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