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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; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 #define _GNU_SOURCE
  20
  21 #include <stdint.h>
  22 #include <stdio.h>
  23 #include <stdlib.h>
  24 #include <stddef.h>
  25 #include <string.h>
  26 #include <getopt.h>
  27 #include <math.h>
  28
  29 #define GRAVITY 9.80665
  30
  31 #define AO_HERTZ        100
  32
  33 #define HAS_ADC 1
  34 #define AO_DATA_RING    64
  35 #define ao_data_ring_next(n)    (((n) + 1) & (AO_DATA_RING - 1))
  36 #define ao_data_ring_prev(n)    (((n) - 1) & (AO_DATA_RING - 1))
  37
  38 #if 0
  39 #define AO_M_TO_HEIGHT(m)       ((int16_t) (m))
  40 #define AO_MS_TO_SPEED(ms)      ((int16_t) ((ms) * 16))
  41 #define AO_MSS_TO_ACCEL(mss)    ((int16_t) ((mss) * 16))
  42 #endif
  43
  44 #define AO_GPS_NEW_DATA         1
  45 #define AO_GPS_NEW_TRACKING     2
  46
  47 int ao_gps_new;
  48
  49 #if !defined(TELEMEGA) && !defined(TELEMETRUM_V2) && !defined(EASYMINI)
  50 #define TELEMETRUM_V1 1
  51 #endif
  52
  53 #if TELEMEGA
  54 #define AO_ADC_NUM_SENSE        6
  55 #define HAS_MS5607              1
  56 #define HAS_MPU6000             1
  57 #define HAS_MMA655X             1
  58 #define HAS_HMC5883             1
  59 #define HAS_BEEP                1
  60 #define AO_CONFIG_MAX_SIZE      1024
  61 #define AO_MMA655X_INVERT       0
  62
  63 struct ao_adc {
  64         int16_t                 sense[AO_ADC_NUM_SENSE];
  65         int16_t                 v_batt;
  66         int16_t                 v_pbatt;
  67         int16_t                 temp;
  68 };
  69 #endif
  70
  71 #if TELEMETRUM_V2
  72 #define AO_ADC_NUM_SENSE        2
  73 #define HAS_MS5607              1
  74 #define HAS_MMA655X             1
  75 #define AO_MMA655X_INVERT       0
  76 #define HAS_BEEP                1
  77 #define AO_CONFIG_MAX_SIZE      1024
  78
  79 struct ao_adc {
  80         int16_t                 sense_a;
  81         int16_t                 sense_m;
  82         int16_t                 v_batt;
  83         int16_t                 temp;
  84 };
  85 #endif
  86
  87 #if EASYMINI
  88 #define AO_ADC_NUM_SENSE        2
  89 #define HAS_MS5607              1
  90 #define HAS_BEEP                1
  91 #define AO_CONFIG_MAX_SIZE      1024
  92
  93 struct ao_adc {
  94         int16_t                 sense_a;
  95         int16_t                 sense_m;
  96         int16_t                 v_batt;
  97 };
  98 #endif
  99
 100 #if TELEMETRUM_V1
 101 /*
 102  * One set of samples read from the A/D converter
 103  */
 104 struct ao_adc {
 105         int16_t         accel;          /* accelerometer */
 106         int16_t         pres;           /* pressure sensor */
 107         int16_t         pres_real;      /* unclipped */
 108         int16_t         temp;           /* temperature sensor */
 109         int16_t         v_batt;         /* battery voltage */
 110         int16_t         sense_d;        /* drogue continuity sense */
 111         int16_t         sense_m;        /* main continuity sense */
 112 };
 113
 114 #ifndef HAS_ACCEL
 115 #define HAS_ACCEL 1
 116 #define HAS_ACCEL_REF 0
 117 #endif
 118
 119 #endif
 120
 121 #define __pdata
 122 #define __data
 123 #define __xdata
 124 #define __code
 125 #define __reentrant
 126
 127 #define HAS_FLIGHT 1
 128 #define HAS_IGNITE 1
 129 #define HAS_USB 1
 130 #define HAS_GPS 1
 131
 132 #include <ao_data.h>
 133 #include <ao_log.h>
 134 #include <ao_telemetry.h>
 135 #include <ao_sample.h>
 136
 137 #if TELEMEGA
 138 int ao_gps_count;
 139 struct ao_telemetry_location ao_gps_first;
 140 struct ao_telemetry_location ao_gps_prev;
 141 struct ao_telemetry_location ao_gps_static;
 142
 143 struct ao_telemetry_satellite ao_gps_tracking;
 144
 145 static inline double sqr(double a) { return a * a; }
 146
 147 void
 148 cc_great_circle (double start_lat, double start_lon,
 149                  double end_lat, double end_lon,
 150                  double *dist, double *bearing)
 151 {
 152         const double rad = M_PI / 180;
 153         const double earth_radius = 6371.2 * 1000;      /* in meters */
 154         double lat1 = rad * start_lat;
 155         double lon1 = rad * -start_lon;
 156         double lat2 = rad * end_lat;
 157         double lon2 = rad * -end_lon;
 158
 159 //      double d_lat = lat2 - lat1;
 160         double d_lon = lon2 - lon1;
 161
 162         /* From http://en.wikipedia.org/wiki/Great-circle_distance */
 163         double vdn = sqrt(sqr(cos(lat2) * sin(d_lon)) +
 164                           sqr(cos(lat1) * sin(lat2) -
 165                               sin(lat1) * cos(lat2) * cos(d_lon)));
 166         double vdd = sin(lat1) * sin(lat2) + cos(lat1) * cos(lat2) * cos(d_lon);
 167         double d = atan2(vdn,vdd);
 168         double course;
 169
 170         if (cos(lat1) < 1e-20) {
 171                 if (lat1 > 0)
 172                         course = M_PI;
 173                 else
 174                         course = -M_PI;
 175         } else {
 176                 if (d < 1e-10)
 177                         course = 0;
 178                 else
 179                         course = acos((sin(lat2)-sin(lat1)*cos(d)) /
