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   1 /*
   2  * Copyright © 2009 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 #define _GNU_SOURCE
  19
  20 #include <stdint.h>
  21 #include <stdio.h>
  22 #include <stdlib.h>
  23 #include <stddef.h>
  24 #include <string.h>
  25 #include <getopt.h>
  26 #include <math.h>
  27
  28 #define AO_HERTZ        100
  29
  30 #define HAS_ADC 1
  31 #define AO_DATA_RING    64
  32 #define ao_data_ring_next(n)    (((n) + 1) & (AO_DATA_RING - 1))
  33 #define ao_data_ring_prev(n)    (((n) - 1) & (AO_DATA_RING - 1))
  34
  35 #define AO_M_TO_HEIGHT(m)       ((int16_t) (m))
  36 #define AO_MS_TO_SPEED(ms)      ((int16_t) ((ms) * 16))
  37 #define AO_MSS_TO_ACCEL(mss)    ((int16_t) ((mss) * 16))
  38
  39 #if TELEMEGA
  40 #define AO_ADC_NUM_SENSE        6
  41 #define HAS_MS5607              1
  42 #define HAS_MPU6000             1
  43 #define HAS_MMA655X             1
  44
  45 struct ao_adc {
  46         int16_t                 sense[AO_ADC_NUM_SENSE];
  47         int16_t                 v_batt;
  48         int16_t                 v_pbatt;
  49         int16_t                 accel_ref;
  50         int16_t                 accel;
  51         int16_t                 temp;
  52 };
  53 #else
  54 /*
  55  * One set of samples read from the A/D converter
  56  */
  57 struct ao_adc {
  58         int16_t         accel;          /* accelerometer */
  59         int16_t         pres;           /* pressure sensor */
  60         int16_t         pres_real;      /* unclipped */
  61         int16_t         temp;           /* temperature sensor */
  62         int16_t         v_batt;         /* battery voltage */
  63         int16_t         sense_d;        /* drogue continuity sense */
  64         int16_t         sense_m;        /* main continuity sense */
  65 };
  66
  67 #ifndef HAS_ACCEL
  68 #define HAS_ACCEL 1
  69 #define HAS_ACCEL_REF 0
  70 #endif
  71
  72 #endif
  73
  74 #define __pdata
  75 #define __data
  76 #define __xdata
  77 #define __code
  78 #define __reentrant
  79
  80 #define HAS_FLIGHT 1
  81 #define HAS_IGNITE 1
  82 #define HAS_USB 1
  83 #define HAS_GPS 1
  84
  85 #include <ao_data.h>
  86 #include <ao_log.h>
  87
  88 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
  89 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
  90 #define from_fix(x)     ((x) >> 16)
  91
  92 /*
  93  * Above this height, the baro sensor doesn't work
  94  */
  95 #define AO_BARO_SATURATE        13000
  96 #define AO_MIN_BARO_VALUE       ao_altitude_to_pres(AO_BARO_SATURATE)
  97
  98 /*
  99  * Above this speed, baro measurements are unreliable
 100  */
 101 #define AO_MAX_BARO_SPEED       200
 102
 103 #define ACCEL_NOSE_UP   (ao_accel_2g >> 2)
 104
 105 extern enum ao_flight_state ao_flight_state;
 106
 107 #define FALSE 0
 108 #define TRUE 1
 109
 110 volatile struct ao_data ao_data_ring[AO_DATA_RING];
 111 volatile uint8_t ao_data_head;
 112 int     ao_summary = 0;
 113
 114 #define ao_led_on(l)
 115 #define ao_led_off(l)
 116 #define ao_timer_set_adc_interval(i)
 117 #define ao_wakeup(wchan) ao_dump_state()
 118 #define ao_cmd_register(c)
 119 #define ao_usb_disable()
 120 #define ao_telemetry_set_interval(x)
 121 #define ao_rdf_set(rdf)
 122 #define ao_packet_slave_start()
 123 #define ao_packet_slave_stop()
 124
 125 enum ao_igniter {
 126         ao_igniter_drogue = 0,
 127         ao_igniter_main = 1
 128 };
 129
 130 struct ao_data ao_data_static;
 131
 132 int     drogue_height;
 133 double  drogue_time;
 134 int     main_height;
 135 double  main_time;
 136
 137 int     tick_offset;
 138
 139 static int32_t  ao_k_height;
 140
 141 int16_t
 142 ao_time(void)
 143 {
 144         return ao_data_static.tick;
 145 }
 146
 147 void
 148 ao_delay(int16_t interval)
 149 {
 150         return;
 151 }
 152
 153 void
 154 ao_ignite(enum ao_igniter igniter)
 155 {
 156         double time = (double) (ao_data_static.tick + tick_offset) / 100;
 157
 158         if (igniter == ao_igniter_drogue) {
 159                 drogue_time = time;
 160                 drogue_height = ao_k_height >> 16;
 161         } else {
 162                 main_time = time;
 163                 main_height = ao_k_height >> 16;
 164         }
 165 }
 166
 167 struct ao_task {
 168         int dummy;
 169 };
 170
 171 #define ao_add_task(t,f,n) ((void) (t))
 172
 173 #define ao_log_start()
 174 #define ao_log_stop()
 175
 176 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
 177 #define AO_SEC_TO_TICKS(s)      ((s) * 100)
 178
 179 #define AO_FLIGHT_TEST
 180
 181 int     ao_flight_debug;
 182
 183 FILE *emulator_in;
 184 char *emulator_app;
 185 char *emulator_name;
 186 char *emulator_info;
 187 double emulator_error_max = 4;
 188 double emulator_height_error_max = 20;  /* noise in the baro sensor */
 189
 190 void
 191 ao_dump_state(void);
 192
 193 void
 194 ao_sleep(void *wchan);
 195
 196 const char const * const ao_state_names[] = {
 197         "startup", "idle", "pad", "boost", "fast",
 198         "coast", "drogue", "main", "landed", "invalid"
 199 };
 200
 201 struct ao_cmds {
 202         void            (*func)(void);
 203         const char      *help;
 204 };
 205
 206 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
 207 #define ao_xmemset(d,v,c) memset(d,v,c)
 208 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
 209
 210 #define AO_NEED_ALTITUDE_TO_PRES 1
 211 #if TELEMEGA
 212 #include "ao_convert_pa.c"
 213 #include <ao_ms5607.h>
 214 struct ao_ms5607_prom   ms5607_prom;
 215 #include "ao_ms5607_convert.c"
 216 #define AO_PYRO_NUM     4
 217 #include <ao_pyro.h>
 218 #else
 219 #include "ao_convert.c"
 220 #endif
 221
 222 struct ao_config {
 223         uint16_t        main_deploy;
 224         int16_t         accel_plus_g;
 225         int16_t         accel_minus_g;
 226         uint8_t         pad_orientation;
 227         uint16_t        apogee_lockout;
 228 #if TELEMEGA
 229         struct ao_pyro  pyro[AO_PYRO_NUM];      /* minor version 12 */
 230 #endif
 231 };
 232
