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   1 /*
   2  * Copyright © 2009 Keith Packard <keithp@keithp.com>
   3  *
   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.
   7  *
   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.
  12  *
  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.
  16  */
  17
  18 #define _GNU_SOURCE
  19
  20 #include <stdint.h>
  21 #include <stdio.h>
  22 #include <stdlib.h>
  23 #include <string.h>
  24 #include <getopt.h>
  25 #include <math.h>
  26
  27 #define AO_HERTZ        100
  28
  29 #define AO_ADC_RING     64
  30 #define ao_adc_ring_next(n)     (((n) + 1) & (AO_ADC_RING - 1))
  31 #define ao_adc_ring_prev(n)     (((n) - 1) & (AO_ADC_RING - 1))
  32
  33 #define AO_M_TO_HEIGHT(m)       ((int16_t) (m))
  34 #define AO_MS_TO_SPEED(ms)      ((int16_t) ((ms) * 16))
  35 #define AO_MSS_TO_ACCEL(mss)    ((int16_t) ((mss) * 16))
  36
  37 /*
  38  * One set of samples read from the A/D converter
  39  */
  40 struct ao_adc {
  41         uint16_t        tick;           /* tick when the sample was read */
  42         int16_t         accel;          /* accelerometer */
  43         int16_t         pres;           /* pressure sensor */
  44         int16_t         pres_real;      /* unclipped */
  45         int16_t         temp;           /* temperature sensor */
  46         int16_t         v_batt;         /* battery voltage */
  47         int16_t         sense_d;        /* drogue continuity sense */
  48         int16_t         sense_m;        /* main continuity sense */
  49 };
  50
  51 #define __pdata
  52 #define __data
  53 #define __xdata
  54 #define __code
  55 #define __reentrant
  56
  57 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
  58 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
  59 #define from_fix(x)     ((x) >> 16)
  60
  61 /*
  62  * Above this height, the baro sensor doesn't work
  63  */
  64 #define AO_MAX_BARO_HEIGHT      12000
  65 #define AO_BARO_SATURATE        13000
  66 #define AO_MIN_BARO_VALUE       ao_altitude_to_pres(AO_BARO_SATURATE)
  67
  68 /*
  69  * Above this speed, baro measurements are unreliable
  70  */
  71 #define AO_MAX_BARO_SPEED       200
  72
  73 #define ACCEL_NOSE_UP   (ao_accel_2g >> 2)
  74
  75 enum ao_flight_state {
  76         ao_flight_startup = 0,
  77         ao_flight_idle = 1,
  78         ao_flight_pad = 2,
  79         ao_flight_boost = 3,
  80         ao_flight_fast = 4,
  81         ao_flight_coast = 5,
  82         ao_flight_drogue = 6,
  83         ao_flight_main = 7,
  84         ao_flight_landed = 8,
  85         ao_flight_invalid = 9
  86 };
  87
  88 extern enum ao_flight_state ao_flight_state;
  89
  90 #define FALSE 0
  91 #define TRUE 1
  92
  93 struct ao_adc ao_adc_ring[AO_ADC_RING];
  94 uint8_t ao_adc_head;
  95 int     ao_summary = 0;
  96
  97 #define ao_led_on(l)
  98 #define ao_led_off(l)
  99 #define ao_timer_set_adc_interval(i)
 100 #define ao_wakeup(wchan) ao_dump_state()
 101 #define ao_cmd_register(c)
 102 #define ao_usb_disable()
 103 #define ao_telemetry_set_interval(x)
 104 #define ao_rdf_set(rdf)
 105 #define ao_packet_slave_start()
 106 #define ao_packet_slave_stop()
 107
 108 enum ao_igniter {
 109         ao_igniter_drogue = 0,
 110         ao_igniter_main = 1
 111 };
 112
 113 struct ao_adc ao_adc_static;
 114
 115 int     drogue_height;
 116 double  drogue_time;
 117 int     main_height;
 118 double  main_time;
 119
 120 int     tick_offset;
 121
 122 static int32_t  ao_k_height;
 123
 124 void
 125 ao_ignite(enum ao_igniter igniter)
 126 {
 127         double time = (double) (ao_adc_static.tick + tick_offset) / 100;
 128
 129         if (igniter == ao_igniter_drogue) {
 130                 drogue_time = time;
 131                 drogue_height = ao_k_height >> 16;
 132         } else {
 133                 main_time = time;
 134                 main_height = ao_k_height >> 16;
 135         }
 136 }
 137
 138 struct ao_task {
 139         int dummy;
 140 };
 141
 142 #define ao_add_task(t,f,n)
 143
 144 #define ao_log_start()
 145 #define ao_log_stop()
 146
 147 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
 148 #define AO_SEC_TO_TICKS(s)      ((s) * 100)
 149
 150 #define AO_FLIGHT_TEST
 151
 152 int     ao_flight_debug;
 153