 180                                       (sin(d)*cos(lat1)));
 181                 if (sin(lon2-lon1) > 0)
 182                         course = 2 * M_PI-course;
 183         }
 184         *dist = d * earth_radius;
 185         *bearing = course * 180/M_PI;
 186 }
 187
 188 double
 189 ao_distance_from_pad(void)
 190 {
 191         double  dist, bearing;
 192         if (!ao_gps_count)
 193                 return 0;
 194
 195         cc_great_circle(ao_gps_first.latitude / 1e7,
 196                         ao_gps_first.longitude / 1e7,
 197                         ao_gps_static.latitude / 1e7,
 198                         ao_gps_static.longitude / 1e7,
 199                         &dist, &bearing);
 200         return dist;
 201 }
 202
 203 double
 204 ao_gps_angle(void)
 205 {
 206         double  dist, bearing;
 207         double  height;
 208         double  angle;
 209
 210         if (ao_gps_count < 2)
 211                 return 0;
 212
 213         cc_great_circle(ao_gps_prev.latitude / 1e7,
 214                         ao_gps_prev.longitude / 1e7,
 215                         ao_gps_static.latitude / 1e7,
 216                         ao_gps_static.longitude / 1e7,
 217                         &dist, &bearing);
 218         height = AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_static) - AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_prev);
 219
 220         angle = atan2(dist, height);
 221         return angle * 180/M_PI;
 222 }
 223 #endif
 224
 225 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
 226 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
 227 #define from_fix(x)     ((x) >> 16)
 228
 229 #define ACCEL_NOSE_UP   (ao_accel_2g >> 2)
 230
 231 extern enum ao_flight_state ao_flight_state;
 232
 233 #define FALSE 0
 234 #define TRUE 1
 235
 236 volatile struct ao_data ao_data_ring[AO_DATA_RING];
 237 volatile uint8_t ao_data_head;
 238 int     ao_summary = 0;
 239
 240 #define ao_led_on(l)
 241 #define ao_led_off(l)
 242 #define ao_timer_set_adc_interval(i)
 243 #define ao_wakeup(wchan) ao_dump_state()
 244 #define ao_cmd_register(c)
 245 #define ao_usb_disable()
 246 #define ao_telemetry_set_interval(x)
 247 #define ao_rdf_set(rdf)
 248 #define ao_packet_slave_start()
 249 #define ao_packet_slave_stop()
 250 #define flush()
 251
 252 enum ao_igniter {
 253         ao_igniter_drogue = 0,
 254         ao_igniter_main = 1
 255 };
 256
 257 struct ao_data ao_data_static;
 258
 259 int     drogue_height;
 260 double  drogue_time;
 261 int     main_height;
 262 double  main_time;
 263
 264 int     tick_offset;
 265
 266 static ao_k_t   ao_k_height;
 267 static double   simple_speed;
 268
 269 int16_t
 270 ao_time(void)
 271 {
 272         return ao_data_static.tick;
 273 }
 274
 275 void
 276 ao_delay(int16_t interval)
 277 {
 278         return;
 279 }
 280
 281 void
 282 ao_ignite(enum ao_igniter igniter)
 283 {
 284         double time = (double) (ao_data_static.tick + tick_offset) / 100;
 285
 286         if (igniter == ao_igniter_drogue) {
 287                 drogue_time = time;
 288                 drogue_height = ao_k_height >> 16;
 289         } else {
 290                 main_time = time;
 291                 main_height = ao_k_height >> 16;
 292         }
 293 }
 294
 295 struct ao_task {
 296         int dummy;
 297 };
 298
 299 #define ao_add_task(t,f,n) ((void) (t))
 300
 301 #define ao_log_start()
 302 #define ao_log_stop()
 303
 304 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
 305 #define AO_SEC_TO_TICKS(s)      ((s) * 100)
 306
 307 #define AO_FLIGHT_TEST
 308
 309 int     ao_flight_debug;
 310
 311 struct ao_eeprom        *eeprom;
 312 uint32_t                eeprom_offset;
 313
 314 FILE *emulator_in;
 315 char *emulator_app;
 316 char *emulator_name;
 317 char *emulator_info;
 318 double emulator_error_max = 4;
 319 double emulator_height_error_max = 20;  /* noise in the baro sensor */
 320
 321 void
 322 ao_dump_state(void);
 323
 324 void
 325 ao_sleep(void *wchan);
 326
 327 const char * const ao_state_names[] = {
 328         "startup", "idle", "pad", "boost", "fast",
 329         "coast", "drogue", "main", "landed", "invalid"
 330 };
 331
 332 struct ao_cmds {
 333         void            (*func)(void);
 334         const char      *help;
 335 };
 336
 337 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
 338 #define ao_xmemset(d,v,c) memset(d,v,c)
 339 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
 340
 341 #define AO_NEED_ALTITUDE_TO_PRES 1
 342 #if TELEMEGA || TELEMETRUM_V2 || EASYMINI
 343 #include "ao_convert_pa.c"
 344 #include <ao_ms5607.h>
 345 struct ao_ms5607_prom   ao_ms5607_prom;
 346 #include "ao_ms5607_convert.c"
 347 #define AO_PYRO_NUM     4
 348 #include <ao_pyro.h>
 349 #else
 350 #include "ao_convert.c"
 351 #endif
 352
 353 #include <ao_config.h>
 354 #include <ao_fake_flight.h>
 355 #include <ao_eeprom_read.h>
 356 #include <ao_log.h>
 357
 358 #define ao_config_get()
 359
 360 struct ao_config ao_config;
 361
 362 #define DATA_TO_XDATA(x) (x)
 363
 364
 365 extern int16_t ao_ground_accel, ao_flight_accel;
 366 extern int16_t ao_accel_2g;
 367
 368 typedef int16_t accel_t;
 369
 370 uint16_t        ao_serial_number;
 371 uint16_t        ao_flight_number;
 372
 373 extern uint16_t ao_sample_tick;
