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