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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 #define AO_M_TO_HEIGHT(m)       ((int16_t) (m))
  38 #define AO_MS_TO_SPEED(ms)      ((int16_t) ((ms) * 16))
  39 #define AO_MSS_TO_ACCEL(mss)    ((int16_t) ((mss) * 16))
  40
  41 #define AO_GPS_NEW_DATA         1
  42 #define AO_GPS_NEW_TRACKING     2
  43
  44 int ao_gps_new;
  45
  46 #if TELEMEGA
  47 #define AO_ADC_NUM_SENSE        6
  48 #define HAS_MS5607              1
  49 #define HAS_MPU6000             1
  50 #define HAS_MMA655X             1
  51
  52 struct ao_adc {
  53         int16_t                 sense[AO_ADC_NUM_SENSE];
  54         int16_t                 v_batt;
  55         int16_t                 v_pbatt;
  56         int16_t                 accel_ref;
  57         int16_t                 accel;
  58         int16_t                 temp;
  59 };
  60 #else
  61 /*
  62  * One set of samples read from the A/D converter
  63  */
  64 struct ao_adc {
  65         int16_t         accel;          /* accelerometer */
  66         int16_t         pres;           /* pressure sensor */
  67         int16_t         pres_real;      /* unclipped */
  68         int16_t         temp;           /* temperature sensor */
  69         int16_t         v_batt;         /* battery voltage */
  70         int16_t         sense_d;        /* drogue continuity sense */
  71         int16_t         sense_m;        /* main continuity sense */
  72 };
  73
  74 #ifndef HAS_ACCEL
  75 #define HAS_ACCEL 1
  76 #define HAS_ACCEL_REF 0
  77 #endif
  78
  79 #endif
  80
  81 #define __pdata
  82 #define __data
  83 #define __xdata
  84 #define __code
  85 #define __reentrant
  86
  87 #define HAS_FLIGHT 1
  88 #define HAS_IGNITE 1
  89 #define HAS_USB 1
  90 #define HAS_GPS 1
  91
  92 #include <ao_data.h>
  93 #include <ao_log.h>
  94
  95 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
  96 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
  97 #define from_fix(x)     ((x) >> 16)
  98
  99 /*
 100  * Above this height, the baro sensor doesn't work
 101  */
 102 #define AO_BARO_SATURATE        13000
 103 #define AO_MIN_BARO_VALUE       ao_altitude_to_pres(AO_BARO_SATURATE)
 104
 105 /*
 106  * Above this speed, baro measurements are unreliable
 107  */
 108 #define AO_MAX_BARO_SPEED       200
 109
 110 #define ACCEL_NOSE_UP   (ao_accel_2g >> 2)
 111
 112 extern enum ao_flight_state ao_flight_state;
 113
 114 #define FALSE 0
 115 #define TRUE 1
 116
 117 volatile struct ao_data ao_data_ring[AO_DATA_RING];
 118 volatile uint8_t ao_data_head;
 119 int     ao_summary = 0;
 120
 121 #define ao_led_on(l)
 122 #define ao_led_off(l)
 123 #define ao_timer_set_adc_interval(i)
 124 #define ao_wakeup(wchan) ao_dump_state()
 125 #define ao_cmd_register(c)
 126 #define ao_usb_disable()
 127 #define ao_telemetry_set_interval(x)
 128 #define ao_rdf_set(rdf)
 129 #define ao_packet_slave_start()
 130 #define ao_packet_slave_stop()
 131
 132 enum ao_igniter {
 133         ao_igniter_drogue = 0,
 134         ao_igniter_main = 1
 135 };
 136
 137 struct ao_data ao_data_static;
 138
 139 int     drogue_height;
 140 double  drogue_time;
 141 int     main_height;
 142 double  main_time;
 143
 144 int     tick_offset;
 145
 146 static int32_t  ao_k_height;
 147
 148 int16_t
 149 ao_time(void)
 150 {
 151         return ao_data_static.tick;
 152 }
 153
 154 void
 155 ao_delay(int16_t interval)
 156 {
 157         return;
 158 }
 159
 160 void
 161 ao_ignite(enum ao_igniter igniter)
 162 {
 163         double time = (double) (ao_data_static.tick + tick_offset) / 100;
 164
 165         if (igniter == ao_igniter_drogue) {
 166                 drogue_time = time;
 167                 drogue_height = ao_k_height >> 16;
 168         } else {
 169                 main_time = time;
 170                 main_height = ao_k_height >> 16;
 171         }
 172 }
 173
 174 struct ao_task {
 175         int dummy;
 176 };
 177
 178 #define ao_add_task(t,f,n) ((void) (t))
 179
 180 #define ao_log_start()
 181 #define ao_log_stop()
 182
 183 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
 184 #define AO_SEC_TO_TICKS(s)      ((s) * 100)
 185
 186 #define AO_FLIGHT_TEST
 187
 188 int     ao_flight_debug;
 189
 190 FILE *emulator_in;
 191 char *emulator_app;
 192 char *emulator_name;
 193 char *emulator_info;
 194 double emulator_error_max = 4;
 195 double emulator_height_error_max = 20;  /* noise in the baro sensor */
 196
 197 void
 198 ao_dump_state(void);
 199
 200 void
 201 ao_sleep(void *wchan);
 202
 203 const char const * const ao_state_names[] = {
 204         "startup", "idle", "pad", "boost", "fast",
 205         "coast", "drogue", "main", "landed", "invalid"
 206 };
 207
 208 struct ao_cmds {
 209         void            (*func)(void);
 210         const char      *help;
 211 };
 212
 213 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
