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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 <string.h>
  24 #include <getopt.h>
  25 #include <math.h>
  26
  27 #define AO_HERTZ        100
  28
  29 #define HAS_ADC 1
  30 #define AO_DATA_RING    64
  31 #define ao_data_ring_next(n)    (((n) + 1) & (AO_DATA_RING - 1))
  32 #define ao_data_ring_prev(n)    (((n) - 1) & (AO_DATA_RING - 1))
  33
  34 #define AO_M_TO_HEIGHT(m)       ((int16_t) (m))
  35 #define AO_MS_TO_SPEED(ms)      ((int16_t) ((ms) * 16))
  36 #define AO_MSS_TO_ACCEL(mss)    ((int16_t) ((mss) * 16))
  37
  38 /*
  39  * One set of samples read from the A/D converter
  40  */
  41 struct ao_adc {
  42         int16_t         accel;          /* accelerometer */
  43         int16_t         pres;           /* pressure sensor */
  44         int16_t         pres_real;      /* unclipped */
  45         int16_t         temp;           /* temperature sensor */
  46         int16_t         v_batt;         /* battery voltage */
  47         int16_t         sense_d;        /* drogue continuity sense */
  48         int16_t         sense_m;        /* main continuity sense */
  49 };
  50
  51 #define __pdata
  52 #define __data
  53 #define __xdata
  54 #define __code
  55 #define __reentrant
  56
  57 #include <ao_data.h>
  58
  59 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
  60 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
  61 #define from_fix(x)     ((x) >> 16)
  62
  63 /*
  64  * Above this height, the baro sensor doesn't work
  65  */
  66 #define AO_MAX_BARO_HEIGHT      12000
  67 #define AO_BARO_SATURATE        13000
  68 #define AO_MIN_BARO_VALUE       ao_altitude_to_pres(AO_BARO_SATURATE)
  69
  70 /*
  71  * Above this speed, baro measurements are unreliable
  72  */
  73 #define AO_MAX_BARO_SPEED       200
  74
  75 #define ACCEL_NOSE_UP   (ao_accel_2g >> 2)
  76
  77 enum ao_flight_state {
  78         ao_flight_startup = 0,
  79         ao_flight_idle = 1,
  80         ao_flight_pad = 2,
  81         ao_flight_boost = 3,
  82         ao_flight_fast = 4,
  83         ao_flight_coast = 5,
  84         ao_flight_drogue = 6,
  85         ao_flight_main = 7,
  86         ao_flight_landed = 8,
  87         ao_flight_invalid = 9
  88 };
  89
  90 extern enum ao_flight_state ao_flight_state;
  91
  92 #define FALSE 0
  93 #define TRUE 1
  94
  95 volatile struct ao_data ao_data_ring[AO_DATA_RING];
  96 volatile uint8_t ao_data_head;
  97 int     ao_summary = 0;
  98
  99 #define ao_led_on(l)
 100 #define ao_led_off(l)
 101 #define ao_timer_set_adc_interval(i)
 102 #define ao_wakeup(wchan) ao_dump_state()
 103 #define ao_cmd_register(c)
 104 #define ao_usb_disable()
 105 #define ao_telemetry_set_interval(x)
 106 #define ao_rdf_set(rdf)
 107 #define ao_packet_slave_start()
 108 #define ao_packet_slave_stop()
 109
 110 enum ao_igniter {
 111         ao_igniter_drogue = 0,
 112         ao_igniter_main = 1
 113 };
 114
 115 struct ao_data ao_data_static;
 116
 117 int     drogue_height;
 118 double  drogue_time;
 119 int     main_height;
 120 double  main_time;
 121
 122 int     tick_offset;
 123
 124 static int32_t  ao_k_height;
 125
 126 void
 127 ao_ignite(enum ao_igniter igniter)
 128 {
 129         double time = (double) (ao_data_static.tick + tick_offset) / 100;
 130
 131         if (igniter == ao_igniter_drogue) {
 132                 drogue_time = time;
 133                 drogue_height = ao_k_height >> 16;
 134         } else {
 135                 main_time = time;
 136                 main_height = ao_k_height >> 16;
 137         }
 138 }
 139
 140 struct ao_task {
 141         int dummy;
 142 };
 143
 144 #define ao_add_task(t,f,n) ((void) (t))
 145
 146 #define ao_log_start()
 147 #define ao_log_stop()
 148
 149 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
 150 #define AO_SEC_TO_TICKS(s)      ((s) * 100)
 151
 152 #define AO_FLIGHT_TEST
 153
 154 int     ao_flight_debug;
 155
 156 FILE *emulator_in;
 157 char *emulator_app;
 158 char *emulator_name;
 159 char *emulator_info;
 160 double emulator_error_max = 4;
 161 double emulator_height_error_max = 20;  /* noise in the baro sensor */
 162
 163 void
 164 ao_dump_state(void);
 165
 166 void
 167 ao_sleep(void *wchan);
 168
 169 const char const * const ao_state_names[] = {
 170         "startup", "idle", "pad", "boost", "fast",
