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   1 /*
   2  * Copyright © 2009 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 #define _GNU_SOURCE
  20
  21 #include <stdint.h>
  22 #include <stdbool.h>
  23 #include <stdio.h>
  24 #include <stdlib.h>
  25 #include <stddef.h>
  26 #include <string.h>
  27 #include <getopt.h>
  28 #include <math.h>
  29 #define log ao_log_data
  30
  31 #define GRAVITY 9.80665
  32
  33 #define AO_HERTZ        100
  34
  35 #define HAS_ADC 1
  36 #define AO_DATA_RING    64
  37 #define ao_data_ring_next(n)    (((n) + 1) & (AO_DATA_RING - 1))
  38 #define ao_data_ring_prev(n)    (((n) - 1) & (AO_DATA_RING - 1))
  39
  40 #if 0
  41 #define AO_M_TO_HEIGHT(m)       ((int16_t) (m))
  42 #define AO_MS_TO_SPEED(ms)      ((int16_t) ((ms) * 16))
  43 #define AO_MSS_TO_ACCEL(mss)    ((int16_t) ((mss) * 16))
  44 #endif
  45
  46 #define AO_GPS_NEW_DATA         1
  47 #define AO_GPS_NEW_TRACKING     2
  48
  49 int ao_gps_new;
  50
  51 #if !defined(TELEMEGA) && !defined(TELEMETRUM_V2) && !defined(EASYMINI) && !defined(EASYMOTOR_V_2)
  52 #define TELEMETRUM_V1 1
  53 #endif
  54
  55 #if TELEMEGA
  56 #define AO_ADC_NUM_SENSE        6
  57 #define HAS_MS5607              1
  58 #define HAS_MPU6000             1
  59 #define HAS_MMA655X             1
  60 #define HAS_HMC5883             1
  61 #define HAS_BEEP                1
  62 #define HAS_BARO                1
  63 #define AO_CONFIG_MAX_SIZE      1024
  64 #define AO_MMA655X_INVERT       0
  65
  66 struct ao_adc {
  67         int16_t                 sense[AO_ADC_NUM_SENSE];
  68         int16_t                 v_batt;
  69         int16_t                 v_pbatt;
  70         int16_t                 temp;
  71 };
  72 #endif
  73
  74 #if TELEMETRUM_V2
  75 #define AO_ADC_NUM_SENSE        2
  76 #define HAS_MS5607              1
  77 #define HAS_MMA655X             1
  78 #define AO_MMA655X_INVERT       0
  79 #define HAS_BEEP                1
  80 #define HAS_BARO                1
  81 #define AO_CONFIG_MAX_SIZE      1024
  82
  83 struct ao_adc {
  84         int16_t                 sense_a;
  85         int16_t                 sense_m;
  86         int16_t                 v_batt;
  87         int16_t                 temp;
  88 };
  89 #endif
  90
  91 #if EASYMINI
  92 #define AO_ADC_NUM_SENSE        2
  93 #define HAS_MS5607              1
  94 #define HAS_BEEP                1
  95 #define AO_CONFIG_MAX_SIZE      1024
  96
  97 struct ao_adc {
  98         int16_t                 sense_a;
  99         int16_t                 sense_m;
 100         int16_t                 v_batt;
 101 };
 102 #endif
 103
 104 #if TELEMETRUM_V1
 105 /*
 106  * One set of samples read from the A/D converter
 107  */
 108 struct ao_adc {
 109         int16_t         accel;          /* accelerometer */
 110         int16_t         pres;           /* pressure sensor */
 111         int16_t         pres_real;      /* unclipped */
 112         int16_t         temp;           /* temperature sensor */
 113         int16_t         v_batt;         /* battery voltage */
 114         int16_t         sense_d;        /* drogue continuity sense */
 115         int16_t         sense_m;        /* main continuity sense */
 116 };
 117
 118 #ifndef HAS_ACCEL
 119 #define HAS_ACCEL 1
 120 #define HAS_ACCEL_REF 0
 121 #endif
 122 #define HAS_BARO                1
 123
 124 #endif
 125
 126 #if EASYMOTOR_V_2
 127 #define AO_ADC_NUM_SENSE        0
 128 #define HAS_ADXL375             1
 129 #define HAS_BEEP                1
 130 #define AO_CONFIG_MAX_SIZE      1024
 131 #define USE_ADXL375_IMU         1
 132 #define AO_ADXL375_INVERT       0
 133 #define HAS_IMU                 1
 134 #define AO_ADXL375_AXIS         x
 135 #define AO_ADXL375_ACROSS_AXIS  y
 136 #define AO_ADXL375_THROUGH_AXIS z
 137
 138 struct ao_adc {
 139         int16_t                 pressure;
 140         int16_t                 v_batt;
 141 };
 142
 143 #endif
 144
 145 #define const
 146
 147 #define HAS_FLIGHT 1
 148 #define HAS_IGNITE 1
 149 #define HAS_USB 1
 150 #define HAS_GPS 1
 151
 152 int16_t
 153 ao_time(void);
 154
 155 void
 156 ao_dump_state(void);
 157
 158 #define ao_tick_count   (ao_time())
 159 #define ao_wakeup(wchan) ao_dump_state()
 160
 161 #include <ao_data.h>
 162 #include <ao_log.h>
 163 #include <ao_telemetry.h>
 164 #include <ao_sample.h>
 165
 166 #if TELEMEGA
 167 int ao_gps_count;
 168 struct ao_telemetry_location ao_gps_first;
 169 struct ao_telemetry_location ao_gps_prev;
 170 struct ao_telemetry_location ao_gps_static;
 171
 172 struct ao_telemetry_satellite ao_gps_tracking;
 173
 174 static inline double sqr(double a) { return a * a; }
 175
 176 void
 177 cc_great_circle (double start_lat, double start_lon,
 178                  double end_lat, double end_lon,
 179                  double *dist, double *bearing)
 180 {
 181         const double rad = M_PI / 180;
 182         const double earth_radius = 6371.2 * 1000;      /* in meters */
 183         double lat1 = rad * start_lat;
 184         double lon1 = rad * -start_lon;
 185         double lat2 = rad * end_lat;
 186         double lon2 = rad * -end_lon;
 187
 188 //      double d_lat = lat2 - lat1;
 189         double d_lon = lon2 - lon1;
 190
 191         /* From http://en.wikipedia.org/wiki/Great-circle_distance */
 192         double vdn = sqrt(sqr(cos(lat2) * sin(d_lon)) +
 193                           sqr(cos(lat1) * sin(lat2) -
 194                               sin(lat1) * cos(lat2) * cos(d_lon)));
 195         double vdd = sin(lat1) * sin(lat2) + cos(lat1) * cos(lat2) * cos(d_lon);
 196         double d = atan2(vdn,vdd);
 197         double course;
 198
 199         if (cos(lat1) < 1e-20) {
 200                 if (lat1 > 0)
 201                         course = M_PI;
 202                 else
 203                         course = -M_PI;
 204         } else {
 205                 if (d < 1e-10)
 206                         course = 0;
 207                 else
 208                         course = acos((sin(lat2)-sin(lat1)*cos(d)) /
