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   1 /*
   2  * Copyright © 2009 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 #define _GNU_SOURCE
  19
  20 #include <stdint.h>
  21 #include <stdio.h>
  22 #include <stdlib.h>
  23 #include <string.h>
  24 #include <getopt.h>
  25 #include <math.h>
  26
  27 #define AO_HERTZ        100
  28
  29 #define HAS_ADC 1
  30 #define AO_DATA_RING    64
  31 #define ao_data_ring_next(n)    (((n) + 1) & (AO_DATA_RING - 1))
  32 #define ao_data_ring_prev(n)    (((n) - 1) & (AO_DATA_RING - 1))
  33
  34 #define AO_M_TO_HEIGHT(m)       ((int16_t) (m))
  35 #define AO_MS_TO_SPEED(ms)      ((int16_t) ((ms) * 16))
  36 #define AO_MSS_TO_ACCEL(mss)    ((int16_t) ((mss) * 16))
  37
  38 #if MEGAMETRUM
  39 #define AO_ADC_NUM_SENSE        6
  40 #define HAS_MS5607              1
  41 #define HAS_MPU6000             1
  42 #define HAS_MMA655X             1
  43
  44 struct ao_adc {
  45         int16_t                 sense[AO_ADC_NUM_SENSE];
  46         int16_t                 v_batt;
  47         int16_t                 v_pbatt;
  48         int16_t                 accel_ref;
  49         int16_t                 accel;
  50         int16_t                 temp;
  51 };
  52 #else
  53 /*
  54  * One set of samples read from the A/D converter
  55  */
  56 struct ao_adc {
  57         int16_t         accel;          /* accelerometer */
  58         int16_t         pres;           /* pressure sensor */
  59         int16_t         pres_real;      /* unclipped */
  60         int16_t         temp;           /* temperature sensor */
  61         int16_t         v_batt;         /* battery voltage */
  62         int16_t         sense_d;        /* drogue continuity sense */
  63         int16_t         sense_m;        /* main continuity sense */
  64 };
  65
  66 #ifndef HAS_ACCEL
  67 #define HAS_ACCEL 1
  68 #define HAS_ACCEL_REF 0
  69 #endif
  70
  71 #endif
  72
  73 #define __pdata
  74 #define __data
  75 #define __xdata
  76 #define __code
  77 #define __reentrant
  78
  79 #define HAS_FLIGHT 1
  80 #define HAS_IGNITE 1
  81 #define HAS_USB 1
  82 #define HAS_GPS 1
  83
  84 #include <ao_data.h>
  85 #include <ao_log.h>
  86
  87 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
  88 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
  89 #define from_fix(x)     ((x) >> 16)
  90
  91 /*
  92  * Above this height, the baro sensor doesn't work
  93  */
  94 #define AO_BARO_SATURATE        13000
  95 #define AO_MIN_BARO_VALUE       ao_altitude_to_pres(AO_BARO_SATURATE)
  96
  97 /*
  98  * Above this speed, baro measurements are unreliable
  99  */
 100 #define AO_MAX_BARO_SPEED       200
 101
 102 #define ACCEL_NOSE_UP   (ao_accel_2g >> 2)
 103
 104 extern enum ao_flight_state ao_flight_state;
 105
 106 #define FALSE 0
 107 #define TRUE 1
 108
 109 volatile struct ao_data ao_data_ring[AO_DATA_RING];
 110 volatile uint8_t ao_data_head;
 111 int     ao_summary = 0;
 112
 113 #define ao_led_on(l)
 114 #define ao_led_off(l)
 115 #define ao_timer_set_adc_interval(i)
 116 #define ao_wakeup(wchan) ao_dump_state()
 117 #define ao_cmd_register(c)
 118 #define ao_usb_disable()
 119 #define ao_telemetry_set_interval(x)
 120 #define ao_rdf_set(rdf)
 121 #define ao_packet_slave_start()
 122 #define ao_packet_slave_stop()
 123
 124 enum ao_igniter {
 125         ao_igniter_drogue = 0,
 126         ao_igniter_main = 1
 127 };
 128
 129 struct ao_data ao_data_static;
 130
 131 int     drogue_height;
 132 double  drogue_time;
 133 int     main_height;
 134 double  main_time;
 135
 136 int     tick_offset;
 137
 138 static int32_t  ao_k_height;
 139
 140 void
 141 ao_ignite(enum ao_igniter igniter)
 142 {
 143         double time = (double) (ao_data_static.tick + tick_offset) / 100;
 144
 145         if (igniter == ao_igniter_drogue) {
 146                 drogue_time = time;
 147                 drogue_height = ao_k_height >> 16;
 148         } else {
 149                 main_time = time;
 150                 main_height = ao_k_height >> 16;
