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   1 /*
   2  * Copyright © 2009 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 #define _GNU_SOURCE
  19
  20 #include <stdint.h>
  21 #include <stdio.h>
  22 #include <stdlib.h>
  23 #include <string.h>
  24 #include <getopt.h>
  25 #include <math.h>
  26
  27 #define AO_HERTZ        100
  28
  29 #define AO_ADC_RING     64
  30 #define ao_adc_ring_next(n)     (((n) + 1) & (AO_ADC_RING - 1))
  31 #define ao_adc_ring_prev(n)     (((n) - 1) & (AO_ADC_RING - 1))
  32
  33 #define AO_M_TO_HEIGHT(m)       ((int16_t) (m))
  34 #define AO_MS_TO_SPEED(ms)      ((int16_t) ((ms) * 16))
  35 #define AO_MSS_TO_ACCEL(mss)    ((int16_t) ((mss) * 16))
  36
  37 /*
  38  * One set of samples read from the A/D converter
  39  */
  40 struct ao_adc {
  41         uint16_t        tick;           /* tick when the sample was read */
  42         int16_t         accel;          /* accelerometer */
  43         int16_t         pres;           /* pressure sensor */
  44         int16_t         pres_real;      /* unclipped */
  45         int16_t         temp;           /* temperature sensor */
  46         int16_t         v_batt;         /* battery voltage */
  47         int16_t         sense_d;        /* drogue continuity sense */
  48         int16_t         sense_m;        /* main continuity sense */
  49 };
  50
  51 #define __pdata
  52 #define __data
  53 #define __xdata
  54 #define __code
  55 #define __reentrant
  56
  57 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
  58 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
  59 #define from_fix(x)     ((x) >> 16)
  60
  61 /*
  62  * Above this height, the baro sensor doesn't work
  63  */
  64 #define AO_MAX_BARO_HEIGHT      12000
  65 #define AO_BARO_SATURATE        13000
  66 #define AO_MIN_BARO_VALUE       ao_altitude_to_pres(AO_BARO_SATURATE)
  67
  68 /*
  69  * Above this speed, baro measurements are unreliable
  70  */
  71 #define AO_MAX_BARO_SPEED       200
  72
  73 #define ACCEL_NOSE_UP   (ao_accel_2g >> 2)
  74
  75 enum ao_flight_state {
  76         ao_flight_startup = 0,
  77         ao_flight_idle = 1,
  78         ao_flight_pad = 2,
  79         ao_flight_boost = 3,
  80         ao_flight_fast = 4,
  81         ao_flight_coast = 5,
  82         ao_flight_drogue = 6,
  83         ao_flight_main = 7,
  84         ao_flight_landed = 8,
  85         ao_flight_invalid = 9
  86 };
  87
  88 extern enum ao_flight_state ao_flight_state;
  89
  90 #define FALSE 0
  91 #define TRUE 1
  92
  93 struct ao_adc ao_adc_ring[AO_ADC_RING];
  94 uint8_t ao_adc_head;
  95 int     ao_summary = 0;
  96
  97 #define ao_led_on(l)
  98 #define ao_led_off(l)
  99 #define ao_timer_set_adc_interval(i)
 100 #define ao_wakeup(wchan) ao_dump_state()
 101 #define ao_cmd_register(c)
 102 #define ao_usb_disable()
 103 #define ao_telemetry_set_interval(x)
 104 #define ao_rdf_set(rdf)
 105 #define ao_packet_slave_start()
 106 #define ao_packet_slave_stop()
 107
 108 enum ao_igniter {
 109         ao_igniter_drogue = 0,
 110         ao_igniter_main = 1
 111 };
 112
 113 struct ao_adc ao_adc_static;
 114
 115 int     drogue_height;
 116 double  drogue_time;
 117 int     main_height;
 118 double  main_time;
 119
 120 int     tick_offset;
 121
 122 static int32_t  ao_k_height;
 123
 124 void
 125 ao_ignite(enum ao_igniter igniter)
 126 {
 127         double time = (double) (ao_adc_static.tick + tick_offset) / 100;
 128
 129         if (igniter == ao_igniter_drogue) {
 130                 drogue_time = time;
 131                 drogue_height = ao_k_height >> 16;
 132         } else {
 133                 main_time = time;
 134                 main_height = ao_k_height >> 16;
 135         }
 136 }
 137
 138 struct ao_task {
 139         int dummy;
 140 };
 141
 142 #define ao_add_task(t,f,n)
 143
 144 #define ao_log_start()
 145 #define ao_log_stop()
 146
 147 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
 148 #define AO_SEC_TO_TICKS(s)      ((s) * 100)
 149
 150 #define AO_FLIGHT_TEST
 151
 152 int     ao_flight_debug;
 153
 154 FILE *emulator_in;
 155 char *emulator_app;
 156 char *emulator_name;
 157 double emulator_error_max = 4;
 158 double emulator_height_error_max = 20;  /* noise in the baro sensor */
 159
 160 void
