543 uint32(uint8_t *bytes, int off)
545 return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
546 (((uint32_t) bytes[off+2]) << 16) |
547 (((uint32_t) bytes[off+3]) << 24);
551 int32(uint8_t *bytes, int off)
553 return (int32_t) uint32(bytes, off);
556 static int log_format;
561 ao_vec_norm(double x, double y, double z)
563 return x*x + y*y + z*z;
567 ao_vec_normalize(double *x, double *y, double *z)
569 double scale = 1/sqrt(ao_vec_norm(*x, *y, *z));
577 double q0, q1, q2, q3;
581 ao_quat_mul(struct ao_quat *r, struct ao_quat *a, struct ao_quat *b)
583 r->q0 = a->q0 * b->q0 - a->q1 * b->q1 - a->q2 * b->q2 - a->q3 * b->q3;
584 r->q1 = a->q0 * b->q1 + a->q1 * b->q0 + a->q2 * b->q3 - a->q3 * b->q2;
585 r->q2 = a->q0 * b->q2 - a->q1 * b->q3 + a->q2 * b->q0 + a->q3 * b->q1;
586 r->q3 = a->q0 * b->q3 + a->q1 * b->q2 - a->q2 * b->q1 + a->q3 * b->q0;
591 ao_quat_scale(struct ao_quat *r, struct ao_quat *a, double s)
601 ao_quat_conj(struct ao_quat *r, struct ao_quat *a)
610 ao_quat_rot(struct ao_quat *r, struct ao_quat *a, struct ao_quat *q)
614 ao_quat_mul(&t, q, a);
616 ao_quat_mul(r, &t, &c);
620 ao_quat_from_angle(struct ao_quat *r,
625 double angle = sqrt (x_rad * x_rad + y_rad * y_rad + z_rad * z_rad);
626 double s = sin(angle/2);
627 double c = cos(angle/2);
630 r->q1 = x_rad * s / angle;
631 r->q2 = y_rad * s / angle;
632 r->q3 = z_rad * s / angle;
636 ao_quat_from_vector(struct ao_quat *r, double x, double y, double z)
638 ao_vec_normalize(&x, &y, &z);
639 double x_rad = atan2(z, y);
640 double y_rad = atan2(x, z);
641 double z_rad = atan2(y, x);
643 ao_quat_from_angle(r, x_rad, y_rad, z_rad);
647 ao_quat_norm(struct ao_quat *a)
649 return (a->q0 * a->q0 +
656 ao_quat_normalize(struct ao_quat *a)
658 double norm = ao_quat_norm(a);
661 double m = 1/sqrt(norm);
670 static struct ao_quat ao_up, ao_current;
671 static struct ao_quat ao_orient;
672 static int ao_orient_tick;
675 set_orientation(double x, double y, double z, int tick)
679 printf ("set_orientation %g %g %g\n", x, y, z);
680 ao_quat_from_vector(&ao_orient, x, y, z);
681 ao_up.q1 = ao_up.q2 = 0;
682 ao_up.q0 = ao_up.q3 = sqrt(2)/2;
683 ao_orient_tick = tick;
690 printf ("orient (%g) %g %g %g up (%g) %g %g %g\n",
700 ao_quat_rot(&t, &ao_up, &ao_orient);
701 printf ("pad orient (%g) %g %g %g\n",
710 update_orientation (double rate_x, double rate_y, double rate_z, int tick)
712 struct ao_quat q_dot;
714 double dt = (tick - ao_orient_tick) / 100.0;
716 ao_orient_tick = tick;
718 // lambda = 1 - ao_quat_norm(&ao_orient);
721 q_dot.q0 = -0.5 * (ao_orient.q1 * rate_x + ao_orient.q2 * rate_y + ao_orient.q3 * rate_z) + lambda * ao_orient.q0;
722 q_dot.q1 = 0.5 * (ao_orient.q0 * rate_x + ao_orient.q2 * rate_z - ao_orient.q3 * rate_y) + lambda * ao_orient.q1;
723 q_dot.q2 = 0.5 * (ao_orient.q0 * rate_y + ao_orient.q3 * rate_x - ao_orient.q1 * rate_z) + lambda * ao_orient.q2;
724 q_dot.q3 = 0.5 * (ao_orient.q0 * rate_z + ao_orient.q1 * rate_y - ao_orient.q2 * rate_x) + lambda * ao_orient.q3;
727 printf ("update_orientation %g %g %g (%g s)\n", rate_x, rate_y, rate_z, dt);
728 printf ("q_dot (%g) %g %g %g\n",
735 ao_orient.q0 += q_dot.q0 * dt;
736 ao_orient.q1 += q_dot.q1 * dt;
737 ao_orient.q2 += q_dot.q2 * dt;
738 ao_orient.q3 += q_dot.q3 * dt;
740 ao_quat_normalize(&ao_orient);
742 ao_quat_rot(&ao_current, &ao_up, &ao_orient);
744 ao_sample_qangle = 180 / M_PI * acos(ao_current.q3 * sqrt(2));
746 printf ("orient (%g) %g %g %g current (%g) %g %g %g\n",
760 ao_sleep(void *wchan)
762 if (wchan == &ao_data_head) {
765 uint16_t a = 0, b = 0;
767 union ao_telemetry_all telem;
775 if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
