git.gag.com Git - fw/altos/blob - src/test/ao_flight_test.c

   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 <stddef.h>
  24 #include <string.h>
  25 #include <getopt.h>
  26 #include <math.h>
  27
  28 #define GRAVITY 9.80665
  29
  30 #define AO_HERTZ        100
  31
  32 #define HAS_ADC 1
  33 #define AO_DATA_RING    64
  34 #define ao_data_ring_next(n)    (((n) + 1) & (AO_DATA_RING - 1))
  35 #define ao_data_ring_prev(n)    (((n) - 1) & (AO_DATA_RING - 1))
  36
  37 #define AO_M_TO_HEIGHT(m)       ((int16_t) (m))
  38 #define AO_MS_TO_SPEED(ms)      ((int16_t) ((ms) * 16))
  39 #define AO_MSS_TO_ACCEL(mss)    ((int16_t) ((mss) * 16))
  40
  41 #define AO_GPS_NEW_DATA         1
  42 #define AO_GPS_NEW_TRACKING     2
  43
  44 int ao_gps_new;
  45
  46 #if TELEMEGA
  47 #define AO_ADC_NUM_SENSE        6
  48 #define HAS_MS5607              1
  49 #define HAS_MPU6000             1
  50 #define HAS_MMA655X             1
  51 #define HAS_HMC5883             1
  52 #define HAS_BEEP                1
  53
  54 struct ao_adc {
  55         int16_t                 sense[AO_ADC_NUM_SENSE];
  56         int16_t                 v_batt;
  57         int16_t                 v_pbatt;
  58         int16_t                 temp;
  59 };
  60 #else
  61 /*
  62  * One set of samples read from the A/D converter
  63  */
  64 struct ao_adc {
  65         int16_t         accel;          /* accelerometer */
  66         int16_t         pres;           /* pressure sensor */
  67         int16_t         pres_real;      /* unclipped */
  68         int16_t         temp;           /* temperature sensor */
  69         int16_t         v_batt;         /* battery voltage */
  70         int16_t         sense_d;        /* drogue continuity sense */
  71         int16_t         sense_m;        /* main continuity sense */
  72 };
  73
  74 #ifndef HAS_ACCEL
  75 #define HAS_ACCEL 1
  76 #define HAS_ACCEL_REF 0
  77 #endif
  78
  79 #endif
  80
  81 #define __pdata
  82 #define __data
  83 #define __xdata
  84 #define __code
  85 #define __reentrant
  86
  87 #define HAS_FLIGHT 1
  88 #define HAS_IGNITE 1
  89 #define HAS_USB 1
  90 #define HAS_GPS 1
  91
  92 #include <ao_data.h>
  93 #include <ao_log.h>
  94 #include <ao_telemetry.h>
  95
  96 #if TELEMEGA
  97 int ao_gps_count;
  98 struct ao_telemetry_location ao_gps_first;
  99 struct ao_telemetry_location ao_gps_prev;
 100 struct ao_telemetry_location ao_gps_static;
 101
 102 struct ao_telemetry_satellite ao_gps_tracking;
 103
 104 static inline double sqr(double a) { return a * a; }
 105
 106 void
 107 cc_great_circle (double start_lat, double start_lon,
 108                  double end_lat, double end_lon,
 109                  double *dist, double *bearing)
 110 {
 111         const double rad = M_PI / 180;
 112         const double earth_radius = 6371.2 * 1000;      /* in meters */
 113         double lat1 = rad * start_lat;
 114         double lon1 = rad * -start_lon;
 115         double lat2 = rad * end_lat;
 116         double lon2 = rad * -end_lon;
 117
 118 //      double d_lat = lat2 - lat1;
 119         double d_lon = lon2 - lon1;
 120
 121         /* From http://en.wikipedia.org/wiki/Great-circle_distance */
 122         double vdn = sqrt(sqr(cos(lat2) * sin(d_lon)) +
 123                           sqr(cos(lat1) * sin(lat2) -
 124                               sin(lat1) * cos(lat2) * cos(d_lon)));
 125         double vdd = sin(lat1) * sin(lat2) + cos(lat1) * cos(lat2) * cos(d_lon);
 126         double d = atan2(vdn,vdd);
 127         double course;
 128
 129         if (cos(lat1) < 1e-20) {
 130                 if (lat1 > 0)
 131                         course = M_PI;
 132                 else
 133                         course = -M_PI;
 134         } else {
 135                 if (d < 1e-10)
 136                         course = 0;
 137                 else
 138                         course = acos((sin(lat2)-sin(lat1)*cos(d)) /
 139                                       (sin(d)*cos(lat1)));
 140                 if (sin(lon2-lon1) > 0)
 141                         course = 2 * M_PI-course;
 142         }
 143         *dist = d * earth_radius;
 144         *bearing = course * 180/M_PI;
 145 }
 146
 147 double
 148 ao_distance_from_pad(void)
 149 {
 150         double  dist, bearing;
 151         if (!ao_gps_count)
 152                 return 0;
 153
 154         cc_great_circle(ao_gps_first.latitude / 1e7,
 155                         ao_gps_first.longitude / 1e7,
 156                         ao_gps_static.latitude / 1e7,
 157                         ao_gps_static.longitude / 1e7,
 158                         &dist, &bearing);
 159         return dist;
 160 }
 161
 162 double
 163 ao_gps_angle(void)
 164 {
 165         double  dist, bearing;
 166         double  height;
 167         double  angle;
 168
 169         if (ao_gps_count < 2)
 170                 return 0;
 171
 172         cc_great_circle(ao_gps_prev.latitude / 1e7,
 173                         ao_gps_prev.longitude / 1e7,
 174                         ao_gps_static.latitude / 1e7,
 175                         ao_gps_static.longitude / 1e7,
 176                         &dist, &bearing);
 177         height = ao_gps_static.altitude - ao_gps_prev.altitude;
 178
 179         angle = atan2(dist, height);
 180         return angle * 180/M_PI;
 181 }
 182 #endif
 183
 184 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
 185 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
 186 #define from_fix(x)     ((x) >> 16)
 187
 188 /*
 189  * Above this height, the baro sensor doesn't work