 214 #define ao_xmemset(d,v,c) memset(d,v,c)
 215 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
 216
 217 #define AO_NEED_ALTITUDE_TO_PRES 1
 218 #if TELEMEGA
 219 #include "ao_convert_pa.c"
 220 #include <ao_ms5607.h>
 221 struct ao_ms5607_prom   ms5607_prom;
 222 #include "ao_ms5607_convert.c"
 223 #define AO_PYRO_NUM     4
 224 #include <ao_pyro.h>
 225 #else
 226 #include "ao_convert.c"
 227 #endif
 228
 229 struct ao_config {
 230         uint16_t        main_deploy;
 231         int16_t         accel_plus_g;
 232         int16_t         accel_minus_g;
 233         uint8_t         pad_orientation;
 234         uint16_t        apogee_lockout;
 235 #if TELEMEGA
 236         struct ao_pyro  pyro[AO_PYRO_NUM];      /* minor version 12 */
 237 #endif
 238 };
 239
 240 #define AO_PAD_ORIENTATION_ANTENNA_UP   0
 241 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
 242
 243 #define ao_config_get()
 244
 245 struct ao_config ao_config;
 246
 247 #define DATA_TO_XDATA(x) (x)
 248
 249
 250 extern int16_t ao_ground_accel, ao_flight_accel;
 251 extern int16_t ao_accel_2g;
 252
 253 typedef int16_t accel_t;
 254
 255 extern uint16_t ao_sample_tick;
 256
 257 extern alt_t    ao_sample_height;
 258 extern accel_t  ao_sample_accel;
 259 extern int32_t  ao_accel_scale;
 260 extern alt_t    ao_ground_height;
 261 extern alt_t    ao_sample_alt;
 262
 263 double ao_sample_qangle;
 264
 265 int ao_sample_prev_tick;
 266 uint16_t        prev_tick;
 267
 268
 269 #include "ao_kalman.c"
 270 #include "ao_sqrt.c"
 271 #include "ao_sample.c"
 272 #include "ao_flight.c"
 273 #if TELEMEGA
 274 #define AO_PYRO_NUM     4
 275
 276 #define AO_PYRO_0       0
 277 #define AO_PYRO_1       1
 278 #define AO_PYRO_2       2
 279 #define AO_PYRO_3       3
 280
 281 static void
 282 ao_pyro_pin_set(uint8_t pin, uint8_t value)
 283 {
 284         printf ("set pyro %d %d\n", pin, value);
 285 }
 286
 287 #include "ao_pyro.c"
 288 #endif
 289
 290 #define to_double(f)    ((f) / 65536.0)
 291
 292 static int      ao_records_read = 0;
 293 static int      ao_eof_read = 0;
 294 static int      ao_flight_ground_accel;
 295 static int      ao_flight_started = 0;
 296 static int      ao_test_max_height;
 297 static double   ao_test_max_height_time;
 298 static int      ao_test_main_height;
 299 static double   ao_test_main_height_time;
 300 static double   ao_test_landed_time;
 301 static double   ao_test_landed_height;
 302 static double   ao_test_landed_time;
 303 static int      landed_set;
 304 static double   landed_time;
 305 static double   landed_height;
 306
 307 #if HAS_MPU6000
 308 static struct ao_mpu6000_sample ao_ground_mpu6000;
 309 #endif
 310
 311 void
 312 ao_test_exit(void)
 313 {
 314         double  drogue_error;
 315         double  main_error;
 316         double  landed_error;
 317         double  landed_time_error;
 318
 319         if (!ao_test_main_height_time) {
 320                 ao_test_main_height_time = ao_test_max_height_time;
 321                 ao_test_main_height = ao_test_max_height;
 322         }
 323         drogue_error = fabs(ao_test_max_height_time - drogue_time);
 324         main_error = fabs(ao_test_main_height_time - main_time);
 325         landed_error = fabs(ao_test_landed_height - landed_height);
 326         landed_time_error = ao_test_landed_time - landed_time;
 327         if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
 328                 printf ("%s %s\n",
 329                         emulator_app, emulator_name);
 330                 if (emulator_info)
 331                         printf ("\t%s\n", emulator_info);
 332                 printf ("\tApogee error %g\n", drogue_error);
 333                 printf ("\tMain error %g\n", main_error);
 334                 printf ("\tLanded height error %g\n", landed_error);
 335                 printf ("\tLanded time error %g\n", landed_time_error);
 336                 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 337                         ao_test_max_height, ao_test_max_height_time,
 338                         ao_test_main_height, ao_test_main_height_time,
 339                         ao_test_landed_height, ao_test_landed_time);
 340                 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 341                         drogue_height, drogue_time, main_height, main_time,
 342                         landed_height, landed_time);
 343                 exit (1);
 344         }
 345         exit(0);
 346 }
 347
 348 void
 349 ao_insert(void)
 350 {
 351         double  time;
 352
 353         ao_data_ring[ao_data_head] = ao_data_static;
 354         ao_data_head = ao_data_ring_next(ao_data_head);
 355         if (ao_flight_state != ao_flight_startup) {
 356 #if HAS_ACCEL
 357                 double  accel = ((ao_flight_ground_accel - ao_data_accel_cook(&ao_data_static)) * GRAVITY * 2.0) /
