git.gag.com Git - fw/altos/blob - src/test/ao_flight_test.c

   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 #if 0
  38 #define AO_M_TO_HEIGHT(m)       ((int16_t) (m))
  39 #define AO_MS_TO_SPEED(ms)      ((int16_t) ((ms) * 16))
  40 #define AO_MSS_TO_ACCEL(mss)    ((int16_t) ((mss) * 16))
  41 #endif
  42
  43 #define AO_GPS_NEW_DATA         1
  44 #define AO_GPS_NEW_TRACKING     2
  45
  46 int ao_gps_new;
  47
  48 #if !defined(TELEMEGA) && !defined(TELEMETRUM_V2)
  49 #define TELEMETRUM_V1 1
  50 #endif
  51
  52 #if TELEMEGA
  53 #define AO_ADC_NUM_SENSE        6
  54 #define HAS_MS5607              1
  55 #define HAS_MPU6000             1
  56 #define HAS_MMA655X             1
  57 #define HAS_HMC5883             1
  58 #define HAS_BEEP                1
  59 #define AO_CONFIG_MAX_SIZE      1024
  60
  61 struct ao_adc {
  62         int16_t                 sense[AO_ADC_NUM_SENSE];
  63         int16_t                 v_batt;
  64         int16_t                 v_pbatt;
  65         int16_t                 temp;
  66 };
  67 #endif
  68
  69 #if TELEMETRUM_V2
  70 #define AO_ADC_NUM_SENSE        2
  71 #define HAS_MS5607              1
  72 #define HAS_MMA655X             1
  73 #define HAS_BEEP                1
  74 #define AO_CONFIG_MAX_SIZE      1024
  75
  76 struct ao_adc {
  77         int16_t                 sense_a;
  78         int16_t                 sense_m;
  79         int16_t                 v_batt;
  80         int16_t                 temp;
  81 };
  82 #endif
  83
  84
  85 #if TELEMETRUM_V1
  86 /*
  87  * One set of samples read from the A/D converter
  88  */
  89 struct ao_adc {
  90         int16_t         accel;          /* accelerometer */
  91         int16_t         pres;           /* pressure sensor */
  92         int16_t         pres_real;      /* unclipped */
  93         int16_t         temp;           /* temperature sensor */
  94         int16_t         v_batt;         /* battery voltage */
  95         int16_t         sense_d;        /* drogue continuity sense */
  96         int16_t         sense_m;        /* main continuity sense */
  97 };
  98
  99 #ifndef HAS_ACCEL
 100 #define HAS_ACCEL 1
 101 #define HAS_ACCEL_REF 0
 102 #endif
 103
 104 #endif
 105
 106 #define __pdata
 107 #define __data
 108 #define __xdata
 109 #define __code
 110 #define __reentrant
 111
 112 #define HAS_FLIGHT 1
 113 #define HAS_IGNITE 1
 114 #define HAS_USB 1
 115 #define HAS_GPS 1
 116
 117 #include <ao_data.h>
 118 #include <ao_log.h>
 119 #include <ao_telemetry.h>
 120 #include <ao_sample.h>
 121
 122 #if TELEMEGA
 123 int ao_gps_count;
 124 struct ao_telemetry_location ao_gps_first;
 125 struct ao_telemetry_location ao_gps_prev;
 126 struct ao_telemetry_location ao_gps_static;
 127
 128 struct ao_telemetry_satellite ao_gps_tracking;
 129
 130 static inline double sqr(double a) { return a * a; }
 131
 132 void
 133 cc_great_circle (double start_lat, double start_lon,
 134                  double end_lat, double end_lon,
 135                  double *dist, double *bearing)
 136 {
 137         const double rad = M_PI / 180;
 138         const double earth_radius = 6371.2 * 1000;      /* in meters */
 139         double lat1 = rad * start_lat;
 140         double lon1 = rad * -start_lon;
 141         double lat2 = rad * end_lat;
 142         double lon2 = rad * -end_lon;
 143
 144 //      double d_lat = lat2 - lat1;
 145         double d_lon = lon2 - lon1;
 146
 147         /* From http://en.wikipedia.org/wiki/Great-circle_distance */
 148         double vdn = sqrt(sqr(cos(lat2) * sin(d_lon)) +
 149                           sqr(cos(lat1) * sin(lat2) -
 150                               sin(lat1) * cos(lat2) * cos(d_lon)));
 151         double vdd = sin(lat1) * sin(lat2) + cos(lat1) * cos(lat2) * cos(d_lon);
 152         double d = atan2(vdn,vdd);
 153         double course;
 154
 155         if (cos(lat1) < 1e-20) {
 156                 if (lat1 > 0)
 157                         course = M_PI;
 158                 else
 159                         course = -M_PI;
 160         } else {
 161                 if (d < 1e-10)
 162                         course = 0;
 163                 else
 164                         course = acos((sin(lat2)-sin(lat1)*cos(d)) /
 165                                       (sin(d)*cos(lat1)));
 166                 if (sin(lon2-lon1) > 0)
 167                         course = 2 * M_PI-course;
 168         }
 169         *dist = d * earth_radius;
 170         *bearing = course * 180/M_PI;
 171 }
 172
 173 double
 174 ao_distance_from_pad(void)
 175 {
 176         double  dist, bearing;
 177         if (!ao_gps_count)
 178                 return 0;
 179
 180         cc_great_circle(ao_gps_first.latitude / 1e7,
 181                         ao_gps_first.longitude / 1e7,
 182                         ao_gps_static.latitude / 1e7,
 183                         ao_gps_static.longitude / 1e7,
 184                         &dist, &bearing);
 185         return dist;
 186 }
 187
 188 double
 189 ao_gps_angle(void)
 190 {
 191         double  dist, bearing;
 192         double  height;
 193         double  angle;
 194
 195         if (ao_gps_count < 2)
 196                 return 0;
 197
 198         cc_great_circle(ao_gps_prev.latitude / 1e7,
 199                         ao_gps_prev.longitude / 1e7,
 200                         ao_gps_static.latitude / 1e7,
 201                         ao_gps_static.longitude / 1e7,
 202                         &dist, &bearing);
 203         height = AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_static) - AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_prev);
 204
 205         angle = atan2(dist, height);
 206         return angle * 180/M_PI;
 207 }
 208 #endif
 209
 210 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
 211 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
 212 #define from_fix(x)     ((x) >> 16)
 213
 214 #define ACCEL_NOSE_UP   (ao_accel_2g >> 2)
 215
 216 extern enum ao_flight_state ao_flight_state;
 217
 218 #define FALSE 0
 219 #define TRUE 1
 220
 221 volatile struct ao_data ao_data_ring[AO_DATA_RING];
