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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
  53 struct ao_adc {
  54         int16_t                 sense[AO_ADC_NUM_SENSE];
  55         int16_t                 v_batt;
  56         int16_t                 v_pbatt;
  57         int16_t                 accel_ref;
  58         int16_t                 accel;
  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_gps_static.altitude - ao_gps_prev.altitude;
 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   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 struct ao_config {
 321         uint16_t        main_deploy;
 322         int16_t         accel_plus_g;
 323         int16_t         accel_minus_g;
 324         uint8_t         pad_orientation;
 325         uint16_t        apogee_lockout;
 326 #if TELEMEGA
 327         struct ao_pyro  pyro[AO_PYRO_NUM];      /* minor version 12 */
 328         int16_t         accel_zero_along;
 329         int16_t         accel_zero_across;
 330         int16_t         accel_zero_through;
 331 #endif
 332 };
 333
 334 #define AO_PAD_ORIENTATION_ANTENNA_UP   0
 335 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
 336
 337 #define ao_config_get()
 338
 339 struct ao_config ao_config;
 340
 341 #define DATA_TO_XDATA(x) (x)
 342
 343
 344 extern int16_t ao_ground_accel, ao_flight_accel;
 345 extern int16_t ao_accel_2g;
 346
 347 typedef int16_t accel_t;
 348
 349 extern uint16_t ao_sample_tick;
 350
 351 extern alt_t    ao_sample_height;
 352 extern accel_t  ao_sample_accel;
 353 extern int32_t  ao_accel_scale;
 354 extern alt_t    ao_ground_height;
 355 extern alt_t    ao_sample_alt;
 356
 357 double ao_sample_qangle;
 358
 359 int ao_sample_prev_tick;
 360 uint16_t        prev_tick;
 361
 362
 363 #include "ao_kalman.c"
 364 #include "ao_sqrt.c"
 365 #include "ao_sample.c"
 366 #include "ao_flight.c"
 367 #if TELEMEGA
 368 #define AO_PYRO_NUM     4
 369
 370 #define AO_PYRO_0       0
 371 #define AO_PYRO_1       1
 372 #define AO_PYRO_2       2
 373 #define AO_PYRO_3       3
 374
 375 static void
 376 ao_pyro_pin_set(uint8_t pin, uint8_t value)
 377 {
 378         printf ("set pyro %d %d\n", pin, value);
 379 }
 380
 381 #include "ao_pyro.c"
 382 #endif
 383
 384 #define to_double(f)    ((f) / 65536.0)
 385
 386 static int      ao_records_read = 0;
 387 static int      ao_eof_read = 0;
 388 static int      ao_flight_ground_accel;
 389 static int      ao_flight_started = 0;
 390 static int      ao_test_max_height;
 391 static double   ao_test_max_height_time;
 392 static int      ao_test_main_height;
 393 static double   ao_test_main_height_time;
 394 static double   ao_test_landed_time;
 395 static double   ao_test_landed_height;
 396 static double   ao_test_landed_time;
 397 static int      landed_set;
 398 static double   landed_time;
 399 static double   landed_height;
 400
 401 #if HAS_MPU6000
 402 static struct ao_mpu6000_sample ao_ground_mpu6000;
 403 #endif
 404
 405 void
 406 ao_test_exit(void)
 407 {
 408         double  drogue_error;
 409         double  main_error;
 410         double  landed_error;
 411         double  landed_time_error;
 412
 413         if (!ao_test_main_height_time) {
 414                 ao_test_main_height_time = ao_test_max_height_time;
 415                 ao_test_main_height = ao_test_max_height;
 416         }
 417         drogue_error = fabs(ao_test_max_height_time - drogue_time);
 418         main_error = fabs(ao_test_main_height_time - main_time);
 419         landed_error = fabs(ao_test_landed_height - landed_height);
 420         landed_time_error = ao_test_landed_time - landed_time;
 421         if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
 422                 printf ("%s %s\n",
 423                         emulator_app, emulator_name);
 424                 if (emulator_info)
 425                         printf ("\t%s\n", emulator_info);
 426                 printf ("\tApogee error %g\n", drogue_error);
 427                 printf ("\tMain error %g\n", main_error);
 428                 printf ("\tLanded height error %g\n", landed_error);
 429                 printf ("\tLanded time error %g\n", landed_time_error);
 430                 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 431                         ao_test_max_height, ao_test_max_height_time,
 432                         ao_test_main_height, ao_test_main_height_time,
 433                         ao_test_landed_height, ao_test_landed_time);
 434                 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 435                         drogue_height, drogue_time, main_height, main_time,
 436                         landed_height, landed_time);
 437                 exit (1);
 438         }
 439         exit(0);
 440 }
 441
 442 #ifdef TELEMEGA
 443 struct ao_azel {
 444         int     az;
 445         int     el;
 446 };
 447
 448 static void
 449 azel (struct ao_azel *r, struct ao_quaternion *q)
 450 {
 451         double  v;
 452
 453         r->az = floor (atan2(q->y, q->x) * 180/M_PI + 0.5);
 454         v = sqrt (q->x*q->x + q->y*q->y);
 455         r->el = floor (atan2(q->z, v) * 180/M_PI + 0.5);
 456 }
 457 #endif
 458
 459 void
 460 ao_insert(void)
 461 {
 462         double  time;