 358                         (ao_config.accel_minus_g - ao_config.accel_plus_g);
 359 #else
 360                 double  accel = 0.0;
 361 #endif
 362 #if TELEMEGA
 363                 double  height;
 364
 365                 ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
 366                 height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height;
 367 #else
 368                 double  height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
 369 #endif
 370
 371                 if (!tick_offset)
 372                         tick_offset = -ao_data_static.tick;
 373                 if ((prev_tick - ao_data_static.tick) > 0x400)
 374                         tick_offset += 65536;
 375                 prev_tick = ao_data_static.tick;
 376                 time = (double) (ao_data_static.tick + tick_offset) / 100;
 377
 378                 if (ao_test_max_height < height) {
 379                         ao_test_max_height = height;
 380                         ao_test_max_height_time = time;
 381                         ao_test_landed_height = height;
 382                         ao_test_landed_time = time;
 383                 }
 384                 if (height > ao_config.main_deploy) {
 385                         ao_test_main_height_time = time;
 386                         ao_test_main_height = height;
 387                 }
 388
 389                 if (ao_test_landed_height > height) {
 390                         ao_test_landed_height = height;
 391                         ao_test_landed_time = time;
 392                 }
 393
 394                 if (ao_flight_state == ao_flight_landed && !landed_set) {
 395                         landed_set = 1;
 396                         landed_time = time;
 397                         landed_height = height;
 398                 }
 399
 400                 if (!ao_summary) {
 401                         printf("%7.2f height %8.2f accel %8.3f "
 402 #if TELEMEGA
 403                                "angle %5d "
 404 /*                             "accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f " */
 405 #endif
 406                                "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",
 407                                time,
 408                                height,
 409                                accel,
 410 #if TELEMEGA
 411                                ao_orient,
 412 /*
 413                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
 414                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
 415                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_z),
 416                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x),
 417                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y),
 418                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z),
 419 */
 420 #endif
 421                                ao_state_names[ao_flight_state],
 422                                ao_k_height / 65536.0,
 423                                ao_k_speed / 65536.0 / 16.0,
 424                                ao_k_accel / 65536.0 / 16.0,
 425                                ao_avg_height,
 426                                drogue_height,
 427                                main_height,
 428                                ao_error_h_sq_avg);
 429
 430 //                      if (ao_flight_state == ao_flight_landed)
 431 //                              ao_test_exit();
 432                 }
 433         }
 434 }
 435
 436 #define AO_MAX_CALLSIGN                 8
 437 #define AO_MAX_VERSION                  8
 438 #define AO_MAX_TELEMETRY                128
 439
 440 struct ao_telemetry_generic {
 441         uint16_t        serial;         /* 0 */
 442         uint16_t        tick;           /* 2 */
 443         uint8_t         type;           /* 4 */
 444         uint8_t         payload[27];    /* 5 */
 445         /* 32 */
 446 };
 447
 448 #define AO_TELEMETRY_SENSOR_TELEMETRUM  0x01
 449 #define AO_TELEMETRY_SENSOR_TELEMINI    0x02
 450 #define AO_TELEMETRY_SENSOR_TELENANO    0x03
 451
 452 struct ao_telemetry_sensor {
 453         uint16_t        serial;         /*  0 */
 454         uint16_t        tick;           /*  2 */
 455         uint8_t         type;           /*  4 */
 456
 457         uint8_t         state;          /*  5 flight state */
 458         int16_t         accel;          /*  6 accelerometer (TM only) */
 459         int16_t         pres;           /*  8 pressure sensor */
 460         int16_t         temp;           /* 10 temperature sensor */
 461         int16_t         v_batt;         /* 12 battery voltage */
 462         int16_t         sense_d;        /* 14 drogue continuity sense (TM/Tm) */
 463         int16_t         sense_m;        /* 16 main continuity sense (TM/Tm) */
 464
 465         int16_t         acceleration;   /* 18 m/s² * 16 */
