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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 AO_HERTZ        100
  29
  30 #define HAS_ADC 1
  31 #define AO_DATA_RING    64
  32 #define ao_data_ring_next(n)    (((n) + 1) & (AO_DATA_RING - 1))
  33 #define ao_data_ring_prev(n)    (((n) - 1) & (AO_DATA_RING - 1))
  34
  35 #define AO_M_TO_HEIGHT(m)       ((int16_t) (m))
  36 #define AO_MS_TO_SPEED(ms)      ((int16_t) ((ms) * 16))
  37 #define AO_MSS_TO_ACCEL(mss)    ((int16_t) ((mss) * 16))
  38
  39 #if TELEMEGA
  40 #define AO_ADC_NUM_SENSE        6
  41 #define HAS_MS5607              1
  42 #define HAS_MPU6000             1
  43 #define HAS_MMA655X             1
  44
  45 struct ao_adc {
  46         int16_t                 sense[AO_ADC_NUM_SENSE];
  47         int16_t                 v_batt;
  48         int16_t                 v_pbatt;
  49         int16_t                 accel_ref;
  50         int16_t                 accel;
  51         int16_t                 temp;
  52 };
  53 #else
  54 /*
  55  * One set of samples read from the A/D converter
  56  */
  57 struct ao_adc {
  58         int16_t         accel;          /* accelerometer */
  59         int16_t         pres;           /* pressure sensor */
  60         int16_t         pres_real;      /* unclipped */
  61         int16_t         temp;           /* temperature sensor */
  62         int16_t         v_batt;         /* battery voltage */
  63         int16_t         sense_d;        /* drogue continuity sense */
  64         int16_t         sense_m;        /* main continuity sense */
  65 };
  66
  67 #ifndef HAS_ACCEL
  68 #define HAS_ACCEL 1
  69 #define HAS_ACCEL_REF 0
  70 #endif
  71
  72 #endif
  73
  74 #define __pdata
  75 #define __data
  76 #define __xdata
  77 #define __code
  78 #define __reentrant
  79
  80 #define HAS_FLIGHT 1
  81 #define HAS_IGNITE 1
  82 #define HAS_USB 1
  83 #define HAS_GPS 1
  84
  85 #include <ao_data.h>
  86 #include <ao_log.h>
  87
  88 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
  89 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
  90 #define from_fix(x)     ((x) >> 16)
  91
  92 /*
  93  * Above this height, the baro sensor doesn't work
  94  */
  95 #define AO_BARO_SATURATE        13000
  96 #define AO_MIN_BARO_VALUE       ao_altitude_to_pres(AO_BARO_SATURATE)
  97
  98 /*
  99  * Above this speed, baro measurements are unreliable
 100  */
 101 #define AO_MAX_BARO_SPEED       200
 102
 103 #define ACCEL_NOSE_UP   (ao_accel_2g >> 2)
 104
 105 extern enum ao_flight_state ao_flight_state;
 106
 107 #define FALSE 0
 108 #define TRUE 1
 109
 110 volatile struct ao_data ao_data_ring[AO_DATA_RING];
 111 volatile uint8_t ao_data_head;
 112 int     ao_summary = 0;
 113
 114 #define ao_led_on(l)
 115 #define ao_led_off(l)
 116 #define ao_timer_set_adc_interval(i)
 117 #define ao_wakeup(wchan) ao_dump_state()
 118 #define ao_cmd_register(c)
 119 #define ao_usb_disable()
 120 #define ao_telemetry_set_interval(x)
 121 #define ao_rdf_set(rdf)
 122 #define ao_packet_slave_start()
 123 #define ao_packet_slave_stop()
 124
 125 enum ao_igniter {
 126         ao_igniter_drogue = 0,
 127         ao_igniter_main = 1
 128 };
 129
 130 struct ao_data ao_data_static;
 131
 132 int     drogue_height;
 133 double  drogue_time;
 134 int     main_height;
 135 double  main_time;
 136
 137 int     tick_offset;
 138
 139 static int32_t  ao_k_height;
 140
 141 int16_t
 142 ao_time(void)
 143 {
 144         return ao_data_static.tick;
 145 }
 146
 147 void
 148 ao_delay(int16_t interval)
 149 {
 150         return;
 151 }
 152
 153 void
 154 ao_ignite(enum ao_igniter igniter)
 155 {
 156         double time = (double) (ao_data_static.tick + tick_offset) / 100;
 157
 158         if (igniter == ao_igniter_drogue) {
 159                 drogue_time = time;
 160                 drogue_height = ao_k_height >> 16;
 161         } else {
 162                 main_time = time;
 163                 main_height = ao_k_height >> 16;
 164         }
 165 }
 166
 167 struct ao_task {
 168         int dummy;
 169 };
 170
 171 #define ao_add_task(t,f,n) ((void) (t))
 172
 173 #define ao_log_start()
 174 #define ao_log_stop()
 175
 176 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
 177 #define AO_SEC_TO_TICKS(s)      ((s) * 100)
 178
 179 #define AO_FLIGHT_TEST
 180
 181 int     ao_flight_debug;
 182
 183 FILE *emulator_in;
 184 char *emulator_app;
 185 char *emulator_name;
 186 char *emulator_info;
 187 double emulator_error_max = 4;
 188 double emulator_height_error_max = 20;  /* noise in the baro sensor */
 189
 190 void
 191 ao_dump_state(void);
 192
 193 void
 194 ao_sleep(void *wchan);
 195
 196 const char const * const ao_state_names[] = {
 197         "startup", "idle", "pad", "boost", "fast",
 198         "coast", "drogue", "main", "landed", "invalid"
 199 };
 200
 201 struct ao_cmds {
 202         void            (*func)(void);
 203         const char      *help;
 204 };
 205
 206 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
 207 #define ao_xmemset(d,v,c) memset(d,v,c)
 208 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
 209
 210 #define AO_NEED_ALTITUDE_TO_PRES 1
 211 #if TELEMEGA
 212 #include "ao_convert_pa.c"
 213 #include <ao_ms5607.h>
 214 struct ao_ms5607_prom   ms5607_prom;
 215 #include "ao_ms5607_convert.c"
 216 #define AO_PYRO_NUM     4
 217 #include <ao_pyro.h>
 218 #else
 219 #include "ao_convert.c"
 220 #endif
 221
 222 struct ao_config {
 223         uint16_t        main_deploy;
 224         int16_t         accel_plus_g;
 225         int16_t         accel_minus_g;
 226         uint8_t         pad_orientation;
 227         uint16_t        apogee_lockout;
 228 #if TELEMEGA
 229         struct ao_pyro  pyro[AO_PYRO_NUM];      /* minor version 12 */
 230 #endif
 231 };
 232
 233 #define AO_PAD_ORIENTATION_ANTENNA_UP   0
 234 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
 235
 236 #define ao_config_get()
 237
 238 struct ao_config ao_config;
 239
 240 #define DATA_TO_XDATA(x) (x)
 241