778 ao_data_static.mpu6000 = ao_ground_mpu6000;
780 ao_data_static.adc.accel = ao_flight_ground_accel;
786 if (!fgets(line, sizeof (line), emulator_in)) {
787 if (++ao_eof_read >= 1000) {
789 printf ("no more data, exiting simulation\n");
792 ao_data_static.tick += 10;
797 for (nword = 0; nword < 64; nword++) {
798 words[nword] = strtok_r(l, " \t\n", &saveptr);
800 if (words[nword] == NULL)
804 if (log_format == AO_LOG_FORMAT_MEGAMETRUM && nword == 30 && strlen(words[0]) == 1) {
806 struct ao_ms5607_value value;
809 tick = strtoul(words[1], NULL, 16);
810 // printf ("%c %04x", type, tick);
811 for (i = 2; i < nword; i++) {
812 bytes[i - 2] = strtoul(words[i], NULL, 16);
813 // printf(" %02x", bytes[i-2]);
818 ao_flight_ground_accel = int16(bytes, 2);
819 ao_flight_started = 1;
820 ao_ground_pres = int32(bytes, 4);
821 ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
824 ao_data_static.tick = tick;
825 ao_data_static.ms5607_raw.pres = int32(bytes, 0);
826 ao_data_static.ms5607_raw.temp = int32(bytes, 4);
827 ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
828 ao_data_static.mpu6000.accel_x = int16(bytes, 8);
829 ao_data_static.mpu6000.accel_y = -int16(bytes, 10);
830 ao_data_static.mpu6000.accel_z = int16(bytes, 12);
831 ao_data_static.mpu6000.gyro_x = int16(bytes, 14);
832 ao_data_static.mpu6000.gyro_y = -int16(bytes, 16);
833 ao_data_static.mpu6000.gyro_z = int16(bytes, 18);
835 ao_data_static.mma655x = int16(bytes, 26);
837 if (ao_records_read == 0)
838 ao_ground_mpu6000 = ao_data_static.mpu6000;
839 else if (ao_records_read < 10) {
840 #define f(f) ao_ground_mpu6000.f = ao_ground_mpu6000.f + ((ao_data_static.mpu6000.f - ao_ground_mpu6000.f) >> 2)
848 double accel_x = ao_mpu6000_accel(ao_ground_mpu6000.accel_x);
849 double accel_y = ao_mpu6000_accel(ao_ground_mpu6000.accel_y);
850 double accel_z = ao_mpu6000_accel(ao_ground_mpu6000.accel_z);
852 /* X and Y are in the ground plane, arbitraryily picked as MPU X and Z axes
853 * Z is normal to the ground, the MPU y axis
855 set_orientation(accel_x, accel_z, accel_y, tick);
857 double rate_x = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x);
858 double rate_y = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y);
859 double rate_z = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z);
861 update_orientation(rate_x * M_PI / 180, rate_z * M_PI / 180, rate_y * M_PI / 180, tick);
868 } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
869 if (strcmp(words[1], "reserved:") == 0)
870 ms5607_prom.reserved = strtoul(words[2], NULL, 10);
871 else if (strcmp(words[1], "sens:") == 0)
872 ms5607_prom.sens = strtoul(words[2], NULL, 10);
873 else if (strcmp(words[1], "off:") == 0)
874 ms5607_prom.off = strtoul(words[2], NULL, 10);
875 else if (strcmp(words[1], "tcs:") == 0)
876 ms5607_prom.tcs = strtoul(words[2], NULL, 10);
877 else if (strcmp(words[1], "tco:") == 0)
878 ms5607_prom.tco = strtoul(words[2], NULL, 10);
879 else if (strcmp(words[1], "tref:") == 0)
880 ms5607_prom.tref = strtoul(words[2], NULL, 10);
881 else if (strcmp(words[1], "tempsens:") == 0)
882 ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
883 else if (strcmp(words[1], "crc:") == 0)
884 ms5607_prom.crc = strtoul(words[2], NULL, 10);
888 if (nword == 4 && log_format != AO_LOG_FORMAT_MEGAMETRUM) {
890 tick = strtoul(words[1], NULL, 16);
891 a = strtoul(words[2], NULL, 16);
892 b = strtoul(words[3], NULL, 16);
897 else if (nword == 2 && strcmp(words[0], "log-format") == 0) {
898 log_format = strtoul(words[1], NULL, 10);
899 } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
900 ao_config.accel_plus_g = atoi(words[3]);
901 ao_config.accel_minus_g = atoi(words[5]);