 154 FILE *emulator_in;
 155 char *emulator_app;
 156 char *emulator_name;
 157 double emulator_error_max = 4;
 158 double emulator_height_error_max = 20;  /* noise in the baro sensor */
 159
 160 void
 161 ao_dump_state(void);
 162
 163 void
 164 ao_sleep(void *wchan);
 165
 166 const char const * const ao_state_names[] = {
 167         "startup", "idle", "pad", "boost", "fast",
 168         "coast", "drogue", "main", "landed", "invalid"
 169 };
 170
 171 struct ao_cmds {
 172         void            (*func)(void);
 173         const char      *help;
 174 };
 175
 176 #include "ao_convert.c"
 177
 178 struct ao_config {
 179         uint16_t        main_deploy;
 180         int16_t         accel_plus_g;
 181         int16_t         accel_minus_g;
 182 };
 183
 184 #define ao_config_get()
 185
 186 struct ao_config ao_config;
 187
 188 #define DATA_TO_XDATA(x) (x)
 189
 190 #define HAS_FLIGHT 1
 191 #define HAS_ADC 1
 192 #define HAS_USB 1
 193 #define HAS_GPS 1
 194 #ifndef HAS_ACCEL
 195 #define HAS_ACCEL 1
 196 #define HAS_ACCEL_REF 0
 197 #endif
 198
 199 #define GRAVITY 9.80665
 200 extern int16_t ao_ground_accel, ao_flight_accel;
 201 extern int16_t ao_accel_2g;
 202
 203 extern uint16_t ao_sample_tick;
 204
 205 extern int16_t  ao_sample_height;
 206 extern int16_t  ao_sample_accel;
 207 extern int32_t  ao_accel_scale;
 208 extern int16_t  ao_ground_height;
 209 extern int16_t  ao_sample_alt;
 210
 211 int ao_sample_prev_tick;
 212 uint16_t        prev_tick;
 213
 214 #include "ao_kalman.c"
 215 #include "ao_sample.c"
 216 #include "ao_flight.c"
 217
 218 #define to_double(f)    ((f) / 65536.0)
 219
 220 static int      ao_records_read = 0;
 221 static int      ao_eof_read = 0;
 222 static int      ao_flight_ground_accel;
 223 static int      ao_flight_started = 0;
 224 static int      ao_test_max_height;
 225 static double   ao_test_max_height_time;
 226 static int      ao_test_main_height;
 227 static double   ao_test_main_height_time;
 228 static double   ao_test_landed_time;
 229 static double   ao_test_landed_height;
 230 static double   ao_test_landed_time;
 231 static int      landed_set;
 232 static double   landed_time;
 233 static double   landed_height;
 234
 235 void
 236 ao_test_exit(void)
 237 {
 238         double  drogue_error;
 239         double  main_error;
 240         double  landed_error;
 241         double  landed_time_error;
 242
 243         if (!ao_test_main_height_time) {
 244                 ao_test_main_height_time = ao_test_max_height_time;
 245                 ao_test_main_height = ao_test_max_height;
 246         }
 247         drogue_error = fabs(ao_test_max_height_time - drogue_time);
 248         main_error = fabs(ao_test_main_height_time - main_time);
 249         landed_error = fabs(ao_test_landed_height - landed_height);
 250         landed_time_error = ao_test_landed_time - landed_time;
 251         if (drogue_error > emulator_error_max || main_error > emulator_error_max ||
 252             landed_time_error > emulator_error_max || landed_error > emulator_height_error_max) {
 253                 printf ("%s %s\n",
 254                         emulator_app, emulator_name);
 255                 printf ("\tApogee error %g\n", drogue_error);
 256                 printf ("\tMain error %g\n", main_error);
 257                 printf ("\tLanded height error %g\n", landed_error);
 258                 printf ("\tLanded time error %g\n", landed_time_error);
 259                 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 260                         ao_test_max_height, ao_test_max_height_time,
 261                         ao_test_main_height, ao_test_main_height_time,
 262                         ao_test_landed_height, ao_test_landed_time);
 263                 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 264                         drogue_height, drogue_time, main_height, main_time,
 265                         landed_height, landed_time);
 266                 exit (1);
 267         }
 268         exit(0);
 269 }
 270
 271 void
 272 ao_insert(void)
 273 {
 274         double  time;
 275
 276         ao_adc_ring[ao_adc_head] = ao_adc_static;
 277         ao_adc_head = ao_adc_ring_next(ao_adc_head);
 278         if (ao_flight_state != ao_flight_startup) {