 242
 243 #define GRAVITY 9.80665
 244 extern int16_t ao_ground_accel, ao_flight_accel;
 245 extern int16_t ao_accel_2g;
 246
 247 typedef int16_t accel_t;
 248
 249 extern uint16_t ao_sample_tick;
 250
 251 extern alt_t    ao_sample_height;
 252 extern accel_t  ao_sample_accel;
 253 extern int32_t  ao_accel_scale;
 254 extern alt_t    ao_ground_height;
 255 extern alt_t    ao_sample_alt;
 256
 257 double ao_sample_qangle;
 258
 259 int ao_sample_prev_tick;
 260 uint16_t        prev_tick;
 261
 262
 263 #include "ao_kalman.c"
 264 #include "ao_sqrt.c"
 265 #include "ao_sample.c"
 266 #include "ao_flight.c"
 267 #if TELEMEGA
 268 #define AO_PYRO_NUM     4
 269
 270 #define AO_PYRO_0       0
 271 #define AO_PYRO_1       1
 272 #define AO_PYRO_2       2
 273 #define AO_PYRO_3       3
 274
 275 static void
 276 ao_pyro_pin_set(uint8_t pin, uint8_t value)
 277 {
 278         printf ("set pyro %d %d\n", pin, value);
 279 }
 280
 281 #include "ao_pyro.c"
 282 #endif
 283
 284 #define to_double(f)    ((f) / 65536.0)
 285
 286 static int      ao_records_read = 0;
 287 static int      ao_eof_read = 0;
 288 static int      ao_flight_ground_accel;
 289 static int      ao_flight_started = 0;
 290 static int      ao_test_max_height;
 291 static double   ao_test_max_height_time;
 292 static int      ao_test_main_height;
 293 static double   ao_test_main_height_time;
 294 static double   ao_test_landed_time;
 295 static double   ao_test_landed_height;
 296 static double   ao_test_landed_time;
 297 static int      landed_set;
 298 static double   landed_time;
 299 static double   landed_height;
 300
 301 #if HAS_MPU6000
 302 static struct ao_mpu6000_sample ao_ground_mpu6000;
 303 #endif
 304
 305 void
 306 ao_test_exit(void)
 307 {
 308         double  drogue_error;
 309         double  main_error;
 310         double  landed_error;
 311         double  landed_time_error;
 312
 313         if (!ao_test_main_height_time) {
 314                 ao_test_main_height_time = ao_test_max_height_time;
 315                 ao_test_main_height = ao_test_max_height;
 316         }
 317         drogue_error = fabs(ao_test_max_height_time - drogue_time);
 318         main_error = fabs(ao_test_main_height_time - main_time);
 319         landed_error = fabs(ao_test_landed_height - landed_height);
 320         landed_time_error = ao_test_landed_time - landed_time;
 321         if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
 322                 printf ("%s %s\n",
 323                         emulator_app, emulator_name);
 324                 if (emulator_info)
 325                         printf ("\t%s\n", emulator_info);
 326                 printf ("\tApogee error %g\n", drogue_error);
 327                 printf ("\tMain error %g\n", main_error);
 328                 printf ("\tLanded height error %g\n", landed_error);
 329                 printf ("\tLanded time error %g\n", landed_time_error);
 330                 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 331                         ao_test_max_height, ao_test_max_height_time,
 332                         ao_test_main_height, ao_test_main_height_time,
 333                         ao_test_landed_height, ao_test_landed_time);
 334                 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 335                         drogue_height, drogue_time, main_height, main_time,
 336                         landed_height, landed_time);
 337                 exit (1);
 338         }
 339         exit(0);
 340 }
 341
 342 #if HAS_MPU6000
 343 static double
 344 ao_mpu6000_accel(int16_t sensor)
 345 {
 346         return sensor / 32767.0 * MPU6000_ACCEL_FULLSCALE * GRAVITY;
 347 }
 348
 349 static double
 350 ao_mpu6000_gyro(int32_t sensor)
 351 {
 352         return sensor / 32767.0 * MPU6000_GYRO_FULLSCALE;
 353 }
 354 #endif
 355
 356 void
 357 ao_insert(void)
 358 {
 359         double  time;
 360
 361         ao_data_ring[ao_data_head] = ao_data_static;
 362         ao_data_head = ao_data_ring_next(ao_data_head);
 363         if (ao_flight_state != ao_flight_startup) {
 364 #if HAS_ACCEL
 365                 double  accel = ((ao_flight_ground_accel - ao_data_accel_cook(&ao_data_static)) * GRAVITY * 2.0) /
 366                         (ao_config.accel_minus_g - ao_config.accel_plus_g);
 367 #else
 368                 double  accel = 0.0;
 369 #endif
 370 #if TELEMEGA
 371                 double  height;
 372
 373                 ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
 374                 height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height;
 375 #else
 376                 double  height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
 377 #endif
 378
 379                 if (!tick_offset)
 380                         tick_offset = -ao_data_static.tick;
 381                 if ((prev_tick - ao_data_static.tick) > 0x400)
 382                         tick_offset += 65536;
 383                 prev_tick = ao_data_static.tick;
 384                 time = (double) (ao_data_static.tick + tick_offset) / 100;
 385
 386                 if (ao_test_max_height < height) {
 387                         ao_test_max_height = height;
 388                         ao_test_max_height_time = time;
 389                         ao_test_landed_height = height;
 390                         ao_test_landed_time = time;
 391                 }
 392                 if (height > ao_config.main_deploy) {
 393                         ao_test_main_height_time = time;
 394                         ao_test_main_height = height;
 395                 }
 396
 397                 if (ao_test_landed_height > height) {
 398                         ao_test_landed_height = height;
 399                         ao_test_landed_time = time;
 400                 }
 401
 402                 if (ao_flight_state == ao_flight_landed && !landed_set) {
 403                         landed_set = 1;
 404                         landed_time = time;
 405                         landed_height = height;