 151         }
 152 }
 153
 154 struct ao_task {
 155         int dummy;
 156 };
 157
 158 #define ao_add_task(t,f,n) ((void) (t))
 159
 160 #define ao_log_start()
 161 #define ao_log_stop()
 162
 163 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
 164 #define AO_SEC_TO_TICKS(s)      ((s) * 100)
 165
 166 #define AO_FLIGHT_TEST
 167
 168 int     ao_flight_debug;
 169
 170 FILE *emulator_in;
 171 char *emulator_app;
 172 char *emulator_name;
 173 char *emulator_info;
 174 double emulator_error_max = 4;
 175 double emulator_height_error_max = 20;  /* noise in the baro sensor */
 176
 177 void
 178 ao_dump_state(void);
 179
 180 void
 181 ao_sleep(void *wchan);
 182
 183 const char const * const ao_state_names[] = {
 184         "startup", "idle", "pad", "boost", "fast",
 185         "coast", "drogue", "main", "landed", "invalid"
 186 };
 187
 188 struct ao_cmds {
 189         void            (*func)(void);
 190         const char      *help;
 191 };
 192
 193 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
 194 #define ao_xmemset(d,v,c) memset(d,v,c)
 195 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
 196
 197 #define AO_NEED_ALTITUDE_TO_PRES 1
 198 #if MEGAMETRUM
 199 #include "ao_convert_pa.c"
 200 #include <ao_ms5607.h>
 201 struct ao_ms5607_prom   ms5607_prom;
 202 #include "ao_ms5607_convert.c"
 203 #else
 204 #include "ao_convert.c"
 205 #endif
 206
 207 struct ao_config {
 208         uint16_t        main_deploy;
 209         int16_t         accel_plus_g;
 210         int16_t         accel_minus_g;
 211         uint8_t         pad_orientation;
 212         uint16_t        apogee_lockout;
 213 };
 214
 215 #define AO_PAD_ORIENTATION_ANTENNA_UP   0
 216 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
 217
 218 #define ao_config_get()
 219
 220 struct ao_config ao_config;
 221
 222 #define DATA_TO_XDATA(x) (x)
 223
 224
 225 #define GRAVITY 9.80665
 226 extern int16_t ao_ground_accel, ao_flight_accel;
 227 extern int16_t ao_accel_2g;
 228
 229 typedef int16_t accel_t;
 230
 231 extern uint16_t ao_sample_tick;
 232
 233 extern alt_t    ao_sample_height;
 234 extern accel_t  ao_sample_accel;
 235 extern int32_t  ao_accel_scale;
 236 extern alt_t    ao_ground_height;
 237 extern alt_t    ao_sample_alt;
 238
 239 int ao_sample_prev_tick;
 240 uint16_t        prev_tick;
 241
 242 #include "ao_kalman.c"
 243 #include "ao_sample.c"
 244 #include "ao_flight.c"
 245
 246 #define to_double(f)    ((f) / 65536.0)
 247
 248 static int      ao_records_read = 0;
 249 static int      ao_eof_read = 0;
 250 static int      ao_flight_ground_accel;
 251 static int      ao_flight_started = 0;
 252 static int      ao_test_max_height;
 253 static double   ao_test_max_height_time;
 254 static int      ao_test_main_height;
 255 static double   ao_test_main_height_time;
 256 static double   ao_test_landed_time;
 257 static double   ao_test_landed_height;
 258 static double   ao_test_landed_time;
 259 static int      landed_set;
 260 static double   landed_time;
 261 static double   landed_height;
 262
 263 #if HAS_MPU6000
 264 static struct ao_mpu6000_sample ao_ground_mpu6000;
 265 #endif
 266
 267 void
 268 ao_test_exit(void)
 269 {
 270         double  drogue_error;
 271         double  main_error;
 272         double  landed_error;
 273         double  landed_time_error;
 274
 275         if (!ao_test_main_height_time) {
 276                 ao_test_main_height_time = ao_test_max_height_time;
 277                 ao_test_main_height = ao_test_max_height;
 278         }
 279         drogue_error = fabs(ao_test_max_height_time - drogue_time);
 280         main_error = fabs(ao_test_main_height_time - main_time);
 281         landed_error = fabs(ao_test_landed_height - landed_height);
 282         landed_time_error = ao_test_landed_time - landed_time;
 283         if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
 284                 printf ("%s %s\n",
 285                         emulator_app, emulator_name);
 286                 if (emulator_info)