 209                                       (sin(d)*cos(lat1)));
 210                 if (sin(lon2-lon1) > 0)
 211                         course = 2 * M_PI-course;
 212         }
 213         *dist = d * earth_radius;
 214         *bearing = course * 180/M_PI;
 215 }
 216
 217 double
 218 ao_distance_from_pad(void)
 219 {
 220         double  dist, bearing;
 221         if (!ao_gps_count)
 222                 return 0;
 223
 224         cc_great_circle(ao_gps_first.latitude / 1e7,
 225                         ao_gps_first.longitude / 1e7,
 226                         ao_gps_static.latitude / 1e7,
 227                         ao_gps_static.longitude / 1e7,
 228                         &dist, &bearing);
 229         return dist;
 230 }
 231
 232 double
 233 ao_gps_angle(void)
 234 {
 235         double  dist, bearing;
 236         double  height;
 237         double  angle;
 238
 239         if (ao_gps_count < 2)
 240                 return 0;
 241
 242         cc_great_circle(ao_gps_prev.latitude / 1e7,
 243                         ao_gps_prev.longitude / 1e7,
 244                         ao_gps_static.latitude / 1e7,
 245                         ao_gps_static.longitude / 1e7,
 246                         &dist, &bearing);
 247         height = AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_static) - AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_prev);
 248
 249         angle = atan2(dist, height);
 250         return angle * 180/M_PI;
 251 }
 252 #endif
 253
 254 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
 255 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
 256 #define from_fix(x)     ((x) >> 16)
 257
 258 #define ACCEL_NOSE_UP   (ao_accel_2g >> 2)
 259
 260 extern enum ao_flight_state ao_flight_state;
 261
 262 #define false 0
 263 #define true 1
 264
 265 volatile struct ao_data ao_data_ring[AO_DATA_RING];
 266 volatile uint8_t ao_data_head;
 267 int     ao_summary = 0;
 268
 269 #define ao_led_on(l)
 270 #define ao_led_off(l)
 271 #define ao_timer_set_adc_interval(i)
 272 #define ao_cmd_register(c)
 273 #define ao_usb_disable()
 274 #define ao_telemetry_set_interval(x)
 275 #define ao_rdf_set(rdf)
 276 #define ao_packet_slave_start()
 277 #define ao_packet_slave_stop()
 278 #define flush()
 279
 280 enum ao_igniter {
 281         ao_igniter_drogue = 0,
 282         ao_igniter_main = 1
 283 };
 284
 285 struct ao_data ao_data_static;
 286
 287 int     drogue_height;
 288 double  drogue_time;
 289 int     main_height;
 290 double  main_time;
 291
 292 int     tick_offset;
 293
 294 static ao_k_t   ao_k_height;
 295 static double   simple_speed;
 296
 297 int16_t
 298 ao_time(void)
 299 {
 300         return ao_data_static.tick;
 301 }
 302
 303 void
 304 ao_delay(int16_t interval)
 305 {
 306         return;
 307 }
 308
 309 void
 310 ao_ignite(enum ao_igniter igniter)
 311 {
 312         double time = (double) (ao_data_static.tick + tick_offset) / 100;
 313
 314         if (igniter == ao_igniter_drogue) {
 315                 drogue_time = time;
 316                 drogue_height = ao_k_height >> 16;
 317         } else {
 318                 main_time = time;
 319                 main_height = ao_k_height >> 16;
 320         }
 321 }
 322
 323 struct ao_task {
 324         int dummy;
 325 };
 326
 327 #define ao_add_task(t,f,n) ((void) (t))
 328
 329 #define ao_log_start()
 330 #define ao_log_stop()
 331
 332 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
 333 #define AO_SEC_TO_TICKS(s)      ((s) * 100)
 334
 335 #define AO_FLIGHT_TEST  1
 336
 337 int     ao_flight_debug;
 338
 339 struct ao_eeprom        *eeprom;
 340 uint32_t                eeprom_offset;
 341
 342 FILE *emulator_in;
 343 char *emulator_app;
 344 char *emulator_name;
 345 char *emulator_info;
 346 double emulator_error_max = 4;
 347 double emulator_height_error_max = 20;  /* noise in the baro sensor */
 348
 349 void
 350 ao_sleep(void *wchan);
 351
 352 const char * const ao_state_names[] = {
 353         "startup", "idle", "pad", "boost", "fast",
 354         "coast", "drogue", "main", "landed", "invalid"
 355 };
 356
 357 struct ao_cmds {
 358         void            (*func)(void);
 359         const char      *help;
 360 };
 361
 362 #define AO_NEED_ALTITUDE_TO_PRES 1
 363 #if TELEMEGA || TELEMETRUM_V2 || EASYMINI
 364 #include "ao_convert_pa.c"
 365 #include <ao_ms5607.h>
 366 struct ao_ms5607_prom   ao_ms5607_prom;
 367 #include "ao_ms5607_convert.c"
 368 #if TELEMEGA
 369 #define AO_PYRO_NUM     4
 370 #include <ao_pyro.h>
 371 #endif
 372 #else
 373 #include "ao_convert.c"
 374 #endif
 375
 376 #include <ao_config.h>
 377 #include <ao_fake_flight.h>
 378 #include <ao_eeprom_read.h>
 379 #include <ao_log.h>
 380
 381 #define ao_config_get()
 382
 383 struct ao_config ao_config;
 384
 385 extern int16_t ao_ground_accel, ao_flight_accel;
 386 extern int16_t ao_accel_2g;
 387
 388 typedef int16_t accel_t;
 389
 390 uint16_t        ao_serial_number;
 391 int16_t         ao_flight_number;
 392
 393 extern uint16_t ao_sample_tick;
 394
 395 #if HAS_BARO
 396 extern alt_t    ao_sample_height;
 397 #endif
 398 extern accel_t  ao_sample_accel;
 399 extern int32_t  ao_accel_scale;
 400 #if HAS_BARO
 401 extern alt_t    ao_ground_height;
 402 extern alt_t    ao_sample_alt;
 403 #endif
 404
 405 double ao_sample_qangle;
 406
 407 int ao_sample_prev_tick;
 408 uint16_t        prev_tick;
 409
 410
 411 #include "ao_kalman.c"
 412 #include "ao_sqrt.c"
 413 #include "ao_sample.c"
 414 #include "ao_flight.c"
 415 #include "ao_data.c"
 416 #if TELEMEGA
 417 #define AO_PYRO_NUM     4
 418
 419 #define AO_PYRO_0       0
 420 #define AO_PYRO_1       1
 421 #define AO_PYRO_2       2
 422 #define AO_PYRO_3       3
 423
 424 #define PYRO_DBG        1
 425
 426 static void
 427 ao_pyro_pin_set(uint8_t pin, uint8_t value)
 428 {
 429         printf ("set pyro %d %d\n", pin, value);
 430 }
 431
 432 #include "ao_pyro.c"
 433 #endif
 434 #include "ao_eeprom_read.c"
 435 #include "ao_eeprom_read_old.c"
 436
 437 #define to_double(f)    ((f) / 65536.0)