 406                 }
 407
 408                 if (!ao_summary) {
 409                         printf("%7.2f height %8.2f accel %8.3f "
 410 #if TELEMEGA
 411                                "roll %8.3f angle %8.3f qangle %8.3f "
 412                                "accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f "
 413 #endif
 414                                "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",
 415                                time,
 416                                height,
 417                                accel,
 418 #if TELEMEGA
 419                                ao_mpu6000_gyro(ao_sample_roll_angle) / 100.0,
 420                                ao_mpu6000_gyro(ao_sample_angle) / 100.0,
 421                                ao_sample_qangle,
 422                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
 423                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
 424                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_z),
 425                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x),
 426                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y),
 427                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z),
 428 #endif
 429                                ao_state_names[ao_flight_state],
 430                                ao_k_height / 65536.0,
 431                                ao_k_speed / 65536.0 / 16.0,
 432                                ao_k_accel / 65536.0 / 16.0,
 433                                ao_avg_height,
 434                                drogue_height,
 435                                main_height,
 436                                ao_error_h_sq_avg);
 437
 438 //                      if (ao_flight_state == ao_flight_landed)
 439 //                              ao_test_exit();
 440                 }
 441         }
 442 }
 443
 444 #define AO_MAX_CALLSIGN                 8
 445 #define AO_MAX_VERSION                  8
 446 #define AO_MAX_TELEMETRY                128
 447
 448 struct ao_telemetry_generic {
 449         uint16_t        serial;         /* 0 */
 450         uint16_t        tick;           /* 2 */
 451         uint8_t         type;           /* 4 */
 452         uint8_t         payload[27];    /* 5 */
 453         /* 32 */
 454 };
 455
 456 #define AO_TELEMETRY_SENSOR_TELEMETRUM  0x01
 457 #define AO_TELEMETRY_SENSOR_TELEMINI    0x02
 458 #define AO_TELEMETRY_SENSOR_TELENANO    0x03
 459
 460 struct ao_telemetry_sensor {
 461         uint16_t        serial;         /*  0 */
 462         uint16_t        tick;           /*  2 */
 463         uint8_t         type;           /*  4 */
 464
 465         uint8_t         state;          /*  5 flight state */
 466         int16_t         accel;          /*  6 accelerometer (TM only) */
 467         int16_t         pres;           /*  8 pressure sensor */
 468         int16_t         temp;           /* 10 temperature sensor */
 469         int16_t         v_batt;         /* 12 battery voltage */
 470         int16_t         sense_d;        /* 14 drogue continuity sense (TM/Tm) */
 471         int16_t         sense_m;        /* 16 main continuity sense (TM/Tm) */
 472
 473         int16_t         acceleration;   /* 18 m/s² * 16 */
 474         int16_t         speed;          /* 20 m/s * 16 */
 475         int16_t         height;         /* 22 m */
 476
 477         int16_t         ground_pres;    /* 24 average pres on pad */
 478         int16_t         ground_accel;   /* 26 average accel on pad */
 479         int16_t         accel_plus_g;   /* 28 accel calibration at +1g */
 480         int16_t         accel_minus_g;  /* 30 accel calibration at -1g */
 481         /* 32 */
 482 };
 483
 484 #define AO_TELEMETRY_CONFIGURATION      0x04
 485
 486 struct ao_telemetry_configuration {
 487         uint16_t        serial;                         /*  0 */
 488         uint16_t        tick;                           /*  2 */
 489         uint8_t         type;                           /*  4 */
 490
 491         uint8_t         device;                         /*  5 device type */
 492         uint16_t        flight;                         /*  6 flight number */
 493         uint8_t         config_major;                   /*  8 Config major version */
 494         uint8_t         config_minor;                   /*  9 Config minor version */
 495         uint16_t        apogee_delay;                   /* 10 Apogee deploy delay in seconds */
 496         uint16_t        main_deploy;                    /* 12 Main deploy alt in meters */
 497         uint16_t        flight_log_max;                 /* 14 Maximum flight log size in kB */
 498         char            callsign[AO_MAX_CALLSIGN];      /* 16 Radio operator identity */
 499         char            version[AO_MAX_VERSION];        /* 24 Software version */
 500         /* 32 */
 501 };
 502
 503 #define AO_TELEMETRY_LOCATION           0x05
 504
 505 #define AO_GPS_MODE_NOT_VALID           'N'
 506 #define AO_GPS_MODE_AUTONOMOUS          'A'
 507 #define AO_GPS_MODE_DIFFERENTIAL        'D'
 508 #define AO_GPS_MODE_ESTIMATED           'E'
 509 #define AO_GPS_MODE_MANUAL              'M'
 510 #define AO_GPS_MODE_SIMULATED           'S'
 511
 512 struct ao_telemetry_location {
 513         uint16_t        serial;         /*  0 */
 514         uint16_t        tick;           /*  2 */
 515         uint8_t         type;           /*  4 */
 516
 517         uint8_t         flags;          /*  5 Number of sats and other flags */
 518         int16_t         altitude;       /*  6 GPS reported altitude (m) */
 519         int32_t         latitude;       /*  8 latitude (degrees * 10⁷) */
 520         int32_t         longitude;      /* 12 longitude (degrees * 10⁷) */
 521         uint8_t         year;           /* 16 (- 2000) */
 522         uint8_t         month;          /* 17 (1-12) */
 523         uint8_t         day;            /* 18 (1-31) */
 524         uint8_t         hour;           /* 19 (0-23) */
