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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 <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 #define AO_CONFIG_MAX_SIZE      1024
  54
  55 struct ao_adc {
  56         int16_t                 sense[AO_ADC_NUM_SENSE];
  57         int16_t                 v_batt;
  58         int16_t                 v_pbatt;
  59         int16_t                 temp;
  60 };
  61 #else
  62 /*
  63  * One set of samples read from the A/D converter
  64  */
  65 struct ao_adc {
  66         int16_t         accel;          /* accelerometer */
  67         int16_t         pres;           /* pressure sensor */
  68         int16_t         pres_real;      /* unclipped */
  69         int16_t         temp;           /* temperature sensor */
  70         int16_t         v_batt;         /* battery voltage */
  71         int16_t         sense_d;        /* drogue continuity sense */
  72         int16_t         sense_m;        /* main continuity sense */
  73 };
  74
  75 #ifndef HAS_ACCEL
  76 #define HAS_ACCEL 1
  77 #define HAS_ACCEL_REF 0
  78 #endif
  79
  80 #endif
  81
  82 #define __pdata
  83 #define __data
  84 #define __xdata
  85 #define __code
  86 #define __reentrant
  87
  88 #define HAS_FLIGHT 1
  89 #define HAS_IGNITE 1
  90 #define HAS_USB 1
  91 #define HAS_GPS 1
  92
  93 #include <ao_data.h>
  94 #include <ao_log.h>
  95 #include <ao_telemetry.h>
  96
  97 #if TELEMEGA
  98 int ao_gps_count;
  99 struct ao_telemetry_location ao_gps_first;
 100 struct ao_telemetry_location ao_gps_prev;
 101 struct ao_telemetry_location ao_gps_static;
 102
 103 struct ao_telemetry_satellite ao_gps_tracking;
 104
 105 static inline double sqr(double a) { return a * a; }
 106
 107 void
 108 cc_great_circle (double start_lat, double start_lon,
 109                  double end_lat, double end_lon,
 110                  double *dist, double *bearing)
 111 {
 112         const double rad = M_PI / 180;
 113         const double earth_radius = 6371.2 * 1000;      /* in meters */
 114         double lat1 = rad * start_lat;
 115         double lon1 = rad * -start_lon;
 116         double lat2 = rad * end_lat;
 117         double lon2 = rad * -end_lon;
 118
 119 //      double d_lat = lat2 - lat1;
 120         double d_lon = lon2 - lon1;
 121
 122         /* From http://en.wikipedia.org/wiki/Great-circle_distance */
 123         double vdn = sqrt(sqr(cos(lat2) * sin(d_lon)) +
 124                           sqr(cos(lat1) * sin(lat2) -
 125                               sin(lat1) * cos(lat2) * cos(d_lon)));
 126         double vdd = sin(lat1) * sin(lat2) + cos(lat1) * cos(lat2) * cos(d_lon);
 127         double d = atan2(vdn,vdd);
 128         double course;
 129
 130         if (cos(lat1) < 1e-20) {
 131                 if (lat1 > 0)
 132                         course = M_PI;
 133                 else
 134                         course = -M_PI;
 135         } else {
 136                 if (d < 1e-10)
 137                         course = 0;
 138                 else
 139                         course = acos((sin(lat2)-sin(lat1)*cos(d)) /
 140                                       (sin(d)*cos(lat1)));
 141                 if (sin(lon2-lon1) > 0)
 142                         course = 2 * M_PI-course;
 143         }
 144         *dist = d * earth_radius;
 145         *bearing = course * 180/M_PI;
 146 }
 147
 148 double
 149 ao_distance_from_pad(void)
 150 {
 151         double  dist, bearing;
 152         if (!ao_gps_count)
 153                 return 0;
 154
 155         cc_great_circle(ao_gps_first.latitude / 1e7,
 156                         ao_gps_first.longitude / 1e7,
 157                         ao_gps_static.latitude / 1e7,
 158                         ao_gps_static.longitude / 1e7,
 159                         &dist, &bearing);
 160         return dist;
 161 }
 162
 163 double
 164 ao_gps_angle(void)
 165 {
 166         double  dist, bearing;
 167         double  height;
 168         double  angle;
 169
 170         if (ao_gps_count < 2)
 171                 return 0;
 172
 173         cc_great_circle(ao_gps_prev.latitude / 1e7,
 174                         ao_gps_prev.longitude / 1e7,
 175                         ao_gps_static.latitude / 1e7,
 176                         ao_gps_static.longitude / 1e7,
 177                         &dist, &bearing);
 178         height = AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_static) - AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_prev);
 179
 180         angle = atan2(dist, height);
 181         return angle * 180/M_PI;
 182 }
 183 #endif
 184
 185 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
 186 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
 187 #define from_fix(x)     ((x) >> 16)
 188
 189 /*
 190  * Above this height, the baro sensor doesn't work
 191  */
 192 #define AO_BARO_SATURATE        13000
 193 #define AO_MIN_BARO_VALUE       ao_altitude_to_pres(AO_BARO_SATURATE)
 194
 195 /*
 196  * Above this speed, baro measurements are unreliable
 197  */
 198 #define AO_MAX_BARO_SPEED       200
 199
 200 #define ACCEL_NOSE_UP   (ao_accel_2g >> 2)
 201
 202 extern enum ao_flight_state ao_flight_state;
 203
 204 #define FALSE 0
 205 #define TRUE 1
 206
 207 volatile struct ao_data ao_data_ring[AO_DATA_RING];
 208 volatile uint8_t ao_data_head;
 209 int     ao_summary = 0;
 210
 211 #define ao_led_on(l)
 212 #define ao_led_off(l)
 213 #define ao_timer_set_adc_interval(i)
 214 #define ao_wakeup(wchan) ao_dump_state()