 222 volatile uint8_t ao_data_head;
 223 int     ao_summary = 0;
 224
 225 #define ao_led_on(l)
 226 #define ao_led_off(l)
 227 #define ao_timer_set_adc_interval(i)
 228 #define ao_wakeup(wchan) ao_dump_state()
 229 #define ao_cmd_register(c)
 230 #define ao_usb_disable()
 231 #define ao_telemetry_set_interval(x)
 232 #define ao_rdf_set(rdf)
 233 #define ao_packet_slave_start()
 234 #define ao_packet_slave_stop()
 235 #define flush()
 236
 237 enum ao_igniter {
 238         ao_igniter_drogue = 0,
 239         ao_igniter_main = 1
 240 };
 241
 242 struct ao_data ao_data_static;
 243
 244 int     drogue_height;
 245 double  drogue_time;
 246 int     main_height;
 247 double  main_time;
 248
 249 int     tick_offset;
 250
 251 static ao_k_t   ao_k_height;
 252
 253 int16_t
 254 ao_time(void)
 255 {
 256         return ao_data_static.tick;
 257 }
 258
 259 void
 260 ao_delay(int16_t interval)
 261 {
 262         return;
 263 }
 264
 265 void
 266 ao_ignite(enum ao_igniter igniter)
 267 {
 268         double time = (double) (ao_data_static.tick + tick_offset) / 100;
 269
 270         if (igniter == ao_igniter_drogue) {
 271                 drogue_time = time;
 272                 drogue_height = ao_k_height >> 16;
 273         } else {
 274                 main_time = time;
 275                 main_height = ao_k_height >> 16;
 276         }
 277 }
 278
 279 struct ao_task {
 280         int dummy;
 281 };
 282
 283 #define ao_add_task(t,f,n) ((void) (t))
 284
 285 #define ao_log_start()
 286 #define ao_log_stop()
 287
 288 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
 289 #define AO_SEC_TO_TICKS(s)      ((s) * 100)
 290
 291 #define AO_FLIGHT_TEST
 292
 293 int     ao_flight_debug;
 294
 295 FILE *emulator_in;
 296 char *emulator_app;
 297 char *emulator_name;
 298 char *emulator_info;
 299 double emulator_error_max = 4;
 300 double emulator_height_error_max = 20;  /* noise in the baro sensor */
 301
 302 void
 303 ao_dump_state(void);
 304
 305 void
 306 ao_sleep(void *wchan);
 307
 308 const char const * const ao_state_names[] = {
 309         "startup", "idle", "pad", "boost", "fast",
 310         "coast", "drogue", "main", "landed", "invalid"
 311 };
 312
 313 struct ao_cmds {
 314         void            (*func)(void);
 315         const char      *help;
 316 };
 317
 318 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
 319 #define ao_xmemset(d,v,c) memset(d,v,c)
 320 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
 321
 322 #define AO_NEED_ALTITUDE_TO_PRES 1
 323 #if TELEMEGA || TELEMETRUM_V2
 324 #include "ao_convert_pa.c"
 325 #include <ao_ms5607.h>
 326 struct ao_ms5607_prom   ao_ms5607_prom;
 327 #include "ao_ms5607_convert.c"
 328 #define AO_PYRO_NUM     4
 329 #include <ao_pyro.h>
 330 #else
 331 #include "ao_convert.c"
 332 #endif
 333
 334 #include <ao_config.h>
 335 #include <ao_fake_flight.h>
 336
 337 #define ao_config_get()
 338
 339 struct ao_config ao_config;
 340
 341 #define DATA_TO_XDATA(x) (x)
 342
 343
 344 extern int16_t ao_ground_accel, ao_flight_accel;
 345 extern int16_t ao_accel_2g;
 346
 347 typedef int16_t accel_t;
 348
 349 extern uint16_t ao_sample_tick;
 350
 351 extern alt_t    ao_sample_height;
 352 extern accel_t  ao_sample_accel;
 353 extern int32_t  ao_accel_scale;
 354 extern alt_t    ao_ground_height;
 355 extern alt_t    ao_sample_alt;
 356
 357 double ao_sample_qangle;
 358
 359 int ao_sample_prev_tick;
 360 uint16_t        prev_tick;
 361
 362
 363 #include "ao_kalman.c"
 364 #include "ao_sqrt.c"
 365 #include "ao_sample.c"
 366 #include "ao_flight.c"
 367 #if TELEMEGA
 368 #define AO_PYRO_NUM     4
 369
 370 #define AO_PYRO_0       0
 371 #define AO_PYRO_1       1
 372 #define AO_PYRO_2       2
 373 #define AO_PYRO_3       3
 374
 375 static void
 376 ao_pyro_pin_set(uint8_t pin, uint8_t value)
 377 {
 378         printf ("set pyro %d %d\n", pin, value);
 379 }
 380
 381 #include "ao_pyro.c"
 382 #endif
 383
 384 #define to_double(f)    ((f) / 65536.0)
 385
 386 static int      ao_records_read = 0;
 387 static int      ao_eof_read = 0;
 388 static int      ao_flight_ground_accel;
 389 static int      ao_flight_started = 0;
 390 static int      ao_test_max_height;
 391 static double   ao_test_max_height_time;
 392 static int      ao_test_main_height;
 393 static double   ao_test_main_height_time;
 394 static double   ao_test_landed_time;
 395 static double   ao_test_landed_height;
 396 static double   ao_test_landed_time;
 397 static int      landed_set;
 398 static double   landed_time;
 399 static double   landed_height;
 400
 401 #if HAS_MPU6000
 402 static struct ao_mpu6000_sample ao_ground_mpu6000;
 403 #endif
 404
 405 void
 406 ao_test_exit(void)
 407 {
 408         double  drogue_error;
 409         double  main_error;
 410         double  landed_error;
 411         double  landed_time_error;
 412
 413         if (!ao_test_main_height_time) {
 414                 ao_test_main_height_time = ao_test_max_height_time;
 415                 ao_test_main_height = ao_test_max_height;
 416         }
 417         drogue_error = fabs(ao_test_max_height_time - drogue_time);
 418         main_error = fabs(ao_test_main_height_time - main_time);
 419         landed_error = fabs(ao_test_landed_height - landed_height);
 420         landed_time_error = ao_test_landed_time - landed_time;
 421         if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
 422                 printf ("%s %s\n",
 423                         emulator_app, emulator_name);
 424                 if (emulator_info)
 425                         printf ("\t%s\n", emulator_info);
 426                 printf ("\tApogee error %g\n", drogue_error);
 427                 printf ("\tMain error %g\n", main_error);
 428                 printf ("\tLanded height error %g\n", landed_error);
 429                 printf ("\tLanded time error %g\n", landed_time_error);
 430                 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 431                         ao_test_max_height, ao_test_max_height_time,
 432                         ao_test_main_height, ao_test_main_height_time,