 463
 464         ao_data_ring[ao_data_head] = ao_data_static;
 465         ao_data_head = ao_data_ring_next(ao_data_head);
 466         if (ao_flight_state != ao_flight_startup) {
 467 #if HAS_ACCEL
 468                 double  accel = ((ao_flight_ground_accel - ao_data_accel_cook(&ao_data_static)) * GRAVITY * 2.0) /
 469                         (ao_config.accel_minus_g - ao_config.accel_plus_g);
 470 #else
 471                 double  accel = 0.0;
 472 #endif
 473 #if TELEMEGA
 474                 double  height;
 475
 476                 ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
 477                 height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height;
 478 #else
 479                 double  height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
 480 #endif
 481
 482                 (void) accel;
 483                 if (!tick_offset)
 484                         tick_offset = -ao_data_static.tick;
 485                 if ((prev_tick - ao_data_static.tick) > 0x400)
 486                         tick_offset += 65536;
 487                 prev_tick = ao_data_static.tick;
 488                 time = (double) (ao_data_static.tick + tick_offset) / 100;
 489
 490                 if (ao_test_max_height < height) {
 491                         ao_test_max_height = height;
 492                         ao_test_max_height_time = time;
 493                         ao_test_landed_height = height;
 494                         ao_test_landed_time = time;
 495                 }
 496                 if (height > ao_config.main_deploy) {
 497                         ao_test_main_height_time = time;
 498                         ao_test_main_height = height;
 499                 }
 500
 501                 if (ao_test_landed_height > height) {
 502                         ao_test_landed_height = height;
 503                         ao_test_landed_time = time;
 504                 }
 505
 506                 if (ao_flight_state == ao_flight_landed && !landed_set) {
 507                         landed_set = 1;
 508                         landed_time = time;
 509                         landed_height = height;
 510                 }
 511
 512                 if (!ao_summary) {
 513 #if TELEMEGA
 514                         static struct ao_quaternion     ao_ground_mag;
 515                         static int                      ao_ground_mag_set;
 516
 517                         if (!ao_ground_mag_set) {
 518                                 ao_quaternion_init_vector (&ao_ground_mag,
 519                                                            ao_data_mag_across(&ao_data_static),
 520                                                            ao_data_mag_through(&ao_data_static),
 521                                                            ao_data_mag_along(&ao_data_static));
 522                                 ao_quaternion_normalize(&ao_ground_mag, &ao_ground_mag);
 523                                 ao_quaternion_rotate(&ao_ground_mag, &ao_ground_mag, &ao_rotation);
 524                                 ao_ground_mag_set = 1;
 525                         }
 526
 527                         struct ao_quaternion            ao_mag, ao_mag_rot;
 528
 529                         ao_quaternion_init_vector(&ao_mag,
 530                                                   ao_data_mag_across(&ao_data_static),
 531                                                   ao_data_mag_through(&ao_data_static),
 532                                                   ao_data_mag_along(&ao_data_static));
 533
 534                         ao_quaternion_normalize(&ao_mag, &ao_mag);
 535                         ao_quaternion_rotate(&ao_mag_rot, &ao_mag, &ao_rotation);
 536
 537                         float                           ao_dot;
 538                         int                             ao_mag_angle;
 539
 540                         ao_dot = ao_quaternion_dot(&ao_mag_rot, &ao_ground_mag);
 541
 542                         struct ao_azel                  ground_azel, mag_azel, rot_azel;
 543
 544                         azel(&ground_azel, &ao_ground_mag);
 545                         azel(&mag_azel, &ao_mag);
 546                         azel(&rot_azel, &ao_mag_rot);
 547
 548                         ao_mag_angle = floor (acos(ao_dot) * 180 / M_PI + 0.5);
 549
 550                         (void) ao_mag_angle;
 551
 552                         static struct ao_quaternion     ao_x = { .r = 0, .x = 1, .y = 0, .z = 0 };
 553                         struct ao_quaternion            ao_out;
 554
 555                         ao_quaternion_rotate(&ao_out, &ao_x, &ao_rotation);
 556
 557                         int     out = floor (atan2(ao_out.y, ao_out.x) * 180 / M_PI);
 558
 559 #if 0
 560                         printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d mag_tilt %4d mag_rot %4d\n",
 561                                 time,
 562                                 ao_state_names[ao_flight_state],
 563                                 ao_k_height / 65536.0,
 564                                 ao_sample_orient, out,
 565                                 mag_azel.el,
 566                                 mag_azel.az);
 567 #endif
