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.
29 #define log ao_log_data
31 #define GRAVITY 9.80665
36 #define AO_DATA_RING 64
37 #define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1))
38 #define ao_data_ring_prev(n) (((n) - 1) & (AO_DATA_RING - 1))
41 #define AO_M_TO_HEIGHT(m) ((int16_t) (m))
42 #define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16))
43 #define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16))
46 #define AO_GPS_NEW_DATA 1
47 #define AO_GPS_NEW_TRACKING 2
51 #if !defined(TELEMEGA) && !defined(TELEMETRUM_V2) && !defined(EASYMINI) && !defined(EASYMOTOR_V_2)
52 #define TELEMETRUM_V1 1
56 #define AO_ADC_NUM_SENSE 6
63 #define AO_CONFIG_MAX_SIZE 1024
64 #define AO_MMA655X_INVERT 0
67 int16_t sense[AO_ADC_NUM_SENSE];
75 #define AO_ADC_NUM_SENSE 2
78 #define AO_MMA655X_INVERT 0
81 #define AO_CONFIG_MAX_SIZE 1024
92 #define AO_ADC_NUM_SENSE 2
95 #define AO_CONFIG_MAX_SIZE 1024
106 * One set of samples read from the A/D converter
109 int16_t accel; /* accelerometer */
110 int16_t pres; /* pressure sensor */
111 int16_t pres_real; /* unclipped */
112 int16_t temp; /* temperature sensor */
113 int16_t v_batt; /* battery voltage */
114 int16_t sense_d; /* drogue continuity sense */
115 int16_t sense_m; /* main continuity sense */
120 #define HAS_ACCEL_REF 0
127 #define AO_ADC_NUM_SENSE 0
128 #define HAS_ADXL375 1
130 #define AO_CONFIG_MAX_SIZE 1024
131 #define USE_ADXL375_IMU 1
132 #define AO_ADXL375_INVERT 0
134 #define AO_ADXL375_AXIS x
135 #define AO_ADXL375_ACROSS_AXIS y
136 #define AO_ADXL375_THROUGH_AXIS z
158 #define ao_tick_count (ao_time())
159 #define ao_wakeup(wchan) ao_dump_state()
163 #include <ao_telemetry.h>
164 #include <ao_sample.h>
168 struct ao_telemetry_location ao_gps_first;
169 struct ao_telemetry_location ao_gps_prev;
170 struct ao_telemetry_location ao_gps_static;
172 struct ao_telemetry_satellite ao_gps_tracking;
174 static inline double sqr(double a) { return a * a; }
177 cc_great_circle (double start_lat, double start_lon,
178 double end_lat, double end_lon,
179 double *dist, double *bearing)
181 const double rad = M_PI / 180;
182 const double earth_radius = 6371.2 * 1000; /* in meters */
183 double lat1 = rad * start_lat;
184 double lon1 = rad * -start_lon;
185 double lat2 = rad * end_lat;
186 double lon2 = rad * -end_lon;
188 // double d_lat = lat2 - lat1;
189 double d_lon = lon2 - lon1;
191 /* From http://en.wikipedia.org/wiki/Great-circle_distance */
192 double vdn = sqrt(sqr(cos(lat2) * sin(d_lon)) +
193 sqr(cos(lat1) * sin(lat2) -
194 sin(lat1) * cos(lat2) * cos(d_lon)));
195 double vdd = sin(lat1) * sin(lat2) + cos(lat1) * cos(lat2) * cos(d_lon);
196 double d = atan2(vdn,vdd);
199 if (cos(lat1) < 1e-20) {
208 course = acos((sin(lat2)-sin(lat1)*cos(d)) /
210 if (sin(lon2-lon1) > 0)
211 course = 2 * M_PI-course;
213 *dist = d * earth_radius;
214 *bearing = course * 180/M_PI;
218 ao_distance_from_pad(void)
220 double dist, bearing;
224 cc_great_circle(ao_gps_first.latitude / 1e7,
225 ao_gps_first.longitude / 1e7,
226 ao_gps_static.latitude / 1e7,
227 ao_gps_static.longitude / 1e7,
235 double dist, bearing;