 190  */
 191 #define AO_BARO_SATURATE        13000
 192 #define AO_MIN_BARO_VALUE       ao_altitude_to_pres(AO_BARO_SATURATE)
 193
 194 /*
 195  * Above this speed, baro measurements are unreliable
 196  */
 197 #define AO_MAX_BARO_SPEED       200
 198
 199 #define ACCEL_NOSE_UP   (ao_accel_2g >> 2)
 200
 201 extern enum ao_flight_state ao_flight_state;
 202
 203 #define FALSE 0
 204 #define TRUE 1
 205
 206 volatile struct ao_data ao_data_ring[AO_DATA_RING];
 207 volatile uint8_t ao_data_head;
 208 int     ao_summary = 0;
 209
 210 #define ao_led_on(l)
 211 #define ao_led_off(l)
 212 #define ao_timer_set_adc_interval(i)
 213 #define ao_wakeup(wchan) ao_dump_state()
 214 #define ao_cmd_register(c)
 215 #define ao_usb_disable()
 216 #define ao_telemetry_set_interval(x)
 217 #define ao_rdf_set(rdf)
 218 #define ao_packet_slave_start()
 219 #define ao_packet_slave_stop()
 220 #define flush()
 221
 222 enum ao_igniter {
 223         ao_igniter_drogue = 0,
 224         ao_igniter_main = 1
 225 };
 226
 227 struct ao_data ao_data_static;
 228
 229 int     drogue_height;
 230 double  drogue_time;
 231 int     main_height;
 232 double  main_time;
 233
 234 int     tick_offset;
 235
 236 static int32_t  ao_k_height;
 237
 238 int16_t
 239 ao_time(void)
 240 {
 241         return ao_data_static.tick;
 242 }
 243
 244 void
 245 ao_delay(int16_t interval)
 246 {
 247         return;
 248 }
 249
 250 void
 251 ao_ignite(enum ao_igniter igniter)
 252 {
 253         double time = (double) (ao_data_static.tick + tick_offset) / 100;
 254
 255         if (igniter == ao_igniter_drogue) {
 256                 drogue_time = time;
 257                 drogue_height = ao_k_height >> 16;
 258         } else {
 259                 main_time = time;
 260                 main_height = ao_k_height >> 16;
 261         }
 262 }
 263
 264 struct ao_task {
 265         int dummy;
 266 };
 267
 268 #define ao_add_task(t,f,n) ((void) (t))
 269
 270 #define ao_log_start()
 271 #define ao_log_stop()
 272
 273 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
 274 #define AO_SEC_TO_TICKS(s)      ((s) * 100)
 275
 276 #define AO_FLIGHT_TEST
 277
 278 int     ao_flight_debug;
 279
 280 FILE *emulator_in;
 281 char *emulator_app;
 282 char *emulator_name;
 283 char *emulator_info;
 284 double emulator_error_max = 4;
 285 double emulator_height_error_max = 20;  /* noise in the baro sensor */
 286
 287 void
 288 ao_dump_state(void);
 289
 290 void
 291 ao_sleep(void *wchan);
 292
 293 const char const * const ao_state_names[] = {
 294         "startup", "idle", "pad", "boost", "fast",
 295         "coast", "drogue", "main", "landed", "invalid"
 296 };
 297
 298 struct ao_cmds {
 299         void            (*func)(void);
 300         const char      *help;
 301 };
 302
 303 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
 304 #define ao_xmemset(d,v,c) memset(d,v,c)
 305 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
 306
 307 #define AO_NEED_ALTITUDE_TO_PRES 1
 308 #if TELEMEGA
 309 #include "ao_convert_pa.c"
 310 #include <ao_ms5607.h>
 311 struct ao_ms5607_prom   ao_ms5607_prom;
 312 #include "ao_ms5607_convert.c"
 313 #define AO_PYRO_NUM     4
 314 #include <ao_pyro.h>
 315 #else
 316 #include "ao_convert.c"
 317 #endif
 318
 319 #include <ao_config.h>
 320 #include <ao_fake_flight.h>
 321
 322 #define ao_config_get()
 323
 324 struct ao_config ao_config;
 325
 326 #define DATA_TO_XDATA(x) (x)
 327
 328
 329 extern int16_t ao_ground_accel, ao_flight_accel;
 330 extern int16_t ao_accel_2g;
 331
 332 typedef int16_t accel_t;
 333
 334 extern uint16_t ao_sample_tick;
 335
 336 extern alt_t    ao_sample_height;
 337 extern accel_t  ao_sample_accel;
 338 extern int32_t  ao_accel_scale;
 339 extern alt_t    ao_ground_height;
 340 extern alt_t    ao_sample_alt;
 341
 342 double ao_sample_qangle;
 343
 344 int ao_sample_prev_tick;
 345 uint16_t        prev_tick;
 346
 347
 348 #include "ao_kalman.c"
 349 #include "ao_sqrt.c"
 350 #include "ao_sample.c"
 351 #include "ao_flight.c"
 352 #if TELEMEGA
 353 #define AO_PYRO_NUM     4
 354
 355 #define AO_PYRO_0       0
 356 #define AO_PYRO_1       1
 357 #define AO_PYRO_2       2
 358 #define AO_PYRO_3       3
 359
 360 static void
 361 ao_pyro_pin_set(uint8_t pin, uint8_t value)
 362 {
 363         printf ("set pyro %d %d\n", pin, value);
 364 }
 365
 366 #include "ao_pyro.c"
 367 #endif
 368
 369 #define to_double(f)    ((f) / 65536.0)
 370
 371 static int      ao_records_read = 0;
 372 static int      ao_eof_read = 0;
 373 static int      ao_flight_ground_accel;
 374 static int      ao_flight_started = 0;
 375 static int      ao_test_max_height;
 376 static double   ao_test_max_height_time;
 377 static int      ao_test_main_height;
 378 static double   ao_test_main_height_time;
 379 static double   ao_test_landed_time;
 380 static double   ao_test_landed_height;
 381 static double   ao_test_landed_time;
 382 static int      landed_set;
 383 static double   landed_time;
 384 static double   landed_height;
 385
 386 #if HAS_MPU6000
 387 static struct ao_mpu6000_sample ao_ground_mpu6000;
 388 #endif
 389
 390 void
 391 ao_test_exit(void)
 392 {
 393         double  drogue_error;
 394         double  main_error;
 395         double  landed_error;
 396         double  landed_time_error;
 397
 398         if (!ao_test_main_height_time) {
 399                 ao_test_main_height_time = ao_test_max_height_time;
 400                 ao_test_main_height = ao_test_max_height;
 401         }
 402         drogue_error = fabs(ao_test_max_height_time - drogue_time);