 466         int16_t         speed;          /* 20 m/s * 16 */
 467         int16_t         height;         /* 22 m */
 468
 469         int16_t         ground_pres;    /* 24 average pres on pad */
 470         int16_t         ground_accel;   /* 26 average accel on pad */
 471         int16_t         accel_plus_g;   /* 28 accel calibration at +1g */
 472         int16_t         accel_minus_g;  /* 30 accel calibration at -1g */
 473         /* 32 */
 474 };
 475
 476 #define AO_TELEMETRY_CONFIGURATION      0x04
 477
 478 struct ao_telemetry_configuration {
 479         uint16_t        serial;                         /*  0 */
 480         uint16_t        tick;                           /*  2 */
 481         uint8_t         type;                           /*  4 */
 482
 483         uint8_t         device;                         /*  5 device type */
 484         uint16_t        flight;                         /*  6 flight number */
 485         uint8_t         config_major;                   /*  8 Config major version */
 486         uint8_t         config_minor;                   /*  9 Config minor version */
 487         uint16_t        apogee_delay;                   /* 10 Apogee deploy delay in seconds */
 488         uint16_t        main_deploy;                    /* 12 Main deploy alt in meters */
 489         uint16_t        flight_log_max;                 /* 14 Maximum flight log size in kB */
 490         char            callsign[AO_MAX_CALLSIGN];      /* 16 Radio operator identity */
 491         char            version[AO_MAX_VERSION];        /* 24 Software version */
 492         /* 32 */
 493 };
 494
 495 #define AO_TELEMETRY_LOCATION           0x05
 496
 497 #define AO_GPS_MODE_NOT_VALID           'N'
 498 #define AO_GPS_MODE_AUTONOMOUS          'A'
 499 #define AO_GPS_MODE_DIFFERENTIAL        'D'
 500 #define AO_GPS_MODE_ESTIMATED           'E'
 501 #define AO_GPS_MODE_MANUAL              'M'
 502 #define AO_GPS_MODE_SIMULATED           'S'
 503
 504 struct ao_telemetry_location {
 505         uint16_t        serial;         /*  0 */
 506         uint16_t        tick;           /*  2 */
 507         uint8_t         type;           /*  4 */
 508
 509         uint8_t         flags;          /*  5 Number of sats and other flags */
 510         int16_t         altitude;       /*  6 GPS reported altitude (m) */
 511         int32_t         latitude;       /*  8 latitude (degrees * 10⁷) */
 512         int32_t         longitude;      /* 12 longitude (degrees * 10⁷) */
 513         uint8_t         year;           /* 16 (- 2000) */
 514         uint8_t         month;          /* 17 (1-12) */
 515         uint8_t         day;            /* 18 (1-31) */
 516         uint8_t         hour;           /* 19 (0-23) */
 517         uint8_t         minute;         /* 20 (0-59) */
 518         uint8_t         second;         /* 21 (0-59) */
 519         uint8_t         pdop;           /* 22 (m * 5) */
 520         uint8_t         hdop;           /* 23 (m * 5) */
 521         uint8_t         vdop;           /* 24 (m * 5) */
 522         uint8_t         mode;           /* 25 */
 523         uint16_t        ground_speed;   /* 26 cm/s */
 524         int16_t         climb_rate;     /* 28 cm/s */
 525         uint8_t         course;         /* 30 degrees / 2 */
 526         uint8_t         unused[1];      /* 31 */
 527         /* 32 */
 528 };
 529
 530 #define AO_TELEMETRY_SATELLITE          0x06
 531
 532 struct ao_telemetry_satellite_info {
 533         uint8_t         svid;
 534         uint8_t         c_n_1;
 535 };
 536
 537 struct ao_telemetry_satellite {
 538         uint16_t                                serial;         /*  0 */
 539         uint16_t                                tick;           /*  2 */
 540         uint8_t                                 type;           /*  4 */
 541         uint8_t                                 channels;       /*  5 number of reported sats */
 542
 543         struct ao_telemetry_satellite_info      sats[12];       /* 6 */
 544         uint8_t                                 unused[2];      /* 30 */
 545         /* 32 */
 546 };
 547
 548 union ao_telemetry_all {
 549         struct ao_telemetry_generic             generic;
 550         struct ao_telemetry_sensor              sensor;
 551         struct ao_telemetry_configuration       configuration;
 552         struct ao_telemetry_location            location;
 553         struct ao_telemetry_satellite           satellite;
 554 };
 555
 556 uint16_t
 557 uint16(uint8_t *bytes, int off)
 558 {
 559         return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
 560 }
 561
 562 int16_t
 563 int16(uint8_t *bytes, int off)
 564 {
 565         return (int16_t) uint16(bytes, off);
 566 }
 567
 568 uint32_t
 569 uint32(uint8_t *bytes, int off)
 570 {
 571         return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
 572                 (((uint32_t) bytes[off+2]) << 16) |
