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   1 /*
   2  * Copyright © 2009 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 #define _GNU_SOURCE
  19
  20 #include <stdint.h>
  21 #include <stdio.h>
  22 #include <stdlib.h>
  23 #include <string.h>
  24 #include <getopt.h>
  25 #include <math.h>
  26
  27 #define AO_HERTZ        100
  28
  29 #define HAS_ADC 1
  30 #define AO_DATA_RING    64
  31 #define ao_data_ring_next(n)    (((n) + 1) & (AO_DATA_RING - 1))
  32 #define ao_data_ring_prev(n)    (((n) - 1) & (AO_DATA_RING - 1))
  33
  34 #define AO_M_TO_HEIGHT(m)       ((int16_t) (m))
  35 #define AO_MS_TO_SPEED(ms)      ((int16_t) ((ms) * 16))
  36 #define AO_MSS_TO_ACCEL(mss)    ((int16_t) ((mss) * 16))
  37
  38 /*
  39  * One set of samples read from the A/D converter
  40  */
  41 struct ao_adc {
  42         int16_t         accel;          /* accelerometer */
  43         int16_t         pres;           /* pressure sensor */
  44         int16_t         pres_real;      /* unclipped */
  45         int16_t         temp;           /* temperature sensor */
  46         int16_t         v_batt;         /* battery voltage */
  47         int16_t         sense_d;        /* drogue continuity sense */
  48         int16_t         sense_m;        /* main continuity sense */
  49 };
  50
  51 #define __pdata
  52 #define __data
  53 #define __xdata
  54 #define __code
  55 #define __reentrant
  56
  57 #define HAS_FLIGHT 1
  58 #define HAS_IGNITE 1
  59 #define HAS_USB 1
  60 #define HAS_GPS 1
  61 #ifndef HAS_ACCEL
  62 #define HAS_ACCEL 1
  63 #define HAS_ACCEL_REF 0
  64 #endif
  65
  66 #include <ao_data.h>
  67
  68 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
  69 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
  70 #define from_fix(x)     ((x) >> 16)
  71
  72 /*
  73  * Above this height, the baro sensor doesn't work
  74  */
  75 #define AO_MAX_BARO_HEIGHT      12000
  76 #define AO_BARO_SATURATE        13000
  77 #define AO_MIN_BARO_VALUE       ao_altitude_to_pres(AO_BARO_SATURATE)
  78
  79 /*
  80  * Above this speed, baro measurements are unreliable
  81  */
  82 #define AO_MAX_BARO_SPEED       200
  83
  84 #define ACCEL_NOSE_UP   (ao_accel_2g >> 2)
  85
  86 enum ao_flight_state {
  87         ao_flight_startup = 0,
  88         ao_flight_idle = 1,
  89         ao_flight_pad = 2,
  90         ao_flight_boost = 3,
  91         ao_flight_fast = 4,
  92         ao_flight_coast = 5,
  93         ao_flight_drogue = 6,
  94         ao_flight_main = 7,
  95         ao_flight_landed = 8,
  96         ao_flight_invalid = 9
  97 };
  98
  99 extern enum ao_flight_state ao_flight_state;
 100
 101 #define FALSE 0
 102 #define TRUE 1
 103
 104 volatile struct ao_data ao_data_ring[AO_DATA_RING];
 105 volatile uint8_t ao_data_head;
 106 int     ao_summary = 0;
 107
 108 #define ao_led_on(l)
 109 #define ao_led_off(l)
 110 #define ao_timer_set_adc_interval(i)
 111 #define ao_wakeup(wchan) ao_dump_state()
 112 #define ao_cmd_register(c)
 113 #define ao_usb_disable()
 114 #define ao_telemetry_set_interval(x)
 115 #define ao_rdf_set(rdf)
 116 #define ao_packet_slave_start()
 117 #define ao_packet_slave_stop()
 118
 119 enum ao_igniter {
 120         ao_igniter_drogue = 0,
 121         ao_igniter_main = 1
 122 };
 123
 124 struct ao_data ao_data_static;
 125
 126 int     drogue_height;
 127 double  drogue_time;
 128 int     main_height;
 129 double  main_time;
 130
 131 int     tick_offset;
 132
 133 static int32_t  ao_k_height;
 134
 135 void
 136 ao_ignite(enum ao_igniter igniter)
 137 {
 138         double time = (double) (ao_data_static.tick + tick_offset) / 100;
 139
 140         if (igniter == ao_igniter_drogue) {
 141                 drogue_time = time;
 142                 drogue_height = ao_k_height >> 16;
 143         } else {
 144                 main_time = time;
 145                 main_height = ao_k_height >> 16;
 146         }
 147 }
 148
 149 struct ao_task {
 150         int dummy;
 151 };
 152
 153 #define ao_add_task(t,f,n) ((void) (t))
 154
 155 #define ao_log_start()
 156 #define ao_log_stop()
 157
 158 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
 159 #define AO_SEC_TO_TICKS(s)      ((s) * 100)
 160
 161 #define AO_FLIGHT_TEST
 162
 163 int     ao_flight_debug;
 164
 165 FILE *emulator_in;
 166 char *emulator_app;
 167 char *emulator_name;
 168 char *emulator_info;
