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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 HAS_ADC 1
  30 #define AO_DATA_RING    64
  31 #define ao_data_ring_next(n)    (((n) + 1) & (AO_DATA_RING - 1))
  32 #define ao_data_ring_prev(n)    (((n) - 1) & (AO_DATA_RING - 1))
  33
  34 #define AO_M_TO_HEIGHT(m)       ((int16_t) (m))
  35 #define AO_MS_TO_SPEED(ms)      ((int16_t) ((ms) * 16))
  36 #define AO_MSS_TO_ACCEL(mss)    ((int16_t) ((mss) * 16))
  37
  38 #if TELEMEGA
  39 #define AO_ADC_NUM_SENSE        6
  40 #define HAS_MS5607              1
  41 #define HAS_MPU6000             1
  42 #define HAS_MMA655X             1
  43
  44 struct ao_adc {
  45         int16_t                 sense[AO_ADC_NUM_SENSE];
  46         int16_t                 v_batt;
  47         int16_t                 v_pbatt;
  48         int16_t                 accel_ref;
  49         int16_t                 accel;
  50         int16_t                 temp;
  51 };
  52 #else
  53 /*
  54  * One set of samples read from the A/D converter
  55  */
  56 struct ao_adc {
  57         int16_t         accel;          /* accelerometer */
  58         int16_t         pres;           /* pressure sensor */
  59         int16_t         pres_real;      /* unclipped */
  60         int16_t         temp;           /* temperature sensor */
  61         int16_t         v_batt;         /* battery voltage */
  62         int16_t         sense_d;        /* drogue continuity sense */
  63         int16_t         sense_m;        /* main continuity sense */
  64 };
  65
  66 #ifndef HAS_ACCEL
  67 #define HAS_ACCEL 1
  68 #define HAS_ACCEL_REF 0
  69 #endif
  70
  71 #endif
  72
  73 #define __pdata
  74 #define __data
  75 #define __xdata
  76 #define __code
  77 #define __reentrant
  78
  79 #define HAS_FLIGHT 1
  80 #define HAS_IGNITE 1
  81 #define HAS_USB 1
  82 #define HAS_GPS 1
  83
  84 #include <ao_data.h>
  85 #include <ao_log.h>
  86
  87 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
  88 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
  89 #define from_fix(x)     ((x) >> 16)
  90
  91 /*
  92  * Above this height, the baro sensor doesn't work
  93  */
  94 #define AO_BARO_SATURATE        13000
  95 #define AO_MIN_BARO_VALUE       ao_altitude_to_pres(AO_BARO_SATURATE)
  96
  97 /*
  98  * Above this speed, baro measurements are unreliable
  99  */
 100 #define AO_MAX_BARO_SPEED       200
 101
 102 #define ACCEL_NOSE_UP   (ao_accel_2g >> 2)
 103
 104 extern enum ao_flight_state ao_flight_state;
 105
 106 #define FALSE 0
 107 #define TRUE 1
 108
 109 volatile struct ao_data ao_data_ring[AO_DATA_RING];
 110 volatile uint8_t ao_data_head;
 111 int     ao_summary = 0;
 112
 113 #define ao_led_on(l)
 114 #define ao_led_off(l)
 115 #define ao_timer_set_adc_interval(i)
 116 #define ao_wakeup(wchan) ao_dump_state()
 117 #define ao_cmd_register(c)
 118 #define ao_usb_disable()
 119 #define ao_telemetry_set_interval(x)
 120 #define ao_rdf_set(rdf)
 121 #define ao_packet_slave_start()
 122 #define ao_packet_slave_stop()
 123
 124 enum ao_igniter {
 125         ao_igniter_drogue = 0,
 126         ao_igniter_main = 1
 127 };
 128
 129 struct ao_data ao_data_static;
 130
 131 int     drogue_height;
 132 double  drogue_time;
 133 int     main_height;
 134 double  main_time;
 135
 136 int     tick_offset;
 137
 138 static int32_t  ao_k_height;
 139
 140 void
 141 ao_ignite(enum ao_igniter igniter)
 142 {
 143         double time = (double) (ao_data_static.tick + tick_offset) / 100;
 144
 145         if (igniter == ao_igniter_drogue) {
 146                 drogue_time = time;
 147                 drogue_height = ao_k_height >> 16;
 148         } else {
 149                 main_time = time;
 150                 main_height = ao_k_height >> 16;
 151         }
 152 }
 153
 154 struct ao_task {
 155         int dummy;
 156 };
 157
 158 #define ao_add_task(t,f,n) ((void) (t))
 159
 160 #define ao_log_start()
 161 #define ao_log_stop()
 162
 163 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
 164 #define AO_SEC_TO_TICKS(s)      ((s) * 100)
 165
 166 #define AO_FLIGHT_TEST
 167
 168 int     ao_flight_debug;
 169
 170 FILE *emulator_in;
 171 char *emulator_app;
 172 char *emulator_name;
 173 char *emulator_info;
 174 double emulator_error_max = 4;
 175 double emulator_height_error_max = 20;  /* noise in the baro sensor */
 176
 177 void
 178 ao_dump_state(void);
 179
 180 void
 181 ao_sleep(void *wchan);
 182
 183 const char const * const ao_state_names[] = {
 184         "startup", "idle", "pad", "boost", "fast",
 185         "coast", "drogue", "main", "landed", "invalid"
 186 };
 187
 188 struct ao_cmds {
 189         void            (*func)(void);
 190         const char      *help;
 191 };
 192
 193 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
 194 #define ao_xmemset(d,v,c) memset(d,v,c)
 195 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
 196
 197 #define AO_NEED_ALTITUDE_TO_PRES 1
 198 #if TELEMEGA
 199 #include "ao_convert_pa.c"
 200 #include <ao_ms5607.h>
 201 struct ao_ms5607_prom   ms5607_prom;
 202 #include "ao_ms5607_convert.c"
 203 #else
 204 #include "ao_convert.c"
 205 #endif
 206
 207 struct ao_config {
 208         uint16_t        main_deploy;
 209         int16_t         accel_plus_g;
 210         int16_t         accel_minus_g;
 211         uint8_t         pad_orientation;
 212         uint16_t        apogee_lockout;
 213 };
 214
 215 #define AO_PAD_ORIENTATION_ANTENNA_UP   0
 216 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
 217
 218 #define ao_config_get()
 219
 220 struct ao_config ao_config;
 221
 222 #define DATA_TO_XDATA(x) (x)
 223
 224
 225 #define GRAVITY 9.80665
 226 extern int16_t ao_ground_accel, ao_flight_accel;