 433                         ao_test_landed_height, ao_test_landed_time);
 434                 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 435                         drogue_height, drogue_time, main_height, main_time,
 436                         landed_height, landed_time);
 437                 exit (1);
 438         }
 439         exit(0);
 440 }
 441
 442 #ifdef TELEMEGA
 443 struct ao_azel {
 444         int     az;
 445         int     el;
 446 };
 447
 448 static void
 449 azel (struct ao_azel *r, struct ao_quaternion *q)
 450 {
 451         double  v;
 452
 453         r->az = floor (atan2(q->y, q->x) * 180/M_PI + 0.5);
 454         v = sqrt (q->x*q->x + q->y*q->y);
 455         r->el = floor (atan2(q->z, v) * 180/M_PI + 0.5);
 456 }
 457 #endif
 458
 459 void
 460 ao_insert(void)
 461 {
 462         double  time;
 463
 464         ao_data_ring[ao_data_head] = ao_data_static;
 465         ao_data_head = ao_data_ring_next(ao_data_head);
 466         if (ao_flight_state != ao_flight_startup) {
 467 #if HAS_ACCEL
 468                 double  accel = ((ao_flight_ground_accel - ao_data_accel_cook(&ao_data_static)) * GRAVITY * 2.0) /
 469                         (ao_config.accel_minus_g - ao_config.accel_plus_g);
 470 #else
 471                 double  accel = 0.0;
 472 #endif
 473 #if TELEMEGA || TELEMETRUM_V2
 474                 double  height;
 475
 476                 ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
 477                 height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height;
 478 #else
 479                 double  height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
 480 #endif
 481
 482                 (void) accel;
 483                 if (!tick_offset)
 484                         tick_offset = -ao_data_static.tick;
 485                 if ((prev_tick - ao_data_static.tick) > 0x400)
 486                         tick_offset += 65536;
 487                 prev_tick = ao_data_static.tick;
 488                 time = (double) (ao_data_static.tick + tick_offset) / 100;
 489
 490                 if (ao_test_max_height < height) {
 491                         ao_test_max_height = height;
 492                         ao_test_max_height_time = time;
 493                         ao_test_landed_height = height;
 494                         ao_test_landed_time = time;
 495                 }
 496                 if (height > ao_config.main_deploy) {
 497                         ao_test_main_height_time = time;
 498                         ao_test_main_height = height;
 499                 }
 500
 501                 if (ao_test_landed_height > height) {
 502                         ao_test_landed_height = height;
 503                         ao_test_landed_time = time;
 504                 }
 505
 506                 if (ao_flight_state == ao_flight_landed && !landed_set) {
 507                         landed_set = 1;
 508                         landed_time = time;
 509                         landed_height = height;
 510                 }
 511
 512                 if (!ao_summary) {
 513 #if TELEMEGA
 514                         static struct ao_quaternion     ao_ground_mag;
 515                         static int                      ao_ground_mag_set;
 516
 517                         if (!ao_ground_mag_set) {
 518                                 ao_quaternion_init_vector (&ao_ground_mag,
 519                                                            ao_data_mag_across(&ao_data_static),
 520                                                            ao_data_mag_through(&ao_data_static),
 521                                                            ao_data_mag_along(&ao_data_static));
 522                                 ao_quaternion_normalize(&ao_ground_mag, &ao_ground_mag);
 523                                 ao_quaternion_rotate(&ao_ground_mag, &ao_ground_mag, &ao_rotation);
 524                                 ao_ground_mag_set = 1;
 525                         }
 526
 527                         struct ao_quaternion            ao_mag, ao_mag_rot;
 528
 529                         ao_quaternion_init_vector(&ao_mag,
 530                                                   ao_data_mag_across(&ao_data_static),
 531                                                   ao_data_mag_through(&ao_data_static),
 532                                                   ao_data_mag_along(&ao_data_static));
 533
 534                         ao_quaternion_normalize(&ao_mag, &ao_mag);
 535                         ao_quaternion_rotate(&ao_mag_rot, &ao_mag, &ao_rotation);
 536
 537                         float                           ao_dot;
 538                         int                             ao_mag_angle;
 539
 540                         ao_dot = ao_quaternion_dot(&ao_mag_rot, &ao_ground_mag);
 541
 542                         struct ao_azel                  ground_azel, mag_azel, rot_azel;
 543
 544                         azel(&ground_azel, &ao_ground_mag);
 545                         azel(&mag_azel, &ao_mag);
 546                         azel(&rot_azel, &ao_mag_rot);
 547
 548                         ao_mag_angle = floor (acos(ao_dot) * 180 / M_PI + 0.5);
 549
 550                         (void) ao_mag_angle;
 551
 552                         static struct ao_quaternion     ao_x = { .r = 0, .x = 1, .y = 0, .z = 0 };
 553                         struct ao_quaternion            ao_out;
 554
 555                         ao_quaternion_rotate(&ao_out, &ao_x, &ao_rotation);
 556
 557                         int     out = floor (atan2(ao_out.y, ao_out.x) * 180 / M_PI);
 558
 559 #if 0
 560                         printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d mag_tilt %4d mag_rot %4d\n",
 561                                 time,
 562                                 ao_state_names[ao_flight_state],
 563                                 ao_k_height / 65536.0,
 564                                 ao_sample_orient, out,
 565                                 mag_azel.el,
 566                                 mag_azel.az);
 567 #endif
 568 #if 0