 573                 (((uint32_t) bytes[off+3]) << 24);
 574 }
 575
 576 int32_t
 577 int32(uint8_t *bytes, int off)
 578 {
 579         return (int32_t) uint32(bytes, off);
 580 }
 581
 582 static int log_format;
 583
 584 void
 585 ao_sleep(void *wchan)
 586 {
 587         if (wchan == &ao_data_head) {
 588                 char            type = 0;
 589                 uint16_t        tick = 0;
 590                 uint16_t        a = 0, b = 0;
 591                 uint8_t         bytes[1024];
 592                 union ao_telemetry_all  telem;
 593                 char            line[1024];
 594                 char            *saveptr;
 595                 char            *l;
 596                 char            *words[64];
 597                 int             nword;
 598
 599 #if TELEMEGA
 600                 if (ao_flight_state >= ao_flight_boost && ao_flight_state < ao_flight_landed)
 601                         ao_pyro_check();
 602 #endif
 603                 for (;;) {
 604                         if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 605                         {
 606 #if TELEMEGA
 607                                 ao_data_static.mpu6000 = ao_ground_mpu6000;
 608 #else
 609                                 ao_data_static.adc.accel = ao_flight_ground_accel;
 610 #endif
 611                                 ao_insert();
 612                                 return;
 613                         }
 614
 615                         if (!fgets(line, sizeof (line), emulator_in)) {
 616                                 if (++ao_eof_read >= 1000) {
 617                                         if (!ao_summary)
 618                                                 printf ("no more data, exiting simulation\n");
 619                                         ao_test_exit();
 620                                 }
 621                                 ao_data_static.tick += 10;
 622                                 ao_insert();
 623                                 return;
 624                         }
 625                         l = line;
 626                         for (nword = 0; nword < 64; nword++) {
 627                                 words[nword] = strtok_r(l, " \t\n", &saveptr);
 628                                 l = NULL;
 629                                 if (words[nword] == NULL)
 630                                         break;
 631                         }
 632 #if TELEMEGA
 633                         if (log_format == AO_LOG_FORMAT_TELEMEGA && nword == 30 && strlen(words[0]) == 1) {
 634                                 int     i;
 635                                 struct ao_ms5607_value  value;
 636
 637                                 type = words[0][0];
 638                                 tick = strtoul(words[1], NULL, 16);
 639 //                              printf ("%c %04x", type, tick);
 640                                 for (i = 2; i < nword; i++) {
 641                                         bytes[i - 2] = strtoul(words[i], NULL, 16);
 642 //                                      printf(" %02x", bytes[i-2]);
 643                                 }
 644 //                              printf ("\n");
 645                                 switch (type) {
 646                                 case 'F':
 647                                         ao_flight_ground_accel = int16(bytes, 2);
 648                                         ao_flight_started = 1;
 649                                         ao_ground_pres = int32(bytes, 4);
 650                                         ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
 651                                         break;
 652                                 case 'A':
 653                                         ao_data_static.tick = tick;
 654                                         ao_data_static.ms5607_raw.pres = int32(bytes, 0);
 655                                         ao_data_static.ms5607_raw.temp = int32(bytes, 4);
 656                                         ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
 657                                         ao_data_static.mpu6000.accel_x = int16(bytes, 8);
 658                                         ao_data_static.mpu6000.accel_y = -int16(bytes, 10);
 659                                         ao_data_static.mpu6000.accel_z = int16(bytes, 12);
 660                                         ao_data_static.mpu6000.gyro_x = int16(bytes, 14);
 661                                         ao_data_static.mpu6000.gyro_y = -int16(bytes, 16);
 662                                         ao_data_static.mpu6000.gyro_z = int16(bytes, 18);
 663 #if HAS_MMA655X
 664                                         ao_data_static.mma655x = int16(bytes, 26);
 665 #endif
 666                                         ao_records_read++;
 667                                         ao_insert();
