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   1 /*
   2  * Copyright © 2009 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 #define _GNU_SOURCE
  20
  21 #include <stdint.h>
  22 #include <stdio.h>
  23 #include <stdlib.h>
  24 #include <stddef.h>
  25 #include <string.h>
  26 #include <getopt.h>
  27 #include <math.h>
  28 #define log ao_log_data
  29
  30 #define GRAVITY 9.80665
  31
  32 #define AO_HERTZ        100
  33
  34 #define HAS_ADC 1
  35 #define AO_DATA_RING    64
  36 #define ao_data_ring_next(n)    (((n) + 1) & (AO_DATA_RING - 1))
  37 #define ao_data_ring_prev(n)    (((n) - 1) & (AO_DATA_RING - 1))
  38
  39 #if 0
  40 #define AO_M_TO_HEIGHT(m)       ((int16_t) (m))
  41 #define AO_MS_TO_SPEED(ms)      ((int16_t) ((ms) * 16))
  42 #define AO_MSS_TO_ACCEL(mss)    ((int16_t) ((mss) * 16))
  43 #endif
  44
  45 #define AO_GPS_NEW_DATA         1
  46 #define AO_GPS_NEW_TRACKING     2
  47
  48 int ao_gps_new;
  49
  50 #if !defined(TELEMEGA) && !defined(TELEMETRUM_V2) && !defined(EASYMINI) && !defined(EASYMOTOR_V_2)
  51 #define TELEMETRUM_V1 1
  52 #endif
  53
  54 #if TELEMEGA
  55 #define AO_ADC_NUM_SENSE        6
  56 #define HAS_MS5607              1
  57 #define HAS_MPU6000             1
  58 #define HAS_MMA655X             1
  59 #define HAS_HMC5883             1
  60 #define HAS_BEEP                1
  61 #define AO_CONFIG_MAX_SIZE      1024
  62 #define AO_MMA655X_INVERT       0
  63
  64 struct ao_adc {
  65         int16_t                 sense[AO_ADC_NUM_SENSE];
  66         int16_t                 v_batt;
  67         int16_t                 v_pbatt;
  68         int16_t                 temp;
  69 };
  70 #endif
  71
  72 #if TELEMETRUM_V2
  73 #define AO_ADC_NUM_SENSE        2
  74 #define HAS_MS5607              1
  75 #define HAS_MMA655X             1
  76 #define AO_MMA655X_INVERT       0
  77 #define HAS_BEEP                1
  78 #define AO_CONFIG_MAX_SIZE      1024
  79
  80 struct ao_adc {
  81         int16_t                 sense_a;
  82         int16_t                 sense_m;
  83         int16_t                 v_batt;
  84         int16_t                 temp;
  85 };
  86 #endif
  87
  88 #if EASYMINI
  89 #define AO_ADC_NUM_SENSE        2
  90 #define HAS_MS5607              1
  91 #define HAS_BEEP                1
  92 #define AO_CONFIG_MAX_SIZE      1024
  93
  94 struct ao_adc {
  95         int16_t                 sense_a;
  96         int16_t                 sense_m;
  97         int16_t                 v_batt;
  98 };
  99 #endif
 100
 101 #if TELEMETRUM_V1
 102 /*
 103  * One set of samples read from the A/D converter
 104  */
 105 struct ao_adc {
 106         int16_t         accel;          /* accelerometer */
 107         int16_t         pres;           /* pressure sensor */
 108         int16_t         pres_real;      /* unclipped */
 109         int16_t         temp;           /* temperature sensor */
 110         int16_t         v_batt;         /* battery voltage */
 111         int16_t         sense_d;        /* drogue continuity sense */
 112         int16_t         sense_m;        /* main continuity sense */
 113 };
 114
 115 #ifndef HAS_ACCEL
 116 #define HAS_ACCEL 1
 117 #define HAS_ACCEL_REF 0
 118 #endif
 119
 120 #endif
 121
 122 #if EASYMOTOR_V_2
 123 #define AO_ADC_NUM_SENSE        0
 124 #define HAS_ADXL375             1
 125 #define HAS_BEEP                1
 126 #define AO_CONFIG_MAX_SIZE      1024
 127 #define USE_ADXL375_IMU         1
 128 #define AO_ADXL375_INVERT       0
 129 #define HAS_IMU                 1
 130 #define AO_ADXL375_AXIS         x
 131 #define AO_ADXL375_ACROSS_AXIS  y
 132 #define AO_ADXL375_THROUGH_AXIS z
 133
 134 struct ao_adc {
 135         int16_t                 pressure;
 136         int16_t                 v_batt;
 137 };
 138
 139 #endif
 140
 141 #define const
 142
 143 #define HAS_FLIGHT 1
 144 #define HAS_IGNITE 1
 145 #define HAS_USB 1
 146 #define HAS_GPS 1
 147
 148 int16_t
 149 ao_time(void);
 150
 151 void
 152 ao_dump_state(void);
 153
 154 #define ao_tick_count   (ao_time())
 155 #define ao_wakeup(wchan) ao_dump_state()
 156
 157 #include <ao_data.h>
 158 #include <ao_log.h>
 159 #include <ao_telemetry.h>
 160 #include <ao_sample.h>
 161
 162 #if TELEMEGA
 163 int ao_gps_count;
 164 struct ao_telemetry_location ao_gps_first;
 165 struct ao_telemetry_location ao_gps_prev;
 166 struct ao_telemetry_location ao_gps_static;
 167
 168 struct ao_telemetry_satellite ao_gps_tracking;
 169
 170 static inline double sqr(double a) { return a * a; }
 171
 172 void
 173 cc_great_circle (double start_lat, double start_lon,
 174                  double end_lat, double end_lon,
 175                  double *dist, double *bearing)
 176 {
 177         const double rad = M_PI / 180;
 178         const double earth_radius = 6371.2 * 1000;      /* in meters */
 179         double lat1 = rad * start_lat;
 180         double lon1 = rad * -start_lon;
 181         double lat2 = rad * end_lat;
 182         double lon2 = rad * -end_lon;
 183
 184 //      double d_lat = lat2 - lat1;
 185         double d_lon = lon2 - lon1;
 186
 187         /* From http://en.wikipedia.org/wiki/Great-circle_distance */
 188         double vdn = sqrt(sqr(cos(lat2) * sin(d_lon)) +
 189                           sqr(cos(lat1) * sin(lat2) -
 190                               sin(lat1) * cos(lat2) * cos(d_lon)));
 191         double vdd = sin(lat1) * sin(lat2) + cos(lat1) * cos(lat2) * cos(d_lon);
 192         double d = atan2(vdn,vdd);
 193         double course;
 194
 195         if (cos(lat1) < 1e-20) {
 196                 if (lat1 > 0)
 197                         course = M_PI;
 198                 else
 199                         course = -M_PI;
 200         } else {
 201                 if (d < 1e-10)
 202                         course = 0;
 203                 else
 204                         course = acos((sin(lat2)-sin(lat1)*cos(d)) /
 205                                       (sin(d)*cos(lat1)));
 206                 if (sin(lon2-lon1) > 0)
 207                         course = 2 * M_PI-course;