 374
 375 extern alt_t    ao_sample_height;
 376 extern accel_t  ao_sample_accel;
 377 extern int32_t  ao_accel_scale;
 378 extern alt_t    ao_ground_height;
 379 extern alt_t    ao_sample_alt;
 380
 381 double ao_sample_qangle;
 382
 383 int ao_sample_prev_tick;
 384 uint16_t        prev_tick;
 385
 386
 387 #include "ao_kalman.c"
 388 #include "ao_sqrt.c"
 389 #include "ao_sample.c"
 390 #include "ao_flight.c"
 391 #if TELEMEGA
 392 #define AO_PYRO_NUM     4
 393
 394 #define AO_PYRO_0       0
 395 #define AO_PYRO_1       1
 396 #define AO_PYRO_2       2
 397 #define AO_PYRO_3       3
 398
 399 #define PYRO_DBG        1
 400
 401 static void
 402 ao_pyro_pin_set(uint8_t pin, uint8_t value)
 403 {
 404         printf ("set pyro %d %d\n", pin, value);
 405 }
 406
 407 #include "ao_pyro.c"
 408 #endif
 409 #include "ao_eeprom_read.c"
 410 #include "ao_eeprom_read_old.c"
 411
 412 #define to_double(f)    ((f) / 65536.0)
 413
 414 static int      ao_records_read = 0;
 415 static int      ao_eof_read = 0;
 416 #if !EASYMINI
 417 static int      ao_flight_ground_accel;
 418 #endif
 419 static int      ao_flight_started = 0;
 420 static int      ao_test_max_height;
 421 static double   ao_test_max_height_time;
 422 static int      ao_test_main_height;
 423 static double   ao_test_main_height_time;
 424 static double   ao_test_landed_time;
 425 static double   ao_test_landed_height;
 426 static double   ao_test_landed_time;
 427 static int      landed_set;
 428 static double   landed_time;
 429 static double   landed_height;
 430
 431 #if HAS_MPU6000
 432 static struct ao_mpu6000_sample ao_ground_mpu6000;
 433 #endif
 434
 435 #if HAS_ACCEL
 436 int ao_error_h_sq_avg;
 437 #endif
 438
 439 void
 440 ao_test_exit(void)
 441 {
 442         double  drogue_error;
 443         double  main_error;
 444         double  landed_error;
 445         double  landed_time_error;
 446
 447         if (!ao_test_main_height_time) {
 448                 ao_test_main_height_time = ao_test_max_height_time;
 449                 ao_test_main_height = ao_test_max_height;
 450         }
 451         drogue_error = fabs(ao_test_max_height_time - drogue_time);
 452         main_error = fabs(ao_test_main_height_time - main_time);
 453         landed_error = fabs(ao_test_landed_height - landed_height);
 454         landed_time_error = ao_test_landed_time - landed_time;
 455         if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
 456                 printf ("%s %s\n",
 457                         emulator_app, emulator_name);
 458                 if (emulator_info)
 459                         printf ("\t%s\n", emulator_info);
 460                 printf ("\tApogee error %g\n", drogue_error);
 461                 printf ("\tMain error %g\n", main_error);
 462                 printf ("\tLanded height error %g\n", landed_error);
 463                 printf ("\tLanded time error %g\n", landed_time_error);
 464                 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 465                         ao_test_max_height, ao_test_max_height_time,
 466                         ao_test_main_height, ao_test_main_height_time,
 467                         ao_test_landed_height, ao_test_landed_time);
 468                 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 469                         drogue_height, drogue_time, main_height, main_time,
 470                         landed_height, landed_time);
 471                 exit (1);
 472         }
 473         exit(0);
 474 }
 475
 476 #ifdef TELEMEGA
 477 struct ao_azel {
 478         int     az;
 479         int     el;
 480 };
 481
 482 static void
 483 azel (struct ao_azel *r, struct ao_quaternion *q)
 484 {
 485         double  v;
 486
 487         r->az = floor (atan2(q->y, q->x) * 180/M_PI + 0.5);
 488         v = sqrt (q->x*q->x + q->y*q->y);
 489         r->el = floor (atan2(q->z, v) * 180/M_PI + 0.5);
 490 }
 491 #endif
 492
 493 void
 494 ao_insert(void)
 495 {
 496         double  time;
 497
 498         ao_data_ring[ao_data_head] = ao_data_static;
 499         if (ao_flight_state != ao_flight_startup) {
 500 #if HAS_ACCEL
 501                 double  accel = ((ao_flight_ground_accel - ao_data_accel_cook(&ao_data_static)) * GRAVITY * 2.0) /
 502                         (ao_config.accel_minus_g - ao_config.accel_plus_g);
 503 #else
 504                 double  accel = 0.0;
 505 #endif
 506
 507                 (void) accel;
 508                 if (!tick_offset)
 509                         tick_offset = -ao_data_static.tick;
 510                 if ((prev_tick - ao_data_static.tick) > 0x400)
 511                         tick_offset += 65536;
 512                 simple_speed += accel * (ao_data_static.tick - prev_tick) / 100.0;
 513                 prev_tick = ao_data_static.tick;
 514                 time = (double) (ao_data_static.tick + tick_offset) / 100;
 515
 516 #if TELEMEGA || TELEMETRUM_V2 || EASYMINI
 517                 ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
 518                 double height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height;
 519
 520                 /* Hack to skip baro spike at accidental drogue charge
 521                  * firing in 2015-09-26-serial-2093-flight-0012.eeprom