 279                 double  height = ao_pres_to_altitude(ao_adc_static.pres_real) - ao_ground_height;
 280                 double  accel = ((ao_flight_ground_accel - ao_adc_static.accel) * GRAVITY * 2.0) /
 281                         (ao_config.accel_minus_g - ao_config.accel_plus_g);
 282
 283                 if (!tick_offset)
 284                         tick_offset = -ao_adc_static.tick;
 285                 if ((prev_tick - ao_adc_static.tick) > 0x400)
 286                         tick_offset += 65536;
 287                 prev_tick = ao_adc_static.tick;
 288                 time = (double) (ao_adc_static.tick + tick_offset) / 100;
 289
 290                 if (ao_test_max_height < height) {
 291                         ao_test_max_height = height;
 292                         ao_test_max_height_time = time;
 293                         ao_test_landed_height = height;
 294                         ao_test_landed_time = time;
 295                 }
 296                 if (height > ao_config.main_deploy) {
 297                         ao_test_main_height_time = time;
 298                         ao_test_main_height = height;
 299                 }
 300
 301                 if (ao_test_landed_height > height) {
 302                         ao_test_landed_height = height;
 303                         ao_test_landed_time = time;
 304                 }
 305
 306                 if (ao_flight_state == ao_flight_landed && !landed_set) {
 307                         landed_set = 1;
 308                         landed_time = time;
 309                         landed_height = height;
 310                 }
 311
 312                 if (!ao_summary) {
 313                         printf("%7.2f height %8.2f accel %8.3f 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",
 314                                time,
 315                                height,
 316                                accel,
 317                                ao_state_names[ao_flight_state],
 318                                ao_k_height / 65536.0,
 319                                ao_k_speed / 65536.0 / 16.0,
 320                                ao_k_accel / 65536.0 / 16.0,
 321                                ao_avg_height,
 322                                drogue_height,
 323                                main_height,
 324                                ao_error_h_sq_avg);
 325
 326 //                      if (ao_flight_state == ao_flight_landed)
 327 //                              ao_test_exit();
 328                 }
 329         }
 330 }
 331
 332 #define AO_MAX_CALLSIGN                 8
 333 #define AO_MAX_VERSION                  8
 334 #define AO_MAX_TELEMETRY                128
 335
 336 struct ao_telemetry_generic {
 337         uint16_t        serial;         /* 0 */
 338         uint16_t        tick;           /* 2 */
 339         uint8_t         type;           /* 4 */
 340         uint8_t         payload[27];    /* 5 */
 341         /* 32 */
 342 };
 343
 344 #define AO_TELEMETRY_SENSOR_TELEMETRUM  0x01
 345 #define AO_TELEMETRY_SENSOR_TELEMINI    0x02
 346 #define AO_TELEMETRY_SENSOR_TELENANO    0x03
 347
 348 struct ao_telemetry_sensor {
 349         uint16_t        serial;         /*  0 */
 350         uint16_t        tick;           /*  2 */
 351         uint8_t         type;           /*  4 */
 352
 353         uint8_t         state;          /*  5 flight state */
 354         int16_t         accel;          /*  6 accelerometer (TM only) */
 355         int16_t         pres;           /*  8 pressure sensor */
 356         int16_t         temp;           /* 10 temperature sensor */
 357         int16_t         v_batt;         /* 12 battery voltage */
 358         int16_t         sense_d;        /* 14 drogue continuity sense (TM/Tm) */
 359         int16_t         sense_m;        /* 16 main continuity sense (TM/Tm) */
 360
 361         int16_t         acceleration;   /* 18 m/s² * 16 */
 362         int16_t         speed;          /* 20 m/s * 16 */
 363         int16_t         height;         /* 22 m */
 364
 365         int16_t         ground_pres;    /* 24 average pres on pad */
 366         int16_t         ground_accel;   /* 26 average accel on pad */
 367         int16_t         accel_plus_g;   /* 28 accel calibration at +1g */