239 if (ao_gps_count < 2)
242 cc_great_circle(ao_gps_prev.latitude / 1e7,
243 ao_gps_prev.longitude / 1e7,
244 ao_gps_static.latitude / 1e7,
245 ao_gps_static.longitude / 1e7,
247 height = AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_static) - AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_prev);
249 angle = atan2(dist, height);
250 return angle * 180/M_PI;
254 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
255 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
256 #define from_fix(x) ((x) >> 16)
258 #define ACCEL_NOSE_UP (ao_accel_2g >> 2)
260 extern enum ao_flight_state ao_flight_state;
265 volatile struct ao_data ao_data_ring[AO_DATA_RING];
266 volatile uint8_t ao_data_head;
270 #define ao_led_off(l)
271 #define ao_timer_set_adc_interval(i)
272 #define ao_cmd_register(c)
273 #define ao_usb_disable()
274 #define ao_telemetry_set_interval(x)
275 #define ao_rdf_set(rdf)
276 #define ao_packet_slave_start()
277 #define ao_packet_slave_stop()
281 ao_igniter_drogue = 0,
285 struct ao_data ao_data_static;
294 static ao_k_t ao_k_height;
295 static double simple_speed;
300 return ao_data_static.tick;
304 ao_delay(int16_t interval)
310 ao_ignite(enum ao_igniter igniter)
312 double time = (double) (ao_data_static.tick + tick_offset) / 100;
314 if (igniter == ao_igniter_drogue) {
316 drogue_height = ao_k_height >> 16;
319 main_height = ao_k_height >> 16;
327 #define ao_add_task(t,f,n) ((void) (t))
329 #define ao_log_start()
330 #define ao_log_stop()
332 #define AO_MS_TO_TICKS(ms) ((ms) / 10)
333 #define AO_SEC_TO_TICKS(s) ((s) * 100)
335 #define AO_FLIGHT_TEST 1
339 struct ao_eeprom *eeprom;
340 uint32_t eeprom_offset;
346 double emulator_error_max = 4;
347 double emulator_height_error_max = 20; /* noise in the baro sensor */
350 ao_sleep(void *wchan);
352 const char * const ao_state_names[] = {
353 "startup", "idle", "pad", "boost", "fast",
354 "coast", "drogue", "main", "landed", "invalid"
362 #define AO_NEED_ALTITUDE_TO_PRES 1
363 #if TELEMEGA || TELEMETRUM_V2 || EASYMINI
364 #include "ao_convert_pa.c"
365 #include <ao_ms5607.h>
366 struct ao_ms5607_prom ao_ms5607_prom;
367 #include "ao_ms5607_convert.c"
369 #define AO_PYRO_NUM 4
373 #include "ao_convert.c"
376 #include <ao_config.h>
377 #include <ao_fake_flight.h>
378 #include <ao_eeprom_read.h>
381 #define ao_config_get()
383 struct ao_config ao_config;
385 extern int16_t ao_ground_accel, ao_flight_accel;
386 extern int16_t ao_accel_2g;
388 typedef int16_t accel_t;
390 uint16_t ao_serial_number;
391 int16_t ao_flight_number;
393 extern AO_TICK_TYPE ao_sample_tick;
396 extern alt_t ao_sample_height;
398 extern accel_t ao_sample_accel;
399 extern int32_t ao_accel_scale;
401 extern alt_t ao_ground_height;
402 extern alt_t ao_sample_alt;
405 double ao_sample_qangle;
407 AO_TICK_TYPE ao_sample_prev_tick;
408 AO_TICK_TYPE prev_tick;
411 #include "ao_kalman.c"
413 #include "ao_sample.c"
414 #include "ao_flight.c"
417 #define AO_PYRO_NUM 4
427 ao_pyro_pin_set(uint8_t pin, uint8_t value)
429 printf ("set pyro %d %d\n", pin, value);
434 #include "ao_eeprom_read.c"
435 #include "ao_eeprom_read_old.c"