 569                         printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d dist %12.2f gps_tilt %4d gps_sats %2d\n",
 570                                 time,
 571                                 ao_state_names[ao_flight_state],
 572                                 ao_k_height / 65536.0,
 573                                 ao_sample_orient, out,
 574                                 ao_distance_from_pad(),
 575                                 (int) floor (ao_gps_angle() + 0.5),
 576                                 (ao_gps_static.flags & 0xf) * 10);
 577
 578 #endif
 579 #if 0
 580                         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",
 581                                 ao_state_names[ao_flight_state],
 582                                 ground_azel.az, ground_azel.el,
 583                                 mag_azel.az, mag_azel.el,
 584                                 rot_azel.az, rot_azel.el,
 585                                 ground_azel.el - rot_azel.el,
 586                                 ground_azel.az - rot_azel.az,
 587                                 ao_mag_angle,
 588                                 ao_sample_orient,
 589                                 ao_ground_mag.x,
 590                                 ao_ground_mag.y,
 591                                 ao_ground_mag.z,
 592                                 ao_mag.x,
 593                                 ao_mag.y,
 594                                 ao_mag.z,
 595                                 ao_mag_rot.x,
 596                                 ao_mag_rot.y,
 597                                 ao_mag_rot.z);
 598 #endif
 599 #endif
 600
 601 #if 1
 602                         printf("%7.2f height %8.2f accel %8.3f "
 603 #if TELEMEGA && 1
 604                                "angle %5d "
 605                                "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 "
 606 #endif
 607                                "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",
 608                                time,
 609                                height,
 610                                accel,
 611 #if TELEMEGA && 1
 612                                ao_sample_orient,
 613
 614                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
 615                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
 616                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_z),
 617                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x),
 618                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y),
 619                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z),
 620                                ao_data_static.hmc5883.x,
 621                                ao_data_static.hmc5883.y,
 622                                ao_data_static.hmc5883.z,
 623                                ao_mag_angle,
 624 #endif
 625                                ao_state_names[ao_flight_state],
 626                                ao_k_height / 65536.0,
 627                                ao_k_speed / 65536.0 / 16.0,
 628                                ao_k_accel / 65536.0 / 16.0,
 629                                ao_avg_height,
 630                                drogue_height,
 631                                main_height,
 632                                ao_error_h_sq_avg);
 633 #endif
 634
 635 //                      if (ao_flight_state == ao_flight_landed)
 636 //                              ao_test_exit();
 637                 }
 638         }
 639 }
 640
 641
 642 uint16_t
 643 uint16(uint8_t *bytes, int off)
 644 {
 645         return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
 646 }
 647
 648 int16_t
 649 int16(uint8_t *bytes, int off)
 650 {
 651         return (int16_t) uint16(bytes, off);
 652 }
 653
 654 uint32_t
 655 uint32(uint8_t *bytes, int off)
 656 {
 657         return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
 658                 (((uint32_t) bytes[off+2]) << 16) |
 659                 (((uint32_t) bytes[off+3]) << 24);
 660 }
 661
 662 int32_t
 663 int32(uint8_t *bytes, int off)
 664 {
 665         return (int32_t) uint32(bytes, off);
 666 }
 667
 668 static int log_format;
 669
 670 void
 671 ao_sleep(void *wchan)
 672 {
 673         if (wchan == &ao_data_head) {
 674                 char            type = 0;
 675                 uint16_t        tick = 0;
 676                 uint16_t        a = 0, b = 0;
 677                 uint8_t         bytes[1024];
 678                 union ao_telemetry_all  telem;
 679                 char            line[1024];
 680                 char            *saveptr;
 681                 char            *l;
 682                 char            *words[64];
 683                 int             nword;
 684
 685 #if TELEMEGA
 686                 if (ao_flight_state >= ao_flight_boost && ao_flight_state < ao_flight_landed)
 687                         ao_pyro_check();
 688 #endif
 689                 for (;;) {
 690                         if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 691                         {
 692 #if TELEMEGA
 693                                 ao_data_static.mpu6000 = ao_ground_mpu6000;
 694 #endif
 695 #if TELEMETRUM_V1
 696                                 ao_data_static.adc.accel = ao_flight_ground_accel;
 697 #endif
 698                                 ao_insert();
 699                                 return;
 700                         }
 701
 702                         if (!fgets(line, sizeof (line), emulator_in)) {
 703                                 if (++ao_eof_read >= 1000) {
 704                                         if (!ao_summary)
 705                                                 printf ("no more data, exiting simulation\n");
 706                                         ao_test_exit();
 707                                 }
 708                                 ao_data_static.tick += 10;
 709                                 ao_insert();
 710                                 return;
 711                         }
 712                         l = line;