 287                         printf ("\t%s\n", emulator_info);
 288                 printf ("\tApogee error %g\n", drogue_error);
 289                 printf ("\tMain error %g\n", main_error);
 290                 printf ("\tLanded height error %g\n", landed_error);
 291                 printf ("\tLanded time error %g\n", landed_time_error);
 292                 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 293                         ao_test_max_height, ao_test_max_height_time,
 294                         ao_test_main_height, ao_test_main_height_time,
 295                         ao_test_landed_height, ao_test_landed_time);
 296                 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 297                         drogue_height, drogue_time, main_height, main_time,
 298                         landed_height, landed_time);
 299                 exit (1);
 300         }
 301         exit(0);
 302 }
 303
 304 #if HAS_MPU6000
 305 static double
 306 ao_mpu6000_accel(int16_t sensor)
 307 {
 308         return sensor / 32767.0 * MPU6000_ACCEL_FULLSCALE * GRAVITY;
 309 }
 310
 311 static double
 312 ao_mpu6000_gyro(int16_t sensor)
 313 {
 314         return sensor / 32767.0 * MPU6000_GYRO_FULLSCALE;
 315 }
 316 #endif
 317
 318 void
 319 ao_insert(void)
 320 {
 321         double  time;
 322
 323         ao_data_ring[ao_data_head] = ao_data_static;
 324         ao_data_head = ao_data_ring_next(ao_data_head);
 325         if (ao_flight_state != ao_flight_startup) {
 326 #if HAS_ACCEL
 327                 double  accel = ((ao_flight_ground_accel - ao_data_accel_cook(&ao_data_static)) * GRAVITY * 2.0) /
 328                         (ao_config.accel_minus_g - ao_config.accel_plus_g);
 329 #else
 330                 double  accel = 0.0;
 331 #endif
 332 #if MEGAMETRUM
 333                 double  height;
 334
 335                 ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
 336                 height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height;
 337 #else
 338                 double  height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
 339 #endif
 340
 341                 if (!tick_offset)
 342                         tick_offset = -ao_data_static.tick;
 343                 if ((prev_tick - ao_data_static.tick) > 0x400)
 344                         tick_offset += 65536;
 345                 prev_tick = ao_data_static.tick;
 346                 time = (double) (ao_data_static.tick + tick_offset) / 100;
 347
 348                 if (ao_test_max_height < height) {
 349                         ao_test_max_height = height;
 350                         ao_test_max_height_time = time;
 351                         ao_test_landed_height = height;
 352                         ao_test_landed_time = time;
 353                 }
 354                 if (height > ao_config.main_deploy) {
 355                         ao_test_main_height_time = time;
 356                         ao_test_main_height = height;
 357                 }
 358
 359                 if (ao_test_landed_height > height) {
 360                         ao_test_landed_height = height;
 361                         ao_test_landed_time = time;
 362                 }
 363
 364                 if (ao_flight_state == ao_flight_landed && !landed_set) {
 365                         landed_set = 1;
 366                         landed_time = time;
 367                         landed_height = height;
 368                 }
 369
 370                 if (!ao_summary) {
 371                         printf("%7.2f height %8.2f accel %8.3f "
 372 #if MEGAMETRUM
 373                                "accel_x %8.3f accel_y %8.3f accel_z %8.3f gyro_x %8.3f gyro_y %8.3f gyro_z %8.3f "
 374 #endif
 375                                "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",
 376                                time,
 377                                height,
 378                                accel,
 379 #if MEGAMETRUM
 380                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
