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