 568                         printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d dist %12.2f gps_tilt %4d gps_sats %2d\n",
 569                                 time,
 570                                 ao_state_names[ao_flight_state],
 571                                 ao_k_height / 65536.0,
 572                                 ao_sample_orient, out,
 573                                 ao_distance_from_pad(),
 574                                 (int) floor (ao_gps_angle() + 0.5),
 575                                 (ao_gps_static.flags & 0xf) * 10);
 576
 577 #if 0
 578                         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",
 579                                 ao_state_names[ao_flight_state],
 580                                 ground_azel.az, ground_azel.el,
 581                                 mag_azel.az, mag_azel.el,
 582                                 rot_azel.az, rot_azel.el,
 583                                 ground_azel.el - rot_azel.el,
 584                                 ground_azel.az - rot_azel.az,
 585                                 ao_mag_angle,
 586                                 ao_sample_orient,
 587                                 ao_ground_mag.x,
 588                                 ao_ground_mag.y,
 589                                 ao_ground_mag.z,
 590                                 ao_mag.x,
 591                                 ao_mag.y,
 592                                 ao_mag.z,
 593                                 ao_mag_rot.x,
 594                                 ao_mag_rot.y,
 595                                 ao_mag_rot.z);
 596 #endif
 597 #endif
 598
 599 #if 0
 600                         printf("%7.2f height %8.2f accel %8.3f "
 601 #if TELEMEGA
 602                                "angle %5d "
 603                                "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 "
 604 #endif
 605                                "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",
 606                                time,
 607                                height,
 608                                accel,
 609 #if TELEMEGA
 610                                ao_sample_orient,
 611
 612                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
 613                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
 614                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_z),
 615                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x),
 616                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y),
 617                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z),
 618                                ao_data_static.hmc5883.x,
 619                                ao_data_static.hmc5883.y,
 620                                ao_data_static.hmc5883.z,
 621                                ao_mag_angle,
 622 #endif
 623                                ao_state_names[ao_flight_state],
 624                                ao_k_height / 65536.0,
 625                                ao_k_speed / 65536.0 / 16.0,
 626                                ao_k_accel / 65536.0 / 16.0,
 627                                ao_avg_height,
 628                                drogue_height,
 629                                main_height,
 630                                ao_error_h_sq_avg);
 631 #endif
 632
 633 //                      if (ao_flight_state == ao_flight_landed)
 634 //                              ao_test_exit();
 635                 }
 636         }
 637 }
 638
 639
 640 uint16_t
 641 uint16(uint8_t *bytes, int off)
 642 {
 643         return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
 644 }
 645
 646 int16_t
 647 int16(uint8_t *bytes, int off)
 648 {
 649         return (int16_t) uint16(bytes, off);
 650 }
 651
 652 uint32_t
 653 uint32(uint8_t *bytes, int off)
 654 {
 655         return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
 656                 (((uint32_t) bytes[off+2]) << 16) |
 657                 (((uint32_t) bytes[off+3]) << 24);
 658 }
 659
 660 int32_t
 661 int32(uint8_t *bytes, int off)
 662 {
 663         return (int32_t) uint32(bytes, off);
 664 }
 665
 666 static int log_format;
 667
 668 void
 669 ao_sleep(void *wchan)
 670 {
 671         if (wchan == &ao_data_head) {
 672                 char            type = 0;
 673                 uint16_t        tick = 0;
 674                 uint16_t        a = 0, b = 0;
 675                 uint8_t         bytes[1024];
 676                 union ao_telemetry_all  telem;
 677                 char            line[1024];
 678                 char            *saveptr;
 679                 char            *l;
 680                 char            *words[64];
 681                 int             nword;
 682
 683 #if TELEMEGA
 684                 if (ao_flight_state >= ao_flight_boost && ao_flight_state < ao_flight_landed)
 685                         ao_pyro_check();
 686 #endif
 687                 for (;;) {
 688                         if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 689                         {
 690 #if TELEMEGA
 691                                 ao_data_static.mpu6000 = ao_ground_mpu6000;
 692 #else