 208         }
 209         *dist = d * earth_radius;
 210         *bearing = course * 180/M_PI;
 211 }
 212
 213 double
 214 ao_distance_from_pad(void)
 215 {
 216         double  dist, bearing;
 217         if (!ao_gps_count)
 218                 return 0;
 219
 220         cc_great_circle(ao_gps_first.latitude / 1e7,
 221                         ao_gps_first.longitude / 1e7,
 222                         ao_gps_static.latitude / 1e7,
 223                         ao_gps_static.longitude / 1e7,
 224                         &dist, &bearing);
 225         return dist;
 226 }
 227
 228 double
 229 ao_gps_angle(void)
 230 {
 231         double  dist, bearing;
 232         double  height;
 233         double  angle;
 234
 235         if (ao_gps_count < 2)
 236                 return 0;
 237
 238         cc_great_circle(ao_gps_prev.latitude / 1e7,
 239                         ao_gps_prev.longitude / 1e7,
 240                         ao_gps_static.latitude / 1e7,
 241                         ao_gps_static.longitude / 1e7,
 242                         &dist, &bearing);
 243         height = AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_static) - AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_prev);
 244
 245         angle = atan2(dist, height);
 246         return angle * 180/M_PI;
 247 }
 248 #endif
 249
 250 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
 251 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
 252 #define from_fix(x)     ((x) >> 16)
 253
 254 #define ACCEL_NOSE_UP   (ao_accel_2g >> 2)
 255
 256 extern enum ao_flight_state ao_flight_state;
 257
 258 #define false 0
 259 #define true 1
 260
 261 volatile struct ao_data ao_data_ring[AO_DATA_RING];
 262 volatile uint8_t ao_data_head;
 263 int     ao_summary = 0;
 264
 265 #define ao_led_on(l)
 266 #define ao_led_off(l)
 267 #define ao_timer_set_adc_interval(i)
 268 #define ao_cmd_register(c)
 269 #define ao_usb_disable()
 270 #define ao_telemetry_set_interval(x)
 271 #define ao_rdf_set(rdf)
 272 #define ao_packet_slave_start()
 273 #define ao_packet_slave_stop()
 274 #define flush()
 275
 276 enum ao_igniter {
 277         ao_igniter_drogue = 0,
 278         ao_igniter_main = 1
 279 };
 280
 281 struct ao_data ao_data_static;
 282
 283 int     drogue_height;
 284 double  drogue_time;
 285 int     main_height;
 286 double  main_time;
 287
 288 int     tick_offset;
 289
 290 static ao_k_t   ao_k_height;
 291 static double   simple_speed;
 292
 293 int16_t
 294 ao_time(void)
 295 {
 296         return ao_data_static.tick;
 297 }
 298
 299 void
 300 ao_delay(int16_t interval)
 301 {
 302         return;
 303 }
 304
 305 void
 306 ao_ignite(enum ao_igniter igniter)
 307 {
 308         double time = (double) (ao_data_static.tick + tick_offset) / 100;
 309
 310         if (igniter == ao_igniter_drogue) {
 311                 drogue_time = time;
 312                 drogue_height = ao_k_height >> 16;
 313         } else {
 314                 main_time = time;
 315                 main_height = ao_k_height >> 16;
 316         }
 317 }
 318
 319 struct ao_task {
 320         int dummy;
 321 };
 322
 323 #define ao_add_task(t,f,n) ((void) (t))
 324
 325 #define ao_log_start()
 326 #define ao_log_stop()
 327
 328 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
 329 #define AO_SEC_TO_TICKS(s)      ((s) * 100)
 330
 331 #define AO_FLIGHT_TEST  1
 332
 333 int     ao_flight_debug;
 334
 335 struct ao_eeprom        *eeprom;
 336 uint32_t                eeprom_offset;
 337
 338 FILE *emulator_in;
 339 char *emulator_app;
 340 char *emulator_name;
 341 char *emulator_info;
 342 double emulator_error_max = 4;
 343 double emulator_height_error_max = 20;  /* noise in the baro sensor */
 344
 345 void
 346 ao_sleep(void *wchan);
 347
 348 const char * const ao_state_names[] = {
 349         "startup", "idle", "pad", "boost", "fast",
 350         "coast", "drogue", "main", "landed", "invalid"
 351 };
 352
 353 struct ao_cmds {
 354         void            (*func)(void);
 355         const char      *help;
 356 };
 357
 358 #define AO_NEED_ALTITUDE_TO_PRES 1
 359 #if TELEMEGA || TELEMETRUM_V2 || EASYMINI
 360 #include "ao_convert_pa.c"
 361 #include <ao_ms5607.h>
 362 struct ao_ms5607_prom   ao_ms5607_prom;
 363 #include "ao_ms5607_convert.c"
 364 #if TELEMEGA
 365 #define AO_PYRO_NUM     4
 366 #include <ao_pyro.h>
 367 #endif
 368 #else
 369 #include "ao_convert.c"
 370 #endif
 371
 372 #include <ao_config.h>
 373 #include <ao_fake_flight.h>
 374 #include <ao_eeprom_read.h>
 375 #include <ao_log.h>
 376
 377 #define ao_config_get()
 378
 379 struct ao_config ao_config;
 380
 381 extern int16_t ao_ground_accel, ao_flight_accel;
 382 extern int16_t ao_accel_2g;
 383
 384 typedef int16_t accel_t;
 385
 386 uint16_t        ao_serial_number;
 387 int16_t         ao_flight_number;
 388
 389 extern uint16_t ao_sample_tick;
 390
 391 #if HAS_BARO
 392 extern alt_t    ao_sample_height;
 393 #endif
 394 extern accel_t  ao_sample_accel;
 395 extern int32_t  ao_accel_scale;
 396 #if HAS_BARO
 397 extern alt_t    ao_ground_height;
 398 extern alt_t    ao_sample_alt;
 399 #endif
 400
 401 double ao_sample_qangle;
 402
 403 int ao_sample_prev_tick;
 404 uint16_t        prev_tick;
 405
 406
 407 #include "ao_kalman.c"
 408 #include "ao_sqrt.c"
 409 #include "ao_sample.c"
 410 #include "ao_flight.c"
 411 #include "ao_data.c"
 412 #if TELEMEGA
 413 #define AO_PYRO_NUM     4
 414
 415 #define AO_PYRO_0       0
 416 #define AO_PYRO_1       1
 417 #define AO_PYRO_2       2
 418 #define AO_PYRO_3       3
 419
 420 #define PYRO_DBG        1
 421
 422 static void
 423 ao_pyro_pin_set(uint8_t pin, uint8_t value)
 424 {
 425         printf ("set pyro %d %d\n", pin, value);
 426 }
 427
 428 #include "ao_pyro.c"
 429 #endif
 430 #include "ao_eeprom_read.c"
 431 #include "ao_eeprom_read_old.c"
 432
 433 #define to_double(f)    ((f) / 65536.0)
 434
 435 static int      ao_records_read = 0;
 436 static int      ao_eof_read = 0;
 437 #if !EASYMINI
 438 static int      ao_flight_ground_accel;