 368         int16_t         accel_minus_g;  /* 30 accel calibration at -1g */
 369         /* 32 */
 370 };
 371
 372 #define AO_TELEMETRY_CONFIGURATION      0x04
 373
 374 struct ao_telemetry_configuration {
 375         uint16_t        serial;                         /*  0 */
 376         uint16_t        tick;                           /*  2 */
 377         uint8_t         type;                           /*  4 */
 378
 379         uint8_t         device;                         /*  5 device type */
 380         uint16_t        flight;                         /*  6 flight number */
 381         uint8_t         config_major;                   /*  8 Config major version */
 382         uint8_t         config_minor;                   /*  9 Config minor version */
 383         uint16_t        apogee_delay;                   /* 10 Apogee deploy delay in seconds */
 384         uint16_t        main_deploy;                    /* 12 Main deploy alt in meters */
 385         uint16_t        flight_log_max;                 /* 14 Maximum flight log size in kB */
 386         char            callsign[AO_MAX_CALLSIGN];      /* 16 Radio operator identity */
 387         char            version[AO_MAX_VERSION];        /* 24 Software version */
 388         /* 32 */
 389 };
 390
 391 #define AO_TELEMETRY_LOCATION           0x05
 392
 393 #define AO_GPS_MODE_NOT_VALID           'N'
 394 #define AO_GPS_MODE_AUTONOMOUS          'A'
 395 #define AO_GPS_MODE_DIFFERENTIAL        'D'
 396 #define AO_GPS_MODE_ESTIMATED           'E'
 397 #define AO_GPS_MODE_MANUAL              'M'
 398 #define AO_GPS_MODE_SIMULATED           'S'
 399
 400 struct ao_telemetry_location {
 401         uint16_t        serial;         /*  0 */
 402         uint16_t        tick;           /*  2 */
 403         uint8_t         type;           /*  4 */
 404
 405         uint8_t         flags;          /*  5 Number of sats and other flags */
 406         int16_t         altitude;       /*  6 GPS reported altitude (m) */
 407         int32_t         latitude;       /*  8 latitude (degrees * 10⁷) */
 408         int32_t         longitude;      /* 12 longitude (degrees * 10⁷) */
 409         uint8_t         year;           /* 16 (- 2000) */
 410         uint8_t         month;          /* 17 (1-12) */
 411         uint8_t         day;            /* 18 (1-31) */
 412         uint8_t         hour;           /* 19 (0-23) */
 413         uint8_t         minute;         /* 20 (0-59) */
 414         uint8_t         second;         /* 21 (0-59) */
 415         uint8_t         pdop;           /* 22 (m * 5) */
 416         uint8_t         hdop;           /* 23 (m * 5) */
 417         uint8_t         vdop;           /* 24 (m * 5) */
 418         uint8_t         mode;           /* 25 */
 419         uint16_t        ground_speed;   /* 26 cm/s */
 420         int16_t         climb_rate;     /* 28 cm/s */
 421         uint8_t         course;         /* 30 degrees / 2 */
 422         uint8_t         unused[1];      /* 31 */
 423         /* 32 */
 424 };
 425
 426 #define AO_TELEMETRY_SATELLITE          0x06
 427
 428 struct ao_telemetry_satellite_info {
 429         uint8_t         svid;
 430         uint8_t         c_n_1;
 431 };
 432
 433 struct ao_telemetry_satellite {
 434         uint16_t                                serial;         /*  0 */
 435         uint16_t                                tick;           /*  2 */
 436         uint8_t                                 type;           /*  4 */
 437         uint8_t                                 channels;       /*  5 number of reported sats */
 438
 439         struct ao_telemetry_satellite_info      sats[12];       /* 6 */
 440         uint8_t                                 unused[2];      /* 30 */
 441         /* 32 */
 442 };
 443
 444 union ao_telemetry_all {
 445         struct ao_telemetry_generic             generic;
 446         struct ao_telemetry_sensor              sensor;
 447         struct ao_telemetry_configuration       configuration;
 448         struct ao_telemetry_location            location;
 449         struct ao_telemetry_satellite           satellite;
 450 };
 451
 452 uint16_t
 453 uint16(uint8_t *bytes, int off)
 454 {
 455         off++;
 456         return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