 693                                 ao_data_static.adc.accel = ao_flight_ground_accel;
 694 #endif
 695                                 ao_insert();
 696                                 return;
 697                         }
 698
 699                         if (!fgets(line, sizeof (line), emulator_in)) {
 700                                 if (++ao_eof_read >= 1000) {
 701                                         if (!ao_summary)
 702                                                 printf ("no more data, exiting simulation\n");
 703                                         ao_test_exit();
 704                                 }
 705                                 ao_data_static.tick += 10;
 706                                 ao_insert();
 707                                 return;
 708                         }
 709                         l = line;
 710                         for (nword = 0; nword < 64; nword++) {
 711                                 words[nword] = strtok_r(l, " \t\n", &saveptr);
 712                                 l = NULL;
 713                                 if (words[nword] == NULL)
 714                                         break;
 715                         }
 716 #if TELEMEGA
 717                         if (log_format == AO_LOG_FORMAT_TELEMEGA && nword == 30 && strlen(words[0]) == 1) {
 718                                 int     i;
 719                                 struct ao_ms5607_value  value;
 720
 721                                 type = words[0][0];
 722                                 tick = strtoul(words[1], NULL, 16);
 723 //                              printf ("%c %04x", type, tick);
 724                                 for (i = 2; i < nword; i++) {
 725                                         bytes[i - 2] = strtoul(words[i], NULL, 16);
 726 //                                      printf(" %02x", bytes[i-2]);
 727                                 }
 728 //                              printf ("\n");
 729                                 switch (type) {
 730                                 case 'F':
 731                                         ao_flight_ground_accel = int16(bytes, 2);
 732                                         ao_flight_started = 1;
 733                                         ao_ground_pres = int32(bytes, 4);
 734                                         ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
 735                                         ao_ground_accel_along = int16(bytes, 8);
 736                                         ao_ground_accel_across = int16(bytes, 10);
 737                                         ao_ground_accel_through = int16(bytes, 12);
 738                                         ao_ground_roll = int16(bytes, 14);
 739                                         ao_ground_pitch = int16(bytes, 16);
 740                                         ao_ground_yaw = int16(bytes, 18);
 741                                         ao_ground_mpu6000.accel_x = ao_ground_accel_across;
 742                                         ao_ground_mpu6000.accel_y = ao_ground_accel_along;
 743                                         ao_ground_mpu6000.accel_z = ao_ground_accel_through;
 744                                         ao_ground_mpu6000.gyro_x = ao_ground_pitch >> 9;
 745                                         ao_ground_mpu6000.gyro_y = ao_ground_roll >> 9;
 746                                         ao_ground_mpu6000.gyro_z = ao_ground_yaw >> 9;
 747                                         break;
 748                                 case 'A':
 749                                         ao_data_static.tick = tick;
 750                                         ao_data_static.ms5607_raw.pres = int32(bytes, 0);
 751                                         ao_data_static.ms5607_raw.temp = int32(bytes, 4);
 752                                         ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
 753                                         ao_data_static.mpu6000.accel_x = int16(bytes, 8);
 754                                         ao_data_static.mpu6000.accel_y = int16(bytes, 10);
 755                                         ao_data_static.mpu6000.accel_z = int16(bytes, 12);
 756                                         ao_data_static.mpu6000.gyro_x = int16(bytes, 14);
 757                                         ao_data_static.mpu6000.gyro_y = int16(bytes, 16);
 758                                         ao_data_static.mpu6000.gyro_z = int16(bytes, 18);
 759                                         ao_data_static.hmc5883.x = int16(bytes, 20);
 760                                         ao_data_static.hmc5883.y = int16(bytes, 22);
 761                                         ao_data_static.hmc5883.z = int16(bytes, 24);
 762 #if HAS_MMA655X
 763                                         ao_data_static.mma655x = int16(bytes, 26);
 764 #endif
 765                                         ao_records_read++;
 766                                         ao_insert();
 767                                         return;
 768                                 case 'G':
 769                                         ao_gps_prev = ao_gps_static;
 770                                         ao_gps_static.tick = tick;