 525         uint8_t         minute;         /* 20 (0-59) */
 526         uint8_t         second;         /* 21 (0-59) */
 527         uint8_t         pdop;           /* 22 (m * 5) */
 528         uint8_t         hdop;           /* 23 (m * 5) */
 529         uint8_t         vdop;           /* 24 (m * 5) */
 530         uint8_t         mode;           /* 25 */
 531         uint16_t        ground_speed;   /* 26 cm/s */
 532         int16_t         climb_rate;     /* 28 cm/s */
 533         uint8_t         course;         /* 30 degrees / 2 */
 534         uint8_t         unused[1];      /* 31 */
 535         /* 32 */
 536 };
 537
 538 #define AO_TELEMETRY_SATELLITE          0x06
 539
 540 struct ao_telemetry_satellite_info {
 541         uint8_t         svid;
 542         uint8_t         c_n_1;
 543 };
 544
 545 struct ao_telemetry_satellite {
 546         uint16_t                                serial;         /*  0 */
 547         uint16_t                                tick;           /*  2 */
 548         uint8_t                                 type;           /*  4 */
 549         uint8_t                                 channels;       /*  5 number of reported sats */
 550
 551         struct ao_telemetry_satellite_info      sats[12];       /* 6 */
 552         uint8_t                                 unused[2];      /* 30 */
 553         /* 32 */
 554 };
 555
 556 union ao_telemetry_all {
 557         struct ao_telemetry_generic             generic;
 558         struct ao_telemetry_sensor              sensor;
 559         struct ao_telemetry_configuration       configuration;
 560         struct ao_telemetry_location            location;
 561         struct ao_telemetry_satellite           satellite;
 562 };
 563
 564 uint16_t
 565 uint16(uint8_t *bytes, int off)
 566 {
 567         return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
 568 }
 569
 570 int16_t
 571 int16(uint8_t *bytes, int off)
 572 {
 573         return (int16_t) uint16(bytes, off);
 574 }
 575
 576 uint32_t
 577 uint32(uint8_t *bytes, int off)
 578 {
 579         return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
 580                 (((uint32_t) bytes[off+2]) << 16) |
 581                 (((uint32_t) bytes[off+3]) << 24);
 582 }
 583
 584 int32_t
 585 int32(uint8_t *bytes, int off)
 586 {
 587         return (int32_t) uint32(bytes, off);
 588 }
 589
 590 static int log_format;
 591
 592 #if TELEMEGA
 593
 594 static double
 595 ao_vec_norm(double x, double y, double z)
 596 {
 597         return x*x + y*y + z*z;
 598 }
 599
 600 static void
 601 ao_vec_normalize(double *x, double *y, double *z)
 602 {
 603         double  scale = 1/sqrt(ao_vec_norm(*x, *y, *z));
 604
 605         *x *= scale;
 606         *y *= scale;
 607         *z *= scale;
 608 }
 609
 610 struct ao_quat {
 611         double  q0, q1, q2, q3;
 612 };
 613
 614 static void
 615 ao_quat_mul(struct ao_quat *r, struct ao_quat *a, struct ao_quat *b)
 616 {
 617         r->q0 = a->q0 * b->q0 - a->q1 * b->q1 - a->q2 * b->q2 - a->q3 * b->q3;
 618         r->q1 = a->q0 * b->q1 + a->q1 * b->q0 + a->q2 * b->q3 - a->q3 * b->q2;
 619         r->q2 = a->q0 * b->q2 - a->q1 * b->q3 + a->q2 * b->q0 + a->q3 * b->q1;
 620         r->q3 = a->q0 * b->q3 + a->q1 * b->q2 - a->q2 * b->q1 + a->q3 * b->q0;
 621 }
 622
 623 #if 0
 624 static void
 625 ao_quat_scale(struct ao_quat *r, struct ao_quat *a, double s)
 626 {
 627         r->q0 = a->q0 * s;
 628         r->q1 = a->q1 * s;
 629         r->q2 = a->q2 * s;
 630         r->q3 = a->q3 * s;
 631 }
 632 #endif
 633
 634 static void
 635 ao_quat_conj(struct ao_quat *r, struct ao_quat *a)
 636 {
 637         r->q0 =  a->q0;
 638         r->q1 = -a->q1;
 639         r->q2 = -a->q2;
 640         r->q3 = -a->q3;
 641 }
 642
 643 static void
 644 ao_quat_rot(struct ao_quat *r, struct ao_quat *a, struct ao_quat *q)
 645 {
 646         struct ao_quat  t;
 647         struct ao_quat  c;
 648         ao_quat_mul(&t, q, a);
 649         ao_quat_conj(&c, q);
 650         ao_quat_mul(r, &t, &c);
 651 }
 652
 653 static void
 654 ao_quat_from_angle(struct ao_quat *r,
 655                    double x_rad,
 656                    double y_rad,
 657                    double z_rad)
 658 {
 659         double angle = sqrt (x_rad * x_rad + y_rad * y_rad + z_rad * z_rad);
 660         double s = sin(angle/2);
 661         double c = cos(angle/2);
 662
 663         r->q0 = c;
 664         r->q1 = x_rad * s / angle;
 665         r->q2 = y_rad * s / angle;
 666         r->q3 = z_rad * s / angle;
 667 }
 668
 669 static void
 670 ao_quat_from_vector(struct ao_quat *r, double x, double y, double z)
 671 {
 672         ao_vec_normalize(&x, &y, &z);
 673         double  x_rad = atan2(z, y);
 674         double  y_rad = atan2(x, z);
 675         double  z_rad = atan2(y, x);
 676
 677         ao_quat_from_angle(r, x_rad, y_rad, z_rad);
 678 }
 679
 680 static double
 681 ao_quat_norm(struct ao_quat *a)
 682 {
 683         return (a->q0 * a->q0 +
 684                 a->q1 * a->q1 +
 685                 a->q2 * a->q2 +
 686                 a->q3 * a->q3);
 687 }
 688
 689 static void
 690 ao_quat_normalize(struct ao_quat *a)
 691 {
 692         double  norm = ao_quat_norm(a);
 693
 694         if (norm) {
 695                 double m = 1/sqrt(norm);
 696
 697                 a->q0 *= m;
 698                 a->q1 *= m;
 699                 a->q2 *= m;
 700                 a->q3 *= m;
 701         }
 702 }
 703
 704 static struct ao_quat   ao_up, ao_current;
 705 static struct ao_quat   ao_orient;
 706 static int              ao_orient_tick;
 707
 708 void
 709 set_orientation(double x, double y, double z, int tick)
 710 {
 711         struct ao_quat  t;
 712
 713         printf ("set_orientation %g %g %g\n", x, y, z);
 714         ao_quat_from_vector(&ao_orient, x, y, z);
 715         ao_up.q1 = ao_up.q2 = 0;
 716         ao_up.q0 = ao_up.q3 = sqrt(2)/2;
 717         ao_orient_tick = tick;
 718
 719         ao_orient.q0 = 1;
 720         ao_orient.q1 = 0;