 169 double emulator_error_max = 4;
 170 double emulator_height_error_max = 20;  /* noise in the baro sensor */
 171
 172 void
 173 ao_dump_state(void);
 174
 175 void
 176 ao_sleep(void *wchan);
 177
 178 const char const * const ao_state_names[] = {
 179         "startup", "idle", "pad", "boost", "fast",
 180         "coast", "drogue", "main", "landed", "invalid"
 181 };
 182
 183 struct ao_cmds {
 184         void            (*func)(void);
 185         const char      *help;
 186 };
 187
 188 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
 189 #define ao_xmemset(d,v,c) memset(d,v,c)
 190 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
 191
 192 #define AO_NEED_ALTITUDE_TO_PRES 1
 193 #include "ao_convert.c"
 194
 195 struct ao_config {
 196         uint16_t        main_deploy;
 197         int16_t         accel_plus_g;
 198         int16_t         accel_minus_g;
 199         uint8_t         pad_orientation;
 200         uint16_t        apogee_lockout;
 201 };
 202
 203 #define AO_PAD_ORIENTATION_ANTENNA_UP   0
 204 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
 205
 206 #define ao_config_get()
 207
 208 struct ao_config ao_config;
 209
 210 #define DATA_TO_XDATA(x) (x)
 211
 212
 213 #define GRAVITY 9.80665
 214 extern int16_t ao_ground_accel, ao_flight_accel;
 215 extern int16_t ao_accel_2g;
 216
 217 typedef int16_t accel_t;
 218
 219 extern uint16_t ao_sample_tick;
 220
 221 extern int16_t  ao_sample_height;
 222 extern accel_t  ao_sample_accel;
 223 extern int32_t  ao_accel_scale;
 224 extern int16_t  ao_ground_height;
 225 extern int16_t  ao_sample_alt;
 226
 227 int ao_sample_prev_tick;
 228 uint16_t        prev_tick;
 229
 230 #include "ao_kalman.c"
 231 #include "ao_sample.c"
 232 #include "ao_flight.c"
 233
 234 #define to_double(f)    ((f) / 65536.0)
 235
 236 static int      ao_records_read = 0;
 237 static int      ao_eof_read = 0;
 238 static int      ao_flight_ground_accel;
 239 static int      ao_flight_started = 0;
 240 static int      ao_test_max_height;
 241 static double   ao_test_max_height_time;
 242 static int      ao_test_main_height;
 243 static double   ao_test_main_height_time;
 244 static double   ao_test_landed_time;
 245 static double   ao_test_landed_height;
 246 static double   ao_test_landed_time;
 247 static int      landed_set;
 248 static double   landed_time;
 249 static double   landed_height;
 250
 251 void
 252 ao_test_exit(void)
 253 {
 254         double  drogue_error;
 255         double  main_error;
 256         double  landed_error;
 257         double  landed_time_error;
 258
 259         if (!ao_test_main_height_time) {
 260                 ao_test_main_height_time = ao_test_max_height_time;
 261                 ao_test_main_height = ao_test_max_height;
 262         }
 263         drogue_error = fabs(ao_test_max_height_time - drogue_time);
 264         main_error = fabs(ao_test_main_height_time - main_time);
 265         landed_error = fabs(ao_test_landed_height - landed_height);
 266         landed_time_error = ao_test_landed_time - landed_time;
 267         if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
 268                 printf ("%s %s\n",
 269                         emulator_app, emulator_name);
 270                 if (emulator_info)
 271                         printf ("\t%s\n", emulator_info);
 272                 printf ("\tApogee error %g\n", drogue_error);
 273                 printf ("\tMain error %g\n", main_error);
 274                 printf ("\tLanded height error %g\n", landed_error);
 275                 printf ("\tLanded time error %g\n", landed_time_error);
 276                 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 277                         ao_test_max_height, ao_test_max_height_time,
 278                         ao_test_main_height, ao_test_main_height_time,
 279                         ao_test_landed_height, ao_test_landed_time);
 280                 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 281                         drogue_height, drogue_time, main_height, main_time,
 282                         landed_height, landed_time);
 283                 exit (1);
 284         }
 285         exit(0);
 286 }
 287
 288 void
 289 ao_insert(void)
 290 {
 291         double  time;
 292
 293         ao_data_ring[ao_data_head] = ao_data_static;
 294         ao_data_head = ao_data_ring_next(ao_data_head);