 171         "coast", "drogue", "main", "landed", "invalid"
 172 };
 173
 174 struct ao_cmds {
 175         void            (*func)(void);
 176         const char      *help;
 177 };
 178
 179 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
 180 #define ao_xmemset(d,v,c) memset(d,v,c)
 181 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
 182
 183 #include "ao_convert.c"
 184
 185 struct ao_config {
 186         uint16_t        main_deploy;
 187         int16_t         accel_plus_g;
 188         int16_t         accel_minus_g;
 189         uint8_t         pad_orientation;
 190         uint16_t        apogee_lockout;
 191 };
 192
 193 #define AO_PAD_ORIENTATION_ANTENNA_UP   0
 194 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
 195
 196 #define ao_config_get()
 197
 198 struct ao_config ao_config;
 199
 200 #define DATA_TO_XDATA(x) (x)
 201
 202 #define HAS_FLIGHT 1
 203 #define HAS_IGNITE 1
 204 #define HAS_ADC 1
 205 #define HAS_USB 1
 206 #define HAS_GPS 1
 207 #ifndef HAS_ACCEL
 208 #define HAS_ACCEL 1
 209 #define HAS_ACCEL_REF 0
 210 #endif
 211
 212 #define GRAVITY 9.80665
 213 extern int16_t ao_ground_accel, ao_flight_accel;
 214 extern int16_t ao_accel_2g;
 215
 216 extern uint16_t ao_sample_tick;
 217
 218 extern int16_t  ao_sample_height;
 219 extern int16_t  ao_sample_accel;
 220 extern int32_t  ao_accel_scale;
 221 extern int16_t  ao_ground_height;
 222 extern int16_t  ao_sample_alt;
 223
 224 int ao_sample_prev_tick;
 225 uint16_t        prev_tick;
 226
 227 #include "ao_kalman.c"
 228 #include "ao_sample.c"
 229 #include "ao_flight.c"
 230
 231 #define to_double(f)    ((f) / 65536.0)
 232
 233 static int      ao_records_read = 0;
 234 static int      ao_eof_read = 0;
 235 static int      ao_flight_ground_accel;
 236 static int      ao_flight_started = 0;
 237 static int      ao_test_max_height;
 238 static double   ao_test_max_height_time;
 239 static int      ao_test_main_height;
 240 static double   ao_test_main_height_time;
 241 static double   ao_test_landed_time;
 242 static double   ao_test_landed_height;
 243 static double   ao_test_landed_time;
 244 static int      landed_set;
 245 static double   landed_time;
 246 static double   landed_height;
 247
 248 void
 249 ao_test_exit(void)
 250 {
 251         double  drogue_error;
 252         double  main_error;
 253         double  landed_error;
 254         double  landed_time_error;
 255
 256         if (!ao_test_main_height_time) {
 257                 ao_test_main_height_time = ao_test_max_height_time;
 258                 ao_test_main_height = ao_test_max_height;
 259         }
 260         drogue_error = fabs(ao_test_max_height_time - drogue_time);
 261         main_error = fabs(ao_test_main_height_time - main_time);
 262         landed_error = fabs(ao_test_landed_height - landed_height);
 263         landed_time_error = ao_test_landed_time - landed_time;
 264         if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
 265                 printf ("%s %s\n",
 266                         emulator_app, emulator_name);
 267                 if (emulator_info)
 268                         printf ("\t%s\n", emulator_info);
 269                 printf ("\tApogee error %g\n", drogue_error);
 270                 printf ("\tMain error %g\n", main_error);
 271                 printf ("\tLanded height error %g\n", landed_error);
 272                 printf ("\tLanded time error %g\n", landed_time_error);
 273                 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 274                         ao_test_max_height, ao_test_max_height_time,
 275                         ao_test_main_height, ao_test_main_height_time,
 276                         ao_test_landed_height, ao_test_landed_time);
 277                 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 278                         drogue_height, drogue_time, main_height, main_time,
 279                         landed_height, landed_time);
 280                 exit (1);
 281         }
 282         exit(0);
 283 }
 284
 285 void
 286 ao_insert(void)
 287 {
 288         double  time;
 289
 290         ao_data_ring[ao_data_head] = ao_data_static;
 291         ao_data_head = ao_data_ring_next(ao_data_head);
 292         if (ao_flight_state != ao_flight_startup) {
 293                 double  height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