 215 #define ao_cmd_register(c)
 216 #define ao_usb_disable()
 217 #define ao_telemetry_set_interval(x)
 218 #define ao_rdf_set(rdf)
 219 #define ao_packet_slave_start()
 220 #define ao_packet_slave_stop()
 221 #define flush()
 222
 223 enum ao_igniter {
 224         ao_igniter_drogue = 0,
 225         ao_igniter_main = 1
 226 };
 227
 228 struct ao_data ao_data_static;
 229
 230 int     drogue_height;
 231 double  drogue_time;
 232 int     main_height;
 233 double  main_time;
 234
 235 int     tick_offset;
 236
 237 static int32_t  ao_k_height;
 238
 239 int16_t
 240 ao_time(void)
 241 {
 242         return ao_data_static.tick;
 243 }
 244
 245 void
 246 ao_delay(int16_t interval)
 247 {
 248         return;
 249 }
 250
 251 void
 252 ao_ignite(enum ao_igniter igniter)
 253 {
 254         double time = (double) (ao_data_static.tick + tick_offset) / 100;
 255
 256         if (igniter == ao_igniter_drogue) {
 257                 drogue_time = time;
 258                 drogue_height = ao_k_height >> 16;
 259         } else {
 260                 main_time = time;
 261                 main_height = ao_k_height >> 16;
 262         }
 263 }
 264
 265 struct ao_task {
 266         int dummy;
 267 };
 268
 269 #define ao_add_task(t,f,n) ((void) (t))
 270
 271 #define ao_log_start()
 272 #define ao_log_stop()
 273
 274 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
 275 #define AO_SEC_TO_TICKS(s)      ((s) * 100)
 276
 277 #define AO_FLIGHT_TEST
 278
 279 int     ao_flight_debug;
 280
 281 FILE *emulator_in;
 282 char *emulator_app;
 283 char *emulator_name;
 284 char *emulator_info;
 285 double emulator_error_max = 4;
 286 double emulator_height_error_max = 20;  /* noise in the baro sensor */
 287
 288 void
 289 ao_dump_state(void);
 290
 291 void
 292 ao_sleep(void *wchan);
 293
 294 const char const * const ao_state_names[] = {
 295         "startup", "idle", "pad", "boost", "fast",
 296         "coast", "drogue", "main", "landed", "invalid"
 297 };
 298
 299 struct ao_cmds {
 300         void            (*func)(void);
 301         const char      *help;
 302 };
 303
 304 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
 305 #define ao_xmemset(d,v,c) memset(d,v,c)
 306 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
 307
 308 #define AO_NEED_ALTITUDE_TO_PRES 1
 309 #if TELEMEGA
 310 #include "ao_convert_pa.c"
 311 #include <ao_ms5607.h>
 312 struct ao_ms5607_prom   ao_ms5607_prom;
 313 #include "ao_ms5607_convert.c"
 314 #define AO_PYRO_NUM     4
 315 #include <ao_pyro.h>
 316 #else
 317 #include "ao_convert.c"
 318 #endif
 319
 320 #include <ao_config.h>
 321 #include <ao_fake_flight.h>
 322
 323 #define ao_config_get()
 324
 325 struct ao_config ao_config;
 326
 327 #define DATA_TO_XDATA(x) (x)
 328
 329
 330 extern int16_t ao_ground_accel, ao_flight_accel;
 331 extern int16_t ao_accel_2g;
 332
 333 typedef int16_t accel_t;
 334
 335 extern uint16_t ao_sample_tick;
 336
 337 extern alt_t    ao_sample_height;
 338 extern accel_t  ao_sample_accel;
 339 extern int32_t  ao_accel_scale;
 340 extern alt_t    ao_ground_height;
 341 extern alt_t    ao_sample_alt;
 342
 343 double ao_sample_qangle;
 344
 345 int ao_sample_prev_tick;
 346 uint16_t        prev_tick;
 347
 348
 349 #include "ao_kalman.c"
 350 #include "ao_sqrt.c"
 351 #include "ao_sample.c"
 352 #include "ao_flight.c"
 353 #if TELEMEGA
 354 #define AO_PYRO_NUM     4
 355
 356 #define AO_PYRO_0       0
 357 #define AO_PYRO_1       1
 358 #define AO_PYRO_2       2
 359 #define AO_PYRO_3       3
 360
 361 static void
 362 ao_pyro_pin_set(uint8_t pin, uint8_t value)
 363 {
 364         printf ("set pyro %d %d\n", pin, value);
 365 }
 366
 367 #include "ao_pyro.c"
 368 #endif
 369
 370 #define to_double(f)    ((f) / 65536.0)
 371
 372 static int      ao_records_read = 0;
 373 static int      ao_eof_read = 0;
 374 static int      ao_flight_ground_accel;
 375 static int      ao_flight_started = 0;
 376 static int      ao_test_max_height;
 377 static double   ao_test_max_height_time;
 378 static int      ao_test_main_height;
 379 static double   ao_test_main_height_time;
 380 static double   ao_test_landed_time;
 381 static double   ao_test_landed_height;
 382 static double   ao_test_landed_time;
 383 static int      landed_set;
 384 static double   landed_time;
 385 static double   landed_height;
 386
 387 #if HAS_MPU6000
 388 static struct ao_mpu6000_sample ao_ground_mpu6000;
 389 #endif
 390
 391 void
 392 ao_test_exit(void)
 393 {
 394         double  drogue_error;
 395         double  main_error;
 396         double  landed_error;
 397         double  landed_time_error;
 398
 399         if (!ao_test_main_height_time) {
 400                 ao_test_main_height_time = ao_test_max_height_time;
 401                 ao_test_main_height = ao_test_max_height;
 402         }
 403         drogue_error = fabs(ao_test_max_height_time - drogue_time);
 404         main_error = fabs(ao_test_main_height_time - main_time);
 405         landed_error = fabs(ao_test_landed_height - landed_height);
 406         landed_time_error = ao_test_landed_time - landed_time;
 407         if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
 408                 printf ("%s %s\n",
 409                         emulator_app, emulator_name);
 410                 if (emulator_info)
 411                         printf ("\t%s\n", emulator_info);
 412                 printf ("\tApogee error %g\n", drogue_error);
 413                 printf ("\tMain error %g\n", main_error);