 403         main_error = fabs(ao_test_main_height_time - main_time);
 404         landed_error = fabs(ao_test_landed_height - landed_height);
 405         landed_time_error = ao_test_landed_time - landed_time;
 406         if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
 407                 printf ("%s %s\n",
 408                         emulator_app, emulator_name);
 409                 if (emulator_info)
 410                         printf ("\t%s\n", emulator_info);
 411                 printf ("\tApogee error %g\n", drogue_error);
 412                 printf ("\tMain error %g\n", main_error);
 413                 printf ("\tLanded height error %g\n", landed_error);
 414                 printf ("\tLanded time error %g\n", landed_time_error);
 415                 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 416                         ao_test_max_height, ao_test_max_height_time,
 417                         ao_test_main_height, ao_test_main_height_time,
 418                         ao_test_landed_height, ao_test_landed_time);
 419                 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 420                         drogue_height, drogue_time, main_height, main_time,
 421                         landed_height, landed_time);
 422                 exit (1);
 423         }
 424         exit(0);
 425 }
 426
 427 #ifdef TELEMEGA
 428 struct ao_azel {
 429         int     az;
 430         int     el;
 431 };
 432
 433 static void
 434 azel (struct ao_azel *r, struct ao_quaternion *q)
 435 {
 436         double  v;
 437
 438         r->az = floor (atan2(q->y, q->x) * 180/M_PI + 0.5);
 439         v = sqrt (q->x*q->x + q->y*q->y);
 440         r->el = floor (atan2(q->z, v) * 180/M_PI + 0.5);
 441 }
 442 #endif
 443
 444 void
 445 ao_insert(void)
 446 {
 447         double  time;
 448
 449         ao_data_ring[ao_data_head] = ao_data_static;
 450         ao_data_head = ao_data_ring_next(ao_data_head);
 451         if (ao_flight_state != ao_flight_startup) {
 452 #if HAS_ACCEL
 453                 double  accel = ((ao_flight_ground_accel - ao_data_accel_cook(&ao_data_static)) * GRAVITY * 2.0) /
 454                         (ao_config.accel_minus_g - ao_config.accel_plus_g);
 455 #else
 456                 double  accel = 0.0;
 457 #endif
 458 #if TELEMEGA
 459                 double  height;
 460
 461                 ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
 462                 height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height;
 463 #else
 464                 double  height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
 465 #endif
 466
 467                 (void) accel;
 468                 if (!tick_offset)
 469                         tick_offset = -ao_data_static.tick;
 470                 if ((prev_tick - ao_data_static.tick) > 0x400)
 471                         tick_offset += 65536;
 472                 prev_tick = ao_data_static.tick;
 473                 time = (double) (ao_data_static.tick + tick_offset) / 100;
 474
 475                 if (ao_test_max_height < height) {
 476                         ao_test_max_height = height;
 477                         ao_test_max_height_time = time;
 478                         ao_test_landed_height = height;
 479                         ao_test_landed_time = time;
 480                 }
 481                 if (height > ao_config.main_deploy) {
 482                         ao_test_main_height_time = time;
 483                         ao_test_main_height = height;
 484                 }
 485
 486                 if (ao_test_landed_height > height) {
 487                         ao_test_landed_height = height;
 488                         ao_test_landed_time = time;
 489                 }
 490
 491                 if (ao_flight_state == ao_flight_landed && !landed_set) {
 492                         landed_set = 1;
 493                         landed_time = time;
 494                         landed_height = height;
 495                 }
 496
 497                 if (!ao_summary) {
 498 #if TELEMEGA
 499                         static struct ao_quaternion     ao_ground_mag;
 500                         static int                      ao_ground_mag_set;
 501
 502                         if (!ao_ground_mag_set) {
 503                                 ao_quaternion_init_vector (&ao_ground_mag,
 504                                                            ao_data_mag_across(&ao_data_static),
 505                                                            ao_data_mag_through(&ao_data_static),
 506                                                            ao_data_mag_along(&ao_data_static));
 507                                 ao_quaternion_normalize(&ao_ground_mag, &ao_ground_mag);
 508                                 ao_quaternion_rotate(&ao_ground_mag, &ao_ground_mag, &ao_rotation);
 509                                 ao_ground_mag_set = 1;
 510                         }
 511
 512                         struct ao_quaternion            ao_mag, ao_mag_rot;
 513
 514                         ao_quaternion_init_vector(&ao_mag,
 515                                                   ao_data_mag_across(&ao_data_static),
 516                                                   ao_data_mag_through(&ao_data_static),
 517                                                   ao_data_mag_along(&ao_data_static));
 518
 519                         ao_quaternion_normalize(&ao_mag, &ao_mag);
 520                         ao_quaternion_rotate(&ao_mag_rot, &ao_mag, &ao_rotation);