 771                                         ao_gps_static.latitude = int32(bytes, 0);
 772                                         ao_gps_static.longitude = int32(bytes, 4);
 773                                         ao_gps_static.altitude = int32(bytes, 8);
 774                                         ao_gps_static.flags = bytes[13];
 775                                         if (!ao_gps_count)
 776                                                 ao_gps_first = ao_gps_static;
 777                                         ao_gps_count++;
 778                                         break;
 779                                 }
 780                                 continue;
 781                         } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
 782                                 if (strcmp(words[1], "reserved:") == 0)
 783                                         ms5607_prom.reserved = strtoul(words[2], NULL, 10);
 784                                 else if (strcmp(words[1], "sens:") == 0)
 785                                         ms5607_prom.sens = strtoul(words[2], NULL, 10);
 786                                 else if (strcmp(words[1], "off:") == 0)
 787                                         ms5607_prom.off = strtoul(words[2], NULL, 10);
 788                                 else if (strcmp(words[1], "tcs:") == 0)
 789                                         ms5607_prom.tcs = strtoul(words[2], NULL, 10);
 790                                 else if (strcmp(words[1], "tco:") == 0)
 791                                         ms5607_prom.tco = strtoul(words[2], NULL, 10);
 792                                 else if (strcmp(words[1], "tref:") == 0)
 793                                         ms5607_prom.tref = strtoul(words[2], NULL, 10);
 794                                 else if (strcmp(words[1], "tempsens:") == 0)
 795                                         ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
 796                                 else if (strcmp(words[1], "crc:") == 0)
 797                                         ms5607_prom.crc = strtoul(words[2], NULL, 10);
 798                                 continue;
 799                         } else if (nword >= 3 && strcmp(words[0], "Pyro") == 0) {
 800                                 int     p = strtoul(words[1], NULL, 10);
 801                                 int     i, j;
 802                                 struct ao_pyro  *pyro = &ao_config.pyro[p];
 803
 804                                 for (i = 2; i < nword; i++) {
 805                                         for (j = 0; j < NUM_PYRO_VALUES; j++)
 806                                                 if (!strcmp (words[i], ao_pyro_values[j].name))
 807                                                         break;
 808                                         if (j == NUM_PYRO_VALUES)
 809                                                 continue;
 810                                         pyro->flags |= ao_pyro_values[j].flag;
 811                                         if (ao_pyro_values[j].offset != NO_VALUE && i + 1 < nword) {
 812                                                 int16_t val = strtoul(words[++i], NULL, 10);
 813                                                 *((int16_t *) ((char *) pyro + ao_pyro_values[j].offset)) = val;
 814                                         }
 815                                 }
 816                         }
 817 #else
 818                         if (nword == 4 && log_format != AO_LOG_FORMAT_TELEMEGA) {
 819                                 type = words[0][0];
 820                                 tick = strtoul(words[1], NULL, 16);
 821                                 a = strtoul(words[2], NULL, 16);
 822                                 b = strtoul(words[3], NULL, 16);
 823                                 if (type == 'P')
 824                                         type = 'A';
 825                         }
 826 #endif
 827                         else if (nword == 2 && strcmp(words[0], "log-format") == 0) {
 828                                 log_format = strtoul(words[1], NULL, 10);
 829                         } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
 830                                 ao_config.accel_plus_g = atoi(words[3]);
 831                                 ao_config.accel_minus_g = atoi(words[5]);
 832 #ifdef TELEMEGA
 833                         } else if (nword >= 8 && strcmp(words[0], "IMU") == 0) {
 834                                 ao_config.accel_zero_along = atoi(words[3]);
 835                                 ao_config.accel_zero_across = atoi(words[5]);
 836                                 ao_config.accel_zero_through = atoi(words[7]);
 837                                 printf ("%d %d %d\n", ao_config.accel_zero_along, ao_config.accel_zero_across, ao_config.accel_zero_through);
 838 #endif
 839                         } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
 840                                 ao_config.main_deploy = atoi(words[2]);
 841                         } else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 &&
 842                                    strcmp(words[1], "lockout:") == 0) {