 227 extern int16_t ao_accel_2g;
 228
 229 typedef int16_t accel_t;
 230
 231 extern uint16_t ao_sample_tick;
 232
 233 extern alt_t    ao_sample_height;
 234 extern accel_t  ao_sample_accel;
 235 extern int32_t  ao_accel_scale;
 236 extern alt_t    ao_ground_height;
 237 extern alt_t    ao_sample_alt;
 238
 239 double ao_sample_qangle;
 240
 241 int ao_sample_prev_tick;
 242 uint16_t        prev_tick;
 243
 244
 245 #include "ao_kalman.c"
 246 #include "ao_sqrt.c"
 247 #include "ao_sample.c"
 248 #include "ao_flight.c"
 249
 250 #define to_double(f)    ((f) / 65536.0)
 251
 252 static int      ao_records_read = 0;
 253 static int      ao_eof_read = 0;
 254 static int      ao_flight_ground_accel;
 255 static int      ao_flight_started = 0;
 256 static int      ao_test_max_height;
 257 static double   ao_test_max_height_time;
 258 static int      ao_test_main_height;
 259 static double   ao_test_main_height_time;
 260 static double   ao_test_landed_time;
 261 static double   ao_test_landed_height;
 262 static double   ao_test_landed_time;
 263 static int      landed_set;
 264 static double   landed_time;
 265 static double   landed_height;
 266
 267 #if HAS_MPU6000
 268 static struct ao_mpu6000_sample ao_ground_mpu6000;
 269 #endif
 270
 271 void
 272 ao_test_exit(void)
 273 {
 274         double  drogue_error;
 275         double  main_error;
 276         double  landed_error;
 277         double  landed_time_error;
 278
 279         if (!ao_test_main_height_time) {
 280                 ao_test_main_height_time = ao_test_max_height_time;
 281                 ao_test_main_height = ao_test_max_height;
 282         }
 283         drogue_error = fabs(ao_test_max_height_time - drogue_time);
 284         main_error = fabs(ao_test_main_height_time - main_time);
 285         landed_error = fabs(ao_test_landed_height - landed_height);
 286         landed_time_error = ao_test_landed_time - landed_time;
 287         if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
 288                 printf ("%s %s\n",
 289                         emulator_app, emulator_name);
 290                 if (emulator_info)
 291                         printf ("\t%s\n", emulator_info);
 292                 printf ("\tApogee error %g\n", drogue_error);
 293                 printf ("\tMain error %g\n", main_error);
 294                 printf ("\tLanded height error %g\n", landed_error);
 295                 printf ("\tLanded time error %g\n", landed_time_error);
 296                 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 297                         ao_test_max_height, ao_test_max_height_time,
 298                         ao_test_main_height, ao_test_main_height_time,
 299                         ao_test_landed_height, ao_test_landed_time);
 300                 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 301                         drogue_height, drogue_time, main_height, main_time,
 302                         landed_height, landed_time);
 303                 exit (1);
 304         }
 305         exit(0);
 306 }
 307
 308 #if HAS_MPU6000
 309 static double
 310 ao_mpu6000_accel(int16_t sensor)
 311 {
 312         return sensor / 32767.0 * MPU6000_ACCEL_FULLSCALE * GRAVITY;
 313 }
 314
 315 static double
 316 ao_mpu6000_gyro(int32_t sensor)
 317 {
 318         return sensor / 32767.0 * MPU6000_GYRO_FULLSCALE;
 319 }
 320 #endif
 321
 322 void
 323 ao_insert(void)
 324 {
 325         double  time;
 326
 327         ao_data_ring[ao_data_head] = ao_data_static;
 328         ao_data_head = ao_data_ring_next(ao_data_head);
 329         if (ao_flight_state != ao_flight_startup) {
 330 #if HAS_ACCEL
 331                 double  accel = ((ao_flight_ground_accel - ao_data_accel_cook(&ao_data_static)) * GRAVITY * 2.0) /
 332                         (ao_config.accel_minus_g - ao_config.accel_plus_g);
 333 #else
 334                 double  accel = 0.0;
 335 #endif
 336 #if TELEMEGA
 337                 double  height;
 338
 339                 ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
 340                 height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height;
 341 #else
 342                 double  height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
 343 #endif
 344
 345                 if (!tick_offset)
 346                         tick_offset = -ao_data_static.tick;
 347                 if ((prev_tick - ao_data_static.tick) > 0x400)
 348                         tick_offset += 65536;
 349                 prev_tick = ao_data_static.tick;
 350                 time = (double) (ao_data_static.tick + tick_offset) / 100;
 351
 352                 if (ao_test_max_height < height) {
 353                         ao_test_max_height = height;
 354                         ao_test_max_height_time = time;
 355                         ao_test_landed_height = height;
 356                         ao_test_landed_time = time;
 357                 }
 358                 if (height > ao_config.main_deploy) {
 359                         ao_test_main_height_time = time;
 360                         ao_test_main_height = height;
 361                 }
 362
 363                 if (ao_test_landed_height > height) {
 364                         ao_test_landed_height = height;
 365                         ao_test_landed_time = time;
 366                 }
 367
 368                 if (ao_flight_state == ao_flight_landed && !landed_set) {
 369                         landed_set = 1;
 370                         landed_time = time;
 371                         landed_height = height;
 372                 }
 373
 374                 if (!ao_summary) {
 375                         printf("%7.2f height %8.2f accel %8.3f "
 376 #if TELEMEGA
 377                                "roll %8.3f angle %8.3f qangle %8.3f "