 233 #define AO_PAD_ORIENTATION_ANTENNA_UP   0
 234 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
 235
 236 #define ao_config_get()
 237
 238 struct ao_config ao_config;
 239
 240 #define DATA_TO_XDATA(x) (x)
 241
 242
 243 #define GRAVITY 9.80665
 244 extern int16_t ao_ground_accel, ao_flight_accel;
 245 extern int16_t ao_accel_2g;
 246
 247 typedef int16_t accel_t;
 248
 249 extern uint16_t ao_sample_tick;
 250
 251 extern alt_t    ao_sample_height;
 252 extern accel_t  ao_sample_accel;
 253 extern int32_t  ao_accel_scale;
 254 extern alt_t    ao_ground_height;
 255 extern alt_t    ao_sample_alt;
 256
 257 double ao_sample_qangle;
 258
 259 int ao_sample_prev_tick;
 260 uint16_t        prev_tick;
 261
 262
 263 #include "ao_kalman.c"
 264 #include "ao_sqrt.c"
 265 #include "ao_sample.c"
 266 #include "ao_flight.c"
 267 #if TELEMEGA
 268 #define AO_PYRO_NUM     4
 269
 270 #define AO_PYRO_0       0
 271 #define AO_PYRO_1       1
 272 #define AO_PYRO_2       2
 273 #define AO_PYRO_3       3
 274
 275 static void
 276 ao_pyro_tell(int pin)
 277 {
 278         printf ("fire pyro %d\n", pin);
 279 }
 280
 281 #define ao_pyro_fire_port(port,bit,pin) ao_pyro_tell(pin)
 282
 283 #include "ao_pyro.c"
 284 #endif
 285
 286 #define to_double(f)    ((f) / 65536.0)
 287
 288 static int      ao_records_read = 0;
 289 static int      ao_eof_read = 0;
 290 static int      ao_flight_ground_accel;
 291 static int      ao_flight_started = 0;
 292 static int      ao_test_max_height;
 293 static double   ao_test_max_height_time;
 294 static int      ao_test_main_height;
 295 static double   ao_test_main_height_time;
 296 static double   ao_test_landed_time;
 297 static double   ao_test_landed_height;
 298 static double   ao_test_landed_time;
 299 static int      landed_set;
 300 static double   landed_time;
 301 static double   landed_height;
 302
 303 #if HAS_MPU6000
 304 static struct ao_mpu6000_sample ao_ground_mpu6000;
 305 #endif
 306
 307 void
 308 ao_test_exit(void)
 309 {
 310         double  drogue_error;
 311         double  main_error;
 312         double  landed_error;
 313         double  landed_time_error;
 314
 315         if (!ao_test_main_height_time) {
 316                 ao_test_main_height_time = ao_test_max_height_time;
 317                 ao_test_main_height = ao_test_max_height;
 318         }
 319         drogue_error = fabs(ao_test_max_height_time - drogue_time);
 320         main_error = fabs(ao_test_main_height_time - main_time);
 321         landed_error = fabs(ao_test_landed_height - landed_height);
 322         landed_time_error = ao_test_landed_time - landed_time;
 323         if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
 324                 printf ("%s %s\n",
 325                         emulator_app, emulator_name);
 326                 if (emulator_info)
 327                         printf ("\t%s\n", emulator_info);
 328                 printf ("\tApogee error %g\n", drogue_error);
 329                 printf ("\tMain error %g\n", main_error);
 330                 printf ("\tLanded height error %g\n", landed_error);
 331                 printf ("\tLanded time error %g\n", landed_time_error);
 332                 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 333                         ao_test_max_height, ao_test_max_height_time,
 334                         ao_test_main_height, ao_test_main_height_time,
 335                         ao_test_landed_height, ao_test_landed_time);
 336                 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 337                         drogue_height, drogue_time, main_height, main_time,
 338                         landed_height, landed_time);
 339                 exit (1);
 340         }
 341         exit(0);
 342 }
 343
 344 #if HAS_MPU6000
 345 static double
 346 ao_mpu6000_accel(int16_t sensor)
 347 {
 348         return sensor / 32767.0 * MPU6000_ACCEL_FULLSCALE * GRAVITY;
 349 }
 350
 351 static double
 352 ao_mpu6000_gyro(int32_t sensor)
 353 {
 354         return sensor / 32767.0 * MPU6000_GYRO_FULLSCALE;
 355 }
 356 #endif
 357
 358 void
 359 ao_insert(void)
 360 {
 361         double  time;
 362
 363         ao_data_ring[ao_data_head] = ao_data_static;
 364         ao_data_head = ao_data_ring_next(ao_data_head);
 365         if (ao_flight_state != ao_flight_startup) {
 366 #if HAS_ACCEL
 367                 double  accel = ((ao_flight_ground_accel - ao_data_accel_cook(&ao_data_static)) * GRAVITY * 2.0) /
 368                         (ao_config.accel_minus_g - ao_config.accel_plus_g);
 369 #else
 370                 double  accel = 0.0;
 371 #endif
 372 #if TELEMEGA
 373                 double  height;
 374
 375                 ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
 376                 height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height;
 377 #else
 378                 double  height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
 379 #endif
 380
 381                 if (!tick_offset)
 382                         tick_offset = -ao_data_static.tick;
 383                 if ((prev_tick - ao_data_static.tick) > 0x400)
 384                         tick_offset += 65536;
 385                 prev_tick = ao_data_static.tick;
 386                 time = (double) (ao_data_static.tick + tick_offset) / 100;
 387
 388                 if (ao_test_max_height < height) {
 389                         ao_test_max_height = height;
 390                         ao_test_max_height_time = time;
 391                         ao_test_landed_height = height;
 392                         ao_test_landed_time = time;
 393                 }
 394                 if (height > ao_config.main_deploy) {
 395                         ao_test_main_height_time = time;
 396                         ao_test_main_height = height;
 397                 }
 398
 399                 if (ao_test_landed_height > height) {
 400                         ao_test_landed_height = height;
 401                         ao_test_landed_time = time;
 402                 }
 403