 843                                 ao_config.apogee_lockout = atoi(words[2]);
 844                         } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
 845                                 tick = atoi(words[10]);
 846                                 if (!ao_flight_started) {
 847                                         type = 'F';
 848                                         a = atoi(words[26]);
 849                                         ao_flight_started = 1;
 850                                 } else {
 851                                         type = 'A';
 852                                         a = atoi(words[12]);
 853                                         b = atoi(words[14]);
 854                                 }
 855                         } else if (nword == 3 && strcmp(words[0], "BARO") == 0) {
 856                                 tick = strtol(words[1], NULL, 16);
 857                                 a = 16384 - 328;
 858                                 b = strtol(words[2], NULL, 10);
 859                                 type = 'A';
 860                                 if (!ao_flight_started) {
 861                                         ao_flight_ground_accel = 16384 - 328;
 862                                         ao_config.accel_plus_g = 16384 - 328;
 863                                         ao_config.accel_minus_g = 16384 + 328;
 864                                         ao_flight_started = 1;
 865                                 }
 866                         } else if (nword == 2 && strcmp(words[0], "TELEM") == 0) {
 867                                 __xdata char    *hex = words[1];
 868                                 char    elt[3];
 869                                 int     i, len;
 870                                 uint8_t sum;
 871
 872                                 len = strlen(hex);
 873                                 if (len > sizeof (bytes) * 2) {
 874                                         len = sizeof (bytes)*2;
 875                                         hex[len] = '\0';
 876                                 }
 877                                 for (i = 0; i < len; i += 2) {
 878                                         elt[0] = hex[i];
 879                                         elt[1] = hex[i+1];
 880                                         elt[2] = '\0';
 881                                         bytes[i/2] = (uint8_t) strtol(elt, NULL, 16);
 882                                 }
 883                                 len = i/2;
 884                                 if (bytes[0] != len - 2) {
 885                                         printf ("bad length %d != %d\n", bytes[0], len - 2);
 886                                         continue;
 887                                 }
 888                                 sum = 0x5a;
 889                                 for (i = 1; i < len-1; i++)
 890                                         sum += bytes[i];
 891                                 if (sum != bytes[len-1]) {
 892                                         printf ("bad checksum\n");
 893                                         continue;
 894                                 }
 895                                 if ((bytes[len-2] & 0x80) == 0) {
 896                                         continue;
 897                                 }
 898                                 if (len == 36) {
 899                                         ao_xmemcpy(&telem, bytes + 1, 32);
 900                                         tick = telem.generic.tick;
 901                                         switch (telem.generic.type) {
 902                                         case AO_TELEMETRY_SENSOR_TELEMETRUM:
 903                                         case AO_TELEMETRY_SENSOR_TELEMINI:
 904                                         case AO_TELEMETRY_SENSOR_TELENANO:
 905                                                 if (!ao_flight_started) {
 906                                                         ao_flight_ground_accel = telem.sensor.ground_accel;
 907                                                         ao_config.accel_plus_g = telem.sensor.accel_plus_g;
 908                                                         ao_config.accel_minus_g = telem.sensor.accel_minus_g;
 909                                                         ao_flight_started = 1;
 910                                                 }
 911                                                 type = 'A';
 912                                                 a = telem.sensor.accel;
 913                                                 b = telem.sensor.pres;
 914                                                 break;
 915                                         }
 916                                 } else if (len == 99) {
 917                                         ao_flight_started = 1;
 918                                         tick = uint16(bytes+1, 21);
 919                                         ao_flight_ground_accel = int16(bytes+1, 7);
 920                                         ao_config.accel_plus_g = int16(bytes+1, 17);
 921                                         ao_config.accel_minus_g = int16(bytes+1, 19);