 457 }
 458
 459 int16_t
 460 int16(uint8_t *bytes, int off)
 461 {
 462         return (int16_t) uint16(bytes, off);
 463 }
 464
 465 void
 466 ao_sleep(void *wchan)
 467 {
 468         if (wchan == &ao_adc_head) {
 469                 char            type;
 470                 uint16_t        tick;
 471                 uint16_t        a, b;
 472                 int             ret;
 473                 uint8_t         bytes[1024];
 474                 union ao_telemetry_all  telem;
 475                 char            line[1024];
 476                 char            *saveptr;
 477                 char            *l;
 478                 char            *words[64];
 479                 int             nword;
 480
 481                 for (;;) {
 482                         if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 483                         {
 484                                 ao_adc_static.accel = ao_flight_ground_accel;
 485                                 ao_insert();
 486                                 return;
 487                         }
 488
 489                         if (!fgets(line, sizeof (line), emulator_in)) {
 490                                 if (++ao_eof_read >= 1000) {
 491                                         if (!ao_summary)
 492                                                 printf ("no more data, exiting simulation\n");
 493                                         ao_test_exit();
 494                                 }
 495                                 ao_adc_static.tick += 10;
 496                                 ao_insert();
 497                                 return;
 498                         }
 499                         l = line;
 500                         for (nword = 0; nword < 64; nword++) {
 501                                 words[nword] = strtok_r(l, " \t\n", &saveptr);
 502                                 l = NULL;
 503                                 if (words[nword] == NULL)
 504                                         break;
 505                         }
 506                         if (nword == 4) {
 507                                 type = words[0][0];
 508                                 tick = strtoul(words[1], NULL, 16);
 509                                 a = strtoul(words[2], NULL, 16);
 510                                 b = strtoul(words[3], NULL, 16);
 511                                 if (type == 'P')
 512                                         type = 'A';
 513                         } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
 514                                 ao_config.accel_plus_g = atoi(words[3]);
 515                                 ao_config.accel_minus_g = atoi(words[5]);
 516                         } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
 517                                 ao_config.main_deploy = atoi(words[2]);
 518                         } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
 519                                 tick = atoi(words[10]);
 520                                 if (!ao_flight_started) {
 521                                         type = 'F';
 522                                         a = atoi(words[26]);
 523                                         ao_flight_started = 1;
 524                                 } else {
 525                                         type = 'A';
 526                                         a = atoi(words[12]);
 527                                         b = atoi(words[14]);
 528                                 }
 529                         } else if (nword == 3 && strcmp(words[0], "BARO") == 0) {
 530                                 tick = strtol(words[1], NULL, 16);
 531                                 a = 16384 - 328;
 532                                 b = strtol(words[2], NULL, 10);
 533                                 type = 'A';
 534                                 if (!ao_flight_started) {
 535                                         ao_flight_ground_accel = 16384 - 328;
 536                                         ao_config.accel_plus_g = 16384 - 328;
 537                                         ao_config.accel_minus_g = 16384 + 328;
 538                                         ao_flight_started = 1;