 668                                         return;
 669                                 }
 670                                 continue;
 671                         } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
 672                                 if (strcmp(words[1], "reserved:") == 0)
 673                                         ms5607_prom.reserved = strtoul(words[2], NULL, 10);
 674                                 else if (strcmp(words[1], "sens:") == 0)
 675                                         ms5607_prom.sens = strtoul(words[2], NULL, 10);
 676                                 else if (strcmp(words[1], "off:") == 0)
 677                                         ms5607_prom.off = strtoul(words[2], NULL, 10);
 678                                 else if (strcmp(words[1], "tcs:") == 0)
 679                                         ms5607_prom.tcs = strtoul(words[2], NULL, 10);
 680                                 else if (strcmp(words[1], "tco:") == 0)
 681                                         ms5607_prom.tco = strtoul(words[2], NULL, 10);
 682                                 else if (strcmp(words[1], "tref:") == 0)
 683                                         ms5607_prom.tref = strtoul(words[2], NULL, 10);
 684                                 else if (strcmp(words[1], "tempsens:") == 0)
 685                                         ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
 686                                 else if (strcmp(words[1], "crc:") == 0)
 687                                         ms5607_prom.crc = strtoul(words[2], NULL, 10);
 688                                 continue;
 689                         } else if (nword >= 3 && strcmp(words[0], "Pyro") == 0) {
 690                                 int     p = strtoul(words[1], NULL, 10);
 691                                 int     i, j;
 692                                 struct ao_pyro  *pyro = &ao_config.pyro[p];
 693
 694                                 for (i = 2; i < nword; i++) {
 695                                         for (j = 0; j < NUM_PYRO_VALUES; j++)
 696                                                 if (!strcmp (words[2], ao_pyro_values[j].name))
 697                                                         break;
 698                                         if (j == NUM_PYRO_VALUES)
 699                                                 continue;
 700                                         pyro->flags |= ao_pyro_values[j].flag;
 701                                         if (ao_pyro_values[j].offset != NO_VALUE && i + 1 < nword) {
 702                                                 int16_t val = strtoul(words[++i], NULL, 10);
 703                                                 *((int16_t *) ((char *) pyro + ao_pyro_values[j].offset)) = val;
 704                                         }
 705                                 }
 706                         }
 707 #else
 708                         if (nword == 4 && log_format != AO_LOG_FORMAT_TELEMEGA) {
 709                                 type = words[0][0];
 710                                 tick = strtoul(words[1], NULL, 16);
 711                                 a = strtoul(words[2], NULL, 16);
 712                                 b = strtoul(words[3], NULL, 16);
 713                                 if (type == 'P')
 714                                         type = 'A';
 715                         }
 716 #endif
 717                         else if (nword == 2 && strcmp(words[0], "log-format") == 0) {
 718                                 log_format = strtoul(words[1], NULL, 10);
 719                         } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
 720                                 ao_config.accel_plus_g = atoi(words[3]);
 721                                 ao_config.accel_minus_g = atoi(words[5]);
 722                         } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
 723                                 ao_config.main_deploy = atoi(words[2]);
 724                         } else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 &&
 725                                    strcmp(words[1], "lockout:") == 0) {
 726                                 ao_config.apogee_lockout = atoi(words[2]);
 727                         } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
 728                                 tick = atoi(words[10]);
 729                                 if (!ao_flight_started) {
 730                                         type = 'F';
 731                                         a = atoi(words[26]);
 732                                         ao_flight_started = 1;
 733                                 } else {
 734                                         type = 'A';
 735                                         a = atoi(words[12]);
 736                                         b = atoi(words[14]);