 414                 printf ("\tLanded height error %g\n", landed_error);
 415                 printf ("\tLanded time error %g\n", landed_time_error);
 416                 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 417                         ao_test_max_height, ao_test_max_height_time,
 418                         ao_test_main_height, ao_test_main_height_time,
 419                         ao_test_landed_height, ao_test_landed_time);
 420                 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 421                         drogue_height, drogue_time, main_height, main_time,
 422                         landed_height, landed_time);
 423                 exit (1);
 424         }
 425         exit(0);
 426 }
 427
 428 #ifdef TELEMEGA
 429 struct ao_azel {
 430         int     az;
 431         int     el;
 432 };
 433
 434 static void
 435 azel (struct ao_azel *r, struct ao_quaternion *q)
 436 {
 437         double  v;
 438
 439         r->az = floor (atan2(q->y, q->x) * 180/M_PI + 0.5);
 440         v = sqrt (q->x*q->x + q->y*q->y);
 441         r->el = floor (atan2(q->z, v) * 180/M_PI + 0.5);
 442 }
 443 #endif
 444
 445 void
 446 ao_insert(void)
 447 {
 448         double  time;
 449
 450         ao_data_ring[ao_data_head] = ao_data_static;
 451         ao_data_head = ao_data_ring_next(ao_data_head);
 452         if (ao_flight_state != ao_flight_startup) {
 453 #if HAS_ACCEL
 454                 double  accel = ((ao_flight_ground_accel - ao_data_accel_cook(&ao_data_static)) * GRAVITY * 2.0) /
 455                         (ao_config.accel_minus_g - ao_config.accel_plus_g);
 456 #else
 457                 double  accel = 0.0;
 458 #endif
 459 #if TELEMEGA
 460                 double  height;
 461
 462                 ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
 463                 height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height;
 464 #else
 465                 double  height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
 466 #endif
 467
 468                 (void) accel;
 469                 if (!tick_offset)
 470                         tick_offset = -ao_data_static.tick;
 471                 if ((prev_tick - ao_data_static.tick) > 0x400)
 472                         tick_offset += 65536;
 473                 prev_tick = ao_data_static.tick;
 474                 time = (double) (ao_data_static.tick + tick_offset) / 100;
 475
 476                 if (ao_test_max_height < height) {
 477                         ao_test_max_height = height;
 478                         ao_test_max_height_time = time;
 479                         ao_test_landed_height = height;
 480                         ao_test_landed_time = time;
 481                 }
 482                 if (height > ao_config.main_deploy) {
 483                         ao_test_main_height_time = time;
 484                         ao_test_main_height = height;
 485                 }
 486
 487                 if (ao_test_landed_height > height) {
 488                         ao_test_landed_height = height;
 489                         ao_test_landed_time = time;
 490                 }
 491
 492                 if (ao_flight_state == ao_flight_landed && !landed_set) {
 493                         landed_set = 1;
 494                         landed_time = time;
 495                         landed_height = height;
 496                 }
 497
 498                 if (!ao_summary) {
 499 #if TELEMEGA
 500                         static struct ao_quaternion     ao_ground_mag;
 501                         static int                      ao_ground_mag_set;
 502
 503                         if (!ao_ground_mag_set) {
 504                                 ao_quaternion_init_vector (&ao_ground_mag,
 505                                                            ao_data_mag_across(&ao_data_static),
 506                                                            ao_data_mag_through(&ao_data_static),
 507                                                            ao_data_mag_along(&ao_data_static));
 508                                 ao_quaternion_normalize(&ao_ground_mag, &ao_ground_mag);
 509                                 ao_quaternion_rotate(&ao_ground_mag, &ao_ground_mag, &ao_rotation);
 510                                 ao_ground_mag_set = 1;
 511                         }
 512
 513                         struct ao_quaternion            ao_mag, ao_mag_rot;
 514
 515                         ao_quaternion_init_vector(&ao_mag,
 516                                                   ao_data_mag_across(&ao_data_static),
 517                                                   ao_data_mag_through(&ao_data_static),
 518                                                   ao_data_mag_along(&ao_data_static));
 519
 520                         ao_quaternion_normalize(&ao_mag, &ao_mag);
 521                         ao_quaternion_rotate(&ao_mag_rot, &ao_mag, &ao_rotation);
 522
 523                         float                           ao_dot;
 524                         int                             ao_mag_angle;
 525
 526                         ao_dot = ao_quaternion_dot(&ao_mag_rot, &ao_ground_mag);
 527
 528                         struct ao_azel                  ground_azel, mag_azel, rot_azel;
 529
 530                         azel(&ground_azel, &ao_ground_mag);
 531                         azel(&mag_azel, &ao_mag);
 532                         azel(&rot_azel, &ao_mag_rot);
 533
 534                         ao_mag_angle = floor (acos(ao_dot) * 180 / M_PI + 0.5);