 439 #endif
 440 static int      ao_flight_started = 0;
 441 static int      ao_test_max_height;
 442 static double   ao_test_max_height_time;
 443 static int      ao_test_main_height;
 444 static double   ao_test_main_height_time;
 445 static double   ao_test_landed_time;
 446 static double   ao_test_landed_height;
 447 static double   ao_test_landed_time;
 448 static int      landed_set;
 449 static double   landed_time;
 450 static double   landed_height;
 451 #if AO_PYRO_NUM
 452 static uint16_t pyros_fired;
 453 #endif
 454
 455 #if HAS_MPU6000
 456 static struct ao_mpu6000_sample ao_ground_mpu6000;
 457 #endif
 458
 459 void
 460 ao_test_exit(void)
 461 {
 462         double  drogue_error;
 463         double  main_error;
 464         double  landed_error;
 465         double  landed_time_error;
 466
 467         if (!ao_test_main_height_time) {
 468                 ao_test_main_height_time = ao_test_max_height_time;
 469                 ao_test_main_height = ao_test_max_height;
 470         }
 471         drogue_error = fabs(ao_test_max_height_time - drogue_time);
 472         main_error = fabs(ao_test_main_height_time - main_time);
 473         landed_error = fabs(ao_test_landed_height - landed_height);
 474         landed_time_error = ao_test_landed_time - landed_time;
 475         if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
 476                 printf ("%s %s\n",
 477                         emulator_app, emulator_name);
 478                 if (emulator_info)
 479                         printf ("\t%s\n", emulator_info);
 480                 printf ("\tApogee error %g\n", drogue_error);
 481                 printf ("\tMain error %g\n", main_error);
 482                 printf ("\tLanded height error %g\n", landed_error);
 483                 printf ("\tLanded time error %g\n", landed_time_error);
 484                 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 485                         ao_test_max_height, ao_test_max_height_time,
 486                         ao_test_main_height, ao_test_main_height_time,
 487                         ao_test_landed_height, ao_test_landed_time);
 488                 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 489                         drogue_height, drogue_time, main_height, main_time,
 490                         landed_height, landed_time);
 491                 exit (1);
 492         }
 493         exit(0);
 494 }
 495
 496 #ifdef TELEMEGA
 497 struct ao_azel {
 498         int     az;
 499         int     el;
 500 };
 501
 502 static void
 503 azel (struct ao_azel *r, struct ao_quaternion *q)
 504 {
 505         double  v;
 506
 507         r->az = floor (atan2(q->y, q->x) * 180/M_PI + 0.5);
 508         v = sqrt (q->x*q->x + q->y*q->y);
 509         r->el = floor (atan2(q->z, v) * 180/M_PI + 0.5);
 510 }
 511 #endif
 512
 513 void
 514 ao_insert(void)
 515 {
 516         double  time;
 517
 518         ao_data_ring[ao_data_head] = ao_data_static;
 519         if (ao_flight_state != ao_flight_startup) {
 520 #if HAS_ACCEL
 521                 double  accel = ((ao_flight_ground_accel - ao_data_accel(&ao_data_static)) * GRAVITY * 2.0) /
 522                         (ao_config.accel_minus_g - ao_config.accel_plus_g);
 523 #else
 524                 double  accel = 0.0;
 525 #endif
 526
 527                 (void) accel;
 528                 if (!tick_offset)
 529                         tick_offset = -ao_data_static.tick;
 530                 if ((prev_tick - ao_data_static.tick) > 0x400)
 531                         tick_offset += 65536;
 532                 if (prev_tick) {
 533                         int ticks = ao_data_static.tick - prev_tick;
 534                         if (ticks < 0)
 535                                 ticks += 65536;
 536                         simple_speed += accel * ticks / 100.0;
 537                 }
 538                 prev_tick = ao_data_static.tick;
 539                 time = (double) (ao_data_static.tick + tick_offset) / 100;
 540
 541                 double height = 0;
 542 #if HAS_BARO
 543 #if TELEMEGA || TELEMETRUM_V2 || EASYMINI
 544                 ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
 545                 height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height;
 546
 547                 /* Hack to skip baro spike at accidental drogue charge
 548                  * firing in 2015-09-26-serial-2093-flight-0012.eeprom
 549                  * so we can test the kalman filter with this data. Just
 550                  * keep reporting the same baro value across the pressure spike
 551                  */
 552                 {
 553                         static struct ao_ms5607_sample save;
 554                         if (ao_serial_number == 2093 && ao_flight_number == 12 && 32.5 < time && time < 33.7) {
 555                                 ao_data_ring[ao_data_head].ms5607_raw = save;
 556                         } else {
 557                                 save = ao_data_static.ms5607_raw;
 558                         }
 559                 }
 560 #else
 561                 height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
 562 #endif
 563 #endif
 564
 565                 if (ao_test_max_height < height) {
 566                         ao_test_max_height = height;
 567                         ao_test_max_height_time = time;
 568                         ao_test_landed_height = height;
 569                         ao_test_landed_time = time;
 570                 }
 571                 if (height > ao_config.main_deploy) {
 572                         ao_test_main_height_time = time;
 573                         ao_test_main_height = height;
 574                 }
 575
 576                 if (ao_test_landed_height > height) {
 577                         ao_test_landed_height = height;
 578                         ao_test_landed_time = time;
 579                 }
 580
 581                 if (ao_flight_state == ao_flight_landed && !landed_set) {
 582                         landed_set = 1;