 295         if (ao_flight_state != ao_flight_startup) {
 296                 double  height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
 297                 double  accel = ((ao_flight_ground_accel - ao_data_static.adc.accel) * GRAVITY * 2.0) /
 298                         (ao_config.accel_minus_g - ao_config.accel_plus_g);
 299
 300                 if (!tick_offset)
 301                         tick_offset = -ao_data_static.tick;
 302                 if ((prev_tick - ao_data_static.tick) > 0x400)
 303                         tick_offset += 65536;
 304                 prev_tick = ao_data_static.tick;
 305                 time = (double) (ao_data_static.tick + tick_offset) / 100;
 306
 307                 if (ao_test_max_height < height) {
 308                         ao_test_max_height = height;
 309                         ao_test_max_height_time = time;
 310                         ao_test_landed_height = height;
 311                         ao_test_landed_time = time;
 312                 }
 313                 if (height > ao_config.main_deploy) {
 314                         ao_test_main_height_time = time;
 315                         ao_test_main_height = height;
 316                 }
 317
 318                 if (ao_test_landed_height > height) {
 319                         ao_test_landed_height = height;
 320                         ao_test_landed_time = time;
 321                 }
 322
 323                 if (ao_flight_state == ao_flight_landed && !landed_set) {
 324                         landed_set = 1;
 325                         landed_time = time;
 326                         landed_height = height;
 327                 }
 328
 329                 if (!ao_summary) {
 330                         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",
 331                                time,
 332                                height,
 333                                accel,
 334                                ao_state_names[ao_flight_state],
 335                                ao_k_height / 65536.0,
 336                                ao_k_speed / 65536.0 / 16.0,
 337                                ao_k_accel / 65536.0 / 16.0,
 338                                ao_avg_height,
 339                                drogue_height,
 340                                main_height,
 341                                ao_error_h_sq_avg);
 342
 343 //                      if (ao_flight_state == ao_flight_landed)
 344 //                              ao_test_exit();
 345                 }
 346         }
 347 }
 348
 349 #define AO_MAX_CALLSIGN                 8
 350 #define AO_MAX_VERSION                  8
 351 #define AO_MAX_TELEMETRY                128
 352
 353 struct ao_telemetry_generic {
 354         uint16_t        serial;         /* 0 */
 355         uint16_t        tick;           /* 2 */
 356         uint8_t         type;           /* 4 */
 357         uint8_t         payload[27];    /* 5 */
 358         /* 32 */
 359 };
 360
 361 #define AO_TELEMETRY_SENSOR_TELEMETRUM  0x01
 362 #define AO_TELEMETRY_SENSOR_TELEMINI    0x02
 363 #define AO_TELEMETRY_SENSOR_TELENANO    0x03
 364
 365 struct ao_telemetry_sensor {
 366         uint16_t        serial;         /*  0 */
 367         uint16_t        tick;           /*  2 */
 368         uint8_t         type;           /*  4 */
 369
 370         uint8_t         state;          /*  5 flight state */
 371         int16_t         accel;          /*  6 accelerometer (TM only) */
 372         int16_t         pres;           /*  8 pressure sensor */
 373         int16_t         temp;           /* 10 temperature sensor */
 374         int16_t         v_batt;         /* 12 battery voltage */
 375         int16_t         sense_d;        /* 14 drogue continuity sense (TM/Tm) */
 376         int16_t         sense_m;        /* 16 main continuity sense (TM/Tm) */
 377
 378         int16_t         acceleration;   /* 18 m/s² * 16 */
 379         int16_t         speed;          /* 20 m/s * 16 */
 380         int16_t         height;         /* 22 m */
 381
 382         int16_t         ground_pres;    /* 24 average pres on pad */
 383         int16_t         ground_accel;   /* 26 average accel on pad */
 384         int16_t         accel_plus_g;   /* 28 accel calibration at +1g */
 385         int16_t         accel_minus_g;  /* 30 accel calibration at -1g */
 386         /* 32 */
 387 };