 721         ao_orient.q2 = 0;
 722         ao_orient.q3 = 0;
 723
 724         printf ("orient (%g) %g %g %g up (%g) %g %g %g\n",
 725                 ao_orient.q0,
 726                 ao_orient.q1,
 727                 ao_orient.q2,
 728                 ao_orient.q3,
 729                 ao_up.q0,
 730                 ao_up.q1,
 731                 ao_up.q2,
 732                 ao_up.q3);
 733
 734         ao_quat_rot(&t, &ao_up, &ao_orient);
 735         printf ("pad orient (%g) %g %g %g\n",
 736                 t.q0,
 737                 t.q1,
 738                 t.q2,
 739                 t.q3);
 740
 741 }
 742
 743 void
 744 update_orientation (double rate_x, double rate_y, double rate_z, int tick)
 745 {
 746         struct ao_quat  q_dot;
 747         double          lambda;
 748         double          dt = (tick - ao_orient_tick) / 100.0;
 749
 750         ao_orient_tick = tick;
 751
 752 //      lambda = 1 - ao_quat_norm(&ao_orient);
 753         lambda = 0;
 754
 755         q_dot.q0 = -0.5 * (ao_orient.q1 * rate_x + ao_orient.q2 * rate_y + ao_orient.q3 * rate_z) + lambda * ao_orient.q0;
 756         q_dot.q1 =  0.5 * (ao_orient.q0 * rate_x + ao_orient.q2 * rate_z - ao_orient.q3 * rate_y) + lambda * ao_orient.q1;
 757         q_dot.q2 =  0.5 * (ao_orient.q0 * rate_y + ao_orient.q3 * rate_x - ao_orient.q1 * rate_z) + lambda * ao_orient.q2;
 758         q_dot.q3 =  0.5 * (ao_orient.q0 * rate_z + ao_orient.q1 * rate_y - ao_orient.q2 * rate_x) + lambda * ao_orient.q3;
 759
 760 #if 0
 761         printf ("update_orientation %g %g %g (%g s)\n", rate_x, rate_y, rate_z, dt);
 762         printf ("q_dot (%g) %g %g %g\n",
 763                 q_dot.q0,
 764                 q_dot.q1,
 765                 q_dot.q2,
 766                 q_dot.q3);
 767 #endif
 768
 769         ao_orient.q0 += q_dot.q0 * dt;
 770         ao_orient.q1 += q_dot.q1 * dt;
 771         ao_orient.q2 += q_dot.q2 * dt;
 772         ao_orient.q3 += q_dot.q3 * dt;
 773
 774         ao_quat_normalize(&ao_orient);
 775
 776         ao_quat_rot(&ao_current, &ao_up, &ao_orient);
 777
 778         ao_sample_qangle = 180 / M_PI * acos(ao_current.q3 * sqrt(2));
 779 #if 0
 780         printf ("orient (%g) %g %g %g current (%g) %g %g %g\n",
 781                 ao_orient.q0,
 782                 ao_orient.q1,
 783                 ao_orient.q2,
 784                 ao_orient.q3,
 785                 ao_current.q0,
 786                 ao_current.q1,
 787                 ao_current.q2,
 788                 ao_current.q3);
 789 #endif
 790 }
 791 #endif
 792
 793 void
 794 ao_sleep(void *wchan)
 795 {
 796         if (wchan == &ao_data_head) {
 797                 char            type = 0;
 798                 uint16_t        tick = 0;
 799                 uint16_t        a = 0, b = 0;
 800                 uint8_t         bytes[1024];
 801                 union ao_telemetry_all  telem;
 802                 char            line[1024];
 803                 char            *saveptr;
 804                 char            *l;
 805                 char            *words[64];
 806                 int             nword;
 807
 808 #if TELEMEGA
 809                 if (ao_flight_state >= ao_flight_boost && ao_flight_state < ao_flight_landed)
 810                         ao_pyro_check();
 811 #endif
 812                 for (;;) {
 813                         if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 814                         {
 815 #if TELEMEGA
 816                                 ao_data_static.mpu6000 = ao_ground_mpu6000;
 817 #else
 818                                 ao_data_static.adc.accel = ao_flight_ground_accel;
 819 #endif
 820                                 ao_insert();
 821                                 return;
 822                         }
 823
 824                         if (!fgets(line, sizeof (line), emulator_in)) {
 825                                 if (++ao_eof_read >= 1000) {
 826                                         if (!ao_summary)
 827                                                 printf ("no more data, exiting simulation\n");
 828                                         ao_test_exit();
 829                                 }
 830                                 ao_data_static.tick += 10;
 831                                 ao_insert();
 832                                 return;
 833                         }
 834                         l = line;
 835                         for (nword = 0; nword < 64; nword++) {
 836                                 words[nword] = strtok_r(l, " \t\n", &saveptr);
 837                                 l = NULL;
 838                                 if (words[nword] == NULL)
 839                                         break;
 840                         }
 841 #if TELEMEGA
 842                         if (log_format == AO_LOG_FORMAT_TELEMEGA && nword == 30 && strlen(words[0]) == 1) {
 843                                 int     i;
 844                                 struct ao_ms5607_value  value;
 845
 846                                 type = words[0][0];
 847                                 tick = strtoul(words[1], NULL, 16);
 848 //                              printf ("%c %04x", type, tick);
 849                                 for (i = 2; i < nword; i++) {
 850                                         bytes[i - 2] = strtoul(words[i], NULL, 16);
 851 //                                      printf(" %02x", bytes[i-2]);
 852                                 }
 853 //                              printf ("\n");
 854                                 switch (type) {
 855                                 case 'F':
 856                                         ao_flight_ground_accel = int16(bytes, 2);
 857                                         ao_flight_started = 1;
 858                                         ao_ground_pres = int32(bytes, 4);
 859                                         ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
 860                                         break;