 583                         landed_time = time;
 584                         landed_height = height;
 585                 }
 586
 587                 if (!ao_summary) {
 588 #if TELEMEGA
 589                         static struct ao_quaternion     ao_ground_mag;
 590                         static int                      ao_ground_mag_set;
 591
 592                         if (!ao_ground_mag_set) {
 593                                 ao_quaternion_init_vector (&ao_ground_mag,
 594                                                            ao_data_mag_across(&ao_data_static),
 595                                                            ao_data_mag_through(&ao_data_static),
 596                                                            ao_data_mag_along(&ao_data_static));
 597                                 ao_quaternion_normalize(&ao_ground_mag, &ao_ground_mag);
 598                                 ao_quaternion_rotate(&ao_ground_mag, &ao_ground_mag, &ao_rotation);
 599                                 ao_ground_mag_set = 1;
 600                         }
 601
 602                         struct ao_quaternion            ao_mag, ao_mag_rot;
 603
 604                         ao_quaternion_init_vector(&ao_mag,
 605                                                   ao_data_mag_across(&ao_data_static),
 606                                                   ao_data_mag_through(&ao_data_static),
 607                                                   ao_data_mag_along(&ao_data_static));
 608
 609                         ao_quaternion_normalize(&ao_mag, &ao_mag);
 610                         ao_quaternion_rotate(&ao_mag_rot, &ao_mag, &ao_rotation);
 611
 612                         float                           ao_dot;
 613                         int                             ao_mag_angle;
 614
 615                         ao_dot = ao_quaternion_dot(&ao_mag_rot, &ao_ground_mag);
 616
 617                         struct ao_azel                  ground_azel, mag_azel, rot_azel;
 618
 619                         azel(&ground_azel, &ao_ground_mag);
 620                         azel(&mag_azel, &ao_mag);
 621                         azel(&rot_azel, &ao_mag_rot);
 622
 623                         ao_mag_angle = floor (acos(ao_dot) * 180 / M_PI + 0.5);
 624
 625                         (void) ao_mag_angle;
 626
 627                         static struct ao_quaternion     ao_x = { .r = 0, .x = 1, .y = 0, .z = 0 };
 628                         struct ao_quaternion            ao_out;
 629
 630                         ao_quaternion_rotate(&ao_out, &ao_x, &ao_rotation);
 631
 632 #if 0
 633                         int     out = floor (atan2(ao_out.y, ao_out.x) * 180 / M_PI);
 634
 635                         printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d mag_tilt %4d mag_rot %4d\n",
 636                                 time,
 637                                 ao_state_names[ao_flight_state],
 638                                 ao_k_height / 65536.0,
 639                                 ao_sample_orient, out,
 640                                 mag_azel.el,
 641                                 mag_azel.az);
 642 #endif
 643 #if 0
 644                         printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d dist %12.2f gps_tilt %4d gps_sats %2d\n",
 645                                 time,
 646                                 ao_state_names[ao_flight_state],
 647                                 ao_k_height / 65536.0,
 648                                 ao_sample_orient, out,
 649                                 ao_distance_from_pad(),
 650                                 (int) floor (ao_gps_angle() + 0.5),
 651                                 (ao_gps_static.flags & 0xf) * 10);
 652
 653 #endif
 654 #if 0
 655                         printf ("\t\tstate %-8.8s ground az: %4d el %4d mag az %4d el %4d rot az %4d el %4d el_diff %4d az_diff %4d angle %4d tilt %4d ground %8.5f %8.5f %8.5f cur %8.5f %8.5f %8.5f rot %8.5f %8.5f %8.5f\n",
 656                                 ao_state_names[ao_flight_state],
 657                                 ground_azel.az, ground_azel.el,
 658                                 mag_azel.az, mag_azel.el,
 659                                 rot_azel.az, rot_azel.el,
 660                                 ground_azel.el - rot_azel.el,
 661                                 ground_azel.az - rot_azel.az,
 662                                 ao_mag_angle,
 663                                 ao_sample_orient,
 664                                 ao_ground_mag.x,
 665                                 ao_ground_mag.y,
 666                                 ao_ground_mag.z,
 667                                 ao_mag.x,
 668                                 ao_mag.y,
 669                                 ao_mag.z,
 670                                 ao_mag_rot.x,
 671                                 ao_mag_rot.y,
 672                                 ao_mag_rot.z);
 673 #endif
 674 #endif
 675
 676 #if 1
 677                         printf("%7.2f height %8.2f accel %8.3f accel_speed %8.3f "
 678                                "state %d k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d"
 679 #if TELEMEGA
 680                                " angle %5d "
 681                                "accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f mag_x %8d mag_y %8d, mag_z %8d mag_angle %4d "
 682                                "avg_accel %8.3f "
 683 #endif
 684                                "\n",
 685                                time,
 686                                height,
 687                                accel,
 688                                simple_speed > -100.0 ? simple_speed : -100.0,
 689                                ao_flight_state * 10,
 690                                ao_k_height / 65536.0,
 691                                ao_k_speed / 65536.0 / 16.0,
 692                                ao_k_accel / 65536.0 / 16.0,
 693                                ao_avg_height,
 694                                drogue_height,