 378                                "accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f "
 379 #endif
 380                                "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",
 381                                time,
 382                                height,
 383                                accel,
 384 #if TELEMEGA
 385                                ao_mpu6000_gyro(ao_sample_roll_angle) / 100.0,
 386                                ao_mpu6000_gyro(ao_sample_angle) / 100.0,
 387                                ao_sample_qangle,
 388                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
 389                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
 390                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_z),
 391                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x),
 392                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y),
 393                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z),
 394 #endif
 395                                ao_state_names[ao_flight_state],
 396                                ao_k_height / 65536.0,
 397                                ao_k_speed / 65536.0 / 16.0,
 398                                ao_k_accel / 65536.0 / 16.0,
 399                                ao_avg_height,
 400                                drogue_height,
 401                                main_height,
 402                                ao_error_h_sq_avg);
 403
 404 //                      if (ao_flight_state == ao_flight_landed)
 405 //                              ao_test_exit();
 406                 }
 407         }
 408 }
 409
 410 #define AO_MAX_CALLSIGN                 8
 411 #define AO_MAX_VERSION                  8
 412 #define AO_MAX_TELEMETRY                128
 413
 414 struct ao_telemetry_generic {
 415         uint16_t        serial;         /* 0 */
 416         uint16_t        tick;           /* 2 */
 417         uint8_t         type;           /* 4 */
 418         uint8_t         payload[27];    /* 5 */
 419         /* 32 */
 420 };
 421
 422 #define AO_TELEMETRY_SENSOR_TELEMETRUM  0x01
 423 #define AO_TELEMETRY_SENSOR_TELEMINI    0x02
 424 #define AO_TELEMETRY_SENSOR_TELENANO    0x03
 425
 426 struct ao_telemetry_sensor {
 427         uint16_t        serial;         /*  0 */
 428         uint16_t        tick;           /*  2 */
 429         uint8_t         type;           /*  4 */
 430
 431         uint8_t         state;          /*  5 flight state */
 432         int16_t         accel;          /*  6 accelerometer (TM only) */
 433         int16_t         pres;           /*  8 pressure sensor */
 434         int16_t         temp;           /* 10 temperature sensor */
 435         int16_t         v_batt;         /* 12 battery voltage */
 436         int16_t         sense_d;        /* 14 drogue continuity sense (TM/Tm) */
 437         int16_t         sense_m;        /* 16 main continuity sense (TM/Tm) */
 438
 439         int16_t         acceleration;   /* 18 m/s² * 16 */
 440         int16_t         speed;          /* 20 m/s * 16 */
 441         int16_t         height;         /* 22 m */
 442
 443         int16_t         ground_pres;    /* 24 average pres on pad */
 444         int16_t         ground_accel;   /* 26 average accel on pad */
 445         int16_t         accel_plus_g;   /* 28 accel calibration at +1g */
 446         int16_t         accel_minus_g;  /* 30 accel calibration at -1g */
 447         /* 32 */
 448 };
 449
 450 #define AO_TELEMETRY_CONFIGURATION      0x04
 451
 452 struct ao_telemetry_configuration {
 453         uint16_t        serial;                         /*  0 */
 454         uint16_t        tick;                           /*  2 */
 455         uint8_t         type;                           /*  4 */
 456
 457         uint8_t         device;                         /*  5 device type */
 458         uint16_t        flight;                         /*  6 flight number */
 459         uint8_t         config_major;                   /*  8 Config major version */
 460         uint8_t         config_minor;                   /*  9 Config minor version */
 461         uint16_t        apogee_delay;                   /* 10 Apogee deploy delay in seconds */
 462         uint16_t        main_deploy;                    /* 12 Main deploy alt in meters */
 463         uint16_t        flight_log_max;                 /* 14 Maximum flight log size in kB */
 464         char            callsign[AO_MAX_CALLSIGN];      /* 16 Radio operator identity */
 465         char            version[AO_MAX_VERSION];        /* 24 Software version */
 466         /* 32 */
 467 };
 468
 469 #define AO_TELEMETRY_LOCATION           0x05
 470
 471 #define AO_GPS_MODE_NOT_VALID           'N'
 472 #define AO_GPS_MODE_AUTONOMOUS          'A'
 473 #define AO_GPS_MODE_DIFFERENTIAL        'D'
 474 #define AO_GPS_MODE_ESTIMATED           'E'
 475 #define AO_GPS_MODE_MANUAL              'M'
 476 #define AO_GPS_MODE_SIMULATED           'S'
 477
 478 struct ao_telemetry_location {
 479         uint16_t        serial;         /*  0 */
 480         uint16_t        tick;           /*  2 */
 481         uint8_t         type;           /*  4 */
 482
 483         uint8_t         flags;          /*  5 Number of sats and other flags */
 484         int16_t         altitude;       /*  6 GPS reported altitude (m) */
 485         int32_t         latitude;       /*  8 latitude (degrees * 10⁷) */
 486         int32_t         longitude;      /* 12 longitude (degrees * 10⁷) */
 487         uint8_t         year;           /* 16 (- 2000) */
 488         uint8_t         month;          /* 17 (1-12) */
 489         uint8_t         day;            /* 18 (1-31) */