 522                  * so we can test the kalman filter with this data. Just
 523                  * keep reporting the same baro value across the pressure spike
 524                  */
 525                 {
 526                         static struct ao_ms5607_sample save;
 527                         if (ao_serial_number == 2093 && ao_flight_number == 12 && 32.5 < time && time < 33.7) {
 528                                 ao_data_ring[ao_data_head].ms5607_raw = save;
 529                         } else {
 530                                 save = ao_data_static.ms5607_raw;
 531                         }
 532                 }
 533 #else
 534                 double  height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
 535 #endif
 536
 537                 if (ao_test_max_height < height) {
 538                         ao_test_max_height = height;
 539                         ao_test_max_height_time = time;
 540                         ao_test_landed_height = height;
 541                         ao_test_landed_time = time;
 542                 }
 543                 if (height > ao_config.main_deploy) {
 544                         ao_test_main_height_time = time;
 545                         ao_test_main_height = height;
 546                 }
 547
 548                 if (ao_test_landed_height > height) {
 549                         ao_test_landed_height = height;
 550                         ao_test_landed_time = time;
 551                 }
 552
 553                 if (ao_flight_state == ao_flight_landed && !landed_set) {
 554                         landed_set = 1;
 555                         landed_time = time;
 556                         landed_height = height;
 557                 }
 558
 559                 if (!ao_summary) {
 560 #if TELEMEGA
 561                         static struct ao_quaternion     ao_ground_mag;
 562                         static int                      ao_ground_mag_set;
 563
 564                         if (!ao_ground_mag_set) {
 565                                 ao_quaternion_init_vector (&ao_ground_mag,
 566                                                            ao_data_mag_across(&ao_data_static),
 567                                                            ao_data_mag_through(&ao_data_static),
 568                                                            ao_data_mag_along(&ao_data_static));
 569                                 ao_quaternion_normalize(&ao_ground_mag, &ao_ground_mag);
 570                                 ao_quaternion_rotate(&ao_ground_mag, &ao_ground_mag, &ao_rotation);
 571                                 ao_ground_mag_set = 1;
 572                         }
 573
 574                         struct ao_quaternion            ao_mag, ao_mag_rot;
 575
 576                         ao_quaternion_init_vector(&ao_mag,
 577                                                   ao_data_mag_across(&ao_data_static),
 578                                                   ao_data_mag_through(&ao_data_static),
 579                                                   ao_data_mag_along(&ao_data_static));
 580
 581                         ao_quaternion_normalize(&ao_mag, &ao_mag);
 582                         ao_quaternion_rotate(&ao_mag_rot, &ao_mag, &ao_rotation);
 583
 584                         float                           ao_dot;
 585                         int                             ao_mag_angle;
 586
 587                         ao_dot = ao_quaternion_dot(&ao_mag_rot, &ao_ground_mag);
 588
 589                         struct ao_azel                  ground_azel, mag_azel, rot_azel;
 590
 591                         azel(&ground_azel, &ao_ground_mag);
 592                         azel(&mag_azel, &ao_mag);
 593                         azel(&rot_azel, &ao_mag_rot);
 594
 595                         ao_mag_angle = floor (acos(ao_dot) * 180 / M_PI + 0.5);
 596
 597                         (void) ao_mag_angle;
 598
 599                         static struct ao_quaternion     ao_x = { .r = 0, .x = 1, .y = 0, .z = 0 };
 600                         struct ao_quaternion            ao_out;
 601
 602                         ao_quaternion_rotate(&ao_out, &ao_x, &ao_rotation);
 603
 604 #if 0
 605                         int     out = floor (atan2(ao_out.y, ao_out.x) * 180 / M_PI);
 606
 607                         printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d mag_tilt %4d mag_rot %4d\n",
 608                                 time,
 609                                 ao_state_names[ao_flight_state],
 610                                 ao_k_height / 65536.0,
 611                                 ao_sample_orient, out,
 612                                 mag_azel.el,
 613                                 mag_azel.az);
 614 #endif
 615 #if 0
 616                         printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d dist %12.2f gps_tilt %4d gps_sats %2d\n",
 617                                 time,
 618                                 ao_state_names[ao_flight_state],
 619                                 ao_k_height / 65536.0,
 620                                 ao_sample_orient, out,
 621                                 ao_distance_from_pad(),
 622                                 (int) floor (ao_gps_angle() + 0.5),