437 #define to_double(f) ((f) / 65536.0)
439 static int ao_records_read = 0;
440 static int ao_eof_read = 0;
442 static int ao_flight_ground_accel;
444 static int ao_flight_started = 0;
445 static int ao_test_max_height;
446 static double ao_test_max_height_time;
447 static int ao_test_main_height;
448 static double ao_test_main_height_time;
449 static double ao_test_landed_time;
450 static double ao_test_landed_height;
451 static double ao_test_landed_time;
452 static int landed_set;
453 static double landed_time;
454 static double landed_height;
456 static uint16_t pyros_fired;
460 static struct ao_mpu6000_sample ao_ground_mpu6000;
469 double landed_time_error;
471 if (!ao_test_main_height_time) {
472 ao_test_main_height_time = ao_test_max_height_time;
473 ao_test_main_height = ao_test_max_height;
475 drogue_error = fabs(ao_test_max_height_time - drogue_time);
476 main_error = fabs(ao_test_main_height_time - main_time);
477 landed_error = fabs(ao_test_landed_height - landed_height);
478 landed_time_error = ao_test_landed_time - landed_time;
479 if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
481 emulator_app, emulator_name);
483 printf ("\t%s\n", emulator_info);
484 printf ("\tApogee error %g\n", drogue_error);
485 printf ("\tMain error %g\n", main_error);
486 printf ("\tLanded height error %g\n", landed_error);
487 printf ("\tLanded time error %g\n", landed_time_error);
488 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
489 ao_test_max_height, ao_test_max_height_time,
490 ao_test_main_height, ao_test_main_height_time,
491 ao_test_landed_height, ao_test_landed_time);
492 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
493 drogue_height, drogue_time, main_height, main_time,
494 landed_height, landed_time);
507 azel (struct ao_azel *r, struct ao_quaternion *q)
511 r->az = floor (atan2(q->y, q->x) * 180/M_PI + 0.5);
512 v = sqrt (q->x*q->x + q->y*q->y);
513 r->el = floor (atan2(q->z, v) * 180/M_PI + 0.5);
522 ao_data_ring[ao_data_head] = ao_data_static;
523 if (ao_flight_state != ao_flight_startup) {
525 double accel = ((ao_flight_ground_accel - ao_data_accel(&ao_data_static)) * GRAVITY * 2.0) /
526 (ao_config.accel_minus_g - ao_config.accel_plus_g);
533 tick_offset = -ao_data_static.tick;
534 if ((prev_tick - ao_data_static.tick) > 0x400)
535 tick_offset += 65536;
537 int ticks = ao_data_static.tick - prev_tick;
540 simple_speed += accel * ticks / 100.0;
542 prev_tick = ao_data_static.tick;
543 time = (double) (ao_data_static.tick + tick_offset) / 100;
547 #if TELEMEGA || TELEMETRUM_V2 || EASYMINI
548 ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
549 height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height;
551 /* Hack to skip baro spike at accidental drogue charge
552 * firing in 2015-09-26-serial-2093-flight-0012.eeprom
553 * so we can test the kalman filter with this data. Just
554 * keep reporting the same baro value across the pressure spike
557 static struct ao_ms5607_sample save;
558 if (ao_serial_number == 2093 && ao_flight_number == 12 && 32.5 < time && time < 33.7) {
559 ao_data_ring[ao_data_head].ms5607_raw = save;
561 save = ao_data_static.ms5607_raw;