 521
 522                         float                           ao_dot;
 523                         int                             ao_mag_angle;
 524
 525                         ao_dot = ao_quaternion_dot(&ao_mag_rot, &ao_ground_mag);
 526
 527                         struct ao_azel                  ground_azel, mag_azel, rot_azel;
 528
 529                         azel(&ground_azel, &ao_ground_mag);
 530                         azel(&mag_azel, &ao_mag);
 531                         azel(&rot_azel, &ao_mag_rot);
 532
 533                         ao_mag_angle = floor (acos(ao_dot) * 180 / M_PI + 0.5);
 534
 535                         (void) ao_mag_angle;
 536
 537                         static struct ao_quaternion     ao_x = { .r = 0, .x = 1, .y = 0, .z = 0 };
 538                         struct ao_quaternion            ao_out;
 539
 540                         ao_quaternion_rotate(&ao_out, &ao_x, &ao_rotation);
 541
 542                         int     out = floor (atan2(ao_out.y, ao_out.x) * 180 / M_PI);
 543
 544 #if 0
 545                         printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d mag_tilt %4d mag_rot %4d\n",
 546                                 time,
 547                                 ao_state_names[ao_flight_state],
 548                                 ao_k_height / 65536.0,
 549                                 ao_sample_orient, out,
 550                                 mag_azel.el,
 551                                 mag_azel.az);
 552 #endif
 553                         printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d dist %12.2f gps_tilt %4d gps_sats %2d\n",
 554                                 time,
 555                                 ao_state_names[ao_flight_state],
 556                                 ao_k_height / 65536.0,
 557                                 ao_sample_orient, out,
 558                                 ao_distance_from_pad(),
 559                                 (int) floor (ao_gps_angle() + 0.5),
 560                                 (ao_gps_static.flags & 0xf) * 10);
 561
 562 #if 0
 563                         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",
 564                                 ao_state_names[ao_flight_state],
 565                                 ground_azel.az, ground_azel.el,
 566                                 mag_azel.az, mag_azel.el,
 567                                 rot_azel.az, rot_azel.el,
 568                                 ground_azel.el - rot_azel.el,
 569                                 ground_azel.az - rot_azel.az,
 570                                 ao_mag_angle,
 571                                 ao_sample_orient,
 572                                 ao_ground_mag.x,
 573                                 ao_ground_mag.y,
 574                                 ao_ground_mag.z,
 575                                 ao_mag.x,
 576                                 ao_mag.y,
 577                                 ao_mag.z,
 578                                 ao_mag_rot.x,
 579                                 ao_mag_rot.y,
 580                                 ao_mag_rot.z);
 581 #endif
 582 #endif
 583
 584 #if 0
 585                         printf("%7.2f height %8.2f accel %8.3f "
 586 #if TELEMEGA
 587                                "angle %5d "
 588                                "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 "
 589 #endif
 590                                "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",
 591                                time,
 592                                height,
 593                                accel,
 594 #if TELEMEGA
 595                                ao_sample_orient,
 596
 597                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
 598                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
 599                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_z),
 600                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x),
 601                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y),
 602                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z),
 603                                ao_data_static.hmc5883.x,
 604                                ao_data_static.hmc5883.y,
 605                                ao_data_static.hmc5883.z,
 606                                ao_mag_angle,
 607 #endif
 608                                ao_state_names[ao_flight_state],
 609                                ao_k_height / 65536.0,
 610                                ao_k_speed / 65536.0 / 16.0,
 611                                ao_k_accel / 65536.0 / 16.0,
 612                                ao_avg_height,
 613                                drogue_height,
 614                                main_height,
 615                                ao_error_h_sq_avg);
 616 #endif
 617
 618 //                      if (ao_flight_state == ao_flight_landed)
 619 //                              ao_test_exit();
 620                 }
 621         }
 622 }
 623
 624
 625 uint16_t
 626 uint16(uint8_t *bytes, int off)
 627 {
 628         return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
 629 }
 630
 631 int16_t
 632 int16(uint8_t *bytes, int off)
 633 {
 634         return (int16_t) uint16(bytes, off);
 635 }
 636
 637 uint32_t
 638 uint32(uint8_t *bytes, int off)
 639 {
 640         return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
 641                 (((uint32_t) bytes[off+2]) << 16) |