 161 ao_dump_state(void);
 162
 163 void
 164 ao_sleep(void *wchan);
 165
 166 const char const * const ao_state_names[] = {
 167         "startup", "idle", "pad", "boost", "fast",
 168         "coast", "drogue", "main", "landed", "invalid"
 169 };
 170
 171 struct ao_cmds {
 172         void            (*func)(void);
 173         const char      *help;
 174 };
 175
 176 #include "ao_convert.c"
 177
 178 struct ao_config {
 179         uint16_t        main_deploy;
 180         int16_t         accel_plus_g;
 181         int16_t         accel_minus_g;
 182         uint8_t         pad_orientation;
 183 };
 184
 185 #define AO_PAD_ORIENTATION_ANTENNA_UP   0
 186 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
 187
 188 #define ao_config_get()
 189
 190 struct ao_config ao_config;
 191
 192 #define DATA_TO_XDATA(x) (x)
 193
 194 #define HAS_FLIGHT 1
 195 #define HAS_ADC 1
 196 #define HAS_USB 1
 197 #define HAS_GPS 1
 198 #ifndef HAS_ACCEL
 199 #define HAS_ACCEL 1
 200 #define HAS_ACCEL_REF 0
 201 #endif
 202
 203 #define GRAVITY 9.80665
 204 extern int16_t ao_ground_accel, ao_flight_accel;
 205 extern int16_t ao_accel_2g;
 206
 207 extern uint16_t ao_sample_tick;
 208
 209 extern int16_t  ao_sample_height;
 210 extern int16_t  ao_sample_accel;
 211 extern int32_t  ao_accel_scale;
 212 extern int16_t  ao_ground_height;
 213 extern int16_t  ao_sample_alt;
 214
 215 int ao_sample_prev_tick;
 216 uint16_t        prev_tick;
 217
 218 #include "ao_kalman.c"
 219 #include "ao_sample.c"
 220 #include "ao_flight.c"
 221
 222 #define to_double(f)    ((f) / 65536.0)
 223
 224 static int      ao_records_read = 0;
 225 static int      ao_eof_read = 0;
 226 static int      ao_flight_ground_accel;
 227 static int      ao_flight_started = 0;
 228 static int      ao_test_max_height;
 229 static double   ao_test_max_height_time;
 230 static int      ao_test_main_height;
 231 static double   ao_test_main_height_time;
 232 static double   ao_test_landed_time;
 233 static double   ao_test_landed_height;
 234 static double   ao_test_landed_time;
 235 static int      landed_set;
 236 static double   landed_time;
 237 static double   landed_height;
 238
 239 void
 240 ao_test_exit(void)
 241 {
 242         double  drogue_error;
 243         double  main_error;
 244         double  landed_error;
 245         double  landed_time_error;
 246
 247         if (!ao_test_main_height_time) {
 248                 ao_test_main_height_time = ao_test_max_height_time;
 249                 ao_test_main_height = ao_test_max_height;
 250         }
 251         drogue_error = fabs(ao_test_max_height_time - drogue_time);
 252         main_error = fabs(ao_test_main_height_time - main_time);
 253         landed_error = fabs(ao_test_landed_height - landed_height);
 254         landed_time_error = ao_test_landed_time - landed_time;
 255         if (drogue_error > emulator_error_max || main_error > emulator_error_max ||
 256             landed_time_error > emulator_error_max || landed_error > emulator_height_error_max) {
 257                 printf ("%s %s\n",
 258                         emulator_app, emulator_name);
 259                 printf ("\tApogee error %g\n", drogue_error);
 260                 printf ("\tMain error %g\n", main_error);
 261                 printf ("\tLanded height error %g\n", landed_error);
 262                 printf ("\tLanded time error %g\n", landed_time_error);
 263                 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 264                         ao_test_max_height, ao_test_max_height_time,
 265                         ao_test_main_height, ao_test_main_height_time,
 266                         ao_test_landed_height, ao_test_landed_time);
 267                 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 268                         drogue_height, drogue_time, main_height, main_time,
 269                         landed_height, landed_time);
 270                 exit (1);
 271         }
 272         exit(0);
 273 }
 274
 275 void
 276 ao_insert(void)
 277 {
 278         double  time;
 279
 280         ao_adc_ring[ao_adc_head] = ao_adc_static;
 281         ao_adc_head = ao_adc_ring_next(ao_adc_head);
 282         if (ao_flight_state != ao_flight_startup) {