 713                         for (nword = 0; nword < 64; nword++) {
 714                                 words[nword] = strtok_r(l, " \t\n", &saveptr);
 715                                 l = NULL;
 716                                 if (words[nword] == NULL)
 717                                         break;
 718                         }
 719 #if TELEMEGA
 720                         if (log_format == AO_LOG_FORMAT_TELEMEGA && nword == 30 && strlen(words[0]) == 1) {
 721                                 int     i;
 722                                 struct ao_ms5607_value  value;
 723
 724                                 type = words[0][0];
 725                                 tick = strtoul(words[1], NULL, 16);
 726 //                              printf ("%c %04x", type, tick);
 727                                 for (i = 2; i < nword; i++) {
 728                                         bytes[i - 2] = strtoul(words[i], NULL, 16);
 729 //                                      printf(" %02x", bytes[i-2]);
 730                                 }
 731 //                              printf ("\n");
 732                                 switch (type) {
 733                                 case 'F':
 734                                         ao_flight_ground_accel = int16(bytes, 2);
 735                                         ao_flight_started = 1;
 736                                         ao_ground_pres = int32(bytes, 4);
 737                                         ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
 738                                         ao_ground_accel_along = int16(bytes, 8);
 739                                         ao_ground_accel_across = int16(bytes, 10);
 740                                         ao_ground_accel_through = int16(bytes, 12);
 741                                         ao_ground_roll = int16(bytes, 14);
 742                                         ao_ground_pitch = int16(bytes, 16);
 743                                         ao_ground_yaw = int16(bytes, 18);
 744                                         ao_ground_mpu6000.accel_x = ao_ground_accel_across;
 745                                         ao_ground_mpu6000.accel_y = ao_ground_accel_along;
 746                                         ao_ground_mpu6000.accel_z = ao_ground_accel_through;
 747                                         ao_ground_mpu6000.gyro_x = ao_ground_pitch >> 9;
 748                                         ao_ground_mpu6000.gyro_y = ao_ground_roll >> 9;
 749                                         ao_ground_mpu6000.gyro_z = ao_ground_yaw >> 9;
 750                                         break;
 751                                 case 'A':
 752                                         ao_data_static.tick = tick;
 753                                         ao_data_static.ms5607_raw.pres = int32(bytes, 0);
 754                                         ao_data_static.ms5607_raw.temp = int32(bytes, 4);
 755                                         ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
 756                                         ao_data_static.mpu6000.accel_x = int16(bytes, 8);
 757                                         ao_data_static.mpu6000.accel_y = int16(bytes, 10);
 758                                         ao_data_static.mpu6000.accel_z = int16(bytes, 12);
 759                                         ao_data_static.mpu6000.gyro_x = int16(bytes, 14);
 760                                         ao_data_static.mpu6000.gyro_y = int16(bytes, 16);
 761                                         ao_data_static.mpu6000.gyro_z = int16(bytes, 18);
 762                                         ao_data_static.hmc5883.x = int16(bytes, 20);
 763                                         ao_data_static.hmc5883.y = int16(bytes, 22);
 764                                         ao_data_static.hmc5883.z = int16(bytes, 24);
 765 #if HAS_MMA655X
 766                                         ao_data_static.mma655x = int16(bytes, 26);
 767                                         if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
 768                                                 ao_data_static.mma655x = ao_data_accel_invert(ao_data_static.mma655x);
 769 #endif
 770                                         ao_records_read++;
 771                                         ao_insert();
 772                                         return;
 773                                 case 'G':
 774                                         ao_gps_prev = ao_gps_static;
 775                                         ao_gps_static.tick = tick;
 776                                         ao_gps_static.latitude = int32(bytes, 0);
 777                                         ao_gps_static.longitude = int32(bytes, 4);
 778                                         {
 779                                                 int32_t altitude = int32(bytes, 8);
 780                                                 AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_static, altitude);
 781                                         }
 782                                         ao_gps_static.flags = bytes[13];
 783                                         if (!ao_gps_count)
 784                                                 ao_gps_first = ao_gps_static;
 785                                         ao_gps_count++;
 786                                         break;
 787                                 }
 788                                 continue;
 789                         } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
 790                                 if (strcmp(words[1], "reserved:") == 0)
 791                                         ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10);
 792                                 else if (strcmp(words[1], "sens:") == 0)
 793                                         ao_ms5607_prom.sens = strtoul(words[2], NULL, 10);
 794                                 else if (strcmp(words[1], "off:") == 0)
 795                                         ao_ms5607_prom.off = strtoul(words[2], NULL, 10);