 404                 if (ao_flight_state == ao_flight_landed && !landed_set) {
 405                         landed_set = 1;
 406                         landed_time = time;
 407                         landed_height = height;
 408                 }
 409
 410                 if (!ao_summary) {
 411                         printf("%7.2f height %8.2f accel %8.3f "
 412 #if TELEMEGA
 413                                "roll %8.3f angle %8.3f qangle %8.3f "
 414                                "accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f "
 415 #endif
 416                                "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",
 417                                time,
 418                                height,
 419                                accel,
 420 #if TELEMEGA
 421                                ao_mpu6000_gyro(ao_sample_roll_angle) / 100.0,
 422                                ao_mpu6000_gyro(ao_sample_angle) / 100.0,
 423                                ao_sample_qangle,
 424                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
 425                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
 426                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_z),
 427                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x),
 428                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y),
 429                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z),
 430 #endif
 431                                ao_state_names[ao_flight_state],
 432                                ao_k_height / 65536.0,
 433                                ao_k_speed / 65536.0 / 16.0,
 434                                ao_k_accel / 65536.0 / 16.0,
 435                                ao_avg_height,
 436                                drogue_height,
 437                                main_height,
 438                                ao_error_h_sq_avg);
 439
 440 //                      if (ao_flight_state == ao_flight_landed)
 441 //                              ao_test_exit();
 442                 }
 443         }
 444 }
 445
 446 #define AO_MAX_CALLSIGN                 8
 447 #define AO_MAX_VERSION                  8
 448 #define AO_MAX_TELEMETRY                128
 449
 450 struct ao_telemetry_generic {
 451         uint16_t        serial;         /* 0 */
 452         uint16_t        tick;           /* 2 */
 453         uint8_t         type;           /* 4 */
 454         uint8_t         payload[27];    /* 5 */
 455         /* 32 */
 456 };
 457
 458 #define AO_TELEMETRY_SENSOR_TELEMETRUM  0x01
 459 #define AO_TELEMETRY_SENSOR_TELEMINI    0x02
 460 #define AO_TELEMETRY_SENSOR_TELENANO    0x03
 461
 462 struct ao_telemetry_sensor {
 463         uint16_t        serial;         /*  0 */
 464         uint16_t        tick;           /*  2 */
 465         uint8_t         type;           /*  4 */
 466
 467         uint8_t         state;          /*  5 flight state */
 468         int16_t         accel;          /*  6 accelerometer (TM only) */
 469         int16_t         pres;           /*  8 pressure sensor */
 470         int16_t         temp;           /* 10 temperature sensor */
 471         int16_t         v_batt;         /* 12 battery voltage */
 472         int16_t         sense_d;        /* 14 drogue continuity sense (TM/Tm) */
 473         int16_t         sense_m;        /* 16 main continuity sense (TM/Tm) */
 474
 475         int16_t         acceleration;   /* 18 m/s² * 16 */
 476         int16_t         speed;          /* 20 m/s * 16 */
 477         int16_t         height;         /* 22 m */
 478
 479         int16_t         ground_pres;    /* 24 average pres on pad */
 480         int16_t         ground_accel;   /* 26 average accel on pad */
 481         int16_t         accel_plus_g;   /* 28 accel calibration at +1g */
 482         int16_t         accel_minus_g;  /* 30 accel calibration at -1g */
 483         /* 32 */
 484 };
 485
 486 #define AO_TELEMETRY_CONFIGURATION      0x04
 487
 488 struct ao_telemetry_configuration {
 489         uint16_t        serial;                         /*  0 */
 490         uint16_t        tick;                           /*  2 */
 491         uint8_t         type;                           /*  4 */
 492
 493         uint8_t         device;                         /*  5 device type */
 494         uint16_t        flight;                         /*  6 flight number */
 495         uint8_t         config_major;                   /*  8 Config major version */
 496         uint8_t         config_minor;                   /*  9 Config minor version */
 497         uint16_t        apogee_delay;                   /* 10 Apogee deploy delay in seconds */
 498         uint16_t        main_deploy;                    /* 12 Main deploy alt in meters */
 499         uint16_t        flight_log_max;                 /* 14 Maximum flight log size in kB */
 500         char            callsign[AO_MAX_CALLSIGN];      /* 16 Radio operator identity */
 501         char            version[AO_MAX_VERSION];        /* 24 Software version */
 502         /* 32 */
 503 };
 504
 505 #define AO_TELEMETRY_LOCATION           0x05
 506
 507 #define AO_GPS_MODE_NOT_VALID           'N'
 508 #define AO_GPS_MODE_AUTONOMOUS          'A'
 509 #define AO_GPS_MODE_DIFFERENTIAL        'D'
 510 #define AO_GPS_MODE_ESTIMATED           'E'
 511 #define AO_GPS_MODE_MANUAL              'M'
 512 #define AO_GPS_MODE_SIMULATED           'S'
 513
 514 struct ao_telemetry_location {
 515         uint16_t        serial;         /*  0 */
 516         uint16_t        tick;           /*  2 */
 517         uint8_t         type;           /*  4 */
 518
 519         uint8_t         flags;          /*  5 Number of sats and other flags */
 520         int16_t         altitude;       /*  6 GPS reported altitude (m) */
 521         int32_t         latitude;       /*  8 latitude (degrees * 10⁷) */
 522         int32_t         longitude;      /* 12 longitude (degrees * 10⁷) */
 523         uint8_t         year;           /* 16 (- 2000) */