 490         uint8_t         hour;           /* 19 (0-23) */
 491         uint8_t         minute;         /* 20 (0-59) */
 492         uint8_t         second;         /* 21 (0-59) */
 493         uint8_t         pdop;           /* 22 (m * 5) */
 494         uint8_t         hdop;           /* 23 (m * 5) */
 495         uint8_t         vdop;           /* 24 (m * 5) */
 496         uint8_t         mode;           /* 25 */
 497         uint16_t        ground_speed;   /* 26 cm/s */
 498         int16_t         climb_rate;     /* 28 cm/s */
 499         uint8_t         course;         /* 30 degrees / 2 */
 500         uint8_t         unused[1];      /* 31 */
 501         /* 32 */
 502 };
 503
 504 #define AO_TELEMETRY_SATELLITE          0x06
 505
 506 struct ao_telemetry_satellite_info {
 507         uint8_t         svid;
 508         uint8_t         c_n_1;
 509 };
 510
 511 struct ao_telemetry_satellite {
 512         uint16_t                                serial;         /*  0 */
 513         uint16_t                                tick;           /*  2 */
 514         uint8_t                                 type;           /*  4 */
 515         uint8_t                                 channels;       /*  5 number of reported sats */
 516
 517         struct ao_telemetry_satellite_info      sats[12];       /* 6 */
 518         uint8_t                                 unused[2];      /* 30 */
 519         /* 32 */
 520 };
 521
 522 union ao_telemetry_all {
 523         struct ao_telemetry_generic             generic;
 524         struct ao_telemetry_sensor              sensor;
 525         struct ao_telemetry_configuration       configuration;
 526         struct ao_telemetry_location            location;
 527         struct ao_telemetry_satellite           satellite;
 528 };
 529
 530 uint16_t
 531 uint16(uint8_t *bytes, int off)
 532 {
 533         return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
 534 }
 535
 536 int16_t
 537 int16(uint8_t *bytes, int off)
 538 {
 539         return (int16_t) uint16(bytes, off);
 540 }
 541
 542 uint32_t
 543 uint32(uint8_t *bytes, int off)
 544 {
 545         return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
 546                 (((uint32_t) bytes[off+2]) << 16) |
 547                 (((uint32_t) bytes[off+3]) << 24);
 548 }
 549
 550 int32_t
 551 int32(uint8_t *bytes, int off)
 552 {
 553         return (int32_t) uint32(bytes, off);
 554 }
 555
 556 static int log_format;
 557
 558 #if TELEMEGA
 559
 560 static double
 561 ao_vec_norm(double x, double y, double z)
 562 {
 563         return x*x + y*y + z*z;
 564 }
 565
 566 static void
 567 ao_vec_normalize(double *x, double *y, double *z)
 568 {
 569         double  scale = 1/sqrt(ao_vec_norm(*x, *y, *z));
 570
 571         *x *= scale;
 572         *y *= scale;
 573         *z *= scale;
 574 }
 575
 576 struct ao_quat {
 577         double  q0, q1, q2, q3;
 578 };
 579
 580 static void
 581 ao_quat_mul(struct ao_quat *r, struct ao_quat *a, struct ao_quat *b)
 582 {
 583         r->q0 = a->q0 * b->q0 - a->q1 * b->q1 - a->q2 * b->q2 - a->q3 * b->q3;
 584         r->q1 = a->q0 * b->q1 + a->q1 * b->q0 + a->q2 * b->q3 - a->q3 * b->q2;
 585         r->q2 = a->q0 * b->q2 - a->q1 * b->q3 + a->q2 * b->q0 + a->q3 * b->q1;
 586         r->q3 = a->q0 * b->q3 + a->q1 * b->q2 - a->q2 * b->q1 + a->q3 * b->q0;
 587 }
 588
 589 #if 0
 590 static void
 591 ao_quat_scale(struct ao_quat *r, struct ao_quat *a, double s)
 592 {
 593         r->q0 = a->q0 * s;
 594         r->q1 = a->q1 * s;
 595         r->q2 = a->q2 * s;
 596         r->q3 = a->q3 * s;
 597 }
 598 #endif
 599
 600 static void
 601 ao_quat_conj(struct ao_quat *r, struct ao_quat *a)
 602 {
 603         r->q0 =  a->q0;
 604         r->q1 = -a->q1;
 605         r->q2 = -a->q2;
 606         r->q3 = -a->q3;
 607 }
 608
 609 static void
 610 ao_quat_rot(struct ao_quat *r, struct ao_quat *a, struct ao_quat *q)
 611 {
 612         struct ao_quat  t;
 613         struct ao_quat  c;
 614         ao_quat_mul(&t, q, a);
 615         ao_quat_conj(&c, q);
 616         ao_quat_mul(r, &t, &c);
 617 }
 618
 619 static void
 620 ao_quat_from_angle(struct ao_quat *r,
 621                    double x_rad,
 622                    double y_rad,
 623                    double z_rad)
 624 {
 625         double angle = sqrt (x_rad * x_rad + y_rad * y_rad + z_rad * z_rad);
 626         double s = sin(angle/2);
 627         double c = cos(angle/2);
 628
 629         r->q0 = c;
 630         r->q1 = x_rad * s / angle;
 631         r->q2 = y_rad * s / angle;
 632         r->q3 = z_rad * s / angle;
 633 }
 634
 635 static void
 636 ao_quat_from_vector(struct ao_quat *r, double x, double y, double z)
 637 {
 638         ao_vec_normalize(&x, &y, &z);
 639         double  x_rad = atan2(z, y);
 640         double  y_rad = atan2(x, z);
 641         double  z_rad = atan2(y, x);
 642
 643         ao_quat_from_angle(r, x_rad, y_rad, z_rad);
 644 }
 645
 646 static double
 647 ao_quat_norm(struct ao_quat *a)
 648 {
 649         return (a->q0 * a->q0 +
 650                 a->q1 * a->q1 +
 651                 a->q2 * a->q2 +
 652                 a->q3 * a->q3);
 653 }
 654
 655 static void
 656 ao_quat_normalize(struct ao_quat *a)
 657 {
 658         double  norm = ao_quat_norm(a);
 659
 660         if (norm) {
 661                 double m = 1/sqrt(norm);
 662
 663                 a->q0 *= m;
 664                 a->q1 *= m;
 665                 a->q2 *= m;
 666                 a->q3 *= m;
 667         }
 668 }
 669
 670 static struct ao_quat   ao_up, ao_current;
 671 static struct ao_quat   ao_orient;
 672 static int              ao_orient_tick;
 673
 674 void
 675 set_orientation(double x, double y, double z, int tick)
 676 {