 535
 536                         (void) ao_mag_angle;
 537
 538                         static struct ao_quaternion     ao_x = { .r = 0, .x = 1, .y = 0, .z = 0 };
 539                         struct ao_quaternion            ao_out;
 540
 541                         ao_quaternion_rotate(&ao_out, &ao_x, &ao_rotation);
 542
 543                         int     out = floor (atan2(ao_out.y, ao_out.x) * 180 / M_PI);
 544
 545 #if 0
 546                         printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d mag_tilt %4d mag_rot %4d\n",
 547                                 time,
 548                                 ao_state_names[ao_flight_state],
 549                                 ao_k_height / 65536.0,
 550                                 ao_sample_orient, out,
 551                                 mag_azel.el,
 552                                 mag_azel.az);
 553 #endif
 554                         printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d dist %12.2f gps_tilt %4d gps_sats %2d\n",
 555                                 time,
 556                                 ao_state_names[ao_flight_state],
 557                                 ao_k_height / 65536.0,
 558                                 ao_sample_orient, out,
 559                                 ao_distance_from_pad(),
 560                                 (int) floor (ao_gps_angle() + 0.5),
 561                                 (ao_gps_static.flags & 0xf) * 10);
 562
 563 #if 0
 564                         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",
 565                                 ao_state_names[ao_flight_state],
 566                                 ground_azel.az, ground_azel.el,
 567                                 mag_azel.az, mag_azel.el,
 568                                 rot_azel.az, rot_azel.el,
 569                                 ground_azel.el - rot_azel.el,
 570                                 ground_azel.az - rot_azel.az,
 571                                 ao_mag_angle,
 572                                 ao_sample_orient,
 573                                 ao_ground_mag.x,
 574                                 ao_ground_mag.y,
 575                                 ao_ground_mag.z,
 576                                 ao_mag.x,
 577                                 ao_mag.y,
 578                                 ao_mag.z,
 579                                 ao_mag_rot.x,
 580                                 ao_mag_rot.y,
 581                                 ao_mag_rot.z);
 582 #endif
 583 #endif
 584
 585 #if 0
 586                         printf("%7.2f height %8.2f accel %8.3f "
 587 #if TELEMEGA
 588                                "angle %5d "
 589                                "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 "
 590 #endif
 591                                "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",
 592                                time,
 593                                height,
 594                                accel,
 595 #if TELEMEGA
 596                                ao_sample_orient,
 597
 598                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
 599                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
 600                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_z),
 601                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x),
 602                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y),
 603                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z),
 604                                ao_data_static.hmc5883.x,
 605                                ao_data_static.hmc5883.y,
 606                                ao_data_static.hmc5883.z,
 607                                ao_mag_angle,
 608 #endif
 609                                ao_state_names[ao_flight_state],
 610                                ao_k_height / 65536.0,
 611                                ao_k_speed / 65536.0 / 16.0,
 612                                ao_k_accel / 65536.0 / 16.0,
 613                                ao_avg_height,
 614                                drogue_height,
 615                                main_height,
 616                                ao_error_h_sq_avg);
 617 #endif
 618
 619 //                      if (ao_flight_state == ao_flight_landed)
 620 //                              ao_test_exit();
 621                 }
 622         }
 623 }
 624
 625
 626 uint16_t
 627 uint16(uint8_t *bytes, int off)
 628 {
 629         return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
 630 }
 631
 632 int16_t
 633 int16(uint8_t *bytes, int off)
 634 {
 635         return (int16_t) uint16(bytes, off);
 636 }
 637
 638 uint32_t
 639 uint32(uint8_t *bytes, int off)
 640 {
 641         return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
 642                 (((uint32_t) bytes[off+2]) << 16) |
 643                 (((uint32_t) bytes[off+3]) << 24);
 644 }
 645
 646 int32_t
 647 int32(uint8_t *bytes, int off)
 648 {
 649         return (int32_t) uint32(bytes, off);
 650 }
 651
 652 static int log_format;
 653
 654 void
 655 ao_sleep(void *wchan)
 656 {
 657         if (wchan == &ao_data_head) {
 658                 char            type = 0;
 659                 uint16_t        tick = 0;
 660                 uint16_t        a = 0, b = 0;
 661                 uint8_t         bytes[1024];
 662                 union ao_telemetry_all  telem;