 438
 439 static int      ao_records_read = 0;
 440 static int      ao_eof_read = 0;
 441 #if !EASYMINI
 442 static int      ao_flight_ground_accel;
 443 #endif
 444 static int      ao_flight_started = 0;
 445 static int      ao_test_max_height;
 446 static double   ao_test_max_height_time;
 447 static int      ao_test_main_height;
 448 static double   ao_test_main_height_time;
 449 static double   ao_test_landed_time;
 450 static double   ao_test_landed_height;
 451 static double   ao_test_landed_time;
 452 static int      landed_set;
 453 static double   landed_time;
 454 static double   landed_height;
 455 #if AO_PYRO_NUM
 456 static uint16_t pyros_fired;
 457 #endif
 458
 459 #if HAS_MPU6000
 460 static struct ao_mpu6000_sample ao_ground_mpu6000;
 461 #endif
 462
 463 void
 464 ao_test_exit(void)
 465 {
 466         double  drogue_error;
 467         double  main_error;
 468         double  landed_error;
 469         double  landed_time_error;
 470
 471         if (!ao_test_main_height_time) {
 472                 ao_test_main_height_time = ao_test_max_height_time;
 473                 ao_test_main_height = ao_test_max_height;
 474         }
 475         drogue_error = fabs(ao_test_max_height_time - drogue_time);
 476         main_error = fabs(ao_test_main_height_time - main_time);
 477         landed_error = fabs(ao_test_landed_height - landed_height);
 478         landed_time_error = ao_test_landed_time - landed_time;
 479         if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
 480                 printf ("%s %s\n",
 481                         emulator_app, emulator_name);
 482                 if (emulator_info)
 483                         printf ("\t%s\n", emulator_info);
 484                 printf ("\tApogee error %g\n", drogue_error);
 485                 printf ("\tMain error %g\n", main_error);
 486                 printf ("\tLanded height error %g\n", landed_error);
 487                 printf ("\tLanded time error %g\n", landed_time_error);
 488                 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 489                         ao_test_max_height, ao_test_max_height_time,
 490                         ao_test_main_height, ao_test_main_height_time,
 491                         ao_test_landed_height, ao_test_landed_time);
 492                 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 493                         drogue_height, drogue_time, main_height, main_time,
 494                         landed_height, landed_time);
 495                 exit (1);
 496         }
 497         exit(0);
 498 }
 499
 500 #ifdef TELEMEGA
 501 struct ao_azel {
 502         int     az;
 503         int     el;
 504 };
 505
 506 static void
 507 azel (struct ao_azel *r, struct ao_quaternion *q)
 508 {
 509         double  v;
 510
 511         r->az = floor (atan2(q->y, q->x) * 180/M_PI + 0.5);
 512         v = sqrt (q->x*q->x + q->y*q->y);
 513         r->el = floor (atan2(q->z, v) * 180/M_PI + 0.5);
 514 }
 515 #endif
 516
 517 void
 518 ao_insert(void)
 519 {
 520         double  time;
 521
 522         ao_data_ring[ao_data_head] = ao_data_static;
 523         if (ao_flight_state != ao_flight_startup) {
 524 #if HAS_ACCEL
 525                 double  accel = ((ao_flight_ground_accel - ao_data_accel(&ao_data_static)) * GRAVITY * 2.0) /
 526                         (ao_config.accel_minus_g - ao_config.accel_plus_g);
 527 #else
 528                 double  accel = 0.0;
 529 #endif
 530
 531                 (void) accel;
 532                 if (!tick_offset)
 533                         tick_offset = -ao_data_static.tick;
 534                 if ((prev_tick - ao_data_static.tick) > 0x400)
 535                         tick_offset += 65536;
 536                 if (prev_tick) {
 537                         int ticks = ao_data_static.tick - prev_tick;
 538                         if (ticks < 0)
 539                                 ticks += 65536;
 540                         simple_speed += accel * ticks / 100.0;
 541                 }
 542                 prev_tick = ao_data_static.tick;
 543                 time = (double) (ao_data_static.tick + tick_offset) / 100;
 544
 545                 double height = 0;
 546 #if HAS_BARO
 547 #if TELEMEGA || TELEMETRUM_V2 || EASYMINI
 548                 ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
 549                 height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height;
 550
 551                 /* Hack to skip baro spike at accidental drogue charge
 552                  * firing in 2015-09-26-serial-2093-flight-0012.eeprom
 553                  * so we can test the kalman filter with this data. Just
 554                  * keep reporting the same baro value across the pressure spike
 555                  */
 556                 {
 557                         static struct ao_ms5607_sample save;
 558                         if (ao_serial_number == 2093 && ao_flight_number == 12 && 32.5 < time && time < 33.7) {
 559                                 ao_data_ring[ao_data_head].ms5607_raw = save;
 560                         } else {
 561                                 save = ao_data_static.ms5607_raw;
 562                         }
 563                 }
 564 #else
 565                 height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
 566 #endif
 567 #endif
 568
 569                 if (ao_test_max_height < height) {
 570                         ao_test_max_height = height;
 571                         ao_test_max_height_time = time;
 572                         ao_test_landed_height = height;
 573                         ao_test_landed_time = time;
 574                 }
 575                 if (height > ao_config.main_deploy) {
 576                         ao_test_main_height_time = time;
 577                         ao_test_main_height = height;
 578                 }
 579
 580                 if (ao_test_landed_height > height) {
 581                         ao_test_landed_height = height;
 582                         ao_test_landed_time = time;
