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