 642                 (((uint32_t) bytes[off+3]) << 24);
 643 }
 644
 645 int32_t
 646 int32(uint8_t *bytes, int off)
 647 {
 648         return (int32_t) uint32(bytes, off);
 649 }
 650
 651 static int log_format;
 652
 653 void
 654 ao_sleep(void *wchan)
 655 {
 656         if (wchan == &ao_data_head) {
 657                 char            type = 0;
 658                 uint16_t        tick = 0;
 659                 uint16_t        a = 0, b = 0;
 660                 uint8_t         bytes[1024];
 661                 union ao_telemetry_all  telem;
 662                 char            line[1024];
 663                 char            *saveptr;
 664                 char            *l;
 665                 char            *words[64];
 666                 int             nword;
 667
 668 #if TELEMEGA
 669                 if (ao_flight_state >= ao_flight_boost && ao_flight_state < ao_flight_landed)
 670                         ao_pyro_check();
 671 #endif
 672                 for (;;) {
 673                         if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 674                         {
 675 #if TELEMEGA
 676                                 ao_data_static.mpu6000 = ao_ground_mpu6000;
 677 #else
 678                                 ao_data_static.adc.accel = ao_flight_ground_accel;
 679 #endif
 680                                 ao_insert();
 681                                 return;
 682                         }
 683
 684                         if (!fgets(line, sizeof (line), emulator_in)) {
 685                                 if (++ao_eof_read >= 1000) {
 686                                         if (!ao_summary)
 687                                                 printf ("no more data, exiting simulation\n");
 688                                         ao_test_exit();
 689                                 }
 690                                 ao_data_static.tick += 10;
 691                                 ao_insert();
 692                                 return;
 693                         }
 694                         l = line;
 695                         for (nword = 0; nword < 64; nword++) {
 696                                 words[nword] = strtok_r(l, " \t\n", &saveptr);
 697                                 l = NULL;
 698                                 if (words[nword] == NULL)
 699                                         break;
 700                         }
 701 #if TELEMEGA
 702                         if (log_format == AO_LOG_FORMAT_TELEMEGA && nword == 30 && strlen(words[0]) == 1) {
 703                                 int     i;
 704                                 struct ao_ms5607_value  value;
 705
 706                                 type = words[0][0];
 707                                 tick = strtoul(words[1], NULL, 16);
 708 //                              printf ("%c %04x", type, tick);
 709                                 for (i = 2; i < nword; i++) {
 710                                         bytes[i - 2] = strtoul(words[i], NULL, 16);
 711 //                                      printf(" %02x", bytes[i-2]);
 712                                 }
 713 //                              printf ("\n");
 714                                 switch (type) {
 715                                 case 'F':
 716                                         ao_flight_ground_accel = int16(bytes, 2);
 717                                         ao_flight_started = 1;
 718                                         ao_ground_pres = int32(bytes, 4);
 719                                         ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
 720                                         ao_ground_accel_along = int16(bytes, 8);
 721                                         ao_ground_accel_across = int16(bytes, 10);
 722                                         ao_ground_accel_through = int16(bytes, 12);
 723                                         ao_ground_roll = int16(bytes, 14);
 724                                         ao_ground_pitch = int16(bytes, 16);
 725                                         ao_ground_yaw = int16(bytes, 18);
 726                                         ao_ground_mpu6000.accel_x = ao_ground_accel_across;
 727                                         ao_ground_mpu6000.accel_y = ao_ground_accel_along;
 728                                         ao_ground_mpu6000.accel_z = ao_ground_accel_through;
 729                                         ao_ground_mpu6000.gyro_x = ao_ground_pitch >> 9;
 730                                         ao_ground_mpu6000.gyro_y = ao_ground_roll >> 9;
 731                                         ao_ground_mpu6000.gyro_z = ao_ground_yaw >> 9;
 732                                         break;
 733                                 case 'A':
 734                                         ao_data_static.tick = tick;
 735                                         ao_data_static.ms5607_raw.pres = int32(bytes, 0);
 736                                         ao_data_static.ms5607_raw.temp = int32(bytes, 4);
 737                                         ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
 738                                         ao_data_static.mpu6000.accel_x = int16(bytes, 8);
 739                                         ao_data_static.mpu6000.accel_y = int16(bytes, 10);
 740                                         ao_data_static.mpu6000.accel_z = int16(bytes, 12);
 741                                         ao_data_static.mpu6000.gyro_x = int16(bytes, 14);