 922                                         type = 'A';
 923                                         a = int16(bytes+1, 23);
 924                                         b = int16(bytes+1, 25);
 925                                 } else if (len == 98) {
 926                                         ao_flight_started = 1;
 927                                         tick = uint16(bytes+1, 20);
 928                                         ao_flight_ground_accel = int16(bytes+1, 6);
 929                                         ao_config.accel_plus_g = int16(bytes+1, 16);
 930                                         ao_config.accel_minus_g = int16(bytes+1, 18);
 931                                         type = 'A';
 932                                         a = int16(bytes+1, 22);
 933                                         b = int16(bytes+1, 24);
 934                                 } else {
 935                                         printf("unknown len %d\n", len);
 936                                         continue;
 937                                 }
 938                         }
 939                         if (type != 'F' && !ao_flight_started)
 940                                 continue;
 941
 942 #if TELEMEGA
 943                         (void) a;
 944                         (void) b;
 945 #else
 946                         switch (type) {
 947                         case 'F':
 948                                 ao_flight_ground_accel = a;
 949                                 if (ao_config.accel_plus_g == 0) {
 950                                         ao_config.accel_plus_g = a;
 951                                         ao_config.accel_minus_g = a + 530;
 952                                 }
 953                                 if (ao_config.main_deploy == 0)
 954                                         ao_config.main_deploy = 250;
 955                                 ao_flight_started = 1;
 956                                 break;
 957                         case 'S':
 958                                 break;
 959                         case 'A':
 960                                 ao_data_static.tick = tick;
 961                                 ao_data_static.adc.accel = a;
 962                                 ao_data_static.adc.pres_real = b;
 963                                 if (b < AO_MIN_BARO_VALUE)
 964                                         b = AO_MIN_BARO_VALUE;
 965                                 ao_data_static.adc.pres = b;
 966                                 ao_records_read++;
 967                                 ao_insert();
 968                                 return;
 969                         case 'T':
 970                                 ao_data_static.tick = tick;
 971                                 ao_data_static.adc.temp = a;
 972                                 ao_data_static.adc.v_batt = b;
 973                                 break;
 974                         case 'D':
 975                         case 'G':
 976                         case 'N':
 977                         case 'W':
 978                         case 'H':
 979                                 break;
 980                         }
 981 #endif
 982                 }
 983
 984         }
 985 }
 986 #define COUNTS_PER_G 264.8
 987
 988 void
 989 ao_dump_state(void)
 990 {
 991 }
 992
 993 static const struct option options[] = {
 994         { .name = "summary", .has_arg = 0, .val = 's' },
 995         { .name = "debug", .has_arg = 0, .val = 'd' },
 996         { .name = "info", .has_arg = 1, .val = 'i' },
 997         { 0, 0, 0, 0},
 998 };
 999
1000 void run_flight_fixed(char *name, FILE *f, int summary, char *info)
1001 {
1002         emulator_name = name;
1003         emulator_in = f;
1004         emulator_info = info;
1005         ao_summary = summary;
1006         ao_flight_init();
1007         ao_flight();
1008 }
1009
1010 int
1011 main (int argc, char **argv)
1012 {
1013         int     summary = 0;
1014         int     c;
1015         int     i;
1016         char    *info = NULL;
1017
1018 #if HAS_ACCEL
1019         emulator_app="full";
1020 #else
1021         emulator_app="baro";
1022 #endif
1023         while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) {
1024                 switch (c) {
1025                 case 's':
1026                         summary = 1;
1027                         break;
1028                 case 'd':
1029                         ao_flight_debug = 1;
1030                         break;
1031                 case 'i':
1032                         info = optarg;
1033                         break;
1034                 }
1035         }
1036
1037         if (optind == argc)
1038                 run_flight_fixed("<stdin>", stdin, summary, info);
1039         else
1040                 for (i = optind; i < argc; i++) {
1041                         FILE    *f = fopen(argv[i], "r");
1042                         if (!f) {
1043                                 perror(argv[i]);
1044                                 continue;
1045                         }
1046                         run_flight_fixed(argv[i], f, summary, info);
1047                         fclose(f);
1048                 }
1049         exit(0);
1050 }