 677         struct ao_quat  t;
 678
 679         printf ("set_orientation %g %g %g\n", x, y, z);
 680         ao_quat_from_vector(&ao_orient, x, y, z);
 681         ao_up.q1 = ao_up.q2 = 0;
 682         ao_up.q0 = ao_up.q3 = sqrt(2)/2;
 683         ao_orient_tick = tick;
 684
 685         ao_orient.q0 = 1;
 686         ao_orient.q1 = 0;
 687         ao_orient.q2 = 0;
 688         ao_orient.q3 = 0;
 689
 690         printf ("orient (%g) %g %g %g up (%g) %g %g %g\n",
 691                 ao_orient.q0,
 692                 ao_orient.q1,
 693                 ao_orient.q2,
 694                 ao_orient.q3,
 695                 ao_up.q0,
 696                 ao_up.q1,
 697                 ao_up.q2,
 698                 ao_up.q3);
 699
 700         ao_quat_rot(&t, &ao_up, &ao_orient);
 701         printf ("pad orient (%g) %g %g %g\n",
 702                 t.q0,
 703                 t.q1,
 704                 t.q2,
 705                 t.q3);
 706
 707 }
 708
 709 void
 710 update_orientation (double rate_x, double rate_y, double rate_z, int tick)
 711 {
 712         struct ao_quat  q_dot;
 713         double          lambda;
 714         double          dt = (tick - ao_orient_tick) / 100.0;
 715
 716         ao_orient_tick = tick;
 717
 718 //      lambda = 1 - ao_quat_norm(&ao_orient);
 719         lambda = 0;
 720
 721         q_dot.q0 = -0.5 * (ao_orient.q1 * rate_x + ao_orient.q2 * rate_y + ao_orient.q3 * rate_z) + lambda * ao_orient.q0;
 722         q_dot.q1 =  0.5 * (ao_orient.q0 * rate_x + ao_orient.q2 * rate_z - ao_orient.q3 * rate_y) + lambda * ao_orient.q1;
 723         q_dot.q2 =  0.5 * (ao_orient.q0 * rate_y + ao_orient.q3 * rate_x - ao_orient.q1 * rate_z) + lambda * ao_orient.q2;
 724         q_dot.q3 =  0.5 * (ao_orient.q0 * rate_z + ao_orient.q1 * rate_y - ao_orient.q2 * rate_x) + lambda * ao_orient.q3;
 725
 726 #if 0
 727         printf ("update_orientation %g %g %g (%g s)\n", rate_x, rate_y, rate_z, dt);
 728         printf ("q_dot (%g) %g %g %g\n",
 729                 q_dot.q0,
 730                 q_dot.q1,
 731                 q_dot.q2,
 732                 q_dot.q3);
 733 #endif
 734
 735         ao_orient.q0 += q_dot.q0 * dt;
 736         ao_orient.q1 += q_dot.q1 * dt;
 737         ao_orient.q2 += q_dot.q2 * dt;
 738         ao_orient.q3 += q_dot.q3 * dt;
 739
 740         ao_quat_normalize(&ao_orient);
 741
 742         ao_quat_rot(&ao_current, &ao_up, &ao_orient);
 743
 744         ao_sample_qangle = 180 / M_PI * acos(ao_current.q3 * sqrt(2));
 745 #if 0
 746         printf ("orient (%g) %g %g %g current (%g) %g %g %g\n",
 747                 ao_orient.q0,
 748                 ao_orient.q1,
 749                 ao_orient.q2,
 750                 ao_orient.q3,
 751                 ao_current.q0,
 752                 ao_current.q1,
 753                 ao_current.q2,
 754                 ao_current.q3);
 755 #endif
 756 }
 757 #endif
 758
 759 void
 760 ao_sleep(void *wchan)
 761 {
 762         if (wchan == &ao_data_head) {
 763                 char            type = 0;
 764                 uint16_t        tick = 0;
 765                 uint16_t        a = 0, b = 0;
 766                 uint8_t         bytes[1024];
 767                 union ao_telemetry_all  telem;
 768                 char            line[1024];
 769                 char            *saveptr;
 770                 char            *l;
 771                 char            *words[64];
 772                 int             nword;
 773
 774                 for (;;) {
 775                         if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 776                         {
 777 #if TELEMEGA
 778                                 ao_data_static.mpu6000 = ao_ground_mpu6000;
 779 #else
 780                                 ao_data_static.adc.accel = ao_flight_ground_accel;
 781 #endif
 782                                 ao_insert();
 783                                 return;
 784                         }
 785
 786                         if (!fgets(line, sizeof (line), emulator_in)) {
 787                                 if (++ao_eof_read >= 1000) {
 788                                         if (!ao_summary)
 789                                                 printf ("no more data, exiting simulation\n");
 790                                         ao_test_exit();
 791                                 }
 792                                 ao_data_static.tick += 10;
 793                                 ao_insert();
 794                                 return;
 795                         }
 796                         l = line;
 797                         for (nword = 0; nword < 64; nword++) {
 798                                 words[nword] = strtok_r(l, " \t\n", &saveptr);
 799                                 l = NULL;
 800                                 if (words[nword] == NULL)
 801                                         break;
 802                         }
 803 #if TELEMEGA
 804                         if (log_format == AO_LOG_FORMAT_TELEMEGA && nword == 30 && strlen(words[0]) == 1) {
 805                                 int     i;
 806                                 struct ao_ms5607_value  value;
 807
 808                                 type = words[0][0];
 809                                 tick = strtoul(words[1], NULL, 16);
 810 //                              printf ("%c %04x", type, tick);
 811                                 for (i = 2; i < nword; i++) {
 812                                         bytes[i - 2] = strtoul(words[i], NULL, 16);
 813 //                                      printf(" %02x", bytes[i-2]);
 814                                 }
 815 //                              printf ("\n");
 816                                 switch (type) {