565 height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
569 if (ao_test_max_height < height) {
570 ao_test_max_height = height;
571 ao_test_max_height_time = time;
572 ao_test_landed_height = height;
573 ao_test_landed_time = time;
575 if (height > ao_config.main_deploy) {
576 ao_test_main_height_time = time;
577 ao_test_main_height = height;
580 if (ao_test_landed_height > height) {
581 ao_test_landed_height = height;
582 ao_test_landed_time = time;
585 if (ao_flight_state == ao_flight_landed && !landed_set) {
588 landed_height = height;
593 static struct ao_quaternion ao_ground_mag;
594 static int ao_ground_mag_set;
596 if (!ao_ground_mag_set) {
597 ao_quaternion_init_vector (&ao_ground_mag,
598 ao_data_mag_across(&ao_data_static),
599 ao_data_mag_through(&ao_data_static),
600 ao_data_mag_along(&ao_data_static));
601 ao_quaternion_normalize(&ao_ground_mag, &ao_ground_mag);
602 ao_quaternion_rotate(&ao_ground_mag, &ao_ground_mag, &ao_rotation);
603 ao_ground_mag_set = 1;
606 struct ao_quaternion ao_mag, ao_mag_rot;
608 ao_quaternion_init_vector(&ao_mag,
609 ao_data_mag_across(&ao_data_static),
610 ao_data_mag_through(&ao_data_static),
611 ao_data_mag_along(&ao_data_static));
613 ao_quaternion_normalize(&ao_mag, &ao_mag);
614 ao_quaternion_rotate(&ao_mag_rot, &ao_mag, &ao_rotation);
619 ao_dot = ao_quaternion_dot(&ao_mag_rot, &ao_ground_mag);
621 struct ao_azel ground_azel, mag_azel, rot_azel;
623 azel(&ground_azel, &ao_ground_mag);
624 azel(&mag_azel, &ao_mag);
625 azel(&rot_azel, &ao_mag_rot);
627 ao_mag_angle = floor (acos(ao_dot) * 180 / M_PI + 0.5);
631 static struct ao_quaternion ao_x = { .r = 0, .x = 1, .y = 0, .z = 0 };
632 struct ao_quaternion ao_out;
634 ao_quaternion_rotate(&ao_out, &ao_x, &ao_rotation);
637 int out = floor (atan2(ao_out.y, ao_out.x) * 180 / M_PI);
639 printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d mag_tilt %4d mag_rot %4d\n",
641 ao_state_names[ao_flight_state],
642 ao_k_height / 65536.0,
643 ao_sample_orient, out,
648 printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d dist %12.2f gps_tilt %4d gps_sats %2d\n",
650 ao_state_names[ao_flight_state],
651 ao_k_height / 65536.0,
652 ao_sample_orient, out,
653 ao_distance_from_pad(),
654 (int) floor (ao_gps_angle() + 0.5),
655 (ao_gps_static.flags & 0xf) * 10);
659 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",
660 ao_state_names[ao_flight_state],
661 ground_azel.az, ground_azel.el,
662 mag_azel.az, mag_azel.el,
663 rot_azel.az, rot_azel.el,
664 ground_azel.el - rot_azel.el,
665 ground_azel.az - rot_azel.az,
681 printf("%7.2f height %8.2f accel %8.3f accel_speed %8.3f "
682 "state %d k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d"
685 "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 "
692 simple_speed > -100.0 ? simple_speed : -100.0,
693 ao_flight_state * 10,
694 ao_k_height / 65536.0,
695 ao_k_speed / 65536.0 / 16.0,
696 ao_k_accel / 65536.0 / 16.0,
704 ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
705 ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
706 ao_mpu6000_accel(ao_data_static.mpu6000.accel_z),