 294                 double  accel = ((ao_flight_ground_accel - ao_data_static.adc.accel) * GRAVITY * 2.0) /
 295                         (ao_config.accel_minus_g - ao_config.accel_plus_g);
 296
 297                 if (!tick_offset)
 298                         tick_offset = -ao_data_static.tick;
 299                 if ((prev_tick - ao_data_static.tick) > 0x400)
 300                         tick_offset += 65536;
 301                 prev_tick = ao_data_static.tick;
 302                 time = (double) (ao_data_static.tick + tick_offset) / 100;
 303
 304                 if (ao_test_max_height < height) {
 305                         ao_test_max_height = height;
 306                         ao_test_max_height_time = time;
 307                         ao_test_landed_height = height;
 308                         ao_test_landed_time = time;
 309                 }
 310                 if (height > ao_config.main_deploy) {
 311                         ao_test_main_height_time = time;
 312                         ao_test_main_height = height;
 313                 }
 314
 315                 if (ao_test_landed_height > height) {
 316                         ao_test_landed_height = height;
 317                         ao_test_landed_time = time;
 318                 }
 319
 320                 if (ao_flight_state == ao_flight_landed && !landed_set) {
 321                         landed_set = 1;
 322                         landed_time = time;
 323                         landed_height = height;
 324                 }
 325
 326                 if (!ao_summary) {
 327                         printf("%7.2f height %8.2f accel %8.3f 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",
 328                                time,
 329                                height,
 330                                accel,
 331                                ao_state_names[ao_flight_state],
 332                                ao_k_height / 65536.0,
 333                                ao_k_speed / 65536.0 / 16.0,
 334                                ao_k_accel / 65536.0 / 16.0,
 335                                ao_avg_height,
 336                                drogue_height,
 337                                main_height,
 338                                ao_error_h_sq_avg);
 339
 340 //                      if (ao_flight_state == ao_flight_landed)
 341 //                              ao_test_exit();
 342                 }
 343         }
 344 }
 345
 346 #define AO_MAX_CALLSIGN                 8
 347 #define AO_MAX_VERSION                  8
 348 #define AO_MAX_TELEMETRY                128
 349
 350 struct ao_telemetry_generic {
 351         uint16_t        serial;         /* 0 */
 352         uint16_t        tick;           /* 2 */
 353         uint8_t         type;           /* 4 */
 354         uint8_t         payload[27];    /* 5 */
 355         /* 32 */
 356 };
 357
 358 #define AO_TELEMETRY_SENSOR_TELEMETRUM  0x01
 359 #define AO_TELEMETRY_SENSOR_TELEMINI    0x02
 360 #define AO_TELEMETRY_SENSOR_TELENANO    0x03
 361
 362 struct ao_telemetry_sensor {
 363         uint16_t        serial;         /*  0 */
 364         uint16_t        tick;           /*  2 */
 365         uint8_t         type;           /*  4 */
 366
 367         uint8_t         state;          /*  5 flight state */
 368         int16_t         accel;          /*  6 accelerometer (TM only) */
 369         int16_t         pres;           /*  8 pressure sensor */
 370         int16_t         temp;           /* 10 temperature sensor */
 371         int16_t         v_batt;         /* 12 battery voltage */
 372         int16_t         sense_d;        /* 14 drogue continuity sense (TM/Tm) */
 373         int16_t         sense_m;        /* 16 main continuity sense (TM/Tm) */
 374
 375         int16_t         acceleration;   /* 18 m/s² * 16 */
 376         int16_t         speed;          /* 20 m/s * 16 */
 377         int16_t         height;         /* 22 m */
 378
 379         int16_t         ground_pres;    /* 24 average pres on pad */
 380         int16_t         ground_accel;   /* 26 average accel on pad */
 381         int16_t         accel_plus_g;   /* 28 accel calibration at +1g */
 382         int16_t         accel_minus_g;  /* 30 accel calibration at -1g */
 383         /* 32 */
 384 };
 385
 386 #define AO_TELEMETRY_CONFIGURATION      0x04
 387
 388 struct ao_telemetry_configuration {
