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   1 /*
   2  * Copyright © 2009 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 #define _GNU_SOURCE
  19
  20 #include <stdint.h>
  21 #include <stdio.h>
  22 #include <stdlib.h>
  23 #include <stddef.h>
  24 #include <string.h>
  25 #include <getopt.h>
  26 #include <math.h>
  27
  28 #define GRAVITY 9.80665
  29
  30 #define AO_HERTZ        100
  31
  32 #define HAS_ADC 1
  33 #define AO_DATA_RING    64
  34 #define ao_data_ring_next(n)    (((n) + 1) & (AO_DATA_RING - 1))
  35 #define ao_data_ring_prev(n)    (((n) - 1) & (AO_DATA_RING - 1))
  36
  37 #if 0
  38 #define AO_M_TO_HEIGHT(m)       ((int16_t) (m))
  39 #define AO_MS_TO_SPEED(ms)      ((int16_t) ((ms) * 16))
  40 #define AO_MSS_TO_ACCEL(mss)    ((int16_t) ((mss) * 16))
  41 #endif
  42
  43 #define AO_GPS_NEW_DATA         1
  44 #define AO_GPS_NEW_TRACKING     2
  45
  46 int ao_gps_new;
  47
  48 #if TELEMEGA
  49 #define AO_ADC_NUM_SENSE        6
  50 #define HAS_MS5607              1
  51 #define HAS_MPU6000             1
  52 #define HAS_MMA655X             1
  53 #define HAS_HMC5883             1
  54 #define HAS_BEEP                1
  55 #define AO_CONFIG_MAX_SIZE      1024
  56
  57 struct ao_adc {
  58         int16_t                 sense[AO_ADC_NUM_SENSE];
  59         int16_t                 v_batt;
  60         int16_t                 v_pbatt;
  61         int16_t                 temp;
  62 };
  63 #else
  64 /*
  65  * One set of samples read from the A/D converter
  66  */
  67 struct ao_adc {
  68         int16_t         accel;          /* accelerometer */
  69         int16_t         pres;           /* pressure sensor */
  70         int16_t         pres_real;      /* unclipped */
  71         int16_t         temp;           /* temperature sensor */
  72         int16_t         v_batt;         /* battery voltage */
  73         int16_t         sense_d;        /* drogue continuity sense */
  74         int16_t         sense_m;        /* main continuity sense */
  75 };
  76
  77 #ifndef HAS_ACCEL
  78 #define HAS_ACCEL 1
  79 #define HAS_ACCEL_REF 0
  80 #endif
  81
  82 #endif
  83
  84 #define __pdata
  85 #define __data
  86 #define __xdata
  87 #define __code
  88 #define __reentrant
  89
  90 #define HAS_FLIGHT 1
  91 #define HAS_IGNITE 1
  92 #define HAS_USB 1
  93 #define HAS_GPS 1
  94
  95 #include <ao_data.h>
  96 #include <ao_log.h>
  97 #include <ao_telemetry.h>
  98 #include <ao_sample.h>
  99
 100 #if TELEMEGA
 101 int ao_gps_count;
 102 struct ao_telemetry_location ao_gps_first;
 103 struct ao_telemetry_location ao_gps_prev;
 104 struct ao_telemetry_location ao_gps_static;
 105
 106 struct ao_telemetry_satellite ao_gps_tracking;
 107
 108 static inline double sqr(double a) { return a * a; }
 109
 110 void
 111 cc_great_circle (double start_lat, double start_lon,
 112                  double end_lat, double end_lon,
 113                  double *dist, double *bearing)
 114 {
 115         const double rad = M_PI / 180;
 116         const double earth_radius = 6371.2 * 1000;      /* in meters */
 117         double lat1 = rad * start_lat;
 118         double lon1 = rad * -start_lon;
 119         double lat2 = rad * end_lat;
 120         double lon2 = rad * -end_lon;
 121
 122 //      double d_lat = lat2 - lat1;
 123         double d_lon = lon2 - lon1;
 124
 125         /* From http://en.wikipedia.org/wiki/Great-circle_distance */
 126         double vdn = sqrt(sqr(cos(lat2) * sin(d_lon)) +
 127                           sqr(cos(lat1) * sin(lat2) -
 128                               sin(lat1) * cos(lat2) * cos(d_lon)));
 129         double vdd = sin(lat1) * sin(lat2) + cos(lat1) * cos(lat2) * cos(d_lon);
 130         double d = atan2(vdn,vdd);
 131         double course;
 132
 133         if (cos(lat1) < 1e-20) {
 134                 if (lat1 > 0)
 135                         course = M_PI;
 136                 else
 137                         course = -M_PI;
 138         } else {
 139                 if (d < 1e-10)
 140                         course = 0;
 141                 else
 142                         course = acos((sin(lat2)-sin(lat1)*cos(d)) /
 143                                       (sin(d)*cos(lat1)));
 144                 if (sin(lon2-lon1) > 0)
 145                         course = 2 * M_PI-course;
 146         }
 147         *dist = d * earth_radius;
 148         *bearing = course * 180/M_PI;
 149 }
 150
 151 double
 152 ao_distance_from_pad(void)
 153 {
 154         double  dist, bearing;
 155         if (!ao_gps_count)
 156                 return 0;
 157
 158         cc_great_circle(ao_gps_first.latitude / 1e7,
 159                         ao_gps_first.longitude / 1e7,
 160                         ao_gps_static.latitude / 1e7,
 161                         ao_gps_static.longitude / 1e7,
 162                         &dist, &bearing);
 163         return dist;
 164 }
 165
 166 double
 167 ao_gps_angle(void)
 168 {
 169         double  dist, bearing;
 170         double  height;
 171         double  angle;
 172
 173         if (ao_gps_count < 2)
 174                 return 0;
 175
 176         cc_great_circle(ao_gps_prev.latitude / 1e7,
 177                         ao_gps_prev.longitude / 1e7,
 178                         ao_gps_static.latitude / 1e7,
 179                         ao_gps_static.longitude / 1e7,
 180                         &dist, &bearing);
 181         height = AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_static) - AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_prev);
 182
 183         angle = atan2(dist, height);
 184         return angle * 180/M_PI;