 381                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
 382                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_z),
 383                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x),
 384                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y),
 385                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z),
 386 #endif
 387                                ao_state_names[ao_flight_state],
 388                                ao_k_height / 65536.0,
 389                                ao_k_speed / 65536.0 / 16.0,
 390                                ao_k_accel / 65536.0 / 16.0,
 391                                ao_avg_height,
 392                                drogue_height,
 393                                main_height,
 394                                ao_error_h_sq_avg);
 395
 396 //                      if (ao_flight_state == ao_flight_landed)
 397 //                              ao_test_exit();
 398                 }
 399         }
 400 }
 401
 402 #define AO_MAX_CALLSIGN                 8
 403 #define AO_MAX_VERSION                  8
 404 #define AO_MAX_TELEMETRY                128
 405
 406 struct ao_telemetry_generic {
 407         uint16_t        serial;         /* 0 */
 408         uint16_t        tick;           /* 2 */
 409         uint8_t         type;           /* 4 */
 410         uint8_t         payload[27];    /* 5 */
 411         /* 32 */
 412 };
 413
 414 #define AO_TELEMETRY_SENSOR_TELEMETRUM  0x01
 415 #define AO_TELEMETRY_SENSOR_TELEMINI    0x02
 416 #define AO_TELEMETRY_SENSOR_TELENANO    0x03
 417
 418 struct ao_telemetry_sensor {
 419         uint16_t        serial;         /*  0 */
 420         uint16_t        tick;           /*  2 */
 421         uint8_t         type;           /*  4 */
 422
 423         uint8_t         state;          /*  5 flight state */
 424         int16_t         accel;          /*  6 accelerometer (TM only) */
 425         int16_t         pres;           /*  8 pressure sensor */
 426         int16_t         temp;           /* 10 temperature sensor */
 427         int16_t         v_batt;         /* 12 battery voltage */
 428         int16_t         sense_d;        /* 14 drogue continuity sense (TM/Tm) */
 429         int16_t         sense_m;        /* 16 main continuity sense (TM/Tm) */
 430
 431         int16_t         acceleration;   /* 18 m/s² * 16 */
 432         int16_t         speed;          /* 20 m/s * 16 */
 433         int16_t         height;         /* 22 m */
 434
 435         int16_t         ground_pres;    /* 24 average pres on pad */
 436         int16_t         ground_accel;   /* 26 average accel on pad */
 437         int16_t         accel_plus_g;   /* 28 accel calibration at +1g */
 438         int16_t         accel_minus_g;  /* 30 accel calibration at -1g */
 439         /* 32 */
 440 };
 441
 442 #define AO_TELEMETRY_CONFIGURATION      0x04
 443
 444 struct ao_telemetry_configuration {
 445         uint16_t        serial;                         /*  0 */
 446         uint16_t        tick;                           /*  2 */
 447         uint8_t         type;                           /*  4 */
 448
 449         uint8_t         device;                         /*  5 device type */
 450         uint16_t        flight;                         /*  6 flight number */
 451         uint8_t         config_major;                   /*  8 Config major version */
 452         uint8_t         config_minor;                   /*  9 Config minor version */
 453         uint16_t        apogee_delay;                   /* 10 Apogee deploy delay in seconds */
 454         uint16_t        main_deploy;                    /* 12 Main deploy alt in meters */
 455         uint16_t        flight_log_max;                 /* 14 Maximum flight log size in kB */
 456         char            callsign[AO_MAX_CALLSIGN];      /* 16 Radio operator identity */
 457         char            version[AO_MAX_VERSION];        /* 24 Software version */
 458         /* 32 */
 459 };
 460
 461 #define AO_TELEMETRY_LOCATION           0x05