 663                 char            line[1024];
 664                 char            *saveptr;
 665                 char            *l;
 666                 char            *words[64];
 667                 int             nword;
 668
 669 #if TELEMEGA
 670                 if (ao_flight_state >= ao_flight_boost && ao_flight_state < ao_flight_landed)
 671                         ao_pyro_check();
 672 #endif
 673                 for (;;) {
 674                         if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 675                         {
 676 #if TELEMEGA
 677                                 ao_data_static.mpu6000 = ao_ground_mpu6000;
 678 #else
 679                                 ao_data_static.adc.accel = ao_flight_ground_accel;
 680 #endif
 681                                 ao_insert();
 682                                 return;
 683                         }
 684
 685                         if (!fgets(line, sizeof (line), emulator_in)) {
 686                                 if (++ao_eof_read >= 1000) {
 687                                         if (!ao_summary)
 688                                                 printf ("no more data, exiting simulation\n");
 689                                         ao_test_exit();
 690                                 }
 691                                 ao_data_static.tick += 10;
 692                                 ao_insert();
 693                                 return;
 694                         }
 695                         l = line;
 696                         for (nword = 0; nword < 64; nword++) {
 697                                 words[nword] = strtok_r(l, " \t\n", &saveptr);
 698                                 l = NULL;
 699                                 if (words[nword] == NULL)
 700                                         break;
 701                         }
 702 #if TELEMEGA
 703                         if (log_format == AO_LOG_FORMAT_TELEMEGA && nword == 30 && strlen(words[0]) == 1) {
 704                                 int     i;
 705                                 struct ao_ms5607_value  value;
 706
 707                                 type = words[0][0];
 708                                 tick = strtoul(words[1], NULL, 16);
 709 //                              printf ("%c %04x", type, tick);
 710                                 for (i = 2; i < nword; i++) {
 711                                         bytes[i - 2] = strtoul(words[i], NULL, 16);
 712 //                                      printf(" %02x", bytes[i-2]);
 713                                 }
 714 //                              printf ("\n");
 715                                 switch (type) {
 716                                 case 'F':
 717                                         ao_flight_ground_accel = int16(bytes, 2);
 718                                         ao_flight_started = 1;
 719                                         ao_ground_pres = int32(bytes, 4);
 720                                         ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
 721                                         ao_ground_accel_along = int16(bytes, 8);
 722                                         ao_ground_accel_across = int16(bytes, 10);
 723                                         ao_ground_accel_through = int16(bytes, 12);
 724                                         ao_ground_roll = int16(bytes, 14);
 725                                         ao_ground_pitch = int16(bytes, 16);
 726                                         ao_ground_yaw = int16(bytes, 18);
 727                                         ao_ground_mpu6000.accel_x = ao_ground_accel_across;
 728                                         ao_ground_mpu6000.accel_y = ao_ground_accel_along;
 729                                         ao_ground_mpu6000.accel_z = ao_ground_accel_through;
 730                                         ao_ground_mpu6000.gyro_x = ao_ground_pitch >> 9;
 731                                         ao_ground_mpu6000.gyro_y = ao_ground_roll >> 9;
 732                                         ao_ground_mpu6000.gyro_z = ao_ground_yaw >> 9;
 733                                         break;
 734                                 case 'A':
 735                                         ao_data_static.tick = tick;
 736                                         ao_data_static.ms5607_raw.pres = int32(bytes, 0);
 737                                         ao_data_static.ms5607_raw.temp = int32(bytes, 4);
 738                                         ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
 739                                         ao_data_static.mpu6000.accel_x = int16(bytes, 8);
 740                                         ao_data_static.mpu6000.accel_y = int16(bytes, 10);
 741                                         ao_data_static.mpu6000.accel_z = int16(bytes, 12);
 742                                         ao_data_static.mpu6000.gyro_x = int16(bytes, 14);
 743                                         ao_data_static.mpu6000.gyro_y = int16(bytes, 16);
 744                                         ao_data_static.mpu6000.gyro_z = int16(bytes, 18);
 745                                         ao_data_static.hmc5883.x = int16(bytes, 20);
 746                                         ao_data_static.hmc5883.y = int16(bytes, 22);
 747                                         ao_data_static.hmc5883.z = int16(bytes, 24);
 748 #if HAS_MMA655X
 749                                         ao_data_static.mma655x = int16(bytes, 26);