 389         uint16_t        serial;                         /*  0 */
 390         uint16_t        tick;                           /*  2 */
 391         uint8_t         type;                           /*  4 */
 392
 393         uint8_t         device;                         /*  5 device type */
 394         uint16_t        flight;                         /*  6 flight number */
 395         uint8_t         config_major;                   /*  8 Config major version */
 396         uint8_t         config_minor;                   /*  9 Config minor version */
 397         uint16_t        apogee_delay;                   /* 10 Apogee deploy delay in seconds */
 398         uint16_t        main_deploy;                    /* 12 Main deploy alt in meters */
 399         uint16_t        flight_log_max;                 /* 14 Maximum flight log size in kB */
 400         char            callsign[AO_MAX_CALLSIGN];      /* 16 Radio operator identity */
 401         char            version[AO_MAX_VERSION];        /* 24 Software version */
 402         /* 32 */
 403 };
 404
 405 #define AO_TELEMETRY_LOCATION           0x05
 406
 407 #define AO_GPS_MODE_NOT_VALID           'N'
 408 #define AO_GPS_MODE_AUTONOMOUS          'A'
 409 #define AO_GPS_MODE_DIFFERENTIAL        'D'
 410 #define AO_GPS_MODE_ESTIMATED           'E'
 411 #define AO_GPS_MODE_MANUAL              'M'
 412 #define AO_GPS_MODE_SIMULATED           'S'
 413
 414 struct ao_telemetry_location {
 415         uint16_t        serial;         /*  0 */
 416         uint16_t        tick;           /*  2 */
 417         uint8_t         type;           /*  4 */
 418
 419         uint8_t         flags;          /*  5 Number of sats and other flags */
 420         int16_t         altitude;       /*  6 GPS reported altitude (m) */
 421         int32_t         latitude;       /*  8 latitude (degrees * 10⁷) */
 422         int32_t         longitude;      /* 12 longitude (degrees * 10⁷) */
 423         uint8_t         year;           /* 16 (- 2000) */
 424         uint8_t         month;          /* 17 (1-12) */
 425         uint8_t         day;            /* 18 (1-31) */
 426         uint8_t         hour;           /* 19 (0-23) */
 427         uint8_t         minute;         /* 20 (0-59) */
 428         uint8_t         second;         /* 21 (0-59) */
 429         uint8_t         pdop;           /* 22 (m * 5) */
 430         uint8_t         hdop;           /* 23 (m * 5) */
 431         uint8_t         vdop;           /* 24 (m * 5) */
 432         uint8_t         mode;           /* 25 */
 433         uint16_t        ground_speed;   /* 26 cm/s */
 434         int16_t         climb_rate;     /* 28 cm/s */
 435         uint8_t         course;         /* 30 degrees / 2 */
 436         uint8_t         unused[1];      /* 31 */
 437         /* 32 */
 438 };
 439
 440 #define AO_TELEMETRY_SATELLITE          0x06
 441
 442 struct ao_telemetry_satellite_info {
 443         uint8_t         svid;
 444         uint8_t         c_n_1;
 445 };
 446
 447 struct ao_telemetry_satellite {
 448         uint16_t                                serial;         /*  0 */
 449         uint16_t                                tick;           /*  2 */
 450         uint8_t                                 type;           /*  4 */
 451         uint8_t                                 channels;       /*  5 number of reported sats */
 452
 453         struct ao_telemetry_satellite_info      sats[12];       /* 6 */
 454         uint8_t                                 unused[2];      /* 30 */
 455         /* 32 */
 456 };
 457
 458 union ao_telemetry_all {
 459         struct ao_telemetry_generic             generic;
 460         struct ao_telemetry_sensor              sensor;
 461         struct ao_telemetry_configuration       configuration;
 462         struct ao_telemetry_location            location;
 463         struct ao_telemetry_satellite           satellite;
 464 };
 465
 466 uint16_t
 467 uint16(uint8_t *bytes, int off)
 468 {
 469         off++;
 470         return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
 471 }
 472
 473 int16_t
 474 int16(uint8_t *bytes, int off)
 475 {
 476         return (int16_t) uint16(bytes, off);
 477 }
 478
 479 void
 480 ao_sleep(void *wchan)
 481 {
 482         if (wchan == &ao_data_head) {
 483                 char            type = 0;