707 ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x),
708 ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y),
709 ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z),
710 ao_data_static.hmc5883.x,
711 ao_data_static.hmc5883.y,
712 ao_data_static.hmc5883.z,
714 ao_coast_avg_accel / 16.0
719 // if (ao_flight_state == ao_flight_landed)
723 ao_data_head = ao_data_ring_next(ao_data_head);
728 uint16(uint8_t *bytes, int off)
730 return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
734 int16(uint8_t *bytes, int off)
736 return (int16_t) uint16(bytes, off);
740 uint32(uint8_t *bytes, int off)
742 return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
743 (((uint32_t) bytes[off+2]) << 16) |
744 (((uint32_t) bytes[off+3]) << 24);
748 int32(uint8_t *bytes, int off)
750 return (int32_t) uint32(bytes, off);
754 uint24(uint8_t *bytes, int off)
756 return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
757 (((uint32_t) bytes[off+2]) << 16);
761 int24(uint8_t *bytes, int off)
763 return (int32_t) uint24(bytes, off);
766 static int log_format;
769 ao_sleep(void *wchan)
771 if (wchan == &ao_data_head) {
773 if (ao_flight_state >= ao_flight_boost && ao_flight_state < ao_flight_landed)
777 if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
781 ao_data_static.mpu6000 = ao_ground_mpu6000;
784 ao_data_static.adc.accel = ao_flight_ground_accel;
787 ao_data_static.adxl375.AO_ADXL375_AXIS = ao_flight_ground_accel;
795 #if TELEMEGA || EASYMOTOR_V_2
796 struct ao_log_mega *log_mega;
799 struct ao_log_motor *log_motor;
802 struct ao_log_metrum *log_metrum;
805 struct ao_log_mini *log_mini;
808 struct ao_log_record *log_record;
811 if (eeprom_offset >= eeprom->len) {
812 if (++ao_eof_read >= 1000)
814 printf ("no more data, exiting simulation\n");
816 ao_data_static.tick += 10;
820 switch (eeprom->log_format) {
822 case AO_LOG_FORMAT_TELEMEGA_OLD:
823 case AO_LOG_FORMAT_TELEMEGA:
824 log_mega = (struct ao_log_mega *) &eeprom->data[eeprom_offset];
825 eeprom_offset += sizeof (*log_mega);
826 switch (log_mega->type) {
828 ao_flight_number = log_mega->u.flight.flight;
829 ao_flight_ground_accel = log_mega->u.flight.ground_accel;
830 ao_flight_started = 1;
831 ao_ground_pres = log_mega->u.flight.ground_pres;
832 ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
833 ao_ground_accel_along = log_mega->u.flight.ground_accel_along;
834 ao_ground_accel_across = log_mega->u.flight.ground_accel_across;
835 ao_ground_accel_through = log_mega->u.flight.ground_accel_through;
836 ao_ground_roll = log_mega->u.flight.ground_roll;
837 ao_ground_pitch = log_mega->u.flight.ground_pitch;
838 ao_ground_yaw = log_mega->u.flight.ground_yaw;
839 ao_ground_mpu6000.accel_x = ao_ground_accel_across;
840 ao_ground_mpu6000.accel_y = ao_ground_accel_along;
841 ao_ground_mpu6000.accel_z = ao_ground_accel_through;
842 ao_ground_mpu6000.gyro_x = ao_ground_pitch >> 9;
843 ao_ground_mpu6000.gyro_y = ao_ground_roll >> 9;
844 ao_ground_mpu6000.gyro_z = ao_ground_yaw >> 9;
849 ao_data_static.tick = log_mega->tick;
850 ao_data_static.ms5607_raw.pres = log_mega->u.sensor.pres;
851 ao_data_static.ms5607_raw.temp = log_mega->u.sensor.temp;