 524         uint8_t         month;          /* 17 (1-12) */
 525         uint8_t         day;            /* 18 (1-31) */
 526         uint8_t         hour;           /* 19 (0-23) */
 527         uint8_t         minute;         /* 20 (0-59) */
 528         uint8_t         second;         /* 21 (0-59) */
 529         uint8_t         pdop;           /* 22 (m * 5) */
 530         uint8_t         hdop;           /* 23 (m * 5) */
 531         uint8_t         vdop;           /* 24 (m * 5) */
 532         uint8_t         mode;           /* 25 */
 533         uint16_t        ground_speed;   /* 26 cm/s */
 534         int16_t         climb_rate;     /* 28 cm/s */
 535         uint8_t         course;         /* 30 degrees / 2 */
 536         uint8_t         unused[1];      /* 31 */
 537         /* 32 */
 538 };
 539
 540 #define AO_TELEMETRY_SATELLITE          0x06
 541
 542 struct ao_telemetry_satellite_info {
 543         uint8_t         svid;
 544         uint8_t         c_n_1;
 545 };
 546
 547 struct ao_telemetry_satellite {
 548         uint16_t                                serial;         /*  0 */
 549         uint16_t                                tick;           /*  2 */
 550         uint8_t                                 type;           /*  4 */
 551         uint8_t                                 channels;       /*  5 number of reported sats */
 552
 553         struct ao_telemetry_satellite_info      sats[12];       /* 6 */
 554         uint8_t                                 unused[2];      /* 30 */
 555         /* 32 */
 556 };
 557
 558 union ao_telemetry_all {
 559         struct ao_telemetry_generic             generic;
 560         struct ao_telemetry_sensor              sensor;
 561         struct ao_telemetry_configuration       configuration;
 562         struct ao_telemetry_location            location;
 563         struct ao_telemetry_satellite           satellite;
 564 };
 565
 566 uint16_t
 567 uint16(uint8_t *bytes, int off)
 568 {
 569         return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
 570 }
 571
 572 int16_t
 573 int16(uint8_t *bytes, int off)
 574 {
 575         return (int16_t) uint16(bytes, off);
 576 }
 577
 578 uint32_t
 579 uint32(uint8_t *bytes, int off)
 580 {
 581         return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
 582                 (((uint32_t) bytes[off+2]) << 16) |
 583                 (((uint32_t) bytes[off+3]) << 24);
 584 }
 585
 586 int32_t
 587 int32(uint8_t *bytes, int off)
 588 {
 589         return (int32_t) uint32(bytes, off);
 590 }
 591
 592 static int log_format;
 593
 594 #if TELEMEGA
 595
 596 static double
 597 ao_vec_norm(double x, double y, double z)
 598 {
 599         return x*x + y*y + z*z;
 600 }
 601
 602 static void
 603 ao_vec_normalize(double *x, double *y, double *z)
 604 {
 605         double  scale = 1/sqrt(ao_vec_norm(*x, *y, *z));
 606
 607         *x *= scale;
 608         *y *= scale;
 609         *z *= scale;
 610 }
 611
 612 struct ao_quat {
 613         double  q0, q1, q2, q3;
 614 };
 615
 616 static void
 617 ao_quat_mul(struct ao_quat *r, struct ao_quat *a, struct ao_quat *b)
 618 {
 619         r->q0 = a->q0 * b->q0 - a->q1 * b->q1 - a->q2 * b->q2 - a->q3 * b->q3;
 620         r->q1 = a->q0 * b->q1 + a->q1 * b->q0 + a->q2 * b->q3 - a->q3 * b->q2;
 621         r->q2 = a->q0 * b->q2 - a->q1 * b->q3 + a->q2 * b->q0 + a->q3 * b->q1;
 622         r->q3 = a->q0 * b->q3 + a->q1 * b->q2 - a->q2 * b->q1 + a->q3 * b->q0;
 623 }
 624
 625 #if 0
 626 static void
 627 ao_quat_scale(struct ao_quat *r, struct ao_quat *a, double s)
 628 {
 629         r->q0 = a->q0 * s;
 630         r->q1 = a->q1 * s;
 631         r->q2 = a->q2 * s;
 632         r->q3 = a->q3 * s;
 633 }
 634 #endif
 635
 636 static void
 637 ao_quat_conj(struct ao_quat *r, struct ao_quat *a)
 638 {
 639         r->q0 =  a->q0;
 640         r->q1 = -a->q1;
 641         r->q2 = -a->q2;
 642         r->q3 = -a->q3;
 643 }
 644
 645 static void
 646 ao_quat_rot(struct ao_quat *r, struct ao_quat *a, struct ao_quat *q)
 647 {
 648         struct ao_quat  t;
 649         struct ao_quat  c;
 650         ao_quat_mul(&t, q, a);
 651         ao_quat_conj(&c, q);
 652         ao_quat_mul(r, &t, &c);
 653 }
 654
 655 static void
 656 ao_quat_from_angle(struct ao_quat *r,
 657                    double x_rad,
 658                    double y_rad,
 659                    double z_rad)
 660 {
 661         double angle = sqrt (x_rad * x_rad + y_rad * y_rad + z_rad * z_rad);
 662         double s = sin(angle/2);
 663         double c = cos(angle/2);
 664
 665         r->q0 = c;
 666         r->q1 = x_rad * s / angle;
 667         r->q2 = y_rad * s / angle;
 668         r->q3 = z_rad * s / angle;
 669 }
 670
 671 static void
 672 ao_quat_from_vector(struct ao_quat *r, double x, double y, double z)
 673 {
 674         ao_vec_normalize(&x, &y, &z);
 675         double  x_rad = atan2(z, y);
 676         double  y_rad = atan2(x, z);
 677         double  z_rad = atan2(y, x);
 678
 679         ao_quat_from_angle(r, x_rad, y_rad, z_rad);
 680 }
 681
 682 static double
 683 ao_quat_norm(struct ao_quat *a)
 684 {
 685         return (a->q0 * a->q0 +
 686                 a->q1 * a->q1 +
 687                 a->q2 * a->q2 +
 688                 a->q3 * a->q3);
 689 }
 690
 691 static void
 692 ao_quat_normalize(struct ao_quat *a)
 693 {
 694         double  norm = ao_quat_norm(a);
 695
 696         if (norm) {
 697                 double m = 1/sqrt(norm);
 698
 699                 a->q0 *= m;
 700                 a->q1 *= m;
 701                 a->q2 *= m;
 702                 a->q3 *= m;
 703         }
 704 }
 705
 706 static struct ao_quat   ao_up, ao_current;
 707 static struct ao_quat   ao_orient;
 708 static int              ao_orient_tick;
 709
 710 void
 711 set_orientation(double x, double y, double z, int tick)
 712 {
 713         struct ao_quat  t;
 714
 715         printf ("set_orientation %g %g %g\n", x, y, z);
 716         ao_quat_from_vector(&ao_orient, x, y, z);
 717         ao_up.q1 = ao_up.q2 = 0;