 283                 double  height = ao_pres_to_altitude(ao_adc_static.pres_real) - ao_ground_height;
 284                 double  accel = ((ao_flight_ground_accel - ao_adc_static.accel) * GRAVITY * 2.0) /
 285                         (ao_config.accel_minus_g - ao_config.accel_plus_g);
 286
 287                 if (!tick_offset)
 288                         tick_offset = -ao_adc_static.tick;
 289                 if ((prev_tick - ao_adc_static.tick) > 0x400)
 290                         tick_offset += 65536;
 291                 prev_tick = ao_adc_static.tick;
 292                 time = (double) (ao_adc_static.tick + tick_offset) / 100;
 293
 294                 if (ao_test_max_height < height) {
 295                         ao_test_max_height = height;
 296                         ao_test_max_height_time = time;
 297                         ao_test_landed_height = height;
 298                         ao_test_landed_time = time;
 299                 }
 300                 if (height > ao_config.main_deploy) {
 301                         ao_test_main_height_time = time;
 302                         ao_test_main_height = height;
 303                 }
 304
 305                 if (ao_test_landed_height > height) {
 306                         ao_test_landed_height = height;
 307                         ao_test_landed_time = time;
 308                 }
 309
 310                 if (ao_flight_state == ao_flight_landed && !landed_set) {
 311                         landed_set = 1;
 312                         landed_time = time;
 313                         landed_height = height;
 314                 }
 315
 316                 if (!ao_summary) {
 317                         printf("%7.2f height %8.2f accel %8.3f state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d\n",
 318                                time,
 319                                height,
 320                                accel,
 321                                ao_state_names[ao_flight_state],
 322                                ao_k_height / 65536.0,
 323                                ao_k_speed / 65536.0 / 16.0,
 324                                ao_k_accel / 65536.0 / 16.0,
 325                                ao_avg_height,
 326                                drogue_height,
 327                                main_height,
 328                                ao_error_h_sq_avg);
 329
 330 //                      if (ao_flight_state == ao_flight_landed)
 331 //                              ao_test_exit();
 332                 }
 333         }
 334 }
 335
 336 #define AO_MAX_CALLSIGN                 8
 337 #define AO_MAX_VERSION                  8
 338 #define AO_MAX_TELEMETRY                128
 339
 340 struct ao_telemetry_generic {
 341         uint16_t        serial;         /* 0 */
 342         uint16_t        tick;           /* 2 */
 343         uint8_t         type;           /* 4 */
 344         uint8_t         payload[27];    /* 5 */
 345         /* 32 */
 346 };
 347
 348 #define AO_TELEMETRY_SENSOR_TELEMETRUM  0x01
 349 #define AO_TELEMETRY_SENSOR_TELEMINI    0x02
 350 #define AO_TELEMETRY_SENSOR_TELENANO    0x03
 351
 352 struct ao_telemetry_sensor {
 353         uint16_t        serial;         /*  0 */
 354         uint16_t        tick;           /*  2 */
 355         uint8_t         type;           /*  4 */
 356
 357         uint8_t         state;          /*  5 flight state */
 358         int16_t         accel;          /*  6 accelerometer (TM only) */
 359         int16_t         pres;           /*  8 pressure sensor */
 360         int16_t         temp;           /* 10 temperature sensor */
 361         int16_t         v_batt;         /* 12 battery voltage */
 362         int16_t         sense_d;        /* 14 drogue continuity sense (TM/Tm) */
 363         int16_t         sense_m;        /* 16 main continuity sense (TM/Tm) */
 364
 365         int16_t         acceleration;   /* 18 m/s² * 16 */
 366         int16_t         speed;          /* 20 m/s * 16 */
 367         int16_t         height;         /* 22 m */
 368
 369         int16_t         ground_pres;    /* 24 average pres on pad */
 370         int16_t         ground_accel;   /* 26 average accel on pad */
 371         int16_t         accel_plus_g;   /* 28 accel calibration at +1g */