 583                 }
 584
 585                 if (ao_flight_state == ao_flight_landed && !landed_set) {
 586                         landed_set = 1;
 587                         landed_time = time;
 588                         landed_height = height;
 589                 }
 590
 591                 if (!ao_summary) {
 592 #if TELEMEGA
 593                         static struct ao_quaternion     ao_ground_mag;
 594                         static int                      ao_ground_mag_set;
 595
 596                         if (!ao_ground_mag_set) {
 597                                 ao_quaternion_init_vector (&ao_ground_mag,
 598                                                            ao_data_mag_across(&ao_data_static),
 599                                                            ao_data_mag_through(&ao_data_static),
 600                                                            ao_data_mag_along(&ao_data_static));
 601                                 ao_quaternion_normalize(&ao_ground_mag, &ao_ground_mag);
 602                                 ao_quaternion_rotate(&ao_ground_mag, &ao_ground_mag, &ao_rotation);
 603                                 ao_ground_mag_set = 1;
 604                         }
 605
 606                         struct ao_quaternion            ao_mag, ao_mag_rot;
 607
 608                         ao_quaternion_init_vector(&ao_mag,
 609                                                   ao_data_mag_across(&ao_data_static),
 610                                                   ao_data_mag_through(&ao_data_static),
 611                                                   ao_data_mag_along(&ao_data_static));
 612
 613                         ao_quaternion_normalize(&ao_mag, &ao_mag);
 614                         ao_quaternion_rotate(&ao_mag_rot, &ao_mag, &ao_rotation);
 615
 616                         float                           ao_dot;
 617                         int                             ao_mag_angle;
 618
 619                         ao_dot = ao_quaternion_dot(&ao_mag_rot, &ao_ground_mag);
 620
 621                         struct ao_azel                  ground_azel, mag_azel, rot_azel;
 622
 623                         azel(&ground_azel, &ao_ground_mag);
 624                         azel(&mag_azel, &ao_mag);
 625                         azel(&rot_azel, &ao_mag_rot);
 626
 627                         ao_mag_angle = floor (acos(ao_dot) * 180 / M_PI + 0.5);
 628
 629                         (void) ao_mag_angle;
 630
 631                         static struct ao_quaternion     ao_x = { .r = 0, .x = 1, .y = 0, .z = 0 };
 632                         struct ao_quaternion            ao_out;
 633
 634                         ao_quaternion_rotate(&ao_out, &ao_x, &ao_rotation);
 635
 636 #if 0
 637                         int     out = floor (atan2(ao_out.y, ao_out.x) * 180 / M_PI);
 638
 639                         printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d mag_tilt %4d mag_rot %4d\n",
 640                                 time,
 641                                 ao_state_names[ao_flight_state],
 642                                 ao_k_height / 65536.0,
 643                                 ao_sample_orient, out,
 644                                 mag_azel.el,
 645                                 mag_azel.az);
 646 #endif
 647 #if 0
 648                         printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d dist %12.2f gps_tilt %4d gps_sats %2d\n",
 649                                 time,
 650                                 ao_state_names[ao_flight_state],
 651                                 ao_k_height / 65536.0,
 652                                 ao_sample_orient, out,
 653                                 ao_distance_from_pad(),
 654                                 (int) floor (ao_gps_angle() + 0.5),
 655                                 (ao_gps_static.flags & 0xf) * 10);
 656
 657 #endif
 658 #if 0
 659                         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",
 660                                 ao_state_names[ao_flight_state],
 661                                 ground_azel.az, ground_azel.el,
 662                                 mag_azel.az, mag_azel.el,
 663                                 rot_azel.az, rot_azel.el,
 664                                 ground_azel.el - rot_azel.el,
 665                                 ground_azel.az - rot_azel.az,
 666                                 ao_mag_angle,
 667                                 ao_sample_orient,
 668                                 ao_ground_mag.x,
 669                                 ao_ground_mag.y,
 670                                 ao_ground_mag.z,
 671                                 ao_mag.x,
 672                                 ao_mag.y,
 673                                 ao_mag.z,
 674                                 ao_mag_rot.x,
 675                                 ao_mag_rot.y,
 676                                 ao_mag_rot.z);
 677 #endif
 678 #endif
 679
 680 #if 1
 681                         printf("%7.2f height %8.2f accel %8.3f accel_speed %8.3f "
 682                                "state %d k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d"
 683 #if TELEMEGA
 684                                " angle %5d "
 685                                "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 "
 686                                "avg_accel %8.3f "
 687 #endif
 688                                "\n",
 689                                time,
 690                                height,
 691                                accel,
 692                                simple_speed > -100.0 ? simple_speed : -100.0,
 693                                ao_flight_state * 10,
 694                                ao_k_height / 65536.0,
 695                                ao_k_speed / 65536.0 / 16.0,
 696                                ao_k_accel / 65536.0 / 16.0,
 697                                ao_avg_height,
 698                                drogue_height,