 718         ao_up.q0 = ao_up.q3 = sqrt(2)/2;
 719         ao_orient_tick = tick;
 720
 721         ao_orient.q0 = 1;
 722         ao_orient.q1 = 0;
 723         ao_orient.q2 = 0;
 724         ao_orient.q3 = 0;
 725
 726         printf ("orient (%g) %g %g %g up (%g) %g %g %g\n",
 727                 ao_orient.q0,
 728                 ao_orient.q1,
 729                 ao_orient.q2,
 730                 ao_orient.q3,
 731                 ao_up.q0,
 732                 ao_up.q1,
 733                 ao_up.q2,
 734                 ao_up.q3);
 735
 736         ao_quat_rot(&t, &ao_up, &ao_orient);
 737         printf ("pad orient (%g) %g %g %g\n",
 738                 t.q0,
 739                 t.q1,
 740                 t.q2,
 741                 t.q3);
 742
 743 }
 744
 745 void
 746 update_orientation (double rate_x, double rate_y, double rate_z, int tick)
 747 {
 748         struct ao_quat  q_dot;
 749         double          lambda;
 750         double          dt = (tick - ao_orient_tick) / 100.0;
 751
 752         ao_orient_tick = tick;
 753
 754 //      lambda = 1 - ao_quat_norm(&ao_orient);
 755         lambda = 0;
 756
 757         q_dot.q0 = -0.5 * (ao_orient.q1 * rate_x + ao_orient.q2 * rate_y + ao_orient.q3 * rate_z) + lambda * ao_orient.q0;
 758         q_dot.q1 =  0.5 * (ao_orient.q0 * rate_x + ao_orient.q2 * rate_z - ao_orient.q3 * rate_y) + lambda * ao_orient.q1;
 759         q_dot.q2 =  0.5 * (ao_orient.q0 * rate_y + ao_orient.q3 * rate_x - ao_orient.q1 * rate_z) + lambda * ao_orient.q2;
 760         q_dot.q3 =  0.5 * (ao_orient.q0 * rate_z + ao_orient.q1 * rate_y - ao_orient.q2 * rate_x) + lambda * ao_orient.q3;
 761
 762 #if 0
 763         printf ("update_orientation %g %g %g (%g s)\n", rate_x, rate_y, rate_z, dt);
 764         printf ("q_dot (%g) %g %g %g\n",
 765                 q_dot.q0,
 766                 q_dot.q1,
 767                 q_dot.q2,
 768                 q_dot.q3);
 769 #endif
 770
 771         ao_orient.q0 += q_dot.q0 * dt;
 772         ao_orient.q1 += q_dot.q1 * dt;
 773         ao_orient.q2 += q_dot.q2 * dt;
 774         ao_orient.q3 += q_dot.q3 * dt;
 775
 776         ao_quat_normalize(&ao_orient);
 777
 778         ao_quat_rot(&ao_current, &ao_up, &ao_orient);
 779
 780         ao_sample_qangle = 180 / M_PI * acos(ao_current.q3 * sqrt(2));
 781 #if 0
 782         printf ("orient (%g) %g %g %g current (%g) %g %g %g\n",
 783                 ao_orient.q0,
 784                 ao_orient.q1,
 785                 ao_orient.q2,
 786                 ao_orient.q3,
 787                 ao_current.q0,
 788                 ao_current.q1,
 789                 ao_current.q2,
 790                 ao_current.q3);
 791 #endif
 792 }
 793 #endif
 794
 795 void
 796 ao_sleep(void *wchan)
 797 {
 798         if (wchan == &ao_data_head) {
 799                 char            type = 0;
 800                 uint16_t        tick = 0;
 801                 uint16_t        a = 0, b = 0;
 802                 uint8_t         bytes[1024];
 803                 union ao_telemetry_all  telem;
 804                 char            line[1024];
 805                 char            *saveptr;
 806                 char            *l;
 807                 char            *words[64];
 808                 int             nword;
 809
 810 #if TELEMEGA
 811                 if (ao_flight_state >= ao_flight_boost && ao_flight_state < ao_flight_landed)
 812                         ao_pyro_check();
 813 #endif
 814                 for (;;) {
 815                         if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 816                         {
 817 #if TELEMEGA
 818                                 ao_data_static.mpu6000 = ao_ground_mpu6000;
 819 #else
 820                                 ao_data_static.adc.accel = ao_flight_ground_accel;
 821 #endif
 822                                 ao_insert();
 823                                 return;
 824                         }
 825
 826                         if (!fgets(line, sizeof (line), emulator_in)) {
 827                                 if (++ao_eof_read >= 1000) {
 828                                         if (!ao_summary)
 829                                                 printf ("no more data, exiting simulation\n");
 830                                         ao_test_exit();
 831                                 }
 832                                 ao_data_static.tick += 10;
 833                                 ao_insert();
 834                                 return;
 835                         }
 836                         l = line;
 837                         for (nword = 0; nword < 64; nword++) {
 838                                 words[nword] = strtok_r(l, " \t\n", &saveptr);
 839                                 l = NULL;
 840                                 if (words[nword] == NULL)
 841                                         break;
 842                         }
 843 #if TELEMEGA
 844                         if (log_format == AO_LOG_FORMAT_TELEMEGA && nword == 30 && strlen(words[0]) == 1) {
 845                                 int     i;
 846                                 struct ao_ms5607_value  value;
 847
 848                                 type = words[0][0];
 849                                 tick = strtoul(words[1], NULL, 16);
 850 //                              printf ("%c %04x", type, tick);
 851                                 for (i = 2; i < nword; i++) {
 852                                         bytes[i - 2] = strtoul(words[i], NULL, 16);
 853 //                                      printf(" %02x", bytes[i-2]);
 854                                 }
 855 //                              printf ("\n");
 856                                 switch (type) {
 857                                 case 'F':
 858                                         ao_flight_ground_accel = int16(bytes, 2);
 859                                         ao_flight_started = 1;
 860                                         ao_ground_pres = int32(bytes, 4);
