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