 737                                 }
 738                         } else if (nword == 3 && strcmp(words[0], "BARO") == 0) {
 739                                 tick = strtol(words[1], NULL, 16);
 740                                 a = 16384 - 328;
 741                                 b = strtol(words[2], NULL, 10);
 742                                 type = 'A';
 743                                 if (!ao_flight_started) {
 744                                         ao_flight_ground_accel = 16384 - 328;
 745                                         ao_config.accel_plus_g = 16384 - 328;
 746                                         ao_config.accel_minus_g = 16384 + 328;
 747                                         ao_flight_started = 1;
 748                                 }
 749                         } else if (nword == 2 && strcmp(words[0], "TELEM") == 0) {
 750                                 __xdata char    *hex = words[1];
 751                                 char    elt[3];
 752                                 int     i, len;
 753                                 uint8_t sum;
 754
 755                                 len = strlen(hex);
 756                                 if (len > sizeof (bytes) * 2) {
 757                                         len = sizeof (bytes)*2;
 758                                         hex[len] = '\0';
 759                                 }
 760                                 for (i = 0; i < len; i += 2) {
 761                                         elt[0] = hex[i];
 762                                         elt[1] = hex[i+1];
 763                                         elt[2] = '\0';
 764                                         bytes[i/2] = (uint8_t) strtol(elt, NULL, 16);
 765                                 }
 766                                 len = i/2;
 767                                 if (bytes[0] != len - 2) {
 768                                         printf ("bad length %d != %d\n", bytes[0], len - 2);
 769                                         continue;
 770                                 }
 771                                 sum = 0x5a;
 772                                 for (i = 1; i < len-1; i++)
 773                                         sum += bytes[i];
 774                                 if (sum != bytes[len-1]) {
 775                                         printf ("bad checksum\n");
 776                                         continue;
 777                                 }
 778                                 if ((bytes[len-2] & 0x80) == 0) {
 779                                         continue;
 780                                 }
 781                                 if (len == 36) {
 782                                         ao_xmemcpy(&telem, bytes + 1, 32);
 783                                         tick = telem.generic.tick;
 784                                         switch (telem.generic.type) {
 785                                         case AO_TELEMETRY_SENSOR_TELEMETRUM:
 786                                         case AO_TELEMETRY_SENSOR_TELEMINI:
 787                                         case AO_TELEMETRY_SENSOR_TELENANO:
 788                                                 if (!ao_flight_started) {
 789                                                         ao_flight_ground_accel = telem.sensor.ground_accel;
 790                                                         ao_config.accel_plus_g = telem.sensor.accel_plus_g;
 791                                                         ao_config.accel_minus_g = telem.sensor.accel_minus_g;
 792                                                         ao_flight_started = 1;
 793                                                 }
 794                                                 type = 'A';
 795                                                 a = telem.sensor.accel;
 796                                                 b = telem.sensor.pres;
 797                                                 break;
 798                                         }
 799                                 } else if (len == 99) {
 800                                         ao_flight_started = 1;
 801                                         tick = uint16(bytes+1, 21);
 802                                         ao_flight_ground_accel = int16(bytes+1, 7);
 803                                         ao_config.accel_plus_g = int16(bytes+1, 17);
 804                                         ao_config.accel_minus_g = int16(bytes+1, 19);
 805                                         type = 'A';
 806                                         a = int16(bytes+1, 23);
 807                                         b = int16(bytes+1, 25);
 808                                 } else if (len == 98) {
 809                                         ao_flight_started = 1;
 810                                         tick = uint16(bytes+1, 20);