 185 }
 186 #endif
 187
 188 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
 189 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
 190 #define from_fix(x)     ((x) >> 16)
 191
 192 /*
 193  * Above this height, the baro sensor doesn't work
 194  */
 195 #define AO_BARO_SATURATE        13000
 196 #define AO_MIN_BARO_VALUE       ao_altitude_to_pres(AO_BARO_SATURATE)
 197
 198 /*
 199  * Above this speed, baro measurements are unreliable
 200  */
 201 #define AO_MAX_BARO_SPEED       200
 202
 203 #define ACCEL_NOSE_UP   (ao_accel_2g >> 2)
 204
 205 extern enum ao_flight_state ao_flight_state;
 206
 207 #define FALSE 0
 208 #define TRUE 1
 209
 210 volatile struct ao_data ao_data_ring[AO_DATA_RING];
 211 volatile uint8_t ao_data_head;
 212 int     ao_summary = 0;
 213
 214 #define ao_led_on(l)
 215 #define ao_led_off(l)
 216 #define ao_timer_set_adc_interval(i)
 217 #define ao_wakeup(wchan) ao_dump_state()
 218 #define ao_cmd_register(c)
 219 #define ao_usb_disable()
 220 #define ao_telemetry_set_interval(x)
 221 #define ao_rdf_set(rdf)
 222 #define ao_packet_slave_start()
 223 #define ao_packet_slave_stop()
 224 #define flush()
 225
 226 enum ao_igniter {
 227         ao_igniter_drogue = 0,
 228         ao_igniter_main = 1
 229 };
 230
 231 struct ao_data ao_data_static;
 232
 233 int     drogue_height;
 234 double  drogue_time;
 235 int     main_height;
 236 double  main_time;
 237
 238 int     tick_offset;
 239
 240 static ao_k_t   ao_k_height;
 241
 242 int16_t
 243 ao_time(void)
 244 {
 245         return ao_data_static.tick;
 246 }
 247
 248 void
 249 ao_delay(int16_t interval)
 250 {
 251         return;
 252 }
 253
 254 void
 255 ao_ignite(enum ao_igniter igniter)
 256 {
 257         double time = (double) (ao_data_static.tick + tick_offset) / 100;
 258
 259         if (igniter == ao_igniter_drogue) {
 260                 drogue_time = time;
 261                 drogue_height = ao_k_height >> 16;
 262         } else {
 263                 main_time = time;
 264                 main_height = ao_k_height >> 16;
 265         }
 266 }
 267
 268 struct ao_task {
 269         int dummy;
 270 };
 271
 272 #define ao_add_task(t,f,n) ((void) (t))
 273
 274 #define ao_log_start()
 275 #define ao_log_stop()
 276
 277 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
 278 #define AO_SEC_TO_TICKS(s)      ((s) * 100)
 279
 280 #define AO_FLIGHT_TEST
 281
 282 int     ao_flight_debug;
 283
 284 FILE *emulator_in;
 285 char *emulator_app;
 286 char *emulator_name;
 287 char *emulator_info;
 288 double emulator_error_max = 4;
 289 double emulator_height_error_max = 20;  /* noise in the baro sensor */
 290
 291 void
 292 ao_dump_state(void);
 293
 294 void
 295 ao_sleep(void *wchan);
 296
 297 const char const * const ao_state_names[] = {
 298         "startup", "idle", "pad", "boost", "fast",
 299         "coast", "drogue", "main", "landed", "invalid"
 300 };
 301
 302 struct ao_cmds {
 303         void            (*func)(void);
 304         const char      *help;
 305 };
 306
 307 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
 308 #define ao_xmemset(d,v,c) memset(d,v,c)
 309 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
 310
 311 #define AO_NEED_ALTITUDE_TO_PRES 1
 312 #if TELEMEGA
 313 #include "ao_convert_pa.c"
 314 #include <ao_ms5607.h>
 315 struct ao_ms5607_prom   ao_ms5607_prom;
 316 #include "ao_ms5607_convert.c"
 317 #define AO_PYRO_NUM     4
 318 #include <ao_pyro.h>
 319 #else
 320 #include "ao_convert.c"
 321 #endif
 322
 323 #include <ao_config.h>
 324 #include <ao_fake_flight.h>
 325
 326 #define ao_config_get()
 327
 328 struct ao_config ao_config;
 329
 330 #define DATA_TO_XDATA(x) (x)
 331
 332
 333 extern int16_t ao_ground_accel, ao_flight_accel;
 334 extern int16_t ao_accel_2g;
 335
 336 typedef int16_t accel_t;
 337
 338 extern uint16_t ao_sample_tick;
 339
 340 extern alt_t    ao_sample_height;
 341 extern accel_t  ao_sample_accel;
 342 extern int32_t  ao_accel_scale;
 343 extern alt_t    ao_ground_height;
 344 extern alt_t    ao_sample_alt;
 345
 346 double ao_sample_qangle;
 347
 348 int ao_sample_prev_tick;
 349 uint16_t        prev_tick;
 350
 351
 352 #include "ao_kalman.c"
 353 #include "ao_sqrt.c"
 354 #include "ao_sample.c"
 355 #include "ao_flight.c"
 356 #if TELEMEGA
 357 #define AO_PYRO_NUM     4
 358
 359 #define AO_PYRO_0       0
 360 #define AO_PYRO_1       1
 361 #define AO_PYRO_2       2
 362 #define AO_PYRO_3       3
 363
 364 static void
 365 ao_pyro_pin_set(uint8_t pin, uint8_t value)
 366 {
 367         printf ("set pyro %d %d\n", pin, value);
 368 }
 369
 370 #include "ao_pyro.c"
 371 #endif
 372
 373 #define to_double(f)    ((f) / 65536.0)
 374
 375 static int      ao_records_read = 0;
 376 static int      ao_eof_read = 0;
 377 static int      ao_flight_ground_accel;
 378 static int      ao_flight_started = 0;
 379 static int      ao_test_max_height;
 380 static double   ao_test_max_height_time;
 381 static int      ao_test_main_height;
 382 static double   ao_test_main_height_time;
 383 static double   ao_test_landed_time;
 384 static double   ao_test_landed_height;
 385 static double   ao_test_landed_time;
 386 static int      landed_set;
 387 static double   landed_time;
 388 static double   landed_height;
 389
 390 #if HAS_MPU6000
 391 static struct ao_mpu6000_sample ao_ground_mpu6000;
 392 #endif
 393
 394 void
 395 ao_test_exit(void)
 396 {
 397         double  drogue_error;
 398         double  main_error;
 399         double  landed_error;
 400         double  landed_time_error;
 401
 402         if (!ao_test_main_height_time) {
 403                 ao_test_main_height_time = ao_test_max_height_time;