 750 #endif
 751                                         ao_records_read++;
 752                                         ao_insert();
 753                                         return;
 754                                 case 'G':
 755                                         ao_gps_prev = ao_gps_static;
 756                                         ao_gps_static.tick = tick;
 757                                         ao_gps_static.latitude = int32(bytes, 0);
 758                                         ao_gps_static.longitude = int32(bytes, 4);
 759                                         {
 760                                                 int32_t altitude = int32(bytes, 8);
 761                                                 AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_static, altitude);
 762                                         }
 763                                         ao_gps_static.flags = bytes[13];
 764                                         if (!ao_gps_count)
 765                                                 ao_gps_first = ao_gps_static;
 766                                         ao_gps_count++;
 767                                         break;
 768                                 }
 769                                 continue;
 770                         } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
 771                                 if (strcmp(words[1], "reserved:") == 0)
 772                                         ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10);
 773                                 else if (strcmp(words[1], "sens:") == 0)
 774                                         ao_ms5607_prom.sens = strtoul(words[2], NULL, 10);
 775                                 else if (strcmp(words[1], "off:") == 0)
 776                                         ao_ms5607_prom.off = strtoul(words[2], NULL, 10);
 777                                 else if (strcmp(words[1], "tcs:") == 0)
 778                                         ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10);
 779                                 else if (strcmp(words[1], "tco:") == 0)
 780                                         ao_ms5607_prom.tco = strtoul(words[2], NULL, 10);
 781                                 else if (strcmp(words[1], "tref:") == 0)
 782                                         ao_ms5607_prom.tref = strtoul(words[2], NULL, 10);
 783                                 else if (strcmp(words[1], "tempsens:") == 0)
 784                                         ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
 785                                 else if (strcmp(words[1], "crc:") == 0)
 786                                         ao_ms5607_prom.crc = strtoul(words[2], NULL, 10);
 787                                 continue;
 788                         } else if (nword >= 3 && strcmp(words[0], "Pyro") == 0) {
 789                                 int     p = strtoul(words[1], NULL, 10);
 790                                 int     i, j;
 791                                 struct ao_pyro  *pyro = &ao_config.pyro[p];
 792
 793                                 for (i = 2; i < nword; i++) {
 794                                         for (j = 0; j < NUM_PYRO_VALUES; j++)
 795                                                 if (!strcmp (words[i], ao_pyro_values[j].name))
 796                                                         break;
 797                                         if (j == NUM_PYRO_VALUES)
 798                                                 continue;
 799                                         pyro->flags |= ao_pyro_values[j].flag;
 800                                         if (ao_pyro_values[j].offset != NO_VALUE && i + 1 < nword) {
 801                                                 int16_t val = strtoul(words[++i], NULL, 10);
 802                                                 printf("pyro %d condition %s value %d\n", p, words[i-1], val);
 803                                                 *((int16_t *) ((char *) pyro + ao_pyro_values[j].offset)) = val;
 804                                         }
 805                                 }
 806                         }
 807 #else
 808                         if (nword == 4 && log_format != AO_LOG_FORMAT_TELEMEGA) {
 809                                 type = words[0][0];
 810                                 tick = strtoul(words[1], NULL, 16);
 811                                 a = strtoul(words[2], NULL, 16);
 812                                 b = strtoul(words[3], NULL, 16);
 813                                 if (type == 'P')
 814                                         type = 'A';
 815                         }
 816 #endif
 817                         else if (nword == 2 && strcmp(words[0], "log-format") == 0) {
 818                                 log_format = strtoul(words[1], NULL, 10);
 819                         } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
 820                                 ao_config.accel_plus_g = atoi(words[3]);
 821                                 ao_config.accel_minus_g = atoi(words[5]);
 822 #ifdef TELEMEGA
 823                         } else if (nword >= 8 && strcmp(words[0], "IMU") == 0) {
 824                                 ao_config.accel_zero_along = atoi(words[3]);
 825                                 ao_config.accel_zero_across = atoi(words[5]);
 826                                 ao_config.accel_zero_through = atoi(words[7]);