 462
 463 #define AO_GPS_MODE_NOT_VALID           'N'
 464 #define AO_GPS_MODE_AUTONOMOUS          'A'
 465 #define AO_GPS_MODE_DIFFERENTIAL        'D'
 466 #define AO_GPS_MODE_ESTIMATED           'E'
 467 #define AO_GPS_MODE_MANUAL              'M'
 468 #define AO_GPS_MODE_SIMULATED           'S'
 469
 470 struct ao_telemetry_location {
 471         uint16_t        serial;         /*  0 */
 472         uint16_t        tick;           /*  2 */
 473         uint8_t         type;           /*  4 */
 474
 475         uint8_t         flags;          /*  5 Number of sats and other flags */
 476         int16_t         altitude;       /*  6 GPS reported altitude (m) */
 477         int32_t         latitude;       /*  8 latitude (degrees * 10⁷) */
 478         int32_t         longitude;      /* 12 longitude (degrees * 10⁷) */
 479         uint8_t         year;           /* 16 (- 2000) */
 480         uint8_t         month;          /* 17 (1-12) */
 481         uint8_t         day;            /* 18 (1-31) */
 482         uint8_t         hour;           /* 19 (0-23) */
 483         uint8_t         minute;         /* 20 (0-59) */
 484         uint8_t         second;         /* 21 (0-59) */
 485         uint8_t         pdop;           /* 22 (m * 5) */
 486         uint8_t         hdop;           /* 23 (m * 5) */
 487         uint8_t         vdop;           /* 24 (m * 5) */
 488         uint8_t         mode;           /* 25 */
 489         uint16_t        ground_speed;   /* 26 cm/s */
 490         int16_t         climb_rate;     /* 28 cm/s */
 491         uint8_t         course;         /* 30 degrees / 2 */
 492         uint8_t         unused[1];      /* 31 */
 493         /* 32 */
 494 };
 495
 496 #define AO_TELEMETRY_SATELLITE          0x06
 497
 498 struct ao_telemetry_satellite_info {
 499         uint8_t         svid;
 500         uint8_t         c_n_1;
 501 };
 502
 503 struct ao_telemetry_satellite {
 504         uint16_t                                serial;         /*  0 */
 505         uint16_t                                tick;           /*  2 */
 506         uint8_t                                 type;           /*  4 */
 507         uint8_t                                 channels;       /*  5 number of reported sats */
 508
 509         struct ao_telemetry_satellite_info      sats[12];       /* 6 */
 510         uint8_t                                 unused[2];      /* 30 */
 511         /* 32 */
 512 };
 513
 514 union ao_telemetry_all {
 515         struct ao_telemetry_generic             generic;
 516         struct ao_telemetry_sensor              sensor;
 517         struct ao_telemetry_configuration       configuration;
 518         struct ao_telemetry_location            location;
 519         struct ao_telemetry_satellite           satellite;
 520 };
 521
 522 uint16_t
 523 uint16(uint8_t *bytes, int off)
 524 {
 525         return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
 526 }
 527
 528 int16_t
 529 int16(uint8_t *bytes, int off)
 530 {
 531         return (int16_t) uint16(bytes, off);
 532 }
 533
 534 uint32_t
 535 uint32(uint8_t *bytes, int off)
 536 {
 537         return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
 538                 (((uint32_t) bytes[off+2]) << 16) |
 539                 (((uint32_t) bytes[off+3]) << 24);
 540 }
 541
 542 int32_t
 543 int32(uint8_t *bytes, int off)
 544 {
 545         return (int32_t) uint32(bytes, off);
 546 }
 547
 548 static int log_format;
 549
 550 #if MEGAMETRUM
 551
 552 static double
 553 ao_vec_norm(double x, double y, double z)
 554 {
 555         return x*x + y*y + z*z;
 556 }
 557
 558 static void
 559 ao_vec_normalize(double *x, double *y, double *z)
 560 {
 561         double  scale = 1/sqrt(ao_vec_norm(*x, *y, *z));
 562
 563         *x *= scale;
 564         *y *= scale;
 565         *z *= scale;
 566 }
 567
 568 struct ao_quat {
 569         double  q0, q1, q2, q3;
 570 };
 571
 572 static void
 573 ao_quat_mul(struct ao_quat *r, struct ao_quat *a, struct ao_quat *b)
 574 {