902 } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
903 ao_config.main_deploy = atoi(words[2]);
904 } else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 &&
905 strcmp(words[1], "lockout:") == 0) {
906 ao_config.apogee_lockout = atoi(words[2]);
907 } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
908 tick = atoi(words[10]);
909 if (!ao_flight_started) {
912 ao_flight_started = 1;
918 } else if (nword == 3 && strcmp(words[0], "BARO") == 0) {
919 tick = strtol(words[1], NULL, 16);
921 b = strtol(words[2], NULL, 10);
923 if (!ao_flight_started) {
924 ao_flight_ground_accel = 16384 - 328;
925 ao_config.accel_plus_g = 16384 - 328;
926 ao_config.accel_minus_g = 16384 + 328;
927 ao_flight_started = 1;
929 } else if (nword == 2 && strcmp(words[0], "TELEM") == 0) {
930 __xdata char *hex = words[1];
936 if (len > sizeof (bytes) * 2) {
937 len = sizeof (bytes)*2;
940 for (i = 0; i < len; i += 2) {
944 bytes[i/2] = (uint8_t) strtol(elt, NULL, 16);
947 if (bytes[0] != len - 2) {
948 printf ("bad length %d != %d\n", bytes[0], len - 2);
952 for (i = 1; i < len-1; i++)
954 if (sum != bytes[len-1]) {
955 printf ("bad checksum\n");
958 if ((bytes[len-2] & 0x80) == 0) {
962 ao_xmemcpy(&telem, bytes + 1, 32);
963 tick = telem.generic.tick;
964 switch (telem.generic.type) {
965 case AO_TELEMETRY_SENSOR_TELEMETRUM:
966 case AO_TELEMETRY_SENSOR_TELEMINI:
967 case AO_TELEMETRY_SENSOR_TELENANO:
968 if (!ao_flight_started) {
969 ao_flight_ground_accel = telem.sensor.ground_accel;
970 ao_config.accel_plus_g = telem.sensor.accel_plus_g;
971 ao_config.accel_minus_g = telem.sensor.accel_minus_g;
972 ao_flight_started = 1;
975 a = telem.sensor.accel;
976 b = telem.sensor.pres;
979 } else if (len == 99) {
980 ao_flight_started = 1;
981 tick = uint16(bytes+1, 21);
982 ao_flight_ground_accel = int16(bytes+1, 7);
983 ao_config.accel_plus_g = int16(bytes+1, 17);
984 ao_config.accel_minus_g = int16(bytes+1, 19);
986 a = int16(bytes+1, 23);
987 b = int16(bytes+1, 25);
988 } else if (len == 98) {
989 ao_flight_started = 1;
990 tick = uint16(bytes+1, 20);
991 ao_flight_ground_accel = int16(bytes+1, 6);
992 ao_config.accel_plus_g = int16(bytes+1, 16);
993 ao_config.accel_minus_g = int16(bytes+1, 18);
995 a = int16(bytes+1, 22);
996 b = int16(bytes+1, 24);
998 printf("unknown len %d\n", len);
1002 if (type != 'F' && !ao_flight_started)
1011 ao_flight_ground_accel = a;
1012 if (ao_config.accel_plus_g == 0) {
1013 ao_config.accel_plus_g = a;
1014 ao_config.accel_minus_g = a + 530;
1016 if (ao_config.main_deploy == 0)
1017 ao_config.main_deploy = 250;
1018 ao_flight_started = 1;
1023 ao_data_static.tick = tick;
1024 ao_data_static.adc.accel = a;
1025 ao_data_static.adc.pres_real = b;
1026 if (b < AO_MIN_BARO_VALUE)
1027 b = AO_MIN_BARO_VALUE;
1028 ao_data_static.adc.pres = b;
1033 ao_data_static.tick = tick;
1034 ao_data_static.adc.temp = a;
1035 ao_data_static.adc.v_batt = b;
1049 #define COUNTS_PER_G 264.8
1056 static const struct option options[] = {
1057 { .name = "summary", .has_arg = 0, .val = 's' },
1058 { .name = "debug", .has_arg = 0, .val = 'd' },
1059 { .name = "info", .has_arg = 1, .val = 'i' },
1063 void run_flight_fixed(char *name, FILE *f, int summary, char *info)
1065 emulator_name = name;
1067 emulator_info = info;
1068 ao_summary = summary;
1074 main (int argc, char **argv)
1082 emulator_app="full";
1084 emulator_app="baro";
1086 while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) {
1092 ao_flight_debug = 1;
1101 run_flight_fixed("<stdin>", stdin, summary, info);
1103 for (i = optind; i < argc; i++) {
1104 FILE *f = fopen(argv[i], "r");
1109 run_flight_fixed(argv[i], f, summary, info);