 388
 389 #define AO_TELEMETRY_CONFIGURATION      0x04
 390
 391 struct ao_telemetry_configuration {
 392         uint16_t        serial;                         /*  0 */
 393         uint16_t        tick;                           /*  2 */
 394         uint8_t         type;                           /*  4 */
 395
 396         uint8_t         device;                         /*  5 device type */
 397         uint16_t        flight;                         /*  6 flight number */
 398         uint8_t         config_major;                   /*  8 Config major version */
 399         uint8_t         config_minor;                   /*  9 Config minor version */
 400         uint16_t        apogee_delay;                   /* 10 Apogee deploy delay in seconds */
 401         uint16_t        main_deploy;                    /* 12 Main deploy alt in meters */
 402         uint16_t        flight_log_max;                 /* 14 Maximum flight log size in kB */
 403         char            callsign[AO_MAX_CALLSIGN];      /* 16 Radio operator identity */
 404         char            version[AO_MAX_VERSION];        /* 24 Software version */
 405         /* 32 */
 406 };
 407
 408 #define AO_TELEMETRY_LOCATION           0x05
 409
 410 #define AO_GPS_MODE_NOT_VALID           'N'
 411 #define AO_GPS_MODE_AUTONOMOUS          'A'
 412 #define AO_GPS_MODE_DIFFERENTIAL        'D'
 413 #define AO_GPS_MODE_ESTIMATED           'E'
 414 #define AO_GPS_MODE_MANUAL              'M'
 415 #define AO_GPS_MODE_SIMULATED           'S'
 416
 417 struct ao_telemetry_location {
 418         uint16_t        serial;         /*  0 */
 419         uint16_t        tick;           /*  2 */
 420         uint8_t         type;           /*  4 */
 421
 422         uint8_t         flags;          /*  5 Number of sats and other flags */
 423         int16_t         altitude;       /*  6 GPS reported altitude (m) */
 424         int32_t         latitude;       /*  8 latitude (degrees * 10⁷) */
 425         int32_t         longitude;      /* 12 longitude (degrees * 10⁷) */
 426         uint8_t         year;           /* 16 (- 2000) */
 427         uint8_t         month;          /* 17 (1-12) */
 428         uint8_t         day;            /* 18 (1-31) */
 429         uint8_t         hour;           /* 19 (0-23) */
 430         uint8_t         minute;         /* 20 (0-59) */
 431         uint8_t         second;         /* 21 (0-59) */
 432         uint8_t         pdop;           /* 22 (m * 5) */
 433         uint8_t         hdop;           /* 23 (m * 5) */
 434         uint8_t         vdop;           /* 24 (m * 5) */
 435         uint8_t         mode;           /* 25 */
 436         uint16_t        ground_speed;   /* 26 cm/s */
 437         int16_t         climb_rate;     /* 28 cm/s */
 438         uint8_t         course;         /* 30 degrees / 2 */
 439         uint8_t         unused[1];      /* 31 */
 440         /* 32 */
 441 };
 442
 443 #define AO_TELEMETRY_SATELLITE          0x06
 444
 445 struct ao_telemetry_satellite_info {
 446         uint8_t         svid;
 447         uint8_t         c_n_1;
 448 };
 449
 450 struct ao_telemetry_satellite {
 451         uint16_t                                serial;         /*  0 */
 452         uint16_t                                tick;           /*  2 */
 453         uint8_t                                 type;           /*  4 */
 454         uint8_t                                 channels;       /*  5 number of reported sats */
 455
 456         struct ao_telemetry_satellite_info      sats[12];       /* 6 */
 457         uint8_t                                 unused[2];      /* 30 */
 458         /* 32 */
 459 };
 460
 461 union ao_telemetry_all {
 462         struct ao_telemetry_generic             generic;
 463         struct ao_telemetry_sensor              sensor;
 464         struct ao_telemetry_configuration       configuration;
 465         struct ao_telemetry_location            location;
 466         struct ao_telemetry_satellite           satellite;
 467 };
 468
 469 uint16_t
 470 uint16(uint8_t *bytes, int off)
 471 {
 472         off++;
 473         return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
 474 }
 475
 476 int16_t
 477 int16(uint8_t *bytes, int off)
 478 {
 479         return (int16_t) uint16(bytes, off);
 480 }
 481
 482 void
 483 ao_sleep(void *wchan)
 484 {
 485         if (wchan == &ao_data_head) {