 623                                 (ao_gps_static.flags & 0xf) * 10);
 624
 625 #endif
 626 #if 0
 627                         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",
 628                                 ao_state_names[ao_flight_state],
 629                                 ground_azel.az, ground_azel.el,
 630                                 mag_azel.az, mag_azel.el,
 631                                 rot_azel.az, rot_azel.el,
 632                                 ground_azel.el - rot_azel.el,
 633                                 ground_azel.az - rot_azel.az,
 634                                 ao_mag_angle,
 635                                 ao_sample_orient,
 636                                 ao_ground_mag.x,
 637                                 ao_ground_mag.y,
 638                                 ao_ground_mag.z,
 639                                 ao_mag.x,
 640                                 ao_mag.y,
 641                                 ao_mag.z,
 642                                 ao_mag_rot.x,
 643                                 ao_mag_rot.y,
 644                                 ao_mag_rot.z);
 645 #endif
 646 #endif
 647
 648 #if 1
 649                         printf("%7.2f height %8.2f accel %8.3f accel_speed %8.3f "
 650                                "state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d"
 651 #if TELEMEGA
 652                                " angle %5d "
 653                                "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 "
 654 #endif
 655                                "\n",
 656                                time,
 657                                height,
 658                                accel,
 659                                simple_speed > -100.0 ? simple_speed : -100.0,
 660                                ao_state_names[ao_flight_state],
 661                                ao_k_height / 65536.0,
 662                                ao_k_speed / 65536.0 / 16.0,
 663                                ao_k_accel / 65536.0 / 16.0,
 664                                ao_avg_height,
 665                                drogue_height,
 666                                main_height,
 667                                ao_error_h_sq_avg
 668 #if TELEMEGA
 669                                , ao_sample_orient,
 670
 671                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
 672                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
 673                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_z),
 674                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x),
 675                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y),
 676                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z),
 677                                ao_data_static.hmc5883.x,
 678                                ao_data_static.hmc5883.y,
 679                                ao_data_static.hmc5883.z,
 680                                ao_mag_angle
 681 #endif
 682                                 );
 683 #endif
 684
 685 //                      if (ao_flight_state == ao_flight_landed)
 686 //                              ao_test_exit();
 687                 }
 688         }
 689         ao_data_head = ao_data_ring_next(ao_data_head);
 690 }
 691
 692
 693 uint16_t
 694 uint16(uint8_t *bytes, int off)
 695 {
 696         return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
 697 }
 698
 699 int16_t
 700 int16(uint8_t *bytes, int off)
 701 {
 702         return (int16_t) uint16(bytes, off);
 703 }
 704
 705 uint32_t
 706 uint32(uint8_t *bytes, int off)
 707 {
 708         return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
 709                 (((uint32_t) bytes[off+2]) << 16) |
 710                 (((uint32_t) bytes[off+3]) << 24);
 711 }
 712
 713 int32_t
 714 int32(uint8_t *bytes, int off)
 715 {
 716         return (int32_t) uint32(bytes, off);
 717 }
 718
 719 uint32_t
 720 uint24(uint8_t *bytes, int off)
 721 {
 722         return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
 723                 (((uint32_t) bytes[off+2]) << 16);
 724 }
 725
 726 int32_t
 727 int24(uint8_t *bytes, int off)
 728 {
 729         return (int32_t) uint24(bytes, off);
 730 }
 731
 732 static int log_format;
 733
 734 void
 735 ao_sleep(void *wchan)
 736 {
 737         if (wchan == &ao_data_head) {
 738 #if TELEMEGA
 739                 if (ao_flight_state >= ao_flight_boost && ao_flight_state < ao_flight_landed)
 740                         ao_pyro_check();
 741 #endif
 742                 for (;;) {
 743                         if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 744                         {
 745
 746 #if TELEMEGA
 747                                 ao_data_static.mpu6000 = ao_ground_mpu6000;
 748 #endif
 749 #if TELEMETRUM_V1
 750                                 ao_data_static.adc.accel = ao_flight_ground_accel;
 751 #endif
 752
 753                                 ao_insert();
 754                                 return;
 755                         }
 756
 757                         if (eeprom) {
 758 #if TELEMEGA
 759                                 struct ao_log_mega      *log_mega;
 760 #endif