 484                 uint16_t        tick = 0;
 485                 uint16_t        a = 0, b = 0;
 486                 uint8_t         bytes[1024];
 487                 union ao_telemetry_all  telem;
 488                 char            line[1024];
 489                 char            *saveptr;
 490                 char            *l;
 491                 char            *words[64];
 492                 int             nword;
 493
 494                 for (;;) {
 495                         if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 496                         {
 497                                 ao_data_static.adc.accel = ao_flight_ground_accel;
 498                                 ao_insert();
 499                                 return;
 500                         }
 501
 502                         if (!fgets(line, sizeof (line), emulator_in)) {
 503                                 if (++ao_eof_read >= 1000) {
 504                                         if (!ao_summary)
 505                                                 printf ("no more data, exiting simulation\n");
 506                                         ao_test_exit();
 507                                 }
 508                                 ao_data_static.tick += 10;
 509                                 ao_insert();
 510                                 return;
 511                         }
 512                         l = line;
 513                         for (nword = 0; nword < 64; nword++) {
 514                                 words[nword] = strtok_r(l, " \t\n", &saveptr);
 515                                 l = NULL;
 516                                 if (words[nword] == NULL)
 517                                         break;
 518                         }
 519                         if (nword == 4) {
 520                                 type = words[0][0];
 521                                 tick = strtoul(words[1], NULL, 16);
 522                                 a = strtoul(words[2], NULL, 16);
 523                                 b = strtoul(words[3], NULL, 16);
 524                                 if (type == 'P')
 525                                         type = 'A';
 526                         } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
 527                                 ao_config.accel_plus_g = atoi(words[3]);
 528                                 ao_config.accel_minus_g = atoi(words[5]);
 529                         } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
 530                                 ao_config.main_deploy = atoi(words[2]);
 531                         } else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 &&
 532                                    strcmp(words[1], "lockout:") == 0) {
 533                                 ao_config.apogee_lockout = atoi(words[2]);
 534                         } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
 535                                 tick = atoi(words[10]);
 536                                 if (!ao_flight_started) {
 537                                         type = 'F';
 538                                         a = atoi(words[26]);
 539                                         ao_flight_started = 1;
 540                                 } else {
 541                                         type = 'A';
 542                                         a = atoi(words[12]);
 543                                         b = atoi(words[14]);
 544                                 }
 545                         } else if (nword == 3 && strcmp(words[0], "BARO") == 0) {
 546                                 tick = strtol(words[1], NULL, 16);
 547                                 a = 16384 - 328;
 548                                 b = strtol(words[2], NULL, 10);
 549                                 type = 'A';
 550                                 if (!ao_flight_started) {
 551                                         ao_flight_ground_accel = 16384 - 328;
 552                                         ao_config.accel_plus_g = 16384 - 328;
 553                                         ao_config.accel_minus_g = 16384 + 328;
 554                                         ao_flight_started = 1;
 555                                 }
 556                         } else if (nword == 2 && strcmp(words[0], "TELEM") == 0) {