 486                 char            type = 0;
 487                 uint16_t        tick = 0;
 488                 uint16_t        a = 0, b = 0;
 489                 uint8_t         bytes[1024];
 490                 union ao_telemetry_all  telem;
 491                 char            line[1024];
 492                 char            *saveptr;
 493                 char            *l;
 494                 char            *words[64];
 495                 int             nword;
 496
 497                 for (;;) {
 498                         if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 499                         {
 500                                 ao_data_static.adc.accel = ao_flight_ground_accel;
 501                                 ao_insert();
 502                                 return;
 503                         }
 504
 505                         if (!fgets(line, sizeof (line), emulator_in)) {
 506                                 if (++ao_eof_read >= 1000) {
 507                                         if (!ao_summary)
 508                                                 printf ("no more data, exiting simulation\n");
 509                                         ao_test_exit();
 510                                 }
 511                                 ao_data_static.tick += 10;
 512                                 ao_insert();
 513                                 return;
 514                         }
 515                         l = line;
 516                         for (nword = 0; nword < 64; nword++) {
 517                                 words[nword] = strtok_r(l, " \t\n", &saveptr);
 518                                 l = NULL;
 519                                 if (words[nword] == NULL)
 520                                         break;
 521                         }
 522                         if (nword == 4) {
 523                                 type = words[0][0];
 524                                 tick = strtoul(words[1], NULL, 16);
 525                                 a = strtoul(words[2], NULL, 16);
 526                                 b = strtoul(words[3], NULL, 16);
 527                                 if (type == 'P')
 528                                         type = 'A';
 529                         } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
 530                                 ao_config.accel_plus_g = atoi(words[3]);
 531                                 ao_config.accel_minus_g = atoi(words[5]);
 532                         } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
 533                                 ao_config.main_deploy = atoi(words[2]);
 534                         } else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 &&
 535                                    strcmp(words[1], "lockout:") == 0) {
 536                                 ao_config.apogee_lockout = atoi(words[2]);
 537                         } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
 538                                 tick = atoi(words[10]);
 539                                 if (!ao_flight_started) {
 540                                         type = 'F';
 541                                         a = atoi(words[26]);
 542                                         ao_flight_started = 1;
 543                                 } else {
 544                                         type = 'A';
 545                                         a = atoi(words[12]);
 546                                         b = atoi(words[14]);
 547                                 }
 548                         } else if (nword == 3 && strcmp(words[0], "BARO") == 0) {
 549                                 tick = strtol(words[1], NULL, 16);
 550                                 a = 16384 - 328;
 551                                 b = strtol(words[2], NULL, 10);
 552                                 type = 'A';
 553                                 if (!ao_flight_started) {
 554                                         ao_flight_ground_accel = 16384 - 328;
 555                                         ao_config.accel_plus_g = 16384 - 328;
 556                                         ao_config.accel_minus_g = 16384 + 328;
 557                                         ao_flight_started = 1;
 558                                 }
 559                         } else if (nword == 2 && strcmp(words[0], "TELEM") == 0) {