 861                                 case 'A':
 862                                         ao_data_static.tick = tick;
 863                                         ao_data_static.ms5607_raw.pres = int32(bytes, 0);
 864                                         ao_data_static.ms5607_raw.temp = int32(bytes, 4);
 865                                         ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
 866                                         ao_data_static.mpu6000.accel_x = int16(bytes, 8);
 867                                         ao_data_static.mpu6000.accel_y = -int16(bytes, 10);
 868                                         ao_data_static.mpu6000.accel_z = int16(bytes, 12);
 869                                         ao_data_static.mpu6000.gyro_x = int16(bytes, 14);
 870                                         ao_data_static.mpu6000.gyro_y = -int16(bytes, 16);
 871                                         ao_data_static.mpu6000.gyro_z = int16(bytes, 18);
 872 #if HAS_MMA655X
 873                                         ao_data_static.mma655x = int16(bytes, 26);
 874 #endif
 875                                         if (ao_records_read == 0)
 876                                                 ao_ground_mpu6000 = ao_data_static.mpu6000;
 877                                         else if (ao_records_read < 10) {
 878 #define f(f) ao_ground_mpu6000.f = ao_ground_mpu6000.f + ((ao_data_static.mpu6000.f - ao_ground_mpu6000.f) >> 2)
 879                                                 f(accel_x);
 880                                                 f(accel_y);
 881                                                 f(accel_z);
 882                                                 f(gyro_x);
 883                                                 f(gyro_y);
 884                                                 f(gyro_z);
 885
 886                                                 double          accel_x = ao_mpu6000_accel(ao_ground_mpu6000.accel_x);
 887                                                 double          accel_y = ao_mpu6000_accel(ao_ground_mpu6000.accel_y);
 888                                                 double          accel_z = ao_mpu6000_accel(ao_ground_mpu6000.accel_z);
 889
 890                                                 /* X and Y are in the ground plane, arbitraryily picked as MPU X and Z axes
 891                                                  * Z is normal to the ground, the MPU y axis
 892                                                  */
 893                                                 set_orientation(accel_x, accel_z, accel_y, tick);
 894                                         } else {
 895                                                 double          rate_x = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x);
 896                                                 double          rate_y = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y);
 897                                                 double          rate_z = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z);
 898
 899                                                 update_orientation(rate_x * M_PI / 180, rate_z * M_PI / 180, rate_y * M_PI / 180, tick);
 900                                         }
 901                                         ao_records_read++;
 902                                         ao_insert();
 903                                         return;
 904                                 }
 905                                 continue;
 906                         } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
 907                                 if (strcmp(words[1], "reserved:") == 0)
 908                                         ms5607_prom.reserved = strtoul(words[2], NULL, 10);
 909                                 else if (strcmp(words[1], "sens:") == 0)
 910                                         ms5607_prom.sens = strtoul(words[2], NULL, 10);
 911                                 else if (strcmp(words[1], "off:") == 0)
 912                                         ms5607_prom.off = strtoul(words[2], NULL, 10);
 913                                 else if (strcmp(words[1], "tcs:") == 0)
 914                                         ms5607_prom.tcs = strtoul(words[2], NULL, 10);
 915                                 else if (strcmp(words[1], "tco:") == 0)
 916                                         ms5607_prom.tco = strtoul(words[2], NULL, 10);
 917                                 else if (strcmp(words[1], "tref:") == 0)
 918                                         ms5607_prom.tref = strtoul(words[2], NULL, 10);
 919                                 else if (strcmp(words[1], "tempsens:") == 0)
 920                                         ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
 921                                 else if (strcmp(words[1], "crc:") == 0)
 922                                         ms5607_prom.crc = strtoul(words[2], NULL, 10);
 923                                 continue;
 924                         } else if (nword >= 3 && strcmp(words[0], "Pyro") == 0) {
 925                                 int     p = strtoul(words[1], NULL, 10);
 926                                 int     i, j;
 927                                 struct ao_pyro  *pyro = &ao_config.pyro[p];
 928
 929                                 for (i = 2; i < nword; i++) {
 930                                         for (j = 0; j < NUM_PYRO_VALUES; j++)
 931                                                 if (!strcmp (words[2], ao_pyro_values[j].name))
 932                                                         break;
 933                                         if (j == NUM_PYRO_VALUES)
 934                                                 continue;
 935                                         pyro->flags |= ao_pyro_values[j].flag;
 936                                         if (ao_pyro_values[j].offset != NO_VALUE && i + 1 < nword) {
 937                                                 int16_t val = strtoul(words[++i], NULL, 10);