 817                                 case 'F':
 818                                         ao_flight_ground_accel = int16(bytes, 2);
 819                                         ao_flight_started = 1;
 820                                         ao_ground_pres = int32(bytes, 4);
 821                                         ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
 822                                         break;
 823                                 case 'A':
 824                                         ao_data_static.tick = tick;
 825                                         ao_data_static.ms5607_raw.pres = int32(bytes, 0);
 826                                         ao_data_static.ms5607_raw.temp = int32(bytes, 4);
 827                                         ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
 828                                         ao_data_static.mpu6000.accel_x = int16(bytes, 8);
 829                                         ao_data_static.mpu6000.accel_y = -int16(bytes, 10);
 830                                         ao_data_static.mpu6000.accel_z = int16(bytes, 12);
 831                                         ao_data_static.mpu6000.gyro_x = int16(bytes, 14);
 832                                         ao_data_static.mpu6000.gyro_y = -int16(bytes, 16);
 833                                         ao_data_static.mpu6000.gyro_z = int16(bytes, 18);
 834 #if HAS_MMA655X
 835                                         ao_data_static.mma655x = int16(bytes, 26);
 836 #endif
 837                                         if (ao_records_read == 0)
 838                                                 ao_ground_mpu6000 = ao_data_static.mpu6000;
 839                                         else if (ao_records_read < 10) {
 840 #define f(f) ao_ground_mpu6000.f = ao_ground_mpu6000.f + ((ao_data_static.mpu6000.f - ao_ground_mpu6000.f) >> 2)
 841                                                 f(accel_x);
 842                                                 f(accel_y);
 843                                                 f(accel_z);
 844                                                 f(gyro_x);
 845                                                 f(gyro_y);
 846                                                 f(gyro_z);
 847
 848                                                 double          accel_x = ao_mpu6000_accel(ao_ground_mpu6000.accel_x);
 849                                                 double          accel_y = ao_mpu6000_accel(ao_ground_mpu6000.accel_y);
 850                                                 double          accel_z = ao_mpu6000_accel(ao_ground_mpu6000.accel_z);
 851
 852                                                 /* X and Y are in the ground plane, arbitraryily picked as MPU X and Z axes
 853                                                  * Z is normal to the ground, the MPU y axis
 854                                                  */
 855                                                 set_orientation(accel_x, accel_z, accel_y, tick);
 856                                         } else {
 857                                                 double          rate_x = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x);
 858                                                 double          rate_y = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y);
 859                                                 double          rate_z = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z);
 860
 861                                                 update_orientation(rate_x * M_PI / 180, rate_z * M_PI / 180, rate_y * M_PI / 180, tick);
 862                                         }
 863                                         ao_records_read++;
 864                                         ao_insert();
 865                                         return;
 866                                 }
 867                                 continue;
 868                         } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
 869                                 if (strcmp(words[1], "reserved:") == 0)
 870                                         ms5607_prom.reserved = strtoul(words[2], NULL, 10);
 871                                 else if (strcmp(words[1], "sens:") == 0)
 872                                         ms5607_prom.sens = strtoul(words[2], NULL, 10);
 873                                 else if (strcmp(words[1], "off:") == 0)
 874                                         ms5607_prom.off = strtoul(words[2], NULL, 10);
 875                                 else if (strcmp(words[1], "tcs:") == 0)
 876                                         ms5607_prom.tcs = strtoul(words[2], NULL, 10);
 877                                 else if (strcmp(words[1], "tco:") == 0)
 878                                         ms5607_prom.tco = strtoul(words[2], NULL, 10);
 879                                 else if (strcmp(words[1], "tref:") == 0)
 880                                         ms5607_prom.tref = strtoul(words[2], NULL, 10);
 881                                 else if (strcmp(words[1], "tempsens:") == 0)
 882                                         ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
 883                                 else if (strcmp(words[1], "crc:") == 0)
 884                                         ms5607_prom.crc = strtoul(words[2], NULL, 10);
 885                                 continue;
 886                         }
 887 #else
 888                         if (nword == 4 && log_format != AO_LOG_FORMAT_TELEMEGA) {
 889                                 type = words[0][0];
 890                                 tick = strtoul(words[1], NULL, 16);