 861                                         ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
 862                                         break;
 863                                 case 'A':
 864                                         ao_data_static.tick = tick;
 865                                         ao_data_static.ms5607_raw.pres = int32(bytes, 0);
 866                                         ao_data_static.ms5607_raw.temp = int32(bytes, 4);
 867                                         ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
 868                                         ao_data_static.mpu6000.accel_x = int16(bytes, 8);
 869                                         ao_data_static.mpu6000.accel_y = -int16(bytes, 10);
 870                                         ao_data_static.mpu6000.accel_z = int16(bytes, 12);
 871                                         ao_data_static.mpu6000.gyro_x = int16(bytes, 14);
 872                                         ao_data_static.mpu6000.gyro_y = -int16(bytes, 16);
 873                                         ao_data_static.mpu6000.gyro_z = int16(bytes, 18);
 874 #if HAS_MMA655X
 875                                         ao_data_static.mma655x = int16(bytes, 26);
 876 #endif
 877                                         if (ao_records_read == 0)
 878                                                 ao_ground_mpu6000 = ao_data_static.mpu6000;
 879                                         else if (ao_records_read < 10) {
 880 #define f(f) ao_ground_mpu6000.f = ao_ground_mpu6000.f + ((ao_data_static.mpu6000.f - ao_ground_mpu6000.f) >> 2)
 881                                                 f(accel_x);
 882                                                 f(accel_y);
 883                                                 f(accel_z);
 884                                                 f(gyro_x);
 885                                                 f(gyro_y);
 886                                                 f(gyro_z);
 887
 888                                                 double          accel_x = ao_mpu6000_accel(ao_ground_mpu6000.accel_x);
 889                                                 double          accel_y = ao_mpu6000_accel(ao_ground_mpu6000.accel_y);
 890                                                 double          accel_z = ao_mpu6000_accel(ao_ground_mpu6000.accel_z);
 891
 892                                                 /* X and Y are in the ground plane, arbitraryily picked as MPU X and Z axes
 893                                                  * Z is normal to the ground, the MPU y axis
 894                                                  */
 895                                                 set_orientation(accel_x, accel_z, accel_y, tick);
 896                                         } else {
 897                                                 double          rate_x = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x);
 898                                                 double          rate_y = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y);
 899                                                 double          rate_z = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z);
 900
 901                                                 update_orientation(rate_x * M_PI / 180, rate_z * M_PI / 180, rate_y * M_PI / 180, tick);
 902                                         }
 903                                         ao_records_read++;
 904                                         ao_insert();
 905                                         return;
 906                                 }
 907                                 continue;
 908                         } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
 909                                 if (strcmp(words[1], "reserved:") == 0)
 910                                         ms5607_prom.reserved = strtoul(words[2], NULL, 10);
 911                                 else if (strcmp(words[1], "sens:") == 0)
 912                                         ms5607_prom.sens = strtoul(words[2], NULL, 10);
 913                                 else if (strcmp(words[1], "off:") == 0)
 914                                         ms5607_prom.off = strtoul(words[2], NULL, 10);
 915                                 else if (strcmp(words[1], "tcs:") == 0)
 916                                         ms5607_prom.tcs = strtoul(words[2], NULL, 10);
 917                                 else if (strcmp(words[1], "tco:") == 0)
 918                                         ms5607_prom.tco = strtoul(words[2], NULL, 10);
 919                                 else if (strcmp(words[1], "tref:") == 0)
 920                                         ms5607_prom.tref = strtoul(words[2], NULL, 10);
 921                                 else if (strcmp(words[1], "tempsens:") == 0)
 922                                         ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
 923                                 else if (strcmp(words[1], "crc:") == 0)
 924                                         ms5607_prom.crc = strtoul(words[2], NULL, 10);
 925                                 continue;
 926                         } else if (nword >= 3 && strcmp(words[0], "Pyro") == 0) {
 927                                 int     p = strtoul(words[1], NULL, 10);
 928                                 int     i, j;
 929                                 struct ao_pyro  *pyro = &ao_config.pyro[p];
 930
 931                                 for (i = 2; i < nword; i++) {
 932                                         for (j = 0; j < NUM_PYRO_VALUES; j++)
 933                                                 if (!strcmp (words[2], ao_pyro_values[j].name))
 934                                                         break;
 935                                         if (j == NUM_PYRO_VALUES)
 936                                                 continue;
 937                                         pyro->flags |= ao_pyro_values[j].flag;
 938                                         if (ao_pyro_values[j].offset != NO_VALUE && i + 1 < nword) {