 796                                 else if (strcmp(words[1], "tcs:") == 0)
 797                                         ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10);
 798                                 else if (strcmp(words[1], "tco:") == 0)
 799                                         ao_ms5607_prom.tco = strtoul(words[2], NULL, 10);
 800                                 else if (strcmp(words[1], "tref:") == 0)
 801                                         ao_ms5607_prom.tref = strtoul(words[2], NULL, 10);
 802                                 else if (strcmp(words[1], "tempsens:") == 0)
 803                                         ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
 804                                 else if (strcmp(words[1], "crc:") == 0)
 805                                         ao_ms5607_prom.crc = strtoul(words[2], NULL, 10);
 806                                 continue;
 807                         } else if (nword >= 3 && strcmp(words[0], "Pyro") == 0) {
 808                                 int     p = strtoul(words[1], NULL, 10);
 809                                 int     i, j;
 810                                 struct ao_pyro  *pyro = &ao_config.pyro[p];
 811
 812                                 for (i = 2; i < nword; i++) {
 813                                         for (j = 0; j < NUM_PYRO_VALUES; j++)
 814                                                 if (!strcmp (words[i], ao_pyro_values[j].name))
 815                                                         break;
 816                                         if (j == NUM_PYRO_VALUES)
 817                                                 continue;
 818                                         pyro->flags |= ao_pyro_values[j].flag;
 819                                         if (ao_pyro_values[j].offset != NO_VALUE && i + 1 < nword) {
 820                                                 int16_t val = strtoul(words[++i], NULL, 10);
 821                                                 printf("pyro %d condition %s value %d\n", p, words[i-1], val);
 822                                                 *((int16_t *) ((char *) pyro + ao_pyro_values[j].offset)) = val;
 823                                         }
 824                                 }
 825                         }
 826 #endif
 827 #if TELEMETRUM_V2
 828                         if (log_format == AO_LOG_FORMAT_TELEMETRUM && nword == 14 && strlen(words[0]) == 1) {
 829                                 int     i;
 830                                 struct ao_ms5607_value  value;
 831
 832                                 type = words[0][0];
 833                                 tick = strtoul(words[1], NULL, 16);
 834 //                              printf ("%c %04x", type, tick);
 835                                 for (i = 2; i < nword; i++) {
 836                                         bytes[i - 2] = strtoul(words[i], NULL, 16);
 837 //                                      printf(" %02x", bytes[i-2]);
 838                                 }
 839 //                              printf ("\n");
 840                                 switch (type) {
 841                                 case 'F':
 842                                         ao_flight_ground_accel = int16(bytes, 2);
 843                                         ao_flight_started = 1;
 844                                         ao_ground_pres = int32(bytes, 4);
 845                                         ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
 846                                         break;
 847                                 case 'A':
 848                                         ao_data_static.tick = tick;
 849                                         ao_data_static.ms5607_raw.pres = int32(bytes, 0);
 850                                         ao_data_static.ms5607_raw.temp = int32(bytes, 4);
 851                                         ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
 852                                         ao_data_static.mma655x = int16(bytes, 8);
 853                                         ao_records_read++;
 854                                         ao_insert();
 855                                         return;
 856                                 }
 857                                 continue;
 858                         } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
 859                                 if (strcmp(words[1], "reserved:") == 0)
 860                                         ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10);
 861                                 else if (strcmp(words[1], "sens:") == 0)
 862                                         ao_ms5607_prom.sens = strtoul(words[2], NULL, 10);
 863                                 else if (strcmp(words[1], "off:") == 0)
 864                                         ao_ms5607_prom.off = strtoul(words[2], NULL, 10);
 865                                 else if (strcmp(words[1], "tcs:") == 0)
 866                                         ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10);
 867                                 else if (strcmp(words[1], "tco:") == 0)
 868                                         ao_ms5607_prom.tco = strtoul(words[2], NULL, 10);
 869                                 else if (strcmp(words[1], "tref:") == 0)
 870                                         ao_ms5607_prom.tref = strtoul(words[2], NULL, 10);
 871                                 else if (strcmp(words[1], "tempsens:") == 0)
 872                                         ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
 873                                 else if (strcmp(words[1], "crc:") == 0)
 874                                         ao_ms5607_prom.crc = strtoul(words[2], NULL, 10);
 875                                 continue;
 876                         }
 877 #endif
 878 #if TELEMETRUM_V1
 879                         if (nword == 4 && log_format != AO_LOG_FORMAT_TELEMEGA) {
 880                                 type = words[0][0];