 560                                 __xdata char    *hex = words[1];
 561                                 char    elt[3];
 562                                 int     i, len;
 563                                 uint8_t sum;
 564
 565                                 len = strlen(hex);
 566                                 if (len > sizeof (bytes) * 2) {
 567                                         len = sizeof (bytes)*2;
 568                                         hex[len] = '\0';
 569                                 }
 570                                 for (i = 0; i < len; i += 2) {
 571                                         elt[0] = hex[i];
 572                                         elt[1] = hex[i+1];
 573                                         elt[2] = '\0';
 574                                         bytes[i/2] = (uint8_t) strtol(elt, NULL, 16);
 575                                 }
 576                                 len = i/2;
 577                                 if (bytes[0] != len - 2) {
 578                                         printf ("bad length %d != %d\n", bytes[0], len - 2);
 579                                         continue;
 580                                 }
 581                                 sum = 0x5a;
 582                                 for (i = 1; i < len-1; i++)
 583                                         sum += bytes[i];
 584                                 if (sum != bytes[len-1]) {
 585                                         printf ("bad checksum\n");
 586                                         continue;
 587                                 }
 588                                 if ((bytes[len-2] & 0x80) == 0) {
 589                                         continue;
 590                                 }
 591                                 if (len == 36) {
 592                                         ao_xmemcpy(&telem, bytes + 1, 32);
 593                                         tick = telem.generic.tick;
 594                                         switch (telem.generic.type) {
 595                                         case AO_TELEMETRY_SENSOR_TELEMETRUM:
 596                                         case AO_TELEMETRY_SENSOR_TELEMINI:
 597                                         case AO_TELEMETRY_SENSOR_TELENANO:
 598                                                 if (!ao_flight_started) {
 599                                                         ao_flight_ground_accel = telem.sensor.ground_accel;
 600                                                         ao_config.accel_plus_g = telem.sensor.accel_plus_g;
 601                                                         ao_config.accel_minus_g = telem.sensor.accel_minus_g;
 602                                                         ao_flight_started = 1;
 603                                                 }
 604                                                 type = 'A';
 605                                                 a = telem.sensor.accel;
 606                                                 b = telem.sensor.pres;
 607                                                 break;
 608                                         }
 609                                 } else if (len == 99) {
 610                                         ao_flight_started = 1;
 611                                         tick = uint16(bytes, 21);
 612                                         ao_flight_ground_accel = int16(bytes, 7);
 613                                         ao_config.accel_plus_g = int16(bytes, 17);
 614                                         ao_config.accel_minus_g = int16(bytes, 19);
 615                                         type = 'A';
 616                                         a = int16(bytes, 23);
 617                                         b = int16(bytes, 25);
 618                                 } else if (len == 98) {
 619                                         ao_flight_started = 1;
 620                                         tick = uint16(bytes, 20);
 621                                         ao_flight_ground_accel = int16(bytes, 6);
 622                                         ao_config.accel_plus_g = int16(bytes, 16);
 623                                         ao_config.accel_minus_g = int16(bytes, 18);
 624                                         type = 'A';