 938                                                 *((int16_t *) ((char *) pyro + ao_pyro_values[j].offset)) = val;
 939                                         }
 940                                 }
 941                         }
 942 #else
 943                         if (nword == 4 && log_format != AO_LOG_FORMAT_TELEMEGA) {
 944                                 type = words[0][0];
 945                                 tick = strtoul(words[1], NULL, 16);
 946                                 a = strtoul(words[2], NULL, 16);
 947                                 b = strtoul(words[3], NULL, 16);
 948                                 if (type == 'P')
 949                                         type = 'A';
 950                         }
 951 #endif
 952                         else if (nword == 2 && strcmp(words[0], "log-format") == 0) {
 953                                 log_format = strtoul(words[1], NULL, 10);
 954                         } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
 955                                 ao_config.accel_plus_g = atoi(words[3]);
 956                                 ao_config.accel_minus_g = atoi(words[5]);
 957                         } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
 958                                 ao_config.main_deploy = atoi(words[2]);
 959                         } else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 &&
 960                                    strcmp(words[1], "lockout:") == 0) {
 961                                 ao_config.apogee_lockout = atoi(words[2]);
 962                         } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
 963                                 tick = atoi(words[10]);
 964                                 if (!ao_flight_started) {
 965                                         type = 'F';
 966                                         a = atoi(words[26]);
 967                                         ao_flight_started = 1;
 968                                 } else {
 969                                         type = 'A';
 970                                         a = atoi(words[12]);
 971                                         b = atoi(words[14]);
 972                                 }
 973                         } else if (nword == 3 && strcmp(words[0], "BARO") == 0) {
 974                                 tick = strtol(words[1], NULL, 16);
 975                                 a = 16384 - 328;
 976                                 b = strtol(words[2], NULL, 10);
 977                                 type = 'A';
 978                                 if (!ao_flight_started) {
 979                                         ao_flight_ground_accel = 16384 - 328;
 980                                         ao_config.accel_plus_g = 16384 - 328;
 981                                         ao_config.accel_minus_g = 16384 + 328;
 982                                         ao_flight_started = 1;
 983                                 }
 984                         } else if (nword == 2 && strcmp(words[0], "TELEM") == 0) {
 985                                 __xdata char    *hex = words[1];
 986                                 char    elt[3];
 987                                 int     i, len;
 988                                 uint8_t sum;
 989
 990                                 len = strlen(hex);
 991                                 if (len > sizeof (bytes) * 2) {
 992                                         len = sizeof (bytes)*2;
 993                                         hex[len] = '\0';
 994                                 }
 995                                 for (i = 0; i < len; i += 2) {
 996                                         elt[0] = hex[i];
 997                                         elt[1] = hex[i+1];
 998                                         elt[2] = '\0';
 999                                         bytes[i/2] = (uint8_t) strtol(elt, NULL, 16);
1000                                 }
1001                                 len = i/2;
1002                                 if (bytes[0] != len - 2) {
1003                                         printf ("bad length %d != %d\n", bytes[0], len - 2);
1004                                         continue;
1005                                 }
1006                                 sum = 0x5a;
1007                                 for (i = 1; i < len-1; i++)
1008                                         sum += bytes[i];
1009                                 if (sum != bytes[len-1]) {
1010                                         printf ("bad checksum\n");
1011                                         continue;
1012                                 }
1013                                 if ((bytes[len-2] & 0x80) == 0) {
1014                                         continue;
1015                                 }
1016                                 if (len == 36) {
1017                                         ao_xmemcpy(&telem, bytes + 1, 32);
1018                                         tick = telem.generic.tick;
1019                                         switch (telem.generic.type) {
1020                                         case AO_TELEMETRY_SENSOR_TELEMETRUM:
1021                                         case AO_TELEMETRY_SENSOR_TELEMINI:
1022                                         case AO_TELEMETRY_SENSOR_TELENANO:
1023                                                 if (!ao_flight_started) {
1024                                                         ao_flight_ground_accel = telem.sensor.ground_accel;
1025                                                         ao_config.accel_plus_g = telem.sensor.accel_plus_g;
1026                                                         ao_config.accel_minus_g = telem.sensor.accel_minus_g;
1027                                                         ao_flight_started = 1;
1028                                                 }
1029                                                 type = 'A';