852 ao_data_static.mpu6000.accel_x = log_mega->u.sensor.accel_x;
853 ao_data_static.mpu6000.accel_y = log_mega->u.sensor.accel_y;
854 ao_data_static.mpu6000.accel_z = log_mega->u.sensor.accel_z;
855 ao_data_static.mpu6000.gyro_x = log_mega->u.sensor.gyro_x;
856 ao_data_static.mpu6000.gyro_y = log_mega->u.sensor.gyro_y;
857 ao_data_static.mpu6000.gyro_z = log_mega->u.sensor.gyro_z;
858 ao_data_static.hmc5883.x = log_mega->u.sensor.mag_x;
859 ao_data_static.hmc5883.y = log_mega->u.sensor.mag_y;
860 ao_data_static.hmc5883.z = log_mega->u.sensor.mag_z;
861 ao_data_static.mma655x = log_mega->u.sensor.accel;
862 if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
863 ao_data_static.mma655x = ao_data_accel_invert(ao_data_static.mma655x);
867 case AO_LOG_TEMP_VOLT:
868 if (pyros_fired != log_mega->u.volt.pyro) {
869 printf("pyro changed %x -> %x\n", pyros_fired, log_mega->u.volt.pyro);
870 pyros_fired = log_mega->u.volt.pyro;
873 case AO_LOG_GPS_TIME:
874 ao_gps_prev = ao_gps_static;
875 ao_gps_static.tick = log_mega->tick;
876 ao_gps_static.latitude = log_mega->u.gps.latitude;
877 ao_gps_static.longitude = log_mega->u.gps.longitude;
879 int16_t altitude_low = log_mega->u.gps.altitude_low;
880 int16_t altitude_high = log_mega->u.gps.altitude_high;
881 int32_t altitude = altitude_low | ((int32_t) altitude_high << 16);
883 AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_static, altitude);
885 ao_gps_static.flags = log_mega->u.gps.flags;
887 ao_gps_first = ao_gps_static;
896 case AO_LOG_FORMAT_TELEMETRUM:
897 log_metrum = (struct ao_log_metrum *) &eeprom->data[eeprom_offset];
898 eeprom_offset += sizeof (*log_metrum);
899 switch (log_metrum->type) {
901 ao_flight_started = 1;
902 ao_flight_number = log_metrum->u.flight.flight;
903 ao_flight_ground_accel = log_metrum->u.flight.ground_accel;
904 ao_ground_pres = log_metrum->u.flight.ground_pres;
905 ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
908 ao_data_static.tick = log_metrum->tick;
909 ao_data_static.ms5607_raw.pres = log_metrum->u.sensor.pres;
910 ao_data_static.ms5607_raw.temp = log_metrum->u.sensor.temp;
911 ao_data_static.mma655x = log_metrum->u.sensor.accel;
919 case AO_LOG_FORMAT_EASYMINI1:
920 case AO_LOG_FORMAT_EASYMINI2:
921 case AO_LOG_FORMAT_TELEMINI3:
922 log_mini = (struct ao_log_mini *) &eeprom->data[eeprom_offset];
923 eeprom_offset += sizeof (*log_mini);
924 switch (log_mini->type) {
926 ao_flight_started = 1;
927 ao_flight_number = log_mini->u.flight.flight;
928 ao_ground_pres = log_mini->u.flight.ground_pres;
929 ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
932 ao_data_static.tick = log_mini->tick;
933 ao_data_static.ms5607_raw.pres = int24(log_mini->u.sensor.pres, 0);
934 ao_data_static.ms5607_raw.temp = int24(log_mini->u.sensor.temp, 0);
942 case AO_LOG_FORMAT_FULL:
943 case AO_LOG_FORMAT_TINY:
944 log_record = (struct ao_log_record *) &eeprom->data[eeprom_offset];
945 eeprom_offset += sizeof (*log_record);
946 switch (log_record->type) {
948 ao_flight_started = 1;
949 ao_flight_ground_accel = log_record->u.flight.ground_accel;
950 ao_flight_number = log_record->u.flight.flight;