 557                                 __xdata char    *hex = words[1];
 558                                 char    elt[3];
 559                                 int     i, len;
 560                                 uint8_t sum;
 561
 562                                 len = strlen(hex);
 563                                 if (len > sizeof (bytes) * 2) {
 564                                         len = sizeof (bytes)*2;
 565                                         hex[len] = '\0';
 566                                 }
 567                                 for (i = 0; i < len; i += 2) {
 568                                         elt[0] = hex[i];
 569                                         elt[1] = hex[i+1];
 570                                         elt[2] = '\0';
 571                                         bytes[i/2] = (uint8_t) strtol(elt, NULL, 16);
 572                                 }
 573                                 len = i/2;
 574                                 if (bytes[0] != len - 2) {
 575                                         printf ("bad length %d != %d\n", bytes[0], len - 2);
 576                                         continue;
 577                                 }
 578                                 sum = 0x5a;
 579                                 for (i = 1; i < len-1; i++)
 580                                         sum += bytes[i];
 581                                 if (sum != bytes[len-1]) {
 582                                         printf ("bad checksum\n");
 583                                         continue;
 584                                 }
 585                                 if ((bytes[len-2] & 0x80) == 0) {
 586                                         continue;
 587                                 }
 588                                 if (len == 36) {
 589                                         ao_xmemcpy(&telem, bytes + 1, 32);
 590                                         tick = telem.generic.tick;
 591                                         switch (telem.generic.type) {
 592                                         case AO_TELEMETRY_SENSOR_TELEMETRUM:
 593                                         case AO_TELEMETRY_SENSOR_TELEMINI:
 594                                         case AO_TELEMETRY_SENSOR_TELENANO:
 595                                                 if (!ao_flight_started) {
 596                                                         ao_flight_ground_accel = telem.sensor.ground_accel;
 597                                                         ao_config.accel_plus_g = telem.sensor.accel_plus_g;
 598                                                         ao_config.accel_minus_g = telem.sensor.accel_minus_g;
 599                                                         ao_flight_started = 1;
 600                                                 }
 601                                                 type = 'A';
 602                                                 a = telem.sensor.accel;
 603                                                 b = telem.sensor.pres;
 604                                                 break;
 605                                         }
 606                                 } else if (len == 99) {
 607                                         ao_flight_started = 1;
 608                                         tick = uint16(bytes, 21);
 609                                         ao_flight_ground_accel = int16(bytes, 7);
 610                                         ao_config.accel_plus_g = int16(bytes, 17);
 611                                         ao_config.accel_minus_g = int16(bytes, 19);
 612                                         type = 'A';
 613                                         a = int16(bytes, 23);
 614                                         b = int16(bytes, 25);
 615                                 } else if (len == 98) {
 616                                         ao_flight_started = 1;
 617                                         tick = uint16(bytes, 20);
 618                                         ao_flight_ground_accel = int16(bytes, 6);
 619                                         ao_config.accel_plus_g = int16(bytes, 16);
 620                                         ao_config.accel_minus_g = int16(bytes, 18);
 621                                         type = 'A';
 622                                         a = int16(bytes, 22);