 372         int16_t         accel_minus_g;  /* 30 accel calibration at -1g */
 373         /* 32 */
 374 };
 375
 376 #define AO_TELEMETRY_CONFIGURATION      0x04
 377
 378 struct ao_telemetry_configuration {
 379         uint16_t        serial;                         /*  0 */
 380         uint16_t        tick;                           /*  2 */
 381         uint8_t         type;                           /*  4 */
 382
 383         uint8_t         device;                         /*  5 device type */
 384         uint16_t        flight;                         /*  6 flight number */
 385         uint8_t         config_major;                   /*  8 Config major version */
 386         uint8_t         config_minor;                   /*  9 Config minor version */
 387         uint16_t        apogee_delay;                   /* 10 Apogee deploy delay in seconds */
 388         uint16_t        main_deploy;                    /* 12 Main deploy alt in meters */
 389         uint16_t        flight_log_max;                 /* 14 Maximum flight log size in kB */
 390         char            callsign[AO_MAX_CALLSIGN];      /* 16 Radio operator identity */
 391         char            version[AO_MAX_VERSION];        /* 24 Software version */
 392         /* 32 */
 393 };
 394
 395 #define AO_TELEMETRY_LOCATION           0x05
 396
 397 #define AO_GPS_MODE_NOT_VALID           'N'
 398 #define AO_GPS_MODE_AUTONOMOUS          'A'
 399 #define AO_GPS_MODE_DIFFERENTIAL        'D'
 400 #define AO_GPS_MODE_ESTIMATED           'E'
 401 #define AO_GPS_MODE_MANUAL              'M'
 402 #define AO_GPS_MODE_SIMULATED           'S'
 403
 404 struct ao_telemetry_location {
 405         uint16_t        serial;         /*  0 */
 406         uint16_t        tick;           /*  2 */
 407         uint8_t         type;           /*  4 */
 408
 409         uint8_t         flags;          /*  5 Number of sats and other flags */
 410         int16_t         altitude;       /*  6 GPS reported altitude (m) */
 411         int32_t         latitude;       /*  8 latitude (degrees * 10⁷) */
 412         int32_t         longitude;      /* 12 longitude (degrees * 10⁷) */
 413         uint8_t         year;           /* 16 (- 2000) */
 414         uint8_t         month;          /* 17 (1-12) */
 415         uint8_t         day;            /* 18 (1-31) */
 416         uint8_t         hour;           /* 19 (0-23) */
 417         uint8_t         minute;         /* 20 (0-59) */
 418         uint8_t         second;         /* 21 (0-59) */
 419         uint8_t         pdop;           /* 22 (m * 5) */
 420         uint8_t         hdop;           /* 23 (m * 5) */
 421         uint8_t         vdop;           /* 24 (m * 5) */
 422         uint8_t         mode;           /* 25 */
 423         uint16_t        ground_speed;   /* 26 cm/s */
 424         int16_t         climb_rate;     /* 28 cm/s */
 425         uint8_t         course;         /* 30 degrees / 2 */
 426         uint8_t         unused[1];      /* 31 */
 427         /* 32 */
 428 };
 429
 430 #define AO_TELEMETRY_SATELLITE          0x06
 431
 432 struct ao_telemetry_satellite_info {
 433         uint8_t         svid;
 434         uint8_t         c_n_1;
 435 };
 436
 437 struct ao_telemetry_satellite {
 438         uint16_t                                serial;         /*  0 */
 439         uint16_t                                tick;           /*  2 */
 440         uint8_t                                 type;           /*  4 */
 441         uint8_t                                 channels;       /*  5 number of reported sats */
 442
 443         struct ao_telemetry_satellite_info      sats[12];       /* 6 */
 444         uint8_t                                 unused[2];      /* 30 */
 445         /* 32 */
 446 };
 447
 448 union ao_telemetry_all {
 449         struct ao_telemetry_generic             generic;
 450         struct ao_telemetry_sensor              sensor;
 451         struct ao_telemetry_configuration       configuration;
 452         struct ao_telemetry_location            location;
 453         struct ao_telemetry_satellite           satellite;
 454 };
 455
 456 uint16_t
 457 uint16(uint8_t *bytes, int off)
 458 {
 459         off++;
 460         return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
 461 }