 761 #if TELEMETRUM_V2
 762                                 struct ao_log_metrum    *log_metrum;
 763 #endif
 764 #if EASYMINI
 765                                 struct ao_log_mini      *log_mini;
 766 #endif
 767 #if TELEMETRUM_V1
 768                                 struct ao_log_record    *log_record;
 769 #endif
 770
 771                                 if (eeprom_offset >= eeprom->len) {
 772                                         if (++ao_eof_read >= 1000)
 773                                                 if (!ao_summary)
 774                                                         printf ("no more data, exiting simulation\n");
 775                                         ao_test_exit();
 776                                         ao_data_static.tick += 10;
 777                                         ao_insert();
 778                                         return;
 779                                 }
 780                                 switch (eeprom->log_format) {
 781 #if TELEMEGA
 782                                 case AO_LOG_FORMAT_TELEMEGA_OLD:
 783                                 case AO_LOG_FORMAT_TELEMEGA:
 784                                         log_mega = (struct ao_log_mega *) &eeprom->data[eeprom_offset];
 785                                         eeprom_offset += sizeof (*log_mega);
 786                                         switch (log_mega->type) {
 787                                         case AO_LOG_FLIGHT:
 788                                                 ao_flight_number = log_mega->u.flight.flight;
 789                                                 ao_flight_ground_accel = log_mega->u.flight.ground_accel;
 790                                                 ao_flight_started = 1;
 791                                                 ao_ground_pres = log_mega->u.flight.ground_pres;
 792                                                 ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
 793                                                 ao_ground_accel_along = log_mega->u.flight.ground_accel_along;
 794                                                 ao_ground_accel_across = log_mega->u.flight.ground_accel_across;
 795                                                 ao_ground_accel_through = log_mega->u.flight.ground_accel_through;
 796                                                 ao_ground_roll = log_mega->u.flight.ground_roll;
 797                                                 ao_ground_pitch = log_mega->u.flight.ground_pitch;
 798                                                 ao_ground_yaw = log_mega->u.flight.ground_yaw;
 799                                                 ao_ground_mpu6000.accel_x = ao_ground_accel_across;
 800                                                 ao_ground_mpu6000.accel_y = ao_ground_accel_along;
 801                                                 ao_ground_mpu6000.accel_z = ao_ground_accel_through;
 802                                                 ao_ground_mpu6000.gyro_x = ao_ground_pitch >> 9;
 803                                                 ao_ground_mpu6000.gyro_y = ao_ground_roll >> 9;
 804                                                 ao_ground_mpu6000.gyro_z = ao_ground_yaw >> 9;
 805                                                 break;
 806                                         case AO_LOG_STATE:
 807                                                 break;
 808                                         case AO_LOG_SENSOR:
 809                                                 ao_data_static.tick = log_mega->tick;
 810                                                 ao_data_static.ms5607_raw.pres = log_mega->u.sensor.pres;
 811                                                 ao_data_static.ms5607_raw.temp = log_mega->u.sensor.temp;
 812                                                 ao_data_static.mpu6000.accel_x = log_mega->u.sensor.accel_x;
 813                                                 ao_data_static.mpu6000.accel_y = log_mega->u.sensor.accel_y;
 814                                                 ao_data_static.mpu6000.accel_z = log_mega->u.sensor.accel_z;
 815                                                 ao_data_static.mpu6000.gyro_x = log_mega->u.sensor.gyro_x;
 816                                                 ao_data_static.mpu6000.gyro_y = log_mega->u.sensor.gyro_y;
 817                                                 ao_data_static.mpu6000.gyro_z = log_mega->u.sensor.gyro_z;
 818                                                 ao_data_static.hmc5883.x = log_mega->u.sensor.mag_x;
 819                                                 ao_data_static.hmc5883.y = log_mega->u.sensor.mag_y;
 820                                                 ao_data_static.hmc5883.z = log_mega->u.sensor.mag_z;
 821                                                 ao_data_static.mma655x = log_mega->u.sensor.accel;
 822                                                 if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
 823                                                         ao_data_static.mma655x = ao_data_accel_invert(ao_data_static.mma655x);
 824                                                 ao_records_read++;
 825                                                 ao_insert();