 695                                main_height,
 696                                ao_error_h_sq_avg
 697 #if TELEMEGA
 698                                , ao_sample_orient,
 699
 700                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
 701                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
 702                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_z),
 703                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x),
 704                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y),
 705                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z),
 706                                ao_data_static.hmc5883.x,
 707                                ao_data_static.hmc5883.y,
 708                                ao_data_static.hmc5883.z,
 709                                ao_mag_angle,
 710                                ao_coast_avg_accel / 16.0
 711 #endif
 712                                 );
 713 #endif
 714
 715 //                      if (ao_flight_state == ao_flight_landed)
 716 //                              ao_test_exit();
 717                 }
 718         }
 719         ao_data_head = ao_data_ring_next(ao_data_head);
 720 }
 721
 722
 723 uint16_t
 724 uint16(uint8_t *bytes, int off)
 725 {
 726         return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
 727 }
 728
 729 int16_t
 730 int16(uint8_t *bytes, int off)
 731 {
 732         return (int16_t) uint16(bytes, off);
 733 }
 734
 735 uint32_t
 736 uint32(uint8_t *bytes, int off)
 737 {
 738         return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
 739                 (((uint32_t) bytes[off+2]) << 16) |
 740                 (((uint32_t) bytes[off+3]) << 24);
 741 }
 742
 743 int32_t
 744 int32(uint8_t *bytes, int off)
 745 {
 746         return (int32_t) uint32(bytes, off);
 747 }
 748
 749 uint32_t
 750 uint24(uint8_t *bytes, int off)
 751 {
 752         return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
 753                 (((uint32_t) bytes[off+2]) << 16);
 754 }
 755
 756 int32_t
 757 int24(uint8_t *bytes, int off)
 758 {
 759         return (int32_t) uint24(bytes, off);
 760 }
 761
 762 static int log_format;
 763
 764 void
 765 ao_sleep(void *wchan)
 766 {
 767         if (wchan == &ao_data_head) {
 768 #if TELEMEGA
 769                 if (ao_flight_state >= ao_flight_boost && ao_flight_state < ao_flight_landed)
 770                         ao_pyro_check();
 771 #endif
 772                 for (;;) {
 773                         if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 774                         {
 775
 776 #if TELEMEGA
 777                                 ao_data_static.mpu6000 = ao_ground_mpu6000;
 778 #endif
 779 #if TELEMETRUM_V1
 780                                 ao_data_static.adc.accel = ao_flight_ground_accel;
 781 #endif
 782 #if EASYMOTOR_V_2
 783                                 ao_data_static.adxl375.AO_ADXL375_AXIS = ao_flight_ground_accel;
 784 #endif
 785
 786                                 ao_insert();
 787                                 return;
 788                         }
 789
 790                         if (eeprom) {
 791 #if TELEMEGA || EASYMOTOR_V_2
 792                                 struct ao_log_mega      *log_mega;
 793 #endif
 794 #if EASYMOTOR_V_2
 795                                 struct ao_log_motor     *log_motor;
 796 #endif
 797 #if TELEMETRUM_V2
 798                                 struct ao_log_metrum    *log_metrum;
 799 #endif
 800 #if EASYMINI
 801                                 struct ao_log_mini      *log_mini;
 802 #endif
 803 #if TELEMETRUM_V1
 804                                 struct ao_log_record    *log_record;
 805 #endif
 806
 807                                 if (eeprom_offset >= eeprom->len) {
 808                                         if (++ao_eof_read >= 1000)
 809                                                 if (!ao_summary)
 810                                                         printf ("no more data, exiting simulation\n");
 811                                         ao_test_exit();
 812                                         ao_data_static.tick += 10;
 813                                         ao_insert();
 814                                         return;
 815                                 }
 816                                 switch (eeprom->log_format) {
 817 #if TELEMEGA
 818                                 case AO_LOG_FORMAT_TELEMEGA_OLD:
 819                                 case AO_LOG_FORMAT_TELEMEGA:
 820                                         log_mega = (struct ao_log_mega *) &eeprom->data[eeprom_offset];
 821                                         eeprom_offset += sizeof (*log_mega);
 822                                         switch (log_mega->type) {
 823                                         case AO_LOG_FLIGHT:
 824                                                 ao_flight_number = log_mega->u.flight.flight;
 825                                                 ao_flight_ground_accel = log_mega->u.flight.ground_accel;
 826                                                 ao_flight_started = 1;
 827                                                 ao_ground_pres = log_mega->u.flight.ground_pres;
 828                                                 ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
 829                                                 ao_ground_accel_along = log_mega->u.flight.ground_accel_along;
 830                                                 ao_ground_accel_across = log_mega->u.flight.ground_accel_across;
 831                                                 ao_ground_accel_through = log_mega->u.flight.ground_accel_through;
 832                                                 ao_ground_roll = log_mega->u.flight.ground_roll;
 833                                                 ao_ground_pitch = log_mega->u.flight.ground_pitch;
 834                                                 ao_ground_yaw = log_mega->u.flight.ground_yaw;