 462
 463 int16_t
 464 int16(uint8_t *bytes, int off)
 465 {
 466         return (int16_t) uint16(bytes, off);
 467 }
 468
 469 void
 470 ao_sleep(void *wchan)
 471 {
 472         if (wchan == &ao_adc_head) {
 473                 char            type;
 474                 uint16_t        tick;
 475                 uint16_t        a, b;
 476                 int             ret;
 477                 uint8_t         bytes[1024];
 478                 union ao_telemetry_all  telem;
 479                 char            line[1024];
 480                 char            *saveptr;
 481                 char            *l;
 482                 char            *words[64];
 483                 int             nword;
 484
 485                 for (;;) {
 486                         if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 487                         {
 488                                 ao_adc_static.accel = ao_flight_ground_accel;
 489                                 ao_insert();
 490                                 return;
 491                         }
 492
 493                         if (!fgets(line, sizeof (line), emulator_in)) {
 494                                 if (++ao_eof_read >= 1000) {
 495                                         if (!ao_summary)
 496                                                 printf ("no more data, exiting simulation\n");
 497                                         ao_test_exit();
 498                                 }
 499                                 ao_adc_static.tick += 10;
 500                                 ao_insert();
 501                                 return;
 502                         }
 503                         l = line;
 504                         for (nword = 0; nword < 64; nword++) {
 505                                 words[nword] = strtok_r(l, " \t\n", &saveptr);
 506                                 l = NULL;
 507                                 if (words[nword] == NULL)
 508                                         break;
 509                         }
 510                         if (nword == 4) {
 511                                 type = words[0][0];
 512                                 tick = strtoul(words[1], NULL, 16);
 513                                 a = strtoul(words[2], NULL, 16);
 514                                 b = strtoul(words[3], NULL, 16);
 515                                 if (type == 'P')
 516                                         type = 'A';
 517                         } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
 518                                 ao_config.accel_plus_g = atoi(words[3]);
 519                                 ao_config.accel_minus_g = atoi(words[5]);
 520                         } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
 521                                 ao_config.main_deploy = atoi(words[2]);
 522                         } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
 523                                 tick = atoi(words[10]);
 524                                 if (!ao_flight_started) {
 525                                         type = 'F';
 526                                         a = atoi(words[26]);
 527                                         ao_flight_started = 1;
 528                                 } else {
 529                                         type = 'A';
 530                                         a = atoi(words[12]);
 531                                         b = atoi(words[14]);
 532                                 }
 533                         } else if (nword == 3 && strcmp(words[0], "BARO") == 0) {
 534                                 tick = strtol(words[1], NULL, 16);
 535                                 a = 16384 - 328;
 536                                 b = strtol(words[2], NULL, 10);
 537                                 type = 'A';
 538                                 if (!ao_flight_started) {
 539                                         ao_flight_ground_accel = 16384 - 328;
 540                                         ao_config.accel_plus_g = 16384 - 328;
 541                                         ao_config.accel_minus_g = 16384 + 328;
 542                                         ao_flight_started = 1;
 543                                 }