 742                                         ao_data_static.mpu6000.gyro_y = int16(bytes, 16);
 743                                         ao_data_static.mpu6000.gyro_z = int16(bytes, 18);
 744                                         ao_data_static.hmc5883.x = int16(bytes, 20);
 745                                         ao_data_static.hmc5883.y = int16(bytes, 22);
 746                                         ao_data_static.hmc5883.z = int16(bytes, 24);
 747 #if HAS_MMA655X
 748                                         ao_data_static.mma655x = int16(bytes, 26);
 749 #endif
 750                                         ao_records_read++;
 751                                         ao_insert();
 752                                         return;
 753                                 case 'G':
 754                                         ao_gps_prev = ao_gps_static;
 755                                         ao_gps_static.tick = tick;
 756                                         ao_gps_static.latitude = int32(bytes, 0);
 757                                         ao_gps_static.longitude = int32(bytes, 4);
 758                                         ao_gps_static.altitude = int32(bytes, 8);
 759                                         ao_gps_static.flags = bytes[13];
 760                                         if (!ao_gps_count)
 761                                                 ao_gps_first = ao_gps_static;
 762                                         ao_gps_count++;
 763                                         break;
 764                                 }
 765                                 continue;
 766                         } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
 767                                 if (strcmp(words[1], "reserved:") == 0)
 768                                         ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10);
 769                                 else if (strcmp(words[1], "sens:") == 0)
 770                                         ao_ms5607_prom.sens = strtoul(words[2], NULL, 10);
 771                                 else if (strcmp(words[1], "off:") == 0)
 772                                         ao_ms5607_prom.off = strtoul(words[2], NULL, 10);
 773                                 else if (strcmp(words[1], "tcs:") == 0)
 774                                         ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10);
 775                                 else if (strcmp(words[1], "tco:") == 0)
 776                                         ao_ms5607_prom.tco = strtoul(words[2], NULL, 10);
 777                                 else if (strcmp(words[1], "tref:") == 0)
 778                                         ao_ms5607_prom.tref = strtoul(words[2], NULL, 10);
 779                                 else if (strcmp(words[1], "tempsens:") == 0)
 780                                         ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
 781                                 else if (strcmp(words[1], "crc:") == 0)
 782                                         ao_ms5607_prom.crc = strtoul(words[2], NULL, 10);
 783                                 continue;
 784                         } else if (nword >= 3 && strcmp(words[0], "Pyro") == 0) {
 785                                 int     p = strtoul(words[1], NULL, 10);
 786                                 int     i, j;
 787                                 struct ao_pyro  *pyro = &ao_config.pyro[p];
 788
 789                                 for (i = 2; i < nword; i++) {
 790                                         for (j = 0; j < NUM_PYRO_VALUES; j++)
 791                                                 if (!strcmp (words[i], ao_pyro_values[j].name))
 792                                                         break;
 793                                         if (j == NUM_PYRO_VALUES)
 794                                                 continue;
 795                                         pyro->flags |= ao_pyro_values[j].flag;
 796                                         if (ao_pyro_values[j].offset != NO_VALUE && i + 1 < nword) {
 797                                                 int16_t val = strtoul(words[++i], NULL, 10);
 798                                                 *((int16_t *) ((char *) pyro + ao_pyro_values[j].offset)) = val;
 799                                         }
 800                                 }
 801                         }
 802 #else
 803                         if (nword == 4 && log_format != AO_LOG_FORMAT_TELEMEGA) {
 804                                 type = words[0][0];
 805                                 tick = strtoul(words[1], NULL, 16);
 806                                 a = strtoul(words[2], NULL, 16);
 807                                 b = strtoul(words[3], NULL, 16);
 808                                 if (type == 'P')
 809                                         type = 'A';
 810                         }
 811 #endif
 812                         else if (nword == 2 && strcmp(words[0], "log-format") == 0) {
 813                                 log_format = strtoul(words[1], NULL, 10);
 814                         } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
 815                                 ao_config.accel_plus_g = atoi(words[3]);
 816                                 ao_config.accel_minus_g = atoi(words[5]);
 817 #ifdef TELEMEGA
 818                         } else if (nword >= 8 && strcmp(words[0], "IMU") == 0) {
 819                                 ao_config.accel_zero_along = atoi(words[3]);
 820                                 ao_config.accel_zero_across = atoi(words[5]);