 939                                                 int16_t val = strtoul(words[++i], NULL, 10);
 940                                                 *((int16_t *) ((char *) pyro + ao_pyro_values[j].offset)) = val;
 941                                         }
 942                                 }
 943                         }
 944 #else
 945                         if (nword == 4 && log_format != AO_LOG_FORMAT_TELEMEGA) {
 946                                 type = words[0][0];
 947                                 tick = strtoul(words[1], NULL, 16);
 948                                 a = strtoul(words[2], NULL, 16);
 949                                 b = strtoul(words[3], NULL, 16);
 950                                 if (type == 'P')
 951                                         type = 'A';
 952                         }
 953 #endif
 954                         else if (nword == 2 && strcmp(words[0], "log-format") == 0) {
 955                                 log_format = strtoul(words[1], NULL, 10);
 956                         } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
 957                                 ao_config.accel_plus_g = atoi(words[3]);
 958                                 ao_config.accel_minus_g = atoi(words[5]);
 959                         } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
 960                                 ao_config.main_deploy = atoi(words[2]);
 961                         } else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 &&
 962                                    strcmp(words[1], "lockout:") == 0) {
 963                                 ao_config.apogee_lockout = atoi(words[2]);
 964                         } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
 965                                 tick = atoi(words[10]);
 966                                 if (!ao_flight_started) {
 967                                         type = 'F';
 968                                         a = atoi(words[26]);
 969                                         ao_flight_started = 1;
 970                                 } else {
 971                                         type = 'A';
 972                                         a = atoi(words[12]);
 973                                         b = atoi(words[14]);
 974                                 }
 975                         } else if (nword == 3 && strcmp(words[0], "BARO") == 0) {
 976                                 tick = strtol(words[1], NULL, 16);
 977                                 a = 16384 - 328;
 978                                 b = strtol(words[2], NULL, 10);
 979                                 type = 'A';
 980                                 if (!ao_flight_started) {
 981                                         ao_flight_ground_accel = 16384 - 328;
 982                                         ao_config.accel_plus_g = 16384 - 328;
 983                                         ao_config.accel_minus_g = 16384 + 328;
 984                                         ao_flight_started = 1;
 985                                 }
 986                         } else if (nword == 2 && strcmp(words[0], "TELEM") == 0) {
 987                                 __xdata char    *hex = words[1];
 988                                 char    elt[3];
 989                                 int     i, len;
 990                                 uint8_t sum;
 991
 992                                 len = strlen(hex);
 993                                 if (len > sizeof (bytes) * 2) {
 994                                         len = sizeof (bytes)*2;
 995                                         hex[len] = '\0';
 996                                 }
 997                                 for (i = 0; i < len; i += 2) {
 998                                         elt[0] = hex[i];
 999                                         elt[1] = hex[i+1];
1000                                         elt[2] = '\0';
1001                                         bytes[i/2] = (uint8_t) strtol(elt, NULL, 16);
1002                                 }
1003                                 len = i/2;
1004                                 if (bytes[0] != len - 2) {
1005                                         printf ("bad length %d != %d\n", bytes[0], len - 2);
1006                                         continue;
1007                                 }
1008                                 sum = 0x5a;
1009                                 for (i = 1; i < len-1; i++)
1010                                         sum += bytes[i];
1011                                 if (sum != bytes[len-1]) {
1012                                         printf ("bad checksum\n");
1013                                         continue;
1014                                 }
1015                                 if ((bytes[len-2] & 0x80) == 0) {
1016                                         continue;
1017                                 }
1018                                 if (len == 36) {
1019                                         ao_xmemcpy(&telem, bytes + 1, 32);
1020                                         tick = telem.generic.tick;
1021                                         switch (telem.generic.type) {
1022                                         case AO_TELEMETRY_SENSOR_TELEMETRUM:
1023                                         case AO_TELEMETRY_SENSOR_TELEMINI:
1024                                         case AO_TELEMETRY_SENSOR_TELENANO:
1025                                                 if (!ao_flight_started) {
1026                                                         ao_flight_ground_accel = telem.sensor.ground_accel;
1027                                                         ao_config.accel_plus_g = telem.sensor.accel_plus_g;
1028                                                         ao_config.accel_minus_g = telem.sensor.accel_minus_g;
1029                                                         ao_flight_started = 1;
1030                                                 }