 404                 ao_test_main_height = ao_test_max_height;
 405         }
 406         drogue_error = fabs(ao_test_max_height_time - drogue_time);
 407         main_error = fabs(ao_test_main_height_time - main_time);
 408         landed_error = fabs(ao_test_landed_height - landed_height);
 409         landed_time_error = ao_test_landed_time - landed_time;
 410         if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
 411                 printf ("%s %s\n",
 412                         emulator_app, emulator_name);
 413                 if (emulator_info)
 414                         printf ("\t%s\n", emulator_info);
 415                 printf ("\tApogee error %g\n", drogue_error);
 416                 printf ("\tMain error %g\n", main_error);
 417                 printf ("\tLanded height error %g\n", landed_error);
 418                 printf ("\tLanded time error %g\n", landed_time_error);
 419                 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 420                         ao_test_max_height, ao_test_max_height_time,
 421                         ao_test_main_height, ao_test_main_height_time,
 422                         ao_test_landed_height, ao_test_landed_time);
 423                 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 424                         drogue_height, drogue_time, main_height, main_time,
 425                         landed_height, landed_time);
 426                 exit (1);
 427         }
 428         exit(0);
 429 }
 430
 431 #ifdef TELEMEGA
 432 struct ao_azel {
 433         int     az;
 434         int     el;
 435 };
 436
 437 static void
 438 azel (struct ao_azel *r, struct ao_quaternion *q)
 439 {
 440         double  v;
 441
 442         r->az = floor (atan2(q->y, q->x) * 180/M_PI + 0.5);
 443         v = sqrt (q->x*q->x + q->y*q->y);
 444         r->el = floor (atan2(q->z, v) * 180/M_PI + 0.5);
 445 }
 446 #endif
 447
 448 void
 449 ao_insert(void)
 450 {
 451         double  time;
 452
 453         ao_data_ring[ao_data_head] = ao_data_static;
 454         ao_data_head = ao_data_ring_next(ao_data_head);
 455         if (ao_flight_state != ao_flight_startup) {
 456 #if HAS_ACCEL
 457                 double  accel = ((ao_flight_ground_accel - ao_data_accel_cook(&ao_data_static)) * GRAVITY * 2.0) /
 458                         (ao_config.accel_minus_g - ao_config.accel_plus_g);
 459 #else
 460                 double  accel = 0.0;
 461 #endif
 462 #if TELEMEGA
 463                 double  height;
 464
 465                 ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
 466                 height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height;
 467 #else
 468                 double  height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
 469 #endif
 470
 471                 (void) accel;
 472                 if (!tick_offset)
 473                         tick_offset = -ao_data_static.tick;
 474                 if ((prev_tick - ao_data_static.tick) > 0x400)
 475                         tick_offset += 65536;
 476                 prev_tick = ao_data_static.tick;
 477                 time = (double) (ao_data_static.tick + tick_offset) / 100;
 478
 479                 if (ao_test_max_height < height) {
 480                         ao_test_max_height = height;
 481                         ao_test_max_height_time = time;
 482                         ao_test_landed_height = height;
 483                         ao_test_landed_time = time;
 484                 }
 485                 if (height > ao_config.main_deploy) {
 486                         ao_test_main_height_time = time;
 487                         ao_test_main_height = height;
 488                 }
 489
 490                 if (ao_test_landed_height > height) {
 491                         ao_test_landed_height = height;
 492                         ao_test_landed_time = time;
 493                 }
 494
 495                 if (ao_flight_state == ao_flight_landed && !landed_set) {
 496                         landed_set = 1;
 497                         landed_time = time;
 498                         landed_height = height;
 499                 }
 500
 501                 if (!ao_summary) {
 502 #if TELEMEGA
 503                         static struct ao_quaternion     ao_ground_mag;
 504                         static int                      ao_ground_mag_set;
 505
 506                         if (!ao_ground_mag_set) {
 507                                 ao_quaternion_init_vector (&ao_ground_mag,
 508                                                            ao_data_mag_across(&ao_data_static),
 509                                                            ao_data_mag_through(&ao_data_static),
 510                                                            ao_data_mag_along(&ao_data_static));
 511                                 ao_quaternion_normalize(&ao_ground_mag, &ao_ground_mag);
 512                                 ao_quaternion_rotate(&ao_ground_mag, &ao_ground_mag, &ao_rotation);
 513                                 ao_ground_mag_set = 1;
 514                         }
 515
 516                         struct ao_quaternion            ao_mag, ao_mag_rot;
 517
 518                         ao_quaternion_init_vector(&ao_mag,
 519                                                   ao_data_mag_across(&ao_data_static),
 520                                                   ao_data_mag_through(&ao_data_static),
 521                                                   ao_data_mag_along(&ao_data_static));
 522
 523                         ao_quaternion_normalize(&ao_mag, &ao_mag);