 623                                         b = int16(bytes, 24);
 624                                 } else {
 625                                         printf("unknown len %d\n", len);
 626                                         continue;
 627                                 }
 628                         }
 629                         if (type != 'F' && !ao_flight_started)
 630                                 continue;
 631
 632                         switch (type) {
 633                         case 'F':
 634                                 ao_flight_ground_accel = a;
 635                                 if (ao_config.accel_plus_g == 0) {
 636                                         ao_config.accel_plus_g = a;
 637                                         ao_config.accel_minus_g = a + 530;
 638                                 }
 639                                 if (ao_config.main_deploy == 0)
 640                                         ao_config.main_deploy = 250;
 641                                 ao_flight_started = 1;
 642                                 break;
 643                         case 'S':
 644                                 break;
 645                         case 'A':
 646                                 ao_data_static.tick = tick;
 647                                 ao_data_static.adc.accel = a;
 648                                 ao_data_static.adc.pres_real = b;
 649                                 if (b < AO_MIN_BARO_VALUE)
 650                                         b = AO_MIN_BARO_VALUE;
 651                                 ao_data_static.adc.pres = b;
 652                                 ao_records_read++;
 653                                 ao_insert();
 654                                 return;
 655                         case 'T':
 656                                 ao_data_static.tick = tick;
 657                                 ao_data_static.adc.temp = a;
 658                                 ao_data_static.adc.v_batt = b;
 659                                 break;
 660                         case 'D':
 661                         case 'G':
 662                         case 'N':
 663                         case 'W':
 664                         case 'H':
 665                                 break;
 666                         }
 667                 }
 668
 669         }
 670 }
 671 #define COUNTS_PER_G 264.8
 672
 673 void
 674 ao_dump_state(void)
 675 {
 676 }
 677
 678 static const struct option options[] = {
 679         { .name = "summary", .has_arg = 0, .val = 's' },
 680         { .name = "debug", .has_arg = 0, .val = 'd' },
 681         { .name = "info", .has_arg = 1, .val = 'i' },
 682         { 0, 0, 0, 0},
 683 };
 684
 685 void run_flight_fixed(char *name, FILE *f, int summary, char *info)
 686 {
 687         emulator_name = name;
 688         emulator_in = f;
 689         emulator_info = info;
 690         ao_summary = summary;
 691         ao_flight_init();
 692         ao_flight();
 693 }
 694
 695 int
 696 main (int argc, char **argv)
 697 {
 698         int     summary = 0;
 699         int     c;
 700         int     i;
 701         char    *info = NULL;
 702
 703 #if HAS_ACCEL
 704         emulator_app="full";
 705 #else
 706         emulator_app="baro";
 707 #endif
 708         while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) {
 709                 switch (c) {
 710                 case 's':
 711                         summary = 1;
 712                         break;
 713                 case 'd':
 714                         ao_flight_debug = 1;
 715                         break;
 716                 case 'i':
 717                         info = optarg;
 718                         break;
 719                 }
 720         }
 721
 722         if (optind == argc)
 723                 run_flight_fixed("<stdin>", stdin, summary, info);
 724         else
 725                 for (i = optind; i < argc; i++) {
 726                         FILE    *f = fopen(argv[i], "r");
 727                         if (!f) {
 728                                 perror(argv[i]);
 729                                 continue;
 730                         }
 731                         run_flight_fixed(argv[i], f, summary, info);
 732                         fclose(f);
 733                 }
 734         exit(0);
 735 }