 835                                                 ao_ground_mpu6000.accel_x = ao_ground_accel_across;
 836                                                 ao_ground_mpu6000.accel_y = ao_ground_accel_along;
 837                                                 ao_ground_mpu6000.accel_z = ao_ground_accel_through;
 838                                                 ao_ground_mpu6000.gyro_x = ao_ground_pitch >> 9;
 839                                                 ao_ground_mpu6000.gyro_y = ao_ground_roll >> 9;
 840                                                 ao_ground_mpu6000.gyro_z = ao_ground_yaw >> 9;
 841                                                 break;
 842                                         case AO_LOG_STATE:
 843                                                 break;
 844                                         case AO_LOG_SENSOR:
 845                                                 ao_data_static.tick = log_mega->tick;
 846                                                 ao_data_static.ms5607_raw.pres = log_mega->u.sensor.pres;
 847                                                 ao_data_static.ms5607_raw.temp = log_mega->u.sensor.temp;
 848                                                 ao_data_static.mpu6000.accel_x = log_mega->u.sensor.accel_x;
 849                                                 ao_data_static.mpu6000.accel_y = log_mega->u.sensor.accel_y;
 850                                                 ao_data_static.mpu6000.accel_z = log_mega->u.sensor.accel_z;
 851                                                 ao_data_static.mpu6000.gyro_x = log_mega->u.sensor.gyro_x;
 852                                                 ao_data_static.mpu6000.gyro_y = log_mega->u.sensor.gyro_y;
 853                                                 ao_data_static.mpu6000.gyro_z = log_mega->u.sensor.gyro_z;
 854                                                 ao_data_static.hmc5883.x = log_mega->u.sensor.mag_x;
 855                                                 ao_data_static.hmc5883.y = log_mega->u.sensor.mag_y;
 856                                                 ao_data_static.hmc5883.z = log_mega->u.sensor.mag_z;
 857                                                 ao_data_static.mma655x = log_mega->u.sensor.accel;
 858                                                 if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
 859                                                         ao_data_static.mma655x = ao_data_accel_invert(ao_data_static.mma655x);
 860                                                 ao_records_read++;
 861                                                 ao_insert();
 862                                                 return;
 863                                         case AO_LOG_TEMP_VOLT:
 864                                                 if (pyros_fired != log_mega->u.volt.pyro) {
 865                                                         printf("pyro changed %x -> %x\n", pyros_fired, log_mega->u.volt.pyro);
 866                                                         pyros_fired = log_mega->u.volt.pyro;
 867                                                 }
 868                                                 break;
 869                                         case AO_LOG_GPS_TIME:
 870                                                 ao_gps_prev = ao_gps_static;
 871                                                 ao_gps_static.tick = log_mega->tick;
 872                                                 ao_gps_static.latitude = log_mega->u.gps.latitude;
 873                                                 ao_gps_static.longitude = log_mega->u.gps.longitude;
 874                                                 {
 875                                                         int16_t altitude_low = log_mega->u.gps.altitude_low;
 876                                                         int16_t altitude_high = log_mega->u.gps.altitude_high;
 877                                                         int32_t altitude = altitude_low | ((int32_t) altitude_high << 16);
 878
 879                                                         AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_static, altitude);
 880                                                 }
 881                                                 ao_gps_static.flags = log_mega->u.gps.flags;
 882                                                 if (!ao_gps_count)
 883                                                         ao_gps_first = ao_gps_static;
 884                                                 ao_gps_count++;
 885                                                 break;
 886                                         case AO_LOG_GPS_SAT:
 887                                                 break;
 888                                         }
 889                                         break;
 890 #endif
 891 #if TELEMETRUM_V2
 892                                 case AO_LOG_FORMAT_TELEMETRUM:
 893                                         log_metrum = (struct ao_log_metrum *) &eeprom->data[eeprom_offset];
 894                                         eeprom_offset += sizeof (*log_metrum);
 895                                         switch (log_metrum->type) {
 896                                         case AO_LOG_FLIGHT:
 897                                                 ao_flight_started = 1;
 898                                                 ao_flight_number = log_metrum->u.flight.flight;
 899                                                 ao_flight_ground_accel = log_metrum->u.flight.ground_accel;
 900                                                 ao_ground_pres = log_metrum->u.flight.ground_pres;
 901                                                 ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
 902                                                 break;
 903                                         case AO_LOG_SENSOR:
 904                                                 ao_data_static.tick = log_metrum->tick;