 811                                         ao_flight_ground_accel = int16(bytes+1, 6);
 812                                         ao_config.accel_plus_g = int16(bytes+1, 16);
 813                                         ao_config.accel_minus_g = int16(bytes+1, 18);
 814                                         type = 'A';
 815                                         a = int16(bytes+1, 22);
 816                                         b = int16(bytes+1, 24);
 817                                 } else {
 818                                         printf("unknown len %d\n", len);
 819                                         continue;
 820                                 }
 821                         }
 822                         if (type != 'F' && !ao_flight_started)
 823                                 continue;
 824
 825 #if TELEMEGA
 826                         (void) a;
 827                         (void) b;
 828 #else
 829                         switch (type) {
 830                         case 'F':
 831                                 ao_flight_ground_accel = a;
 832                                 if (ao_config.accel_plus_g == 0) {
 833                                         ao_config.accel_plus_g = a;
 834                                         ao_config.accel_minus_g = a + 530;
 835                                 }
 836                                 if (ao_config.main_deploy == 0)
 837                                         ao_config.main_deploy = 250;
 838                                 ao_flight_started = 1;
 839                                 break;
 840                         case 'S':
 841                                 break;
 842                         case 'A':
 843                                 ao_data_static.tick = tick;
 844                                 ao_data_static.adc.accel = a;
 845                                 ao_data_static.adc.pres_real = b;
 846                                 if (b < AO_MIN_BARO_VALUE)
 847                                         b = AO_MIN_BARO_VALUE;
 848                                 ao_data_static.adc.pres = b;
 849                                 ao_records_read++;
 850                                 ao_insert();
 851                                 return;
 852                         case 'T':
 853                                 ao_data_static.tick = tick;
 854                                 ao_data_static.adc.temp = a;
 855                                 ao_data_static.adc.v_batt = b;
 856                                 break;
 857                         case 'D':
 858                         case 'G':
 859                         case 'N':
 860                         case 'W':
 861                         case 'H':
 862                                 break;
 863                         }
 864 #endif
 865                 }
 866
 867         }
 868 }
 869 #define COUNTS_PER_G 264.8
 870
 871 void
 872 ao_dump_state(void)
 873 {
 874 }
 875
 876 static const struct option options[] = {
 877         { .name = "summary", .has_arg = 0, .val = 's' },
 878         { .name = "debug", .has_arg = 0, .val = 'd' },
 879         { .name = "info", .has_arg = 1, .val = 'i' },
 880         { 0, 0, 0, 0},
 881 };
 882
 883 void run_flight_fixed(char *name, FILE *f, int summary, char *info)
 884 {
 885         emulator_name = name;
 886         emulator_in = f;
 887         emulator_info = info;
 888         ao_summary = summary;
 889         ao_flight_init();
 890         ao_flight();
 891 }
 892
 893 int
 894 main (int argc, char **argv)
 895 {
 896         int     summary = 0;
 897         int     c;
 898         int     i;
 899         char    *info = NULL;
 900
 901 #if HAS_ACCEL
 902         emulator_app="full";
 903 #else
 904         emulator_app="baro";
 905 #endif
 906         while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) {
 907                 switch (c) {
 908                 case 's':
 909                         summary = 1;
 910                         break;
 911                 case 'd':
 912                         ao_flight_debug = 1;
 913                         break;
 914                 case 'i':
 915                         info = optarg;
 916                         break;
 917                 }
 918         }
 919
 920         if (optind == argc)
 921                 run_flight_fixed("<stdin>", stdin, summary, info);
 922         else
 923                 for (i = optind; i < argc; i++) {
 924                         FILE    *f = fopen(argv[i], "r");
 925                         if (!f) {
 926                                 perror(argv[i]);
 927                                 continue;
 928                         }
 929                         run_flight_fixed(argv[i], f, summary, info);
 930                         fclose(f);
 931                 }
 932         exit(0);
 933 }