1030                                                 a = telem.sensor.accel;
1031                                                 b = telem.sensor.pres;
1032                                                 break;
1033                                         }
1034                                 } else if (len == 99) {
1035                                         ao_flight_started = 1;
1036                                         tick = uint16(bytes+1, 21);
1037                                         ao_flight_ground_accel = int16(bytes+1, 7);
1038                                         ao_config.accel_plus_g = int16(bytes+1, 17);
1039                                         ao_config.accel_minus_g = int16(bytes+1, 19);
1040                                         type = 'A';
1041                                         a = int16(bytes+1, 23);
1042                                         b = int16(bytes+1, 25);
1043                                 } else if (len == 98) {
1044                                         ao_flight_started = 1;
1045                                         tick = uint16(bytes+1, 20);
1046                                         ao_flight_ground_accel = int16(bytes+1, 6);
1047                                         ao_config.accel_plus_g = int16(bytes+1, 16);
1048                                         ao_config.accel_minus_g = int16(bytes+1, 18);
1049                                         type = 'A';
1050                                         a = int16(bytes+1, 22);
1051                                         b = int16(bytes+1, 24);
1052                                 } else {
1053                                         printf("unknown len %d\n", len);
1054                                         continue;
1055                                 }
1056                         }
1057                         if (type != 'F' && !ao_flight_started)
1058                                 continue;
1059
1060 #if TELEMEGA
1061                         (void) a;
1062                         (void) b;
1063 #else
1064                         switch (type) {
1065                         case 'F':
1066                                 ao_flight_ground_accel = a;
1067                                 if (ao_config.accel_plus_g == 0) {
1068                                         ao_config.accel_plus_g = a;
1069                                         ao_config.accel_minus_g = a + 530;
1070                                 }
1071                                 if (ao_config.main_deploy == 0)
1072                                         ao_config.main_deploy = 250;
1073                                 ao_flight_started = 1;
1074                                 break;
1075                         case 'S':
1076                                 break;
1077                         case 'A':
1078                                 ao_data_static.tick = tick;
1079                                 ao_data_static.adc.accel = a;
1080                                 ao_data_static.adc.pres_real = b;
1081                                 if (b < AO_MIN_BARO_VALUE)
1082                                         b = AO_MIN_BARO_VALUE;
1083                                 ao_data_static.adc.pres = b;
1084                                 ao_records_read++;
1085                                 ao_insert();
1086                                 return;
1087                         case 'T':
1088                                 ao_data_static.tick = tick;
1089                                 ao_data_static.adc.temp = a;
1090                                 ao_data_static.adc.v_batt = b;
1091                                 break;
1092                         case 'D':
1093                         case 'G':
1094                         case 'N':
1095                         case 'W':
1096                         case 'H':
1097                                 break;
1098                         }
1099 #endif
1100                 }
1101
1102         }
1103 }
1104 #define COUNTS_PER_G 264.8
1105
1106 void
1107 ao_dump_state(void)
1108 {
1109 }
1110
1111 static const struct option options[] = {
1112         { .name = "summary", .has_arg = 0, .val = 's' },
1113         { .name = "debug", .has_arg = 0, .val = 'd' },
1114         { .name = "info", .has_arg = 1, .val = 'i' },
1115         { 0, 0, 0, 0},
1116 };
1117
1118 void run_flight_fixed(char *name, FILE *f, int summary, char *info)
1119 {
1120         emulator_name = name;
1121         emulator_in = f;
1122         emulator_info = info;
1123         ao_summary = summary;
1124         ao_flight_init();
1125         ao_flight();
1126 }
1127
1128 int
1129 main (int argc, char **argv)
1130 {
1131         int     summary = 0;
1132         int     c;
1133         int     i;
1134         char    *info = NULL;
1135
1136 #if HAS_ACCEL
1137         emulator_app="full";
1138 #else
1139         emulator_app="baro";
1140 #endif
1141         while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) {
1142                 switch (c) {
1143                 case 's':
1144                         summary = 1;
1145                         break;
1146                 case 'd':
1147                         ao_flight_debug = 1;
1148                         break;
1149                 case 'i':
1150                         info = optarg;
1151                         break;
1152                 }
1153         }
1154
1155         if (optind == argc)
1156                 run_flight_fixed("<stdin>", stdin, summary, info);
1157         else
1158                 for (i = optind; i < argc; i++) {
1159                         FILE    *f = fopen(argv[i], "r");
1160                         if (!f) {
1161                                 perror(argv[i]);
1162                                 continue;
1163                         }
1164                         run_flight_fixed(argv[i], f, summary, info);
1165                         fclose(f);
1166                 }
1167         exit(0);
1168 }