 524                         ao_quaternion_rotate(&ao_mag_rot, &ao_mag, &ao_rotation);
 525
 526                         float                           ao_dot;
 527                         int                             ao_mag_angle;
 528
 529                         ao_dot = ao_quaternion_dot(&ao_mag_rot, &ao_ground_mag);
 530
 531                         struct ao_azel                  ground_azel, mag_azel, rot_azel;
 532
 533                         azel(&ground_azel, &ao_ground_mag);
 534                         azel(&mag_azel, &ao_mag);
 535                         azel(&rot_azel, &ao_mag_rot);
 536
 537                         ao_mag_angle = floor (acos(ao_dot) * 180 / M_PI + 0.5);
 538
 539                         (void) ao_mag_angle;
 540
 541                         static struct ao_quaternion     ao_x = { .r = 0, .x = 1, .y = 0, .z = 0 };
 542                         struct ao_quaternion            ao_out;
 543
 544                         ao_quaternion_rotate(&ao_out, &ao_x, &ao_rotation);
 545
 546                         int     out = floor (atan2(ao_out.y, ao_out.x) * 180 / M_PI);
 547
 548 #if 0
 549                         printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d mag_tilt %4d mag_rot %4d\n",
 550                                 time,
 551                                 ao_state_names[ao_flight_state],
 552                                 ao_k_height / 65536.0,
 553                                 ao_sample_orient, out,
 554                                 mag_azel.el,
 555                                 mag_azel.az);
 556 #endif
 557                         printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d dist %12.2f gps_tilt %4d gps_sats %2d\n",
 558                                 time,
 559                                 ao_state_names[ao_flight_state],
 560                                 ao_k_height / 65536.0,
 561                                 ao_sample_orient, out,
 562                                 ao_distance_from_pad(),
 563                                 (int) floor (ao_gps_angle() + 0.5),
 564                                 (ao_gps_static.flags & 0xf) * 10);
 565
 566 #if 0
 567                         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",
 568                                 ao_state_names[ao_flight_state],
 569                                 ground_azel.az, ground_azel.el,
 570                                 mag_azel.az, mag_azel.el,
 571                                 rot_azel.az, rot_azel.el,
 572                                 ground_azel.el - rot_azel.el,
 573                                 ground_azel.az - rot_azel.az,
 574                                 ao_mag_angle,
 575                                 ao_sample_orient,
 576                                 ao_ground_mag.x,
 577                                 ao_ground_mag.y,
 578                                 ao_ground_mag.z,
 579                                 ao_mag.x,
 580                                 ao_mag.y,
 581                                 ao_mag.z,
 582                                 ao_mag_rot.x,
 583                                 ao_mag_rot.y,
 584                                 ao_mag_rot.z);
 585 #endif
 586 #endif
 587
 588 #if 0
 589                         printf("%7.2f height %8.2f accel %8.3f "
 590 #if TELEMEGA
 591                                "angle %5d "
 592                                "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 "
 593 #endif
 594                                "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",
 595                                time,
 596                                height,
 597                                accel,
 598 #if TELEMEGA
 599                                ao_sample_orient,
 600
 601                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
 602                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
 603                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_z),
 604                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x),
 605                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y),
 606                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z),
 607                                ao_data_static.hmc5883.x,
 608                                ao_data_static.hmc5883.y,
 609                                ao_data_static.hmc5883.z,
 610                                ao_mag_angle,
 611 #endif
 612                                ao_state_names[ao_flight_state],
 613                                ao_k_height / 65536.0,
 614                                ao_k_speed / 65536.0 / 16.0,
 615                                ao_k_accel / 65536.0 / 16.0,
 616                                ao_avg_height,
 617                                drogue_height,
 618                                main_height,
 619                                ao_error_h_sq_avg);
 620 #endif
 621
 622 //                      if (ao_flight_state == ao_flight_landed)
 623 //                              ao_test_exit();
 624                 }
 625         }
 626 }
 627
 628
 629 uint16_t
 630 uint16(uint8_t *bytes, int off)
 631 {
 632         return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
 633 }
 634
 635 int16_t
 636 int16(uint8_t *bytes, int off)
 637 {
 638         return (int16_t) uint16(bytes, off);
 639 }
 640
 641 uint32_t
 642 uint32(uint8_t *bytes, int off)
 643 {
 644         return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
 645                 (((uint32_t) bytes[off+2]) << 16) |
 646                 (((uint32_t) bytes[off+3]) << 24);