 625                                         a = int16(bytes, 22);
 626                                         b = int16(bytes, 24);
 627                                 } else {
 628                                         printf("unknown len %d\n", len);
 629                                         continue;
 630                                 }
 631                         }
 632                         if (type != 'F' && !ao_flight_started)
 633                                 continue;
 634
 635                         switch (type) {
 636                         case 'F':
 637                                 ao_flight_ground_accel = a;
 638                                 if (ao_config.accel_plus_g == 0) {
 639                                         ao_config.accel_plus_g = a;
 640                                         ao_config.accel_minus_g = a + 530;
 641                                 }
 642                                 if (ao_config.main_deploy == 0)
 643                                         ao_config.main_deploy = 250;
 644                                 ao_flight_started = 1;
 645                                 break;
 646                         case 'S':
 647                                 break;
 648                         case 'A':
 649                                 ao_data_static.tick = tick;
 650                                 ao_data_static.adc.accel = a;
 651                                 ao_data_static.adc.pres_real = b;
 652                                 if (b < AO_MIN_BARO_VALUE)
 653                                         b = AO_MIN_BARO_VALUE;
 654                                 ao_data_static.adc.pres = b;
 655                                 ao_records_read++;
 656                                 ao_insert();
 657                                 return;
 658                         case 'T':
 659                                 ao_data_static.tick = tick;
 660                                 ao_data_static.adc.temp = a;
 661                                 ao_data_static.adc.v_batt = b;
 662                                 break;
 663                         case 'D':
 664                         case 'G':
 665                         case 'N':
 666                         case 'W':
 667                         case 'H':
 668                                 break;
 669                         }
 670                 }
 671
 672         }
 673 }
 674 #define COUNTS_PER_G 264.8
 675
 676 void
 677 ao_dump_state(void)
 678 {
 679 }
 680
 681 static const struct option options[] = {
 682         { .name = "summary", .has_arg = 0, .val = 's' },
 683         { .name = "debug", .has_arg = 0, .val = 'd' },
 684         { .name = "info", .has_arg = 1, .val = 'i' },
 685         { 0, 0, 0, 0},
 686 };
 687
 688 void run_flight_fixed(char *name, FILE *f, int summary, char *info)
 689 {
 690         emulator_name = name;
 691         emulator_in = f;
 692         emulator_info = info;
 693         ao_summary = summary;
 694         ao_flight_init();
 695         ao_flight();
 696 }
 697
 698 int
 699 main (int argc, char **argv)
 700 {
 701         int     summary = 0;
 702         int     c;
 703         int     i;
 704         char    *info = NULL;
 705
 706 #if HAS_ACCEL
 707         emulator_app="full";
 708 #else
 709         emulator_app="baro";
 710 #endif
 711         while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) {
 712                 switch (c) {
 713                 case 's':
 714                         summary = 1;
 715                         break;
 716                 case 'd':
 717                         ao_flight_debug = 1;
 718                         break;
 719                 case 'i':
 720                         info = optarg;
 721                         break;
 722                 }
 723         }
 724
 725         if (optind == argc)
 726                 run_flight_fixed("<stdin>", stdin, summary, info);
 727         else
 728                 for (i = optind; i < argc; i++) {
 729                         FILE    *f = fopen(argv[i], "r");
 730                         if (!f) {
 731                                 perror(argv[i]);
 732                                 continue;
 733                         }
 734                         run_flight_fixed(argv[i], f, summary, info);
 735                         fclose(f);
 736                 }
 737         exit(0);
 738 }