 905                                                 ao_data_static.ms5607_raw.pres = log_metrum->u.sensor.pres;
 906                                                 ao_data_static.ms5607_raw.temp = log_metrum->u.sensor.temp;
 907                                                 ao_data_static.mma655x = log_metrum->u.sensor.accel;
 908                                                 ao_records_read++;
 909                                                 ao_insert();
 910                                                 return;
 911                                         }
 912                                         break;
 913 #endif
 914 #if EASYMINI
 915                                 case AO_LOG_FORMAT_EASYMINI1:
 916                                 case AO_LOG_FORMAT_EASYMINI2:
 917                                 case AO_LOG_FORMAT_TELEMINI3:
 918                                         log_mini = (struct ao_log_mini *) &eeprom->data[eeprom_offset];
 919                                         eeprom_offset += sizeof (*log_mini);
 920                                         switch (log_mini->type) {
 921                                         case AO_LOG_FLIGHT:
 922                                                 ao_flight_started = 1;
 923                                                 ao_flight_number = log_mini->u.flight.flight;
 924                                                 ao_ground_pres = log_mini->u.flight.ground_pres;
 925                                                 ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
 926                                                 break;
 927                                         case AO_LOG_SENSOR:
 928                                                 ao_data_static.tick = log_mini->tick;
 929                                                 ao_data_static.ms5607_raw.pres = int24(log_mini->u.sensor.pres, 0);
 930                                                 ao_data_static.ms5607_raw.temp = int24(log_mini->u.sensor.temp, 0);
 931                                                 ao_records_read++;
 932                                                 ao_insert();
 933                                                 return;
 934                                         }
 935                                         break;
 936 #endif
 937 #if TELEMETRUM_V1
 938                                 case AO_LOG_FORMAT_FULL:
 939                                 case AO_LOG_FORMAT_TINY:
 940                                         log_record = (struct ao_log_record *) &eeprom->data[eeprom_offset];
 941                                         eeprom_offset += sizeof (*log_record);
 942                                         switch (log_record->type) {
 943                                         case AO_LOG_FLIGHT:
 944                                                 ao_flight_started = 1;
 945                                                 ao_flight_ground_accel = log_record->u.flight.ground_accel;
 946                                                 ao_flight_number = log_record->u.flight.flight;
 947                                                 break;
 948                                         case AO_LOG_SENSOR:
 949                                         case 'P':       /* ancient telemini */
 950                                                 ao_data_static.tick = log_record->tick;
 951                                                 ao_data_static.adc.accel = log_record->u.sensor.accel;
 952                                                 ao_data_static.adc.pres_real = log_record->u.sensor.pres;
 953                                                 ao_data_static.adc.pres = log_record->u.sensor.pres;
 954                                                 ao_records_read++;
 955                                                 ao_insert();
 956                                                 return;
 957                                         case AO_LOG_TEMP_VOLT:
 958                                                 ao_data_static.tick = log_record->tick;;
 959                                                 ao_data_static.adc.temp = log_record->u.temp_volt.temp;
 960                                                 ao_data_static.adc.v_batt = log_record->u.temp_volt.v_batt;
 961                                                 break;
 962                                         }
 963                                         break;
 964 #endif
 965 #if EASYMOTOR_V_2
 966                                 case AO_LOG_FORMAT_TELEMEGA_3:
 967                                         log_mega = (struct ao_log_mega *) &eeprom->data[eeprom_offset];
 968                                         eeprom_offset += sizeof (*log_mega);
 969                                         switch (log_mega->type) {
 970                                         case AO_LOG_FLIGHT:
 971                                                 ao_flight_number = log_mega->u.flight.flight;
 972                                                 ao_flight_ground_accel = log_mega->u.flight.ground_accel;
 973                                                 ao_flight_started = 1;
 974                                                 break;
 975                                         case AO_LOG_SENSOR:
 976                                                 ao_data_static.tick = log_mega->tick;
 977                                                 ao_data_static.adxl375.AO_ADXL375_AXIS = -log_mega->u.sensor.accel;
 978                                                 ao_records_read++;
 979                                                 ao_insert();
 980                                                 return;
 981                                         }
 982                                         break;
 983                                 case AO_LOG_FORMAT_TELEMEGA_4:
 984                                         log_mega = (struct ao_log_mega *) &eeprom->data[eeprom_offset];
 985                                         eeprom_offset += sizeof (*log_mega);