 647 }
 648
 649 int32_t
 650 int32(uint8_t *bytes, int off)
 651 {
 652         return (int32_t) uint32(bytes, off);
 653 }
 654
 655 static int log_format;
 656
 657 void
 658 ao_sleep(void *wchan)
 659 {
 660         if (wchan == &ao_data_head) {
 661                 char            type = 0;
 662                 uint16_t        tick = 0;
 663                 uint16_t        a = 0, b = 0;
 664                 uint8_t         bytes[1024];
 665                 union ao_telemetry_all  telem;
 666                 char            line[1024];
 667                 char            *saveptr;
 668                 char            *l;
 669                 char            *words[64];
 670                 int             nword;
 671
 672 #if TELEMEGA
 673                 if (ao_flight_state >= ao_flight_boost && ao_flight_state < ao_flight_landed)
 674                         ao_pyro_check();
 675 #endif
 676                 for (;;) {
 677                         if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 678                         {
 679 #if TELEMEGA
 680                                 ao_data_static.mpu6000 = ao_ground_mpu6000;
 681 #else
 682                                 ao_data_static.adc.accel = ao_flight_ground_accel;
 683 #endif
 684                                 ao_insert();
 685                                 return;
 686                         }
 687
 688                         if (!fgets(line, sizeof (line), emulator_in)) {
 689                                 if (++ao_eof_read >= 1000) {
 690                                         if (!ao_summary)
 691                                                 printf ("no more data, exiting simulation\n");
 692                                         ao_test_exit();
 693                                 }
 694                                 ao_data_static.tick += 10;
 695                                 ao_insert();
 696                                 return;
 697                         }
 698                         l = line;
 699                         for (nword = 0; nword < 64; nword++) {
 700                                 words[nword] = strtok_r(l, " \t\n", &saveptr);
 701                                 l = NULL;
 702                                 if (words[nword] == NULL)
 703                                         break;
 704                         }
 705 #if TELEMEGA
 706                         if (log_format == AO_LOG_FORMAT_TELEMEGA && nword == 30 && strlen(words[0]) == 1) {
 707                                 int     i;
 708                                 struct ao_ms5607_value  value;
 709
 710                                 type = words[0][0];
 711                                 tick = strtoul(words[1], NULL, 16);
 712 //                              printf ("%c %04x", type, tick);
 713                                 for (i = 2; i < nword; i++) {
 714                                         bytes[i - 2] = strtoul(words[i], NULL, 16);
 715 //                                      printf(" %02x", bytes[i-2]);
 716                                 }
 717 //                              printf ("\n");
 718                                 switch (type) {
 719                                 case 'F':
 720                                         ao_flight_ground_accel = int16(bytes, 2);
 721                                         ao_flight_started = 1;
 722                                         ao_ground_pres = int32(bytes, 4);
 723                                         ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
 724                                         ao_ground_accel_along = int16(bytes, 8);
 725                                         ao_ground_accel_across = int16(bytes, 10);
 726                                         ao_ground_accel_through = int16(bytes, 12);
 727                                         ao_ground_roll = int16(bytes, 14);
 728                                         ao_ground_pitch = int16(bytes, 16);
 729                                         ao_ground_yaw = int16(bytes, 18);
 730                                         ao_ground_mpu6000.accel_x = ao_ground_accel_across;
 731                                         ao_ground_mpu6000.accel_y = ao_ground_accel_along;
 732                                         ao_ground_mpu6000.accel_z = ao_ground_accel_through;
 733                                         ao_ground_mpu6000.gyro_x = ao_ground_pitch >> 9;
 734                                         ao_ground_mpu6000.gyro_y = ao_ground_roll >> 9;
 735                                         ao_ground_mpu6000.gyro_z = ao_ground_yaw >> 9;
 736                                         break;
 737                                 case 'A':
 738                                         ao_data_static.tick = tick;
 739                                         ao_data_static.ms5607_raw.pres = int32(bytes, 0);
 740                                         ao_data_static.ms5607_raw.temp = int32(bytes, 4);
 741                                         ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
 742                                         ao_data_static.mpu6000.accel_x = int16(bytes, 8);
 743                                         ao_data_static.mpu6000.accel_y = int16(bytes, 10);
 744                                         ao_data_static.mpu6000.accel_z = int16(bytes, 12);
 745                                         ao_data_static.mpu6000.gyro_x = int16(bytes, 14);
 746                                         ao_data_static.mpu6000.gyro_y = int16(bytes, 16);