 699                                main_height,
 700                                ao_error_h_sq_avg
 701 #if TELEMEGA
 702                                , ao_sample_orient,
 703
 704                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
 705                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
 706                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_z),
 707                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x),
 708                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y),
 709                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z),
 710                                ao_data_static.hmc5883.x,
 711                                ao_data_static.hmc5883.y,
 712                                ao_data_static.hmc5883.z,
 713                                ao_mag_angle,
 714                                ao_coast_avg_accel / 16.0
 715 #endif
 716                                 );
 717 #endif
 718
 719 //                      if (ao_flight_state == ao_flight_landed)
 720 //                              ao_test_exit();
 721                 }
 722         }
 723         ao_data_head = ao_data_ring_next(ao_data_head);
 724 }
 725
 726
 727 uint16_t
 728 uint16(uint8_t *bytes, int off)
 729 {
 730         return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
 731 }
 732
 733 int16_t
 734 int16(uint8_t *bytes, int off)
 735 {
 736         return (int16_t) uint16(bytes, off);
 737 }
 738
 739 uint32_t
 740 uint32(uint8_t *bytes, int off)
 741 {
 742         return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
 743                 (((uint32_t) bytes[off+2]) << 16) |
 744                 (((uint32_t) bytes[off+3]) << 24);
 745 }
 746
 747 int32_t
 748 int32(uint8_t *bytes, int off)
 749 {
 750         return (int32_t) uint32(bytes, off);
 751 }
 752
 753 uint32_t
 754 uint24(uint8_t *bytes, int off)
 755 {
 756         return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
 757                 (((uint32_t) bytes[off+2]) << 16);
 758 }
 759
 760 int32_t
 761 int24(uint8_t *bytes, int off)
 762 {
 763         return (int32_t) uint24(bytes, off);
 764 }
 765
 766 static int log_format;
 767
 768 void
 769 ao_sleep(void *wchan)
 770 {
 771         if (wchan == &ao_data_head) {
 772 #if TELEMEGA
 773                 if (ao_flight_state >= ao_flight_boost && ao_flight_state < ao_flight_landed)
 774                         ao_pyro_check();
 775 #endif
 776                 for (;;) {
 777                         if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 778                         {
 779
 780 #if TELEMEGA
 781                                 ao_data_static.mpu6000 = ao_ground_mpu6000;
 782 #endif
 783 #if TELEMETRUM_V1
 784                                 ao_data_static.adc.accel = ao_flight_ground_accel;
 785 #endif
 786 #if EASYMOTOR_V_2
 787                                 ao_data_static.adxl375.AO_ADXL375_AXIS = ao_flight_ground_accel;
 788 #endif
 789
 790                                 ao_insert();
 791                                 return;
 792                         }
 793
 794                         if (eeprom) {
 795 #if TELEMEGA || EASYMOTOR_V_2
 796                                 struct ao_log_mega      *log_mega;
 797 #endif
 798 #if EASYMOTOR_V_2
 799                                 struct ao_log_motor     *log_motor;
 800 #endif
 801 #if TELEMETRUM_V2
 802                                 struct ao_log_metrum    *log_metrum;
 803 #endif
 804 #if EASYMINI
 805                                 struct ao_log_mini      *log_mini;
 806 #endif
 807 #if TELEMETRUM_V1
 808                                 struct ao_log_record    *log_record;
 809 #endif
 810
 811                                 if (eeprom_offset >= eeprom->len) {
 812                                         if (++ao_eof_read >= 1000)
 813                                                 if (!ao_summary)
 814                                                         printf ("no more data, exiting simulation\n");
 815                                         ao_test_exit();
 816                                         ao_data_static.tick += 10;
 817                                         ao_insert();
 818                                         return;
 819                                 }
 820                                 switch (eeprom->log_format) {
 821 #if TELEMEGA
 822                                 case AO_LOG_FORMAT_TELEMEGA_OLD:
 823                                 case AO_LOG_FORMAT_TELEMEGA:
 824                                         log_mega = (struct ao_log_mega *) &eeprom->data[eeprom_offset];
 825                                         eeprom_offset += sizeof (*log_mega);
 826                                         switch (log_mega->type) {
 827                                         case AO_LOG_FLIGHT:
 828                                                 ao_flight_number = log_mega->u.flight.flight;
 829                                                 ao_flight_ground_accel = log_mega->u.flight.ground_accel;
 830                                                 ao_flight_started = 1;
 831                                                 ao_ground_pres = log_mega->u.flight.ground_pres;
 832                                                 ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
 833                                                 ao_ground_accel_along = log_mega->u.flight.ground_accel_along;
 834                                                 ao_ground_accel_across = log_mega->u.flight.ground_accel_across;
 835                                                 ao_ground_accel_through = log_mega->u.flight.ground_accel_through;
 836                                                 ao_ground_roll = log_mega->u.flight.ground_roll;
 837                                                 ao_ground_pitch = log_mega->u.flight.ground_pitch;
 838                                                 ao_ground_yaw = log_mega->u.flight.ground_yaw;