 891                                 a = strtoul(words[2], NULL, 16);
 892                                 b = strtoul(words[3], NULL, 16);
 893                                 if (type == 'P')
 894                                         type = 'A';
 895                         }
 896 #endif
 897                         else if (nword == 2 && strcmp(words[0], "log-format") == 0) {
 898                                 log_format = strtoul(words[1], NULL, 10);
 899                         } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
 900                                 ao_config.accel_plus_g = atoi(words[3]);
 901                                 ao_config.accel_minus_g = atoi(words[5]);
 902                         } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
 903                                 ao_config.main_deploy = atoi(words[2]);
 904                         } else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 &&
 905                                    strcmp(words[1], "lockout:") == 0) {
 906                                 ao_config.apogee_lockout = atoi(words[2]);
 907                         } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
 908                                 tick = atoi(words[10]);
 909                                 if (!ao_flight_started) {
 910                                         type = 'F';
 911                                         a = atoi(words[26]);
 912                                         ao_flight_started = 1;
 913                                 } else {
 914                                         type = 'A';
 915                                         a = atoi(words[12]);
 916                                         b = atoi(words[14]);
 917                                 }
 918                         } else if (nword == 3 && strcmp(words[0], "BARO") == 0) {
 919                                 tick = strtol(words[1], NULL, 16);
 920                                 a = 16384 - 328;
 921                                 b = strtol(words[2], NULL, 10);
 922                                 type = 'A';
 923                                 if (!ao_flight_started) {
 924                                         ao_flight_ground_accel = 16384 - 328;
 925                                         ao_config.accel_plus_g = 16384 - 328;
 926                                         ao_config.accel_minus_g = 16384 + 328;
 927                                         ao_flight_started = 1;
 928                                 }
 929                         } else if (nword == 2 && strcmp(words[0], "TELEM") == 0) {
 930                                 __xdata char    *hex = words[1];
 931                                 char    elt[3];
 932                                 int     i, len;
 933                                 uint8_t sum;
 934
 935                                 len = strlen(hex);
 936                                 if (len > sizeof (bytes) * 2) {
 937                                         len = sizeof (bytes)*2;
 938                                         hex[len] = '\0';
 939                                 }
 940                                 for (i = 0; i < len; i += 2) {
 941                                         elt[0] = hex[i];
 942                                         elt[1] = hex[i+1];
 943                                         elt[2] = '\0';
 944                                         bytes[i/2] = (uint8_t) strtol(elt, NULL, 16);
 945                                 }
 946                                 len = i/2;
 947                                 if (bytes[0] != len - 2) {
 948                                         printf ("bad length %d != %d\n", bytes[0], len - 2);
 949                                         continue;
 950                                 }
 951                                 sum = 0x5a;
 952                                 for (i = 1; i < len-1; i++)
 953                                         sum += bytes[i];
 954                                 if (sum != bytes[len-1]) {
 955                                         printf ("bad checksum\n");
 956                                         continue;
 957                                 }
 958                                 if ((bytes[len-2] & 0x80) == 0) {
 959                                         continue;
 960                                 }
 961                                 if (len == 36) {
 962                                         ao_xmemcpy(&telem, bytes + 1, 32);
 963                                         tick = telem.generic.tick;
 964                                         switch (telem.generic.type) {
 965                                         case AO_TELEMETRY_SENSOR_TELEMETRUM:
 966                                         case AO_TELEMETRY_SENSOR_TELEMINI:
 967                                         case AO_TELEMETRY_SENSOR_TELENANO:
 968                                                 if (!ao_flight_started) {
 969                                                         ao_flight_ground_accel = telem.sensor.ground_accel;
 970                                                         ao_config.accel_plus_g = telem.sensor.accel_plus_g;
 971                                                         ao_config.accel_minus_g = telem.sensor.accel_minus_g;
 972                                                         ao_flight_started = 1;
 973                                                 }
 974                                                 type = 'A';
 975                                                 a = telem.sensor.accel;
 976                                                 b = telem.sensor.pres;
 977                                                 break;
 978                                         }