 747                                         ao_data_static.mpu6000.gyro_z = int16(bytes, 18);
 748                                         ao_data_static.hmc5883.x = int16(bytes, 20);
 749                                         ao_data_static.hmc5883.y = int16(bytes, 22);
 750                                         ao_data_static.hmc5883.z = int16(bytes, 24);
 751 #if HAS_MMA655X
 752                                         ao_data_static.mma655x = int16(bytes, 26);
 753 #endif
 754                                         ao_records_read++;
 755                                         ao_insert();
 756                                         return;
 757                                 case 'G':
 758                                         ao_gps_prev = ao_gps_static;
 759                                         ao_gps_static.tick = tick;
 760                                         ao_gps_static.latitude = int32(bytes, 0);
 761                                         ao_gps_static.longitude = int32(bytes, 4);
 762                                         {
 763                                                 int32_t altitude = int32(bytes, 8);
 764                                                 AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_static, altitude);
 765                                         }
 766                                         ao_gps_static.flags = bytes[13];
 767                                         if (!ao_gps_count)
 768                                                 ao_gps_first = ao_gps_static;
 769                                         ao_gps_count++;
 770                                         break;
 771                                 }
 772                                 continue;
 773                         } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
 774                                 if (strcmp(words[1], "reserved:") == 0)
 775                                         ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10);
 776                                 else if (strcmp(words[1], "sens:") == 0)
 777                                         ao_ms5607_prom.sens = strtoul(words[2], NULL, 10);
 778                                 else if (strcmp(words[1], "off:") == 0)
 779                                         ao_ms5607_prom.off = strtoul(words[2], NULL, 10);
 780                                 else if (strcmp(words[1], "tcs:") == 0)
 781                                         ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10);
 782                                 else if (strcmp(words[1], "tco:") == 0)
 783                                         ao_ms5607_prom.tco = strtoul(words[2], NULL, 10);
 784                                 else if (strcmp(words[1], "tref:") == 0)
 785                                         ao_ms5607_prom.tref = strtoul(words[2], NULL, 10);
 786                                 else if (strcmp(words[1], "tempsens:") == 0)
 787                                         ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
 788                                 else if (strcmp(words[1], "crc:") == 0)
 789                                         ao_ms5607_prom.crc = strtoul(words[2], NULL, 10);
 790                                 continue;
 791                         } else if (nword >= 3 && strcmp(words[0], "Pyro") == 0) {
 792                                 int     p = strtoul(words[1], NULL, 10);
 793                                 int     i, j;
 794                                 struct ao_pyro  *pyro = &ao_config.pyro[p];
 795
 796                                 for (i = 2; i < nword; i++) {
 797                                         for (j = 0; j < NUM_PYRO_VALUES; j++)
 798                                                 if (!strcmp (words[i], ao_pyro_values[j].name))
 799                                                         break;
 800                                         if (j == NUM_PYRO_VALUES)
 801                                                 continue;
 802                                         pyro->flags |= ao_pyro_values[j].flag;
 803                                         if (ao_pyro_values[j].offset != NO_VALUE && i + 1 < nword) {
 804                                                 int16_t val = strtoul(words[++i], NULL, 10);
 805                                                 printf("pyro %d condition %s value %d\n", p, words[i-1], val);
 806                                                 *((int16_t *) ((char *) pyro + ao_pyro_values[j].offset)) = val;
 807                                         }
 808                                 }
 809                         }
 810 #else
 811                         if (nword == 4 && log_format != AO_LOG_FORMAT_TELEMEGA) {
 812                                 type = words[0][0];
 813                                 tick = strtoul(words[1], NULL, 16);
 814                                 a = strtoul(words[2], NULL, 16);
 815                                 b = strtoul(words[3], NULL, 16);
 816                                 if (type == 'P')
 817                                         type = 'A';
 818                         }
 819 #endif
 820                         else if (nword == 2 && strcmp(words[0], "log-format") == 0) {
 821                                 log_format = strtoul(words[1], NULL, 10);
 822                         } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
 823                                 ao_config.accel_plus_g = atoi(words[3]);
 824                                 ao_config.accel_minus_g = atoi(words[5]);
 825 #ifdef TELEMEGA
 826                         } else if (nword >= 8 && strcmp(words[0], "IMU") == 0) {