 826                                                 return;
 827                                         case AO_LOG_TEMP_VOLT:
 828                                                 break;
 829                                         case AO_LOG_GPS_TIME:
 830                                                 ao_gps_prev = ao_gps_static;
 831                                                 ao_gps_static.tick = log_mega->tick;
 832                                                 ao_gps_static.latitude = log_mega->u.gps.latitude;
 833                                                 ao_gps_static.longitude = log_mega->u.gps.longitude;
 834                                                 {
 835                                                         int16_t altitude_low = log_mega->u.gps.altitude_low;
 836                                                         int16_t altitude_high = log_mega->u.gps.altitude_high;
 837                                                         int32_t altitude = altitude_low | ((int32_t) altitude_high << 16);
 838
 839                                                         AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_static, altitude);
 840                                                 }
 841                                                 ao_gps_static.flags = log_mega->u.gps.flags;
 842                                                 if (!ao_gps_count)
 843                                                         ao_gps_first = ao_gps_static;
 844                                                 ao_gps_count++;
 845                                                 break;
 846                                         case AO_LOG_GPS_SAT:
 847                                                 break;
 848                                         }
 849                                         break;
 850 #endif
 851 #if TELEMETRUM_V2
 852                                 case AO_LOG_FORMAT_TELEMETRUM:
 853                                         log_metrum = (struct ao_log_metrum *) &eeprom->data[eeprom_offset];
 854                                         eeprom_offset += sizeof (*log_metrum);
 855                                         switch (log_metrum->type) {
 856                                         case AO_LOG_FLIGHT:
 857                                                 ao_flight_started = 1;
 858                                                 ao_flight_number = log_metrum->u.flight.flight;
 859                                                 ao_flight_ground_accel = log_metrum->u.flight.ground_accel;
 860                                                 ao_ground_pres = log_metrum->u.flight.ground_pres;
 861                                                 ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
 862                                                 break;
 863                                         case AO_LOG_SENSOR:
 864                                                 ao_data_static.tick = log_metrum->tick;
 865                                                 ao_data_static.ms5607_raw.pres = log_metrum->u.sensor.pres;
 866                                                 ao_data_static.ms5607_raw.temp = log_metrum->u.sensor.temp;
 867                                                 ao_data_static.mma655x = log_metrum->u.sensor.accel;
 868                                                 ao_records_read++;
 869                                                 ao_insert();
 870                                                 return;
 871                                         }
 872                                         break;
 873 #endif
 874 #if EASYMINI
 875                                 case AO_LOG_FORMAT_EASYMINI1:
 876                                 case AO_LOG_FORMAT_EASYMINI2:
 877                                 case AO_LOG_FORMAT_TELEMINI3:
 878                                         log_mini = (struct ao_log_mini *) &eeprom->data[eeprom_offset];
 879                                         eeprom_offset += sizeof (*log_mini);
 880                                         switch (log_mini->type) {
 881                                         case AO_LOG_FLIGHT:
 882                                                 ao_flight_started = 1;
 883                                                 ao_flight_number = log_mini->u.flight.flight;
 884                                                 ao_ground_pres = log_mini->u.flight.ground_pres;
 885                                                 ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
 886                                                 break;
 887                                         case AO_LOG_SENSOR:
 888                                                 ao_data_static.tick = log_mini->tick;
 889                                                 ao_data_static.ms5607_raw.pres = int24(log_mini->u.sensor.pres, 0);
 890                                                 ao_data_static.ms5607_raw.temp = int24(log_mini->u.sensor.temp, 0);
 891                                                 ao_records_read++;
 892                                                 ao_insert();
 893                                                 return;