 544                         } else if (nword == 2 && strcmp(words[0], "TELEM") == 0) {
 545                                 char    *hex = words[1];
 546                                 char    elt[3];
 547                                 int     i, len;
 548                                 uint8_t sum;
 549
 550                                 len = strlen(hex);
 551                                 if (len > sizeof (bytes) * 2) {
 552                                         len = sizeof (bytes)*2;
 553                                         hex[len] = '\0';
 554                                 }
 555                                 for (i = 0; i < len; i += 2) {
 556                                         elt[0] = hex[i];
 557                                         elt[1] = hex[i+1];
 558                                         elt[2] = '\0';
 559                                         bytes[i/2] = (uint8_t) strtol(elt, NULL, 16);
 560                                 }
 561                                 len = i/2;
 562                                 if (bytes[0] != len - 2) {
 563                                         printf ("bad length %d != %d\n", bytes[0], len - 2);
 564                                         continue;
 565                                 }
 566                                 sum = 0x5a;
 567                                 for (i = 1; i < len-1; i++)
 568                                         sum += bytes[i];
 569                                 if (sum != bytes[len-1]) {
 570                                         printf ("bad checksum\n");
 571                                         continue;
 572                                 }
 573                                 if ((bytes[len-2] & 0x80) == 0) {
 574                                         continue;
 575                                 }
 576                                 if (len == 36) {
 577                                         memcpy(&telem, bytes + 1, 32);
 578                                         tick = telem.generic.tick;
 579                                         switch (telem.generic.type) {
 580                                         case AO_TELEMETRY_SENSOR_TELEMETRUM:
 581                                         case AO_TELEMETRY_SENSOR_TELEMINI:
 582                                         case AO_TELEMETRY_SENSOR_TELENANO:
 583                                                 if (!ao_flight_started) {
 584                                                         ao_flight_ground_accel = telem.sensor.ground_accel;
 585                                                         ao_config.accel_plus_g = telem.sensor.accel_plus_g;
 586                                                         ao_config.accel_minus_g = telem.sensor.accel_minus_g;
 587                                                         ao_flight_started = 1;
 588                                                 }
 589                                                 type = 'A';
 590                                                 a = telem.sensor.accel;
 591                                                 b = telem.sensor.pres;
 592                                                 break;
 593                                         }
 594                                 } else if (len == 99) {
 595                                         ao_flight_started = 1;
 596                                         tick = uint16(bytes, 21);
 597                                         ao_flight_ground_accel = int16(bytes, 7);
 598                                         ao_config.accel_plus_g = int16(bytes, 17);
 599                                         ao_config.accel_minus_g = int16(bytes, 19);
 600                                         type = 'A';
 601                                         a = int16(bytes, 23);
 602                                         b = int16(bytes, 25);
 603                                 } else if (len == 98) {
 604                                         ao_flight_started = 1;
 605                                         tick = uint16(bytes, 20);
 606                                         ao_flight_ground_accel = int16(bytes, 6);
 607                                         ao_config.accel_plus_g = int16(bytes, 16);