953 case 'P': /* ancient telemini */
954 ao_data_static.tick = log_record->tick;
955 ao_data_static.adc.accel = log_record->u.sensor.accel;
956 ao_data_static.adc.pres_real = log_record->u.sensor.pres;
957 ao_data_static.adc.pres = log_record->u.sensor.pres;
961 case AO_LOG_TEMP_VOLT:
962 ao_data_static.tick = log_record->tick;;
963 ao_data_static.adc.temp = log_record->u.temp_volt.temp;
964 ao_data_static.adc.v_batt = log_record->u.temp_volt.v_batt;
970 case AO_LOG_FORMAT_TELEMEGA_3:
971 log_mega = (struct ao_log_mega *) &eeprom->data[eeprom_offset];
972 eeprom_offset += sizeof (*log_mega);
973 switch (log_mega->type) {
975 ao_flight_number = log_mega->u.flight.flight;
976 ao_flight_ground_accel = log_mega->u.flight.ground_accel;
977 ao_flight_started = 1;
980 ao_data_static.tick = log_mega->tick;
981 ao_data_static.adxl375.AO_ADXL375_AXIS = -log_mega->u.sensor.accel;
987 case AO_LOG_FORMAT_TELEMEGA_4:
988 log_mega = (struct ao_log_mega *) &eeprom->data[eeprom_offset];
989 eeprom_offset += sizeof (*log_mega);
990 switch (log_mega->type) {
992 ao_flight_number = log_mega->u.flight.flight;
993 ao_flight_ground_accel = log_mega->u.flight.ground_accel;
994 ao_flight_started = 1;
997 ao_data_static.tick = log_mega->tick;
998 ao_data_static.adxl375.AO_ADXL375_AXIS = log_mega->u.sensor.accel;
1004 case AO_LOG_FORMAT_EASYMOTOR:
1005 log_motor = (struct ao_log_motor *) &eeprom->data[eeprom_offset];
1006 eeprom_offset += sizeof (*log_motor);
1007 switch (log_motor->type) {
1009 ao_flight_number = log_motor->u.flight.flight;
1010 ao_flight_ground_accel = log_motor->u.flight.ground_accel;
1011 ao_flight_started = 1;
1014 ao_data_static.tick = log_motor->tick;
1015 ao_data_static.adc.pressure = log_motor->u.sensor.pressure;
1016 ao_data_static.adc.v_batt = log_motor->u.sensor.v_batt;
1017 ao_data_static.adxl375.AO_ADXL375_AXIS = log_motor->u.sensor.accel_along;
1018 ao_data_static.adxl375.AO_ADXL375_ACROSS_AXIS = log_motor->u.sensor.accel_across;
1019 ao_data_static.adxl375.AO_ADXL375_THROUGH_AXIS = log_motor->u.sensor.accel_through;
1027 printf ("invalid log format %d\n", log_format);
1035 #define COUNTS_PER_G 264.8
1042 static const struct option options[] = {
1043 { .name = "summary", .has_arg = 0, .val = 's' },
1044 { .name = "debug", .has_arg = 0, .val = 'd' },
1045 { .name = "info", .has_arg = 1, .val = 'i' },
1049 void run_flight_fixed(char *name, FILE *f, int summary, char *info)
1051 emulator_name = name;
1053 emulator_info = info;
1054 ao_summary = summary;
1056 if (strstr(name, ".eeprom") != NULL) {
1062 eeprom = ao_eeprom_read(f);
1064 eeprom = ao_eeprom_read_old(f);
1068 ao_ms5607_prom = eeprom->ms5607_prom;
1070 ao_config = eeprom->config;
1071 ao_serial_number = eeprom->serial_number;
1072 log_format = eeprom->log_format;
1081 main (int argc, char **argv)
1089 emulator_app="full";
1091 emulator_app="baro";
1093 while ((c = getopt_long(argc, argv, "sdpi:", options, NULL)) != -1) {
1099 ao_flight_debug = 1;
1113 run_flight_fixed("<stdin>", stdin, summary, info);
1115 for (i = optind; i < argc; i++) {
1116 FILE *f = fopen(argv[i], "r");
1121 run_flight_fixed(argv[i], f, summary, info);