 894                                         }
 895                                         break;
 896 #endif
 897 #if TELEMETRUM_V1
 898                                 case AO_LOG_FORMAT_FULL:
 899                                 case AO_LOG_FORMAT_TINY:
 900                                         log_record = (struct ao_log_record *) &eeprom->data[eeprom_offset];
 901                                         eeprom_offset += sizeof (*log_record);
 902                                         switch (log_record->type) {
 903                                         case AO_LOG_FLIGHT:
 904                                                 ao_flight_started = 1;
 905                                                 ao_flight_ground_accel = log_record->u.flight.ground_accel;
 906                                                 ao_flight_number = log_record->u.flight.flight;
 907                                                 break;
 908                                         case AO_LOG_SENSOR:
 909                                         case 'P':       /* ancient telemini */
 910                                                 ao_data_static.tick = log_record->tick;
 911                                                 ao_data_static.adc.accel = log_record->u.sensor.accel;
 912                                                 ao_data_static.adc.pres_real = log_record->u.sensor.pres;
 913                                                 ao_data_static.adc.pres = log_record->u.sensor.pres;
 914                                                 ao_records_read++;
 915                                                 ao_insert();
 916                                                 return;
 917                                         case AO_LOG_TEMP_VOLT:
 918                                                 ao_data_static.tick = log_record->tick;;
 919                                                 ao_data_static.adc.temp = log_record->u.temp_volt.temp;
 920                                                 ao_data_static.adc.v_batt = log_record->u.temp_volt.v_batt;
 921                                                 break;
 922                                         }
 923                                         break;
 924 #endif
 925                                 default:
 926                                         printf ("invalid log format %d\n", log_format);
 927                                         ao_test_exit();
 928                                 }
 929                         }
 930                 }
 931
 932         }
 933 }
 934 #define COUNTS_PER_G 264.8
 935
 936 void
 937 ao_dump_state(void)
 938 {
 939 }
 940
 941 static const struct option options[] = {
 942         { .name = "summary", .has_arg = 0, .val = 's' },
 943         { .name = "debug", .has_arg = 0, .val = 'd' },
 944         { .name = "info", .has_arg = 1, .val = 'i' },
 945         { 0, 0, 0, 0},
 946 };
 947
 948 void run_flight_fixed(char *name, FILE *f, int summary, char *info)
 949 {
 950         emulator_name = name;
 951         emulator_in = f;
 952         emulator_info = info;
 953         ao_summary = summary;
 954
 955         if (strstr(name, ".eeprom") != NULL) {
 956                 char    c;
 957
 958                 c = getc(f);
 959                 ungetc(c, f);
 960                 if (c == '{')
 961                         eeprom = ao_eeprom_read(f);
 962                 else
 963                         eeprom = ao_eeprom_read_old(f);
 964
 965                 if (eeprom) {
 966 #if HAS_MS5607
 967                         ao_ms5607_prom = eeprom->ms5607_prom;
 968 #endif
 969                         ao_config = eeprom->config;
 970                         ao_serial_number = eeprom->serial_number;
 971                         log_format = eeprom->log_format;
 972                 }
 973         }
 974
 975         ao_flight_init();
 976         ao_flight();
 977 }
 978
 979 int
 980 main (int argc, char **argv)
 981 {
 982         int     summary = 0;
 983         int     c;
 984         int     i;
 985         char    *info = NULL;
 986
 987 #if HAS_ACCEL
 988         emulator_app="full";
 989 #else
 990         emulator_app="baro";
 991 #endif
 992         while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) {
 993                 switch (c) {
 994                 case 's':
 995                         summary = 1;
 996                         break;
 997                 case 'd':
 998                         ao_flight_debug = 1;
 999                         break;
1000                 case 'i':
1001                         info = optarg;
1002                         break;
1003                 }
1004         }
1005
1006         if (optind == argc)
1007                 run_flight_fixed("<stdin>", stdin, summary, info);
1008         else
1009                 for (i = optind; i < argc; i++) {
1010                         FILE    *f = fopen(argv[i], "r");
1011                         if (!f) {
1012                                 perror(argv[i]);
1013                                 continue;
1014                         }
1015                         run_flight_fixed(argv[i], f, summary, info);
1016                         fclose(f);
1017                 }
1018         exit(0);
1019 }