 608                                         ao_config.accel_minus_g = int16(bytes, 18);
 609                                         type = 'A';
 610                                         a = int16(bytes, 22);
 611                                         b = int16(bytes, 24);
 612                                 } else {
 613                                         printf("unknown len %d\n", len);
 614                                         continue;
 615                                 }
 616                         }
 617                         if (type != 'F' && !ao_flight_started)
 618                                 continue;
 619
 620                         switch (type) {
 621                         case 'F':
 622                                 ao_flight_ground_accel = a;
 623                                 if (ao_config.accel_plus_g == 0) {
 624                                         ao_config.accel_plus_g = a;
 625                                         ao_config.accel_minus_g = a + 530;
 626                                 }
 627                                 if (ao_config.main_deploy == 0)
 628                                         ao_config.main_deploy = 250;
 629                                 ao_flight_started = 1;
 630                                 break;
 631                         case 'S':
 632                                 break;
 633                         case 'A':
 634                                 ao_adc_static.tick = tick;
 635                                 ao_adc_static.accel = a;
 636                                 ao_adc_static.pres_real = b;
 637                                 if (b < AO_MIN_BARO_VALUE)
 638                                         b = AO_MIN_BARO_VALUE;
 639                                 ao_adc_static.pres = b;
 640                                 ao_records_read++;
 641                                 ao_insert();
 642                                 return;
 643                         case 'T':
 644                                 ao_adc_static.tick = tick;
 645                                 ao_adc_static.temp = a;
 646                                 ao_adc_static.v_batt = b;
 647                                 break;
 648                         case 'D':
 649                         case 'G':
 650                         case 'N':
 651                         case 'W':
 652                         case 'H':
 653                                 break;
 654                         }
 655                 }
 656
 657         }
 658 }
 659 #define COUNTS_PER_G 264.8
 660
 661 void
 662 ao_dump_state(void)
 663 {
 664 }
 665
 666 static const struct option options[] = {
 667         { .name = "summary", .has_arg = 0, .val = 's' },
 668         { .name = "debug", .has_arg = 0, .val = 'd' },
 669         { 0, 0, 0, 0},
 670 };
 671
 672 void run_flight_fixed(char *name, FILE *f, int summary)
 673 {
 674         emulator_name = name;
 675         emulator_in = f;
 676         ao_summary = summary;
 677         ao_flight_init();
 678         ao_flight();
 679 }
 680
 681 int
 682 main (int argc, char **argv)
 683 {
 684         int     summary = 0;
 685         int     c;
 686         int     i;
 687
 688 #if HAS_ACCEL
 689         emulator_app="full";
 690 #else
 691         emulator_app="baro";
 692 #endif
 693         while ((c = getopt_long(argc, argv, "sd", options, NULL)) != -1) {
 694                 switch (c) {
 695                 case 's':
 696                         summary = 1;
 697                         break;
 698                 case 'd':
 699                         ao_flight_debug = 1;
 700                         break;
 701                 }
 702         }
 703
 704         if (optind == argc)
 705                 run_flight_fixed("<stdin>", stdin, summary);
 706         else
 707                 for (i = optind; i < argc; i++) {
 708                         FILE    *f = fopen(argv[i], "r");
 709                         if (!f) {
 710                                 perror(argv[i]);
 711                                 continue;
 712                         }
 713                         run_flight_fixed(argv[i], f, summary);
 714                         fclose(f);
 715                 }
 716 }