 821                                 ao_config.accel_zero_through = atoi(words[7]);
 822                                 printf ("%d %d %d\n", ao_config.accel_zero_along, ao_config.accel_zero_across, ao_config.accel_zero_through);
 823 #endif
 824                         } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
 825                                 ao_config.main_deploy = atoi(words[2]);
 826                         } else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 &&
 827                                    strcmp(words[1], "lockout:") == 0) {
 828                                 ao_config.apogee_lockout = atoi(words[2]);
 829                         } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
 830                                 tick = atoi(words[10]);
 831                                 if (!ao_flight_started) {
 832                                         type = 'F';
 833                                         a = atoi(words[26]);
 834                                         ao_flight_started = 1;
 835                                 } else {
 836                                         type = 'A';
 837                                         a = atoi(words[12]);
 838                                         b = atoi(words[14]);
 839                                 }
 840                         } else if (nword == 3 && strcmp(words[0], "BARO") == 0) {
 841                                 tick = strtol(words[1], NULL, 16);
 842                                 a = 16384 - 328;
 843                                 b = strtol(words[2], NULL, 10);
 844                                 type = 'A';
 845                                 if (!ao_flight_started) {
 846                                         ao_flight_ground_accel = 16384 - 328;
 847                                         ao_config.accel_plus_g = 16384 - 328;
 848                                         ao_config.accel_minus_g = 16384 + 328;
 849                                         ao_flight_started = 1;
 850                                 }
 851                         } else if (nword == 2 && strcmp(words[0], "TELEM") == 0) {
 852                                 __xdata char    *hex = words[1];
 853                                 char    elt[3];
 854                                 int     i, len;
 855                                 uint8_t sum;
 856
 857                                 len = strlen(hex);
 858                                 if (len > sizeof (bytes) * 2) {
 859                                         len = sizeof (bytes)*2;
 860                                         hex[len] = '\0';
 861                                 }
 862                                 for (i = 0; i < len; i += 2) {
 863                                         elt[0] = hex[i];
 864                                         elt[1] = hex[i+1];
 865                                         elt[2] = '\0';
 866                                         bytes[i/2] = (uint8_t) strtol(elt, NULL, 16);
 867                                 }
 868                                 len = i/2;
 869                                 if (bytes[0] != len - 2) {
 870                                         printf ("bad length %d != %d\n", bytes[0], len - 2);
 871                                         continue;
 872                                 }
 873                                 sum = 0x5a;
 874                                 for (i = 1; i < len-1; i++)
 875                                         sum += bytes[i];
 876                                 if (sum != bytes[len-1]) {
 877                                         printf ("bad checksum\n");
 878                                         continue;
 879                                 }
 880                                 if ((bytes[len-2] & 0x80) == 0) {
 881                                         continue;
 882                                 }
 883                                 if (len == 36) {
 884                                         ao_xmemcpy(&telem, bytes + 1, 32);
 885                                         tick = telem.generic.tick;
 886                                         switch (telem.generic.type) {
 887                                         case AO_TELEMETRY_SENSOR_TELEMETRUM:
 888                                         case AO_TELEMETRY_SENSOR_TELEMINI:
 889                                         case AO_TELEMETRY_SENSOR_TELENANO:
 890                                                 if (!ao_flight_started) {
 891                                                         ao_flight_ground_accel = telem.sensor.ground_accel;
 892                                                         ao_config.accel_plus_g = telem.sensor.accel_plus_g;
 893                                                         ao_config.accel_minus_g = telem.sensor.accel_minus_g;
 894                                                         ao_flight_started = 1;
 895                                                 }
 896                                                 type = 'A';
 897                                                 a = telem.sensor.accel;
 898                                                 b = telem.sensor.pres;
 899                                                 break;
 900                                         }
 901                                 } else if (len == 99) {
 902                                         ao_flight_started = 1;
 903                                         tick = uint16(bytes+1, 21);