 986                                         switch (log_mega->type) {
 987                                         case AO_LOG_FLIGHT:
 988                                                 ao_flight_number = log_mega->u.flight.flight;
 989                                                 ao_flight_ground_accel = log_mega->u.flight.ground_accel;
 990                                                 ao_flight_started = 1;
 991                                                 break;
 992                                         case AO_LOG_SENSOR:
 993                                                 ao_data_static.tick = log_mega->tick;
 994                                                 ao_data_static.adxl375.AO_ADXL375_AXIS = log_mega->u.sensor.accel;
 995                                                 ao_records_read++;
 996                                                 ao_insert();
 997                                                 return;
 998                                         }
 999                                         break;
1000                                 case AO_LOG_FORMAT_EASYMOTOR:
1001                                         log_motor = (struct ao_log_motor *) &eeprom->data[eeprom_offset];
1002                                         eeprom_offset += sizeof (*log_motor);
1003                                         switch (log_motor->type) {
1004                                         case AO_LOG_FLIGHT:
1005                                                 ao_flight_number = log_motor->u.flight.flight;
1006                                                 ao_flight_ground_accel = log_motor->u.flight.ground_accel;
1007                                                 ao_flight_started = 1;
1008                                                 break;
1009                                         case AO_LOG_SENSOR:
1010                                                 ao_data_static.tick = log_motor->tick;
1011                                                 ao_data_static.adc.pressure = log_motor->u.sensor.pressure;
1012                                                 ao_data_static.adc.v_batt = log_motor->u.sensor.v_batt;
1013                                                 ao_data_static.adxl375.AO_ADXL375_AXIS = log_motor->u.sensor.accel_along;
1014                                                 ao_data_static.adxl375.AO_ADXL375_ACROSS_AXIS = log_motor->u.sensor.accel_across;
1015                                                 ao_data_static.adxl375.AO_ADXL375_THROUGH_AXIS = log_motor->u.sensor.accel_through;
1016                                                 ao_records_read++;
1017                                                 ao_insert();
1018                                                 return;
1019                                         }
1020                                         break;
1021 #endif
1022                                 default:
1023                                         printf ("invalid log format %d\n", log_format);
1024                                         ao_test_exit();
1025                                 }
1026                         }
1027                 }
1028
1029         }
1030 }
1031 #define COUNTS_PER_G 264.8
1032
1033 void
1034 ao_dump_state(void)
1035 {
1036 }
1037
1038 static const struct option options[] = {
1039         { .name = "summary", .has_arg = 0, .val = 's' },
1040         { .name = "debug", .has_arg = 0, .val = 'd' },
1041         { .name = "info", .has_arg = 1, .val = 'i' },
1042         { 0, 0, 0, 0},
1043 };
1044
1045 void run_flight_fixed(char *name, FILE *f, int summary, char *info)
1046 {
1047         emulator_name = name;
1048         emulator_in = f;
1049         emulator_info = info;
1050         ao_summary = summary;
1051
1052         if (strstr(name, ".eeprom") != NULL) {
1053                 char    c;
1054
1055                 c = getc(f);
1056                 ungetc(c, f);
1057                 if (c == '{')
1058                         eeprom = ao_eeprom_read(f);
1059                 else
1060                         eeprom = ao_eeprom_read_old(f);
1061
1062                 if (eeprom) {
1063 #if HAS_MS5607
1064                         ao_ms5607_prom = eeprom->ms5607_prom;
1065 #endif
1066                         ao_config = eeprom->config;
1067                         ao_serial_number = eeprom->serial_number;
1068                         log_format = eeprom->log_format;
1069                 }
1070         }
1071
1072         ao_flight_init();
1073         ao_flight();
1074 }
1075
1076 int
1077 main (int argc, char **argv)
1078 {
1079         int     summary = 0;
1080         int     c;
1081         int     i;
1082         char    *info = NULL;
1083
1084 #if HAS_ACCEL
1085         emulator_app="full";
1086 #else
1087         emulator_app="baro";
1088 #endif
1089         while ((c = getopt_long(argc, argv, "sdpi:", options, NULL)) != -1) {
1090                 switch (c) {
1091                 case 's':
1092                         summary = 1;
1093                         break;
1094                 case 'd':
1095                         ao_flight_debug = 1;
1096                         break;
1097                 case 'p':
1098 #if PYRO_DBG
1099                         pyro_dbg = 1;
1100 #endif
1101                         break;
1102                 case 'i':
1103                         info = optarg;
1104                         break;
1105                 }
1106         }
1107
1108         if (optind == argc)
1109                 run_flight_fixed("<stdin>", stdin, summary, info);
1110         else
1111                 for (i = optind; i < argc; i++) {
1112                         FILE    *f = fopen(argv[i], "r");
1113                         if (!f) {
1114                                 perror(argv[i]);
1115                                 continue;
1116                         }
1117                         run_flight_fixed(argv[i], f, summary, info);
1118                         fclose(f);
1119                 }
1120         exit(0);
1121 }