 575         r->q0 = a->q0 * b->q0 - a->q1 * b->q1 - a->q2 * b->q2 - a->q3 * b->q3;
 576         r->q1 = a->q0 * b->q1 + a->q1 * b->q0 + a->q2 * b->q3 - a->q3 * b->q2;
 577         r->q2 = a->q0 * b->q2 - a->q1 * b->q3 + a->q2 * b->q0 + a->q3 * b->q1;
 578         r->q3 = a->q0 * b->q3 + a->q1 * b->q2 - a->q2 * b->q1 + a->q3 * b->q0;
 579 }
 580
 581 #if 0
 582 static void
 583 ao_quat_scale(struct ao_quat *r, struct ao_quat *a, double s)
 584 {
 585         r->q0 = a->q0 * s;
 586         r->q1 = a->q1 * s;
 587         r->q2 = a->q2 * s;
 588         r->q3 = a->q3 * s;
 589 }
 590 #endif
 591
 592 static void
 593 ao_quat_conj(struct ao_quat *r, struct ao_quat *a)
 594 {
 595         r->q0 =  a->q0;
 596         r->q1 = -a->q1;
 597         r->q2 = -a->q2;
 598         r->q3 = -a->q3;
 599 }
 600
 601 static void
 602 ao_quat_rot(struct ao_quat *r, struct ao_quat *a, struct ao_quat *q)
 603 {
 604         struct ao_quat  t;
 605         struct ao_quat  c;
 606         ao_quat_mul(&t, q, a);
 607         ao_quat_conj(&c, q);
 608         ao_quat_mul(r, &t, &c);
 609 }
 610
 611 static void
 612 ao_quat_from_angle(struct ao_quat *r,
 613                    double x_rad,
 614                    double y_rad,
 615                    double z_rad)
 616 {
 617         double angle = sqrt (x_rad * x_rad + y_rad * y_rad + z_rad * z_rad);
 618         double s = sin(angle/2);
 619         double c = cos(angle/2);
 620
 621         r->q0 = c;
 622         r->q1 = x_rad * s / angle;
 623         r->q2 = y_rad * s / angle;
 624         r->q3 = z_rad * s / angle;
 625 }
 626
 627 static void
 628 ao_quat_from_vector(struct ao_quat *r, double x, double y, double z)
 629 {
 630         ao_vec_normalize(&x, &y, &z);
 631         double  x_rad = atan2(z, y);
 632         double  y_rad = atan2(x, z);
 633         double  z_rad = atan2(y, x);
 634
 635         ao_quat_from_angle(r, x_rad, y_rad, z_rad);
 636 }
 637
 638 static double
 639 ao_quat_norm(struct ao_quat *a)
 640 {
 641         return (a->q0 * a->q0 +
 642                 a->q1 * a->q1 +
 643                 a->q2 * a->q2 +
 644                 a->q3 * a->q3);
 645 }
 646
 647 static void
 648 ao_quat_normalize(struct ao_quat *a)
 649 {
 650         double  norm = ao_quat_norm(a);
 651
 652         if (norm) {
 653                 double m = 1/sqrt(norm);
 654
 655                 a->q0 *= m;
 656                 a->q1 *= m;
 657                 a->q2 *= m;
 658                 a->q3 *= m;
 659         }
 660 }
 661
 662 static struct ao_quat   ao_up, ao_current;
 663 static struct ao_quat   ao_orient;
 664 static int              ao_orient_tick;
 665
 666 void
 667 set_orientation(double x, double y, double z, int tick)
 668 {
 669         struct ao_quat  t;
 670
 671         printf ("set_orientation %g %g %g\n", x, y, z);
 672         ao_quat_from_vector(&ao_orient, x, y, z);
 673         ao_up.q1 = ao_up.q2 = 0;
 674         ao_up.q0 = ao_up.q3 = sqrt(2)/2;
 675         ao_orient_tick = tick;
 676
 677         ao_orient.q0 = 1;
 678         ao_orient.q1 = 0;
 679         ao_orient.q2 = 0;
 680         ao_orient.q3 = 0;
 681
 682         printf ("orient (%g) %g %g %g up (%g) %g %g %g\n",
 683                 ao_orient.q0,
 684                 ao_orient.q1,
 685                 ao_orient.q2,
 686                 ao_orient.q3,
 687                 ao_up.q0,
 688                 ao_up.q1,
 689                 ao_up.q2,
 690                 ao_up.q3);
 691
 692         ao_quat_rot(&t, &ao_up, &ao_orient);
 693         printf ("pad orient (%g) %g %g %g\n",
 694                 t.q0,
 695                 t.q1,
 696                 t.q2,
 697                 t.q3);
 698
 699 }
 700
 701 void
 702 update_orientation (double rate_x, double rate_y, double rate_z, int tick)
 703 {
 704         struct ao_quat  q_dot;
 705         double          lambda;
 706         double          dt = (tick - ao_orient_tick) / 100.0;
 707
 708         ao_orient_tick = tick;
 709
 710 //      lambda = 1 - ao_quat_norm(&ao_orient);
 711         lambda = 0;
 712
 