 539                                 }
 540                         } else if (nword == 2 && strcmp(words[0], "TELEM") == 0) {
 541                                 char    *hex = words[1];
 542                                 char    elt[3];
 543                                 int     i, len;
 544                                 uint8_t sum;
 545
 546                                 len = strlen(hex);
 547                                 if (len > sizeof (bytes) * 2) {
 548                                         len = sizeof (bytes)*2;
 549                                         hex[len] = '\0';
 550                                 }
 551                                 for (i = 0; i < len; i += 2) {
 552                                         elt[0] = hex[i];
 553                                         elt[1] = hex[i+1];
 554                                         elt[2] = '\0';
 555                                         bytes[i/2] = (uint8_t) strtol(elt, NULL, 16);
 556                                 }
 557                                 len = i/2;
 558                                 if (bytes[0] != len - 2) {
 559                                         printf ("bad length %d != %d\n", bytes[0], len - 2);
 560                                         continue;
 561                                 }
 562                                 sum = 0x5a;
 563                                 for (i = 1; i < len-1; i++)
 564                                         sum += bytes[i];
 565                                 if (sum != bytes[len-1]) {
 566                                         printf ("bad checksum\n");
 567                                         continue;
 568                                 }
 569                                 if ((bytes[len-2] & 0x80) == 0) {
 570                                         continue;
 571                                 }
 572                                 if (len == 36) {
 573                                         memcpy(&telem, bytes + 1, 32);
 574                                         tick = telem.generic.tick;
 575                                         switch (telem.generic.type) {
 576                                         case AO_TELEMETRY_SENSOR_TELEMETRUM:
 577                                         case AO_TELEMETRY_SENSOR_TELEMINI:
 578                                         case AO_TELEMETRY_SENSOR_TELENANO:
 579                                                 if (!ao_flight_started) {
 580                                                         ao_flight_ground_accel = telem.sensor.ground_accel;
 581                                                         ao_config.accel_plus_g = telem.sensor.accel_plus_g;
 582                                                         ao_config.accel_minus_g = telem.sensor.accel_minus_g;
 583                                                         ao_flight_started = 1;
 584                                                 }
 585                                                 type = 'A';
 586                                                 a = telem.sensor.accel;
 587                                                 b = telem.sensor.pres;
 588                                                 break;
 589                                         }
 590                                 } else if (len == 99) {
 591                                         ao_flight_started = 1;
 592                                         tick = uint16(bytes, 21);
 593                                         ao_flight_ground_accel = int16(bytes, 7);
 594                                         ao_config.accel_plus_g = int16(bytes, 17);
 595                                         ao_config.accel_minus_g = int16(bytes, 19);
 596                                         type = 'A';
 597                                         a = int16(bytes, 23);
 598                                         b = int16(bytes, 25);
 599                                 } else if (len == 98) {
 600                                         ao_flight_started = 1;
 601                                         tick = uint16(bytes, 20);
 602                                         ao_flight_ground_accel = int16(bytes, 6);
 603                                         ao_config.accel_plus_g = int16(bytes, 16);