 839                                                 ao_ground_mpu6000.accel_x = ao_ground_accel_across;
 840                                                 ao_ground_mpu6000.accel_y = ao_ground_accel_along;
 841                                                 ao_ground_mpu6000.accel_z = ao_ground_accel_through;
 842                                                 ao_ground_mpu6000.gyro_x = ao_ground_pitch >> 9;
 843                                                 ao_ground_mpu6000.gyro_y = ao_ground_roll >> 9;
 844                                                 ao_ground_mpu6000.gyro_z = ao_ground_yaw >> 9;
 845                                                 break;
 846                                         case AO_LOG_STATE:
 847                                                 break;
 848                                         case AO_LOG_SENSOR:
 849                                                 ao_data_static.tick = log_mega->tick;
 850                                                 ao_data_static.ms5607_raw.pres = log_mega->u.sensor.pres;
 851                                                 ao_data_static.ms5607_raw.temp = log_mega->u.sensor.temp;
 852                                                 ao_data_static.mpu6000.accel_x = log_mega->u.sensor.accel_x;
 853                                                 ao_data_static.mpu6000.accel_y = log_mega->u.sensor.accel_y;
 854                                                 ao_data_static.mpu6000.accel_z = log_mega->u.sensor.accel_z;
 855                                                 ao_data_static.mpu6000.gyro_x = log_mega->u.sensor.gyro_x;
 856                                                 ao_data_static.mpu6000.gyro_y = log_mega->u.sensor.gyro_y;
 857                                                 ao_data_static.mpu6000.gyro_z = log_mega->u.sensor.gyro_z;
 858                                                 ao_data_static.hmc5883.x = log_mega->u.sensor.mag_x;
 859                                                 ao_data_static.hmc5883.y = log_mega->u.sensor.mag_y;
 860                                                 ao_data_static.hmc5883.z = log_mega->u.sensor.mag_z;
 861                                                 ao_data_static.mma655x = log_mega->u.sensor.accel;
 862                                                 if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
 863                                                         ao_data_static.mma655x = ao_data_accel_invert(ao_data_static.mma655x);
 864                                                 ao_records_read++;
 865                                                 ao_insert();
 866                                                 return;
 867                                         case AO_LOG_TEMP_VOLT:
 868                                                 if (pyros_fired != log_mega->u.volt.pyro) {
 869                                                         printf("pyro changed %x -> %x\n", pyros_fired, log_mega->u.volt.pyro);
 870                                                         pyros_fired = log_mega->u.volt.pyro;
 871                                                 }
 872                                                 break;
 873                                         case AO_LOG_GPS_TIME:
 874                                                 ao_gps_prev = ao_gps_static;
 875                                                 ao_gps_static.tick = log_mega->tick;
 876                                                 ao_gps_static.latitude = log_mega->u.gps.latitude;
 877                                                 ao_gps_static.longitude = log_mega->u.gps.longitude;
 878                                                 {
 879                                                         int16_t altitude_low = log_mega->u.gps.altitude_low;
 880                                                         int16_t altitude_high = log_mega->u.gps.altitude_high;
 881                                                         int32_t altitude = altitude_low | ((int32_t) altitude_high << 16);
 882
 883                                                         AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_static, altitude);
 884                                                 }
 885                                                 ao_gps_static.flags = log_mega->u.gps.flags;
 886                                                 if (!ao_gps_count)
 887                                                         ao_gps_first = ao_gps_static;
 888                                                 ao_gps_count++;
 889                                                 break;
 890                                         case AO_LOG_GPS_SAT:
 891                                                 break;
 892                                         }
 893                                         break;
 894 #endif
 895 #if TELEMETRUM_V2
 896                                 case AO_LOG_FORMAT_TELEMETRUM:
 897                                         log_metrum = (struct ao_log_metrum *) &eeprom->data[eeprom_offset];
 898                                         eeprom_offset += sizeof (*log_metrum);
 899                                         switch (log_metrum->type) {
 900                                         case AO_LOG_FLIGHT:
 901                                                 ao_flight_started = 1;
 902                                                 ao_flight_number = log_metrum->u.flight.flight;
 903                                                 ao_flight_ground_accel = log_metrum->u.flight.ground_accel;
 904                                                 ao_ground_pres = log_metrum->u.flight.ground_pres;
 905                                                 ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
 906                                                 break;
 907                                         case AO_LOG_SENSOR:
 908                                                 ao_data_static.tick = log_metrum->tick;