 881                                 tick = strtoul(words[1], NULL, 16);
 882                                 a = strtoul(words[2], NULL, 16);
 883                                 b = strtoul(words[3], NULL, 16);
 884                                 if (type == 'P')
 885                                         type = 'A';
 886                         }
 887 #endif
 888                         else if (nword == 2 && strcmp(words[0], "log-format") == 0) {
 889                                 log_format = strtoul(words[1], NULL, 10);
 890                         } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
 891                                 ao_config.accel_plus_g = atoi(words[3]);
 892                                 ao_config.accel_minus_g = atoi(words[5]);
 893 #ifdef TELEMEGA
 894                         } else if (nword >= 8 && strcmp(words[0], "IMU") == 0) {
 895                                 ao_config.accel_zero_along = atoi(words[3]);
 896                                 ao_config.accel_zero_across = atoi(words[5]);
 897                                 ao_config.accel_zero_through = atoi(words[7]);
 898                                 printf ("%d %d %d\n", ao_config.accel_zero_along, ao_config.accel_zero_across, ao_config.accel_zero_through);
 899 #endif
 900                         } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
 901                                 ao_config.main_deploy = atoi(words[2]);
 902                         } else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 &&
 903                                    strcmp(words[1], "lockout:") == 0) {
 904                                 ao_config.apogee_lockout = atoi(words[2]);
 905                         } else if (nword >= 3 && strcmp(words[0], "Pad") == 0 &&
 906                                    strcmp(words[1], "orientation:") == 0) {
 907                                 ao_config.pad_orientation = atoi(words[2]);
 908                         } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
 909                                 tick = atoi(words[10]);
 910                                 if (!ao_flight_started) {
 911                                         type = 'F';
 912                                         a = atoi(words[26]);
 913                                         ao_flight_started = 1;
 914                                 } else {
 915                                         type = 'A';
 916                                         a = atoi(words[12]);
 917                                         b = atoi(words[14]);
 918                                 }
 919                         } else if (nword == 3 && strcmp(words[0], "BARO") == 0) {
 920                                 tick = strtol(words[1], NULL, 16);
 921                                 a = 16384 - 328;
 922                                 b = strtol(words[2], NULL, 10);
 923                                 type = 'A';
 924                                 if (!ao_flight_started) {
 925                                         ao_flight_ground_accel = 16384 - 328;
 926                                         ao_config.accel_plus_g = 16384 - 328;
 927                                         ao_config.accel_minus_g = 16384 + 328;
 928                                         ao_flight_started = 1;
 929                                 }
 930                         } else if (nword == 2 && strcmp(words[0], "TELEM") == 0) {
 931                                 __xdata char    *hex = words[1];
 932                                 char    elt[3];
 933                                 int     i, len;
 934                                 uint8_t sum;
 935
 936                                 len = strlen(hex);
 937                                 if (len > sizeof (bytes) * 2) {
 938                                         len = sizeof (bytes)*2;
 939                                         hex[len] = '\0';
 940                                 }
 941                                 for (i = 0; i < len; i += 2) {
 942                                         elt[0] = hex[i];
 943                                         elt[1] = hex[i+1];
 944                                         elt[2] = '\0';
 945                                         bytes[i/2] = (uint8_t) strtol(elt, NULL, 16);
 946                                 }
 947                                 len = i/2;
 948                                 if (bytes[0] != len - 2) {
 949                                         printf ("bad length %d != %d\n", bytes[0], len - 2);
 950                                         continue;
 951                                 }
 952                                 sum = 0x5a;
 953                                 for (i = 1; i < len-1; i++)
 954                                         sum += bytes[i];
 955                                 if (sum != bytes[len-1]) {
 956                                         printf ("bad checksum\n");
 957                                         continue;
 958                                 }
 959                                 if ((bytes[len-2] & 0x80) == 0) {
 960                                         continue;
 961                                 }
 962                                 if (len == 36) {
 963                                         ao_xmemcpy(&telem, bytes + 1, 32);
 964                                         tick = telem.generic.tick;
 965                                         switch (telem.generic.type) {
 966                                         case AO_TELEMETRY_SENSOR_TELEMETRUM:
 967                                         case AO_TELEMETRY_SENSOR_TELEMINI:
 968                                         case AO_TELEMETRY_SENSOR_TELENANO:
 969                                                 if (!ao_flight_started) {
 970                                                         ao_flight_ground_accel = telem.sensor.ground_accel;
 971                                                         ao_config.accel_plus_g = telem.sensor.accel_plus_g;
 972                                                         ao_config.accel_minus_g = telem.sensor.accel_minus_g;