 827                                 ao_config.accel_zero_along = atoi(words[3]);
 828                                 ao_config.accel_zero_across = atoi(words[5]);
 829                                 ao_config.accel_zero_through = atoi(words[7]);
 830                                 printf ("%d %d %d\n", ao_config.accel_zero_along, ao_config.accel_zero_across, ao_config.accel_zero_through);
 831 #endif
 832                         } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
 833                                 ao_config.main_deploy = atoi(words[2]);
 834                         } else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 &&
 835                                    strcmp(words[1], "lockout:") == 0) {
 836                                 ao_config.apogee_lockout = atoi(words[2]);
 837                         } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
 838                                 tick = atoi(words[10]);
 839                                 if (!ao_flight_started) {
 840                                         type = 'F';
 841                                         a = atoi(words[26]);
 842                                         ao_flight_started = 1;
 843                                 } else {
 844                                         type = 'A';
 845                                         a = atoi(words[12]);
 846                                         b = atoi(words[14]);
 847                                 }
 848                         } else if (nword == 3 && strcmp(words[0], "BARO") == 0) {
 849                                 tick = strtol(words[1], NULL, 16);
 850                                 a = 16384 - 328;
 851                                 b = strtol(words[2], NULL, 10);
 852                                 type = 'A';
 853                                 if (!ao_flight_started) {
 854                                         ao_flight_ground_accel = 16384 - 328;
 855                                         ao_config.accel_plus_g = 16384 - 328;
 856                                         ao_config.accel_minus_g = 16384 + 328;
 857                                         ao_flight_started = 1;
 858                                 }
 859                         } else if (nword == 2 && strcmp(words[0], "TELEM") == 0) {
 860                                 __xdata char    *hex = words[1];
 861                                 char    elt[3];
 862                                 int     i, len;
 863                                 uint8_t sum;
 864
 865                                 len = strlen(hex);
 866                                 if (len > sizeof (bytes) * 2) {
 867                                         len = sizeof (bytes)*2;
 868                                         hex[len] = '\0';
 869                                 }
 870                                 for (i = 0; i < len; i += 2) {
 871                                         elt[0] = hex[i];
 872                                         elt[1] = hex[i+1];
 873                                         elt[2] = '\0';
 874                                         bytes[i/2] = (uint8_t) strtol(elt, NULL, 16);
 875                                 }
 876                                 len = i/2;
 877                                 if (bytes[0] != len - 2) {
 878                                         printf ("bad length %d != %d\n", bytes[0], len - 2);
 879                                         continue;
 880                                 }
 881                                 sum = 0x5a;
 882                                 for (i = 1; i < len-1; i++)
 883                                         sum += bytes[i];
 884                                 if (sum != bytes[len-1]) {
 885                                         printf ("bad checksum\n");
 886                                         continue;
 887                                 }
 888                                 if ((bytes[len-2] & 0x80) == 0) {
 889                                         continue;
 890                                 }
 891                                 if (len == 36) {
 892                                         ao_xmemcpy(&telem, bytes + 1, 32);
 893                                         tick = telem.generic.tick;
 894                                         switch (telem.generic.type) {
 895                                         case AO_TELEMETRY_SENSOR_TELEMETRUM:
 896                                         case AO_TELEMETRY_SENSOR_TELEMINI:
 897                                         case AO_TELEMETRY_SENSOR_TELENANO:
 898                                                 if (!ao_flight_started) {
 899                                                         ao_flight_ground_accel = telem.sensor.ground_accel;
 900                                                         ao_config.accel_plus_g = telem.sensor.accel_plus_g;
 901                                                         ao_config.accel_minus_g = telem.sensor.accel_minus_g;
 902                                                         ao_flight_started = 1;
 903                                                 }
 904                                                 type = 'A';
 905                                                 a = telem.sensor.accel;
 906                                                 b = telem.sensor.pres;
 907                                                 break;
 908                                         }
 909                                 } else if (len == 99) {
 910                                         ao_flight_started = 1;