 909                                                 ao_data_static.ms5607_raw.pres = log_metrum->u.sensor.pres;
 910                                                 ao_data_static.ms5607_raw.temp = log_metrum->u.sensor.temp;
 911                                                 ao_data_static.mma655x = log_metrum->u.sensor.accel;
 912                                                 ao_records_read++;
 913                                                 ao_insert();
 914                                                 return;
 915                                         }
 916                                         break;
 917 #endif
 918 #if EASYMINI
 919                                 case AO_LOG_FORMAT_EASYMINI1:
 920                                 case AO_LOG_FORMAT_EASYMINI2:
 921                                 case AO_LOG_FORMAT_TELEMINI3:
 922                                         log_mini = (struct ao_log_mini *) &eeprom->data[eeprom_offset];
 923                                         eeprom_offset += sizeof (*log_mini);
 924                                         switch (log_mini->type) {
 925                                         case AO_LOG_FLIGHT:
 926                                                 ao_flight_started = 1;
 927                                                 ao_flight_number = log_mini->u.flight.flight;
 928                                                 ao_ground_pres = log_mini->u.flight.ground_pres;
 929                                                 ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
 930                                                 break;
 931                                         case AO_LOG_SENSOR:
 932                                                 ao_data_static.tick = log_mini->tick;
 933                                                 ao_data_static.ms5607_raw.pres = int24(log_mini->u.sensor.pres, 0);
 934                                                 ao_data_static.ms5607_raw.temp = int24(log_mini->u.sensor.temp, 0);
 935                                                 ao_records_read++;
 936                                                 ao_insert();
 937                                                 return;
 938                                         }
 939                                         break;
 940 #endif
 941 #if TELEMETRUM_V1
 942                                 case AO_LOG_FORMAT_FULL:
 943                                 case AO_LOG_FORMAT_TINY:
 944                                         log_record = (struct ao_log_record *) &eeprom->data[eeprom_offset];
 945                                         eeprom_offset += sizeof (*log_record);
 946                                         switch (log_record->type) {
 947                                         case AO_LOG_FLIGHT:
 948                                                 ao_flight_started = 1;
 949                                                 ao_flight_ground_accel = log_record->u.flight.ground_accel;
 950                                                 ao_flight_number = log_record->u.flight.flight;
 951                                                 break;
 952                                         case AO_LOG_SENSOR:
 953                                         case 'P':       /* ancient telemini */
 954                                                 ao_data_static.tick = log_record->tick;
 955                                                 ao_data_static.adc.accel = log_record->u.sensor.accel;
 956                                                 ao_data_static.adc.pres_real = log_record->u.sensor.pres;
 957                                                 ao_data_static.adc.pres = log_record->u.sensor.pres;
 958                                                 ao_records_read++;
 959                                                 ao_insert();
 960                                                 return;
 961                                         case AO_LOG_TEMP_VOLT:
 962                                                 ao_data_static.tick = log_record->tick;;
 963                                                 ao_data_static.adc.temp = log_record->u.temp_volt.temp;
 964                                                 ao_data_static.adc.v_batt = log_record->u.temp_volt.v_batt;
 965                                                 break;
 966                                         }
 967                                         break;
 968 #endif
 969 #if EASYMOTOR_V_2
 970                                 case AO_LOG_FORMAT_TELEMEGA_3:
 971                                         log_mega = (struct ao_log_mega *) &eeprom->data[eeprom_offset];
 972                                         eeprom_offset += sizeof (*log_mega);
 973                                         switch (log_mega->type) {
 974                                         case AO_LOG_FLIGHT:
 975                                                 ao_flight_number = log_mega->u.flight.flight;
 976                                                 ao_flight_ground_accel = log_mega->u.flight.ground_accel;
 977                                                 ao_flight_started = 1;
 978                                                 break;
 979                                         case AO_LOG_SENSOR:
 980                                                 ao_data_static.tick = log_mega->tick;
 981                                                 ao_data_static.adxl375.AO_ADXL375_AXIS = -log_mega->u.sensor.accel;
 982                                                 ao_records_read++;
 983                                                 ao_insert();
 984                                                 return;
 985                                         }
 986                                         break;
 987                                 case AO_LOG_FORMAT_TELEMEGA_4:
 988                                         log_mega = (struct ao_log_mega *) &eeprom->data[eeprom_offset];
 989                                         eeprom_offset += sizeof (*log_mega);