 973                                                         ao_flight_started = 1;
 974                                                 }
 975                                                 type = 'A';
 976                                                 a = telem.sensor.accel;
 977                                                 b = telem.sensor.pres;
 978                                                 break;
 979                                         }
 980                                 } else if (len == 99) {
 981                                         ao_flight_started = 1;
 982                                         tick = uint16(bytes+1, 21);
 983                                         ao_flight_ground_accel = int16(bytes+1, 7);
 984                                         ao_config.accel_plus_g = int16(bytes+1, 17);
 985                                         ao_config.accel_minus_g = int16(bytes+1, 19);
 986                                         type = 'A';
 987                                         a = int16(bytes+1, 23);
 988                                         b = int16(bytes+1, 25);
 989                                 } else if (len == 98) {
 990                                         ao_flight_started = 1;
 991                                         tick = uint16(bytes+1, 20);
 992                                         ao_flight_ground_accel = int16(bytes+1, 6);
 993                                         ao_config.accel_plus_g = int16(bytes+1, 16);
 994                                         ao_config.accel_minus_g = int16(bytes+1, 18);
 995                                         type = 'A';
 996                                         a = int16(bytes+1, 22);
 997                                         b = int16(bytes+1, 24);
 998                                 } else {
 999                                         printf("unknown len %d\n", len);
1000                                         continue;
1001                                 }
1002                         }
1003                         if (type != 'F' && !ao_flight_started)
1004                                 continue;
1005
1006 #if TELEMEGA || TELEMETRUM_V2
1007                         (void) a;
1008                         (void) b;
1009 #else
1010                         switch (type) {
1011                         case 'F':
1012                                 ao_flight_ground_accel = a;
1013                                 if (ao_config.accel_plus_g == 0) {
1014                                         ao_config.accel_plus_g = a;
1015                                         ao_config.accel_minus_g = a + 530;
1016                                 }
1017                                 if (ao_config.main_deploy == 0)
1018                                         ao_config.main_deploy = 250;
1019                                 ao_flight_started = 1;
1020                                 break;
1021                         case 'S':
1022                                 break;
1023                         case 'A':
1024                                 ao_data_static.tick = tick;
1025                                 ao_data_static.adc.accel = a;
1026                                 ao_data_static.adc.pres_real = b;
1027                                 ao_data_static.adc.pres = b;
1028                                 ao_records_read++;
1029                                 ao_insert();
1030                                 return;
1031                         case 'T':
1032                                 ao_data_static.tick = tick;
1033                                 ao_data_static.adc.temp = a;
1034                                 ao_data_static.adc.v_batt = b;
1035                                 break;
1036                         case 'D':
1037                         case 'G':
1038                         case 'N':
1039                         case 'W':
1040                         case 'H':
1041                                 break;
1042                         }
1043 #endif
1044                 }
1045
1046         }
1047 }
1048 #define COUNTS_PER_G 264.8
1049
1050 void
1051 ao_dump_state(void)
1052 {
1053 }
1054
1055 static const struct option options[] = {
1056         { .name = "summary", .has_arg = 0, .val = 's' },
1057         { .name = "debug", .has_arg = 0, .val = 'd' },
1058         { .name = "info", .has_arg = 1, .val = 'i' },
1059         { 0, 0, 0, 0},
1060 };
1061
1062 void run_flight_fixed(char *name, FILE *f, int summary, char *info)
1063 {
1064         emulator_name = name;
1065         emulator_in = f;
1066         emulator_info = info;
1067         ao_summary = summary;
1068
1069         ao_flight_init();
1070         ao_flight();
1071 }
1072
1073 int
1074 main (int argc, char **argv)
1075 {
1076         int     summary = 0;
1077         int     c;
1078         int     i;
1079         char    *info = NULL;
1080
1081 #if HAS_ACCEL
1082         emulator_app="full";
1083 #else
1084         emulator_app="baro";
1085 #endif
1086         while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) {
1087                 switch (c) {
1088                 case 's':
1089                         summary = 1;
1090                         break;
1091                 case 'd':
1092                         ao_flight_debug = 1;
1093                         break;
1094                 case 'i':
1095                         info = optarg;
1096                         break;
1097                 }
1098         }
1099
1100         if (optind == argc)
1101                 run_flight_fixed("<stdin>", stdin, summary, info);
1102         else
1103                 for (i = optind; i < argc; i++) {
1104                         FILE    *f = fopen(argv[i], "r");
1105                         if (!f) {
1106                                 perror(argv[i]);
1107                                 continue;
1108                         }
1109                         run_flight_fixed(argv[i], f, summary, info);
1110                         fclose(f);
1111                 }
1112         exit(0);
1113 }