1031                                                 type = 'A';
1032                                                 a = telem.sensor.accel;
1033                                                 b = telem.sensor.pres;
1034                                                 break;
1035                                         }
1036                                 } else if (len == 99) {
1037                                         ao_flight_started = 1;
1038                                         tick = uint16(bytes+1, 21);
1039                                         ao_flight_ground_accel = int16(bytes+1, 7);
1040                                         ao_config.accel_plus_g = int16(bytes+1, 17);
1041                                         ao_config.accel_minus_g = int16(bytes+1, 19);
1042                                         type = 'A';
1043                                         a = int16(bytes+1, 23);
1044                                         b = int16(bytes+1, 25);
1045                                 } else if (len == 98) {
1046                                         ao_flight_started = 1;
1047                                         tick = uint16(bytes+1, 20);
1048                                         ao_flight_ground_accel = int16(bytes+1, 6);
1049                                         ao_config.accel_plus_g = int16(bytes+1, 16);
1050                                         ao_config.accel_minus_g = int16(bytes+1, 18);
1051                                         type = 'A';
1052                                         a = int16(bytes+1, 22);
1053                                         b = int16(bytes+1, 24);
1054                                 } else {
1055                                         printf("unknown len %d\n", len);
1056                                         continue;
1057                                 }
1058                         }
1059                         if (type != 'F' && !ao_flight_started)
1060                                 continue;
1061
1062 #if TELEMEGA
1063                         (void) a;
1064                         (void) b;
1065 #else
1066                         switch (type) {
1067                         case 'F':
1068                                 ao_flight_ground_accel = a;
1069                                 if (ao_config.accel_plus_g == 0) {
1070                                         ao_config.accel_plus_g = a;
1071                                         ao_config.accel_minus_g = a + 530;
1072                                 }
1073                                 if (ao_config.main_deploy == 0)
1074                                         ao_config.main_deploy = 250;
1075                                 ao_flight_started = 1;
1076                                 break;
1077                         case 'S':
1078                                 break;
1079                         case 'A':
1080                                 ao_data_static.tick = tick;
1081                                 ao_data_static.adc.accel = a;
1082                                 ao_data_static.adc.pres_real = b;
1083                                 if (b < AO_MIN_BARO_VALUE)
1084                                         b = AO_MIN_BARO_VALUE;
1085                                 ao_data_static.adc.pres = b;
1086                                 ao_records_read++;
1087                                 ao_insert();
1088                                 return;
1089                         case 'T':
1090                                 ao_data_static.tick = tick;
1091                                 ao_data_static.adc.temp = a;
1092                                 ao_data_static.adc.v_batt = b;
1093                                 break;
1094                         case 'D':
1095                         case 'G':
1096                         case 'N':
1097                         case 'W':
1098                         case 'H':
1099                                 break;
1100                         }
1101 #endif
1102                 }
1103
1104         }
1105 }
1106 #define COUNTS_PER_G 264.8
1107
1108 void
1109 ao_dump_state(void)
1110 {
1111 }
1112
1113 static const struct option options[] = {
1114         { .name = "summary", .has_arg = 0, .val = 's' },
1115         { .name = "debug", .has_arg = 0, .val = 'd' },
1116         { .name = "info", .has_arg = 1, .val = 'i' },
1117         { 0, 0, 0, 0},
1118 };
1119
1120 void run_flight_fixed(char *name, FILE *f, int summary, char *info)
1121 {
1122         emulator_name = name;
1123         emulator_in = f;
1124         emulator_info = info;
1125         ao_summary = summary;
1126         ao_flight_init();
1127         ao_flight();
1128 }
1129
1130 int
1131 main (int argc, char **argv)
1132 {
1133         int     summary = 0;
1134         int     c;
1135         int     i;
1136         char    *info = NULL;
1137
1138 #if HAS_ACCEL
1139         emulator_app="full";
1140 #else
1141         emulator_app="baro";
1142 #endif
1143         while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) {
1144                 switch (c) {
1145                 case 's':
1146                         summary = 1;
1147                         break;
1148                 case 'd':
1149                         ao_flight_debug = 1;
1150                         break;
1151                 case 'i':
1152                         info = optarg;
1153                         break;
1154                 }
1155         }
1156
1157         if (optind == argc)
1158                 run_flight_fixed("<stdin>", stdin, summary, info);
1159         else
1160                 for (i = optind; i < argc; i++) {
1161                         FILE    *f = fopen(argv[i], "r");
1162                         if (!f) {
1163                                 perror(argv[i]);
1164                                 continue;
1165                         }
1166                         run_flight_fixed(argv[i], f, summary, info);
1167                         fclose(f);
1168                 }
1169         exit(0);
1170 }