 990                                         switch (log_mega->type) {
 991                                         case AO_LOG_FLIGHT:
 992                                                 ao_flight_number = log_mega->u.flight.flight;
 993                                                 ao_flight_ground_accel = log_mega->u.flight.ground_accel;
 994                                                 ao_flight_started = 1;
 995                                                 break;
 996                                         case AO_LOG_SENSOR:
 997                                                 ao_data_static.tick = log_mega->tick;
 998                                                 ao_data_static.adxl375.AO_ADXL375_AXIS = log_mega->u.sensor.accel;
 999                                                 ao_records_read++;
1000                                                 ao_insert();
1001                                                 return;
1002                                         }
1003                                         break;
1004                                 case AO_LOG_FORMAT_EASYMOTOR:
1005                                         log_motor = (struct ao_log_motor *) &eeprom->data[eeprom_offset];
1006                                         eeprom_offset += sizeof (*log_motor);
1007                                         switch (log_motor->type) {
1008                                         case AO_LOG_FLIGHT:
1009                                                 ao_flight_number = log_motor->u.flight.flight;
1010                                                 ao_flight_ground_accel = log_motor->u.flight.ground_accel;
1011                                                 ao_flight_started = 1;
1012                                                 break;
1013                                         case AO_LOG_SENSOR:
1014                                                 ao_data_static.tick = log_motor->tick;
1015                                                 ao_data_static.adc.pressure = log_motor->u.sensor.pressure;
1016                                                 ao_data_static.adc.v_batt = log_motor->u.sensor.v_batt;
1017                                                 ao_data_static.adxl375.AO_ADXL375_AXIS = log_motor->u.sensor.accel_along;
1018                                                 ao_data_static.adxl375.AO_ADXL375_ACROSS_AXIS = log_motor->u.sensor.accel_across;
1019                                                 ao_data_static.adxl375.AO_ADXL375_THROUGH_AXIS = log_motor->u.sensor.accel_through;
1020                                                 ao_records_read++;
1021                                                 ao_insert();
1022                                                 return;
1023                                         }
1024                                         break;
1025 #endif
1026                                 default:
1027                                         printf ("invalid log format %d\n", log_format);
1028                                         ao_test_exit();
1029                                 }
1030                         }
1031                 }
1032
1033         }
1034 }
1035 #define COUNTS_PER_G 264.8
1036
1037 void
1038 ao_dump_state(void)
1039 {
1040 }
1041
1042 static const struct option options[] = {
1043         { .name = "summary", .has_arg = 0, .val = 's' },
1044         { .name = "debug", .has_arg = 0, .val = 'd' },
1045         { .name = "info", .has_arg = 1, .val = 'i' },
1046         { 0, 0, 0, 0},
1047 };
1048
1049 void run_flight_fixed(char *name, FILE *f, int summary, char *info)
1050 {
1051         emulator_name = name;
1052         emulator_in = f;
1053         emulator_info = info;
1054         ao_summary = summary;
1055
1056         if (strstr(name, ".eeprom") != NULL) {
1057                 char    c;
1058
1059                 c = getc(f);
1060                 ungetc(c, f);
1061                 if (c == '{')
1062                         eeprom = ao_eeprom_read(f);
1063                 else
1064                         eeprom = ao_eeprom_read_old(f);
1065
1066                 if (eeprom) {
1067 #if HAS_MS5607
1068                         ao_ms5607_prom = eeprom->ms5607_prom;
1069 #endif
1070                         ao_config = eeprom->config;
1071                         ao_serial_number = eeprom->serial_number;
1072                         log_format = eeprom->log_format;
1073                 }
1074         }
1075
1076         ao_flight_init();
1077         ao_flight();
1078 }
1079
1080 int
1081 main (int argc, char **argv)
1082 {
1083         int     summary = 0;
1084         int     c;
1085         int     i;
1086         char    *info = NULL;
1087
1088 #if HAS_ACCEL
1089         emulator_app="full";
1090 #else
1091         emulator_app="baro";
1092 #endif
1093         while ((c = getopt_long(argc, argv, "sdpi:", options, NULL)) != -1) {
1094                 switch (c) {
1095                 case 's':
1096                         summary = 1;
1097                         break;
1098                 case 'd':
1099                         ao_flight_debug = 1;
1100                         break;
1101                 case 'p':
1102 #if PYRO_DBG
1103                         pyro_dbg = 1;
1104 #endif
1105                         break;
1106                 case 'i':
1107                         info = optarg;
1108                         break;
1109                 }
1110         }
1111
1112         if (optind == argc)
1113                 run_flight_fixed("<stdin>", stdin, summary, info);
1114         else
1115                 for (i = optind; i < argc; i++) {
1116                         FILE    *f = fopen(argv[i], "r");
1117                         if (!f) {
1118                                 perror(argv[i]);
1119                                 continue;
1120                         }
1121                         run_flight_fixed(argv[i], f, summary, info);
1122                         fclose(f);
1123                 }
1124         exit(0);
1125 }