 904                                         ao_flight_ground_accel = int16(bytes+1, 7);
 905                                         ao_config.accel_plus_g = int16(bytes+1, 17);
 906                                         ao_config.accel_minus_g = int16(bytes+1, 19);
 907                                         type = 'A';
 908                                         a = int16(bytes+1, 23);
 909                                         b = int16(bytes+1, 25);
 910                                 } else if (len == 98) {
 911                                         ao_flight_started = 1;
 912                                         tick = uint16(bytes+1, 20);
 913                                         ao_flight_ground_accel = int16(bytes+1, 6);
 914                                         ao_config.accel_plus_g = int16(bytes+1, 16);
 915                                         ao_config.accel_minus_g = int16(bytes+1, 18);
 916                                         type = 'A';
 917                                         a = int16(bytes+1, 22);
 918                                         b = int16(bytes+1, 24);
 919                                 } else {
 920                                         printf("unknown len %d\n", len);
 921                                         continue;
 922                                 }
 923                         }
 924                         if (type != 'F' && !ao_flight_started)
 925                                 continue;
 926
 927 #if TELEMEGA
 928                         (void) a;
 929                         (void) b;
 930 #else
 931                         switch (type) {
 932                         case 'F':
 933                                 ao_flight_ground_accel = a;
 934                                 if (ao_config.accel_plus_g == 0) {
 935                                         ao_config.accel_plus_g = a;
 936                                         ao_config.accel_minus_g = a + 530;
 937                                 }
 938                                 if (ao_config.main_deploy == 0)
 939                                         ao_config.main_deploy = 250;
 940                                 ao_flight_started = 1;
 941                                 break;
 942                         case 'S':
 943                                 break;
 944                         case 'A':
 945                                 ao_data_static.tick = tick;
 946                                 ao_data_static.adc.accel = a;
 947                                 ao_data_static.adc.pres_real = b;
 948                                 if (b < AO_MIN_BARO_VALUE)
 949                                         b = AO_MIN_BARO_VALUE;
 950                                 ao_data_static.adc.pres = b;
 951                                 ao_records_read++;
 952                                 ao_insert();
 953                                 return;
 954                         case 'T':
 955                                 ao_data_static.tick = tick;
 956                                 ao_data_static.adc.temp = a;
 957                                 ao_data_static.adc.v_batt = b;
 958                                 break;
 959                         case 'D':
 960                         case 'G':
 961                         case 'N':
 962                         case 'W':
 963                         case 'H':
 964                                 break;
 965                         }
 966 #endif
 967                 }
 968
 969         }
 970 }
 971 #define COUNTS_PER_G 264.8
 972
 973 void
 974 ao_dump_state(void)
 975 {
 976 }
 977
 978 static const struct option options[] = {
 979         { .name = "summary", .has_arg = 0, .val = 's' },
 980         { .name = "debug", .has_arg = 0, .val = 'd' },
 981         { .name = "info", .has_arg = 1, .val = 'i' },
 982         { 0, 0, 0, 0},
 983 };
 984
 985 void run_flight_fixed(char *name, FILE *f, int summary, char *info)
 986 {
 987         emulator_name = name;
 988         emulator_in = f;
 989         emulator_info = info;
 990         ao_summary = summary;
 991
 992         ao_flight_init();
 993         ao_flight();
 994 }
 995
 996 int
 997 main (int argc, char **argv)
 998 {
 999         int     summary = 0;
1000         int     c;
1001         int     i;
1002         char    *info = NULL;
1003
1004 #if HAS_ACCEL
1005         emulator_app="full";
1006 #else
1007         emulator_app="baro";
1008 #endif
1009         while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) {
1010                 switch (c) {
1011                 case 's':
1012                         summary = 1;
1013                         break;
1014                 case 'd':
1015                         ao_flight_debug = 1;
1016                         break;
1017                 case 'i':
1018                         info = optarg;
1019                         break;
1020                 }
1021         }
1022
1023         if (optind == argc)
1024                 run_flight_fixed("<stdin>", stdin, summary, info);
1025         else
1026                 for (i = optind; i < argc; i++) {
1027                         FILE    *f = fopen(argv[i], "r");
1028                         if (!f) {
1029                                 perror(argv[i]);
1030                                 continue;
1031                         }
1032                         run_flight_fixed(argv[i], f, summary, info);
1033                         fclose(f);
1034                 }
1035         exit(0);
1036 }