 827                                 printf ("%d %d %d\n", ao_config.accel_zero_along, ao_config.accel_zero_across, ao_config.accel_zero_through);
 828 #endif
 829                         } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
 830                                 ao_config.main_deploy = atoi(words[2]);
 831                         } else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 &&
 832                                    strcmp(words[1], "lockout:") == 0) {
 833                                 ao_config.apogee_lockout = atoi(words[2]);
 834                         } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
 835                                 tick = atoi(words[10]);
 836                                 if (!ao_flight_started) {
 837                                         type = 'F';
 838                                         a = atoi(words[26]);
 839                                         ao_flight_started = 1;
 840                                 } else {
 841                                         type = 'A';
 842                                         a = atoi(words[12]);
 843                                         b = atoi(words[14]);
 844                                 }
 845                         } else if (nword == 3 && strcmp(words[0], "BARO") == 0) {
 846                                 tick = strtol(words[1], NULL, 16);
 847                                 a = 16384 - 328;
 848                                 b = strtol(words[2], NULL, 10);
 849                                 type = 'A';
 850                                 if (!ao_flight_started) {
 851                                         ao_flight_ground_accel = 16384 - 328;
 852                                         ao_config.accel_plus_g = 16384 - 328;
 853                                         ao_config.accel_minus_g = 16384 + 328;
 854                                         ao_flight_started = 1;
 855                                 }
 856                         } else if (nword == 2 && strcmp(words[0], "TELEM") == 0) {
 857                                 __xdata char    *hex = words[1];
 858                                 char    elt[3];
 859                                 int     i, len;
 860                                 uint8_t sum;
 861
 862                                 len = strlen(hex);
 863                                 if (len > sizeof (bytes) * 2) {
 864                                         len = sizeof (bytes)*2;
 865                                         hex[len] = '\0';
 866                                 }
 867                                 for (i = 0; i < len; i += 2) {
 868                                         elt[0] = hex[i];
 869                                         elt[1] = hex[i+1];
 870                                         elt[2] = '\0';
 871                                         bytes[i/2] = (uint8_t) strtol(elt, NULL, 16);
 872                                 }
 873                                 len = i/2;
 874                                 if (bytes[0] != len - 2) {
 875                                         printf ("bad length %d != %d\n", bytes[0], len - 2);
 876                                         continue;
 877                                 }
 878                                 sum = 0x5a;
 879                                 for (i = 1; i < len-1; i++)
 880                                         sum += bytes[i];
 881                                 if (sum != bytes[len-1]) {
 882                                         printf ("bad checksum\n");
 883                                         continue;
 884                                 }
 885                                 if ((bytes[len-2] & 0x80) == 0) {
 886                                         continue;
 887                                 }
 888                                 if (len == 36) {
 889                                         ao_xmemcpy(&telem, bytes + 1, 32);
 890                                         tick = telem.generic.tick;
 891                                         switch (telem.generic.type) {
 892                                         case AO_TELEMETRY_SENSOR_TELEMETRUM:
 893                                         case AO_TELEMETRY_SENSOR_TELEMINI:
 894                                         case AO_TELEMETRY_SENSOR_TELENANO:
 895                                                 if (!ao_flight_started) {
 896                                                         ao_flight_ground_accel = telem.sensor.ground_accel;
 897                                                         ao_config.accel_plus_g = telem.sensor.accel_plus_g;
 898                                                         ao_config.accel_minus_g = telem.sensor.accel_minus_g;
 899                                                         ao_flight_started = 1;
 900                                                 }
 901                                                 type = 'A';
 902                                                 a = telem.sensor.accel;
 903                                                 b = telem.sensor.pres;
 904                                                 break;
 905                                         }
 906                                 } else if (len == 99) {
 907                                         ao_flight_started = 1;
 908                                         tick = uint16(bytes+1, 21);