 979                                 } else if (len == 99) {
 980                                         ao_flight_started = 1;
 981                                         tick = uint16(bytes+1, 21);
 982                                         ao_flight_ground_accel = int16(bytes+1, 7);
 983                                         ao_config.accel_plus_g = int16(bytes+1, 17);
 984                                         ao_config.accel_minus_g = int16(bytes+1, 19);
 985                                         type = 'A';
 986                                         a = int16(bytes+1, 23);
 987                                         b = int16(bytes+1, 25);
 988                                 } else if (len == 98) {
 989                                         ao_flight_started = 1;
 990                                         tick = uint16(bytes+1, 20);
 991                                         ao_flight_ground_accel = int16(bytes+1, 6);
 992                                         ao_config.accel_plus_g = int16(bytes+1, 16);
 993                                         ao_config.accel_minus_g = int16(bytes+1, 18);
 994                                         type = 'A';
 995                                         a = int16(bytes+1, 22);
 996                                         b = int16(bytes+1, 24);
 997                                 } else {
 998                                         printf("unknown len %d\n", len);
 999                                         continue;
1000                                 }
1001                         }
1002                         if (type != 'F' && !ao_flight_started)
1003                                 continue;
1004
1005 #if TELEMEGA
1006                         (void) a;
1007                         (void) b;
1008 #else
1009                         switch (type) {
1010                         case 'F':
1011                                 ao_flight_ground_accel = a;
1012                                 if (ao_config.accel_plus_g == 0) {
1013                                         ao_config.accel_plus_g = a;
1014                                         ao_config.accel_minus_g = a + 530;
1015                                 }
1016                                 if (ao_config.main_deploy == 0)
1017                                         ao_config.main_deploy = 250;
1018                                 ao_flight_started = 1;
1019                                 break;
1020                         case 'S':
1021                                 break;
1022                         case 'A':
1023                                 ao_data_static.tick = tick;
1024                                 ao_data_static.adc.accel = a;
1025                                 ao_data_static.adc.pres_real = b;
1026                                 if (b < AO_MIN_BARO_VALUE)
1027                                         b = AO_MIN_BARO_VALUE;
1028                                 ao_data_static.adc.pres = b;
1029                                 ao_records_read++;
1030                                 ao_insert();
1031                                 return;
1032                         case 'T':
1033                                 ao_data_static.tick = tick;
1034                                 ao_data_static.adc.temp = a;
1035                                 ao_data_static.adc.v_batt = b;
1036                                 break;
1037                         case 'D':
1038                         case 'G':
1039                         case 'N':
1040                         case 'W':
1041                         case 'H':
1042                                 break;
1043                         }
1044 #endif
1045                 }
1046
1047         }
1048 }
1049 #define COUNTS_PER_G 264.8
1050
1051 void
1052 ao_dump_state(void)
1053 {
1054 }
1055
1056 static const struct option options[] = {
1057         { .name = "summary", .has_arg = 0, .val = 's' },
1058         { .name = "debug", .has_arg = 0, .val = 'd' },
1059         { .name = "info", .has_arg = 1, .val = 'i' },
1060         { 0, 0, 0, 0},
1061 };
1062
1063 void run_flight_fixed(char *name, FILE *f, int summary, char *info)
1064 {
1065         emulator_name = name;
1066         emulator_in = f;
1067         emulator_info = info;
1068         ao_summary = summary;
1069         ao_flight_init();
1070         ao_flight();
1071 }
1072
1073 int
1074 main (int argc, char **argv)
1075 {
1076         int     summary = 0;
1077         int     c;
1078         int     i;
1079         char    *info = NULL;
1080
1081 #if HAS_ACCEL
1082         emulator_app="full";
1083 #else
1084         emulator_app="baro";
1085 #endif
1086         while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) {
1087                 switch (c) {
1088                 case 's':
1089                         summary = 1;
1090                         break;
1091                 case 'd':
1092                         ao_flight_debug = 1;
1093                         break;
1094                 case 'i':
1095                         info = optarg;
1096                         break;
1097                 }
1098         }
1099
1100         if (optind == argc)
1101                 run_flight_fixed("<stdin>", stdin, summary, info);
1102         else
1103                 for (i = optind; i < argc; i++) {
1104                         FILE    *f = fopen(argv[i], "r");
1105                         if (!f) {
1106                                 perror(argv[i]);
1107                                 continue;
1108                         }
1109                         run_flight_fixed(argv[i], f, summary, info);
1110                         fclose(f);
1111                 }
1112         exit(0);
1113 }