 604                                         ao_config.accel_minus_g = int16(bytes, 18);
 605                                         type = 'A';
 606                                         a = int16(bytes, 22);
 607                                         b = int16(bytes, 24);
 608                                 } else {
 609                                         printf("unknown len %d\n", len);
 610                                         continue;
 611                                 }
 612                         }
 613                         if (type != 'F' && !ao_flight_started)
 614                                 continue;
 615
 616                         switch (type) {
 617                         case 'F':
 618                                 ao_flight_ground_accel = a;
 619                                 if (ao_config.accel_plus_g == 0) {
 620                                         ao_config.accel_plus_g = a;
 621                                         ao_config.accel_minus_g = a + 530;
 622                                 }
 623                                 if (ao_config.main_deploy == 0)
 624                                         ao_config.main_deploy = 250;
 625                                 ao_flight_started = 1;
 626                                 break;
 627                         case 'S':
 628                                 break;
 629                         case 'A':
 630                                 ao_adc_static.tick = tick;
 631                                 ao_adc_static.accel = a;
 632                                 ao_adc_static.pres_real = b;
 633                                 if (b < AO_MIN_BARO_VALUE)
 634                                         b = AO_MIN_BARO_VALUE;
 635                                 ao_adc_static.pres = b;
 636                                 ao_records_read++;
 637                                 ao_insert();
 638                                 return;
 639                         case 'T':
 640                                 ao_adc_static.tick = tick;
 641                                 ao_adc_static.temp = a;
 642                                 ao_adc_static.v_batt = b;
 643                                 break;
 644                         case 'D':
 645                         case 'G':
 646                         case 'N':
 647                         case 'W':
 648                         case 'H':
 649                                 break;
 650                         }
 651                 }
 652
 653         }
 654 }
 655 #define COUNTS_PER_G 264.8
 656
 657 void
 658 ao_dump_state(void)
 659 {
 660 }
 661
 662 static const struct option options[] = {
 663         { .name = "summary", .has_arg = 0, .val = 's' },
 664         { .name = "debug", .has_arg = 0, .val = 'd' },
 665         { 0, 0, 0, 0},
 666 };
 667
 668 void run_flight_fixed(char *name, FILE *f, int summary)
 669 {
 670         emulator_name = name;
 671         emulator_in = f;
 672         ao_summary = summary;
 673         ao_flight_init();
 674         ao_flight();
 675 }
 676
 677 int
 678 main (int argc, char **argv)
 679 {
 680         int     summary = 0;
 681         int     c;
 682         int     i;
 683
 684 #if HAS_ACCEL
 685         emulator_app="full";
 686 #else
 687         emulator_app="baro";
 688 #endif
 689         while ((c = getopt_long(argc, argv, "sd", options, NULL)) != -1) {
 690                 switch (c) {
 691                 case 's':
 692                         summary = 1;
 693                         break;
 694                 case 'd':
 695                         ao_flight_debug = 1;
 696                         break;
 697                 }
 698         }
 699
 700         if (optind == argc)
 701                 run_flight_fixed("<stdin>", stdin, summary);
 702         else
 703                 for (i = optind; i < argc; i++) {
 704                         FILE    *f = fopen(argv[i], "r");
 705                         if (!f) {
 706                                 perror(argv[i]);
 707                                 continue;
 708                         }
 709                         run_flight_fixed(argv[i], f, summary);
 710                         fclose(f);
 711                 }
 712 }