 909                                         ao_flight_ground_accel = int16(bytes+1, 7);
 910                                         ao_config.accel_plus_g = int16(bytes+1, 17);
 911                                         ao_config.accel_minus_g = int16(bytes+1, 19);
 912                                         type = 'A';
 913                                         a = int16(bytes+1, 23);
 914                                         b = int16(bytes+1, 25);
 915                                 } else if (len == 98) {
 916                                         ao_flight_started = 1;
 917                                         tick = uint16(bytes+1, 20);
 918                                         ao_flight_ground_accel = int16(bytes+1, 6);
 919                                         ao_config.accel_plus_g = int16(bytes+1, 16);
 920                                         ao_config.accel_minus_g = int16(bytes+1, 18);
 921                                         type = 'A';
 922                                         a = int16(bytes+1, 22);
 923                                         b = int16(bytes+1, 24);
 924                                 } else {
 925                                         printf("unknown len %d\n", len);
 926                                         continue;
 927                                 }
 928                         }
 929                         if (type != 'F' && !ao_flight_started)
 930                                 continue;
 931
 932 #if TELEMEGA
 933                         (void) a;
 934                         (void) b;
 935 #else
 936                         switch (type) {
 937                         case 'F':
 938                                 ao_flight_ground_accel = a;
 939                                 if (ao_config.accel_plus_g == 0) {
 940                                         ao_config.accel_plus_g = a;
 941                                         ao_config.accel_minus_g = a + 530;
 942                                 }
 943                                 if (ao_config.main_deploy == 0)
 944                                         ao_config.main_deploy = 250;
 945                                 ao_flight_started = 1;
 946                                 break;
 947                         case 'S':
 948                                 break;
 949                         case 'A':
 950                                 ao_data_static.tick = tick;
 951                                 ao_data_static.adc.accel = a;
 952                                 ao_data_static.adc.pres_real = b;
 953                                 if (b < AO_MIN_BARO_VALUE)
 954                                         b = AO_MIN_BARO_VALUE;
 955                                 ao_data_static.adc.pres = b;
 956                                 ao_records_read++;
 957                                 ao_insert();
 958                                 return;
 959                         case 'T':
 960                                 ao_data_static.tick = tick;
 961                                 ao_data_static.adc.temp = a;
 962                                 ao_data_static.adc.v_batt = b;
 963                                 break;
 964                         case 'D':
 965                         case 'G':
 966                         case 'N':
 967                         case 'W':
 968                         case 'H':
 969                                 break;
 970                         }
 971 #endif
 972                 }
 973
 974         }
 975 }
 976 #define COUNTS_PER_G 264.8
 977
 978 void
 979 ao_dump_state(void)
 980 {
 981 }
 982
 983 static const struct option options[] = {
 984         { .name = "summary", .has_arg = 0, .val = 's' },
 985         { .name = "debug", .has_arg = 0, .val = 'd' },
 986         { .name = "info", .has_arg = 1, .val = 'i' },
 987         { 0, 0, 0, 0},
 988 };
 989
 990 void run_flight_fixed(char *name, FILE *f, int summary, char *info)
 991 {
 992         emulator_name = name;
 993         emulator_in = f;
 994         emulator_info = info;
 995         ao_summary = summary;
 996
 997         ao_flight_init();
 998         ao_flight();
 999 }
1000
1001 int
1002 main (int argc, char **argv)
1003 {
1004         int     summary = 0;
1005         int     c;
1006         int     i;
1007         char    *info = NULL;
1008
1009 #if HAS_ACCEL
1010         emulator_app="full";
1011 #else
1012         emulator_app="baro";
1013 #endif
1014         while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) {
1015                 switch (c) {
1016                 case 's':
1017                         summary = 1;
1018                         break;
1019                 case 'd':
1020                         ao_flight_debug = 1;
1021                         break;
1022                 case 'i':
1023                         info = optarg;
1024                         break;
1025                 }
1026         }
1027
1028         if (optind == argc)
1029                 run_flight_fixed("<stdin>", stdin, summary, info);
1030         else
1031                 for (i = optind; i < argc; i++) {
1032                         FILE    *f = fopen(argv[i], "r");
1033                         if (!f) {
1034                                 perror(argv[i]);
1035                                 continue;
1036                         }
1037                         run_flight_fixed(argv[i], f, summary, info);
1038                         fclose(f);
1039                 }
1040         exit(0);
1041 }