 911                                         tick = uint16(bytes+1, 21);
 912                                         ao_flight_ground_accel = int16(bytes+1, 7);
 913                                         ao_config.accel_plus_g = int16(bytes+1, 17);
 914                                         ao_config.accel_minus_g = int16(bytes+1, 19);
 915                                         type = 'A';
 916                                         a = int16(bytes+1, 23);
 917                                         b = int16(bytes+1, 25);
 918                                 } else if (len == 98) {
 919                                         ao_flight_started = 1;
 920                                         tick = uint16(bytes+1, 20);
 921                                         ao_flight_ground_accel = int16(bytes+1, 6);
 922                                         ao_config.accel_plus_g = int16(bytes+1, 16);
 923                                         ao_config.accel_minus_g = int16(bytes+1, 18);
 924                                         type = 'A';
 925                                         a = int16(bytes+1, 22);
 926                                         b = int16(bytes+1, 24);
 927                                 } else {
 928                                         printf("unknown len %d\n", len);
 929                                         continue;
 930                                 }
 931                         }
 932                         if (type != 'F' && !ao_flight_started)
 933                                 continue;
 934
 935 #if TELEMEGA
 936                         (void) a;
 937                         (void) b;
 938 #else
 939                         switch (type) {
 940                         case 'F':
 941                                 ao_flight_ground_accel = a;
 942                                 if (ao_config.accel_plus_g == 0) {
 943                                         ao_config.accel_plus_g = a;
 944                                         ao_config.accel_minus_g = a + 530;
 945                                 }
 946                                 if (ao_config.main_deploy == 0)
 947                                         ao_config.main_deploy = 250;
 948                                 ao_flight_started = 1;
 949                                 break;
 950                         case 'S':
 951                                 break;
 952                         case 'A':
 953                                 ao_data_static.tick = tick;
 954                                 ao_data_static.adc.accel = a;
 955                                 ao_data_static.adc.pres_real = b;
 956                                 if (b < AO_MIN_BARO_VALUE)
 957                                         b = AO_MIN_BARO_VALUE;
 958                                 ao_data_static.adc.pres = b;
 959                                 ao_records_read++;
 960                                 ao_insert();
 961                                 return;
 962                         case 'T':
 963                                 ao_data_static.tick = tick;
 964                                 ao_data_static.adc.temp = a;
 965                                 ao_data_static.adc.v_batt = b;
 966                                 break;
 967                         case 'D':
 968                         case 'G':
 969                         case 'N':
 970                         case 'W':
 971                         case 'H':
 972                                 break;
 973                         }
 974 #endif
 975                 }
 976
 977         }
 978 }
 979 #define COUNTS_PER_G 264.8
 980
 981 void
 982 ao_dump_state(void)
 983 {
 984 }
 985
 986 static const struct option options[] = {
 987         { .name = "summary", .has_arg = 0, .val = 's' },
 988         { .name = "debug", .has_arg = 0, .val = 'd' },
 989         { .name = "info", .has_arg = 1, .val = 'i' },
 990         { 0, 0, 0, 0},
 991 };
 992
 993 void run_flight_fixed(char *name, FILE *f, int summary, char *info)
 994 {
 995         emulator_name = name;
 996         emulator_in = f;
 997         emulator_info = info;
 998         ao_summary = summary;
 999
1000         ao_flight_init();
1001         ao_flight();
1002 }
1003
1004 int
1005 main (int argc, char **argv)
1006 {
1007         int     summary = 0;
1008         int     c;
1009         int     i;
1010         char    *info = NULL;
1011
1012 #if HAS_ACCEL
1013         emulator_app="full";
1014 #else
1015         emulator_app="baro";
1016 #endif
1017         while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) {
1018                 switch (c) {
1019                 case 's':
1020                         summary = 1;
1021                         break;
1022                 case 'd':
1023                         ao_flight_debug = 1;
1024                         break;
1025                 case 'i':
1026                         info = optarg;
1027                         break;
1028                 }
1029         }
1030
1031         if (optind == argc)
1032                 run_flight_fixed("<stdin>", stdin, summary, info);
1033         else
1034                 for (i = optind; i < argc; i++) {
1035                         FILE    *f = fopen(argv[i], "r");
1036                         if (!f) {
1037                                 perror(argv[i]);
1038                                 continue;
1039                         }
1040                         run_flight_fixed(argv[i], f, summary, info);
1041                         fclose(f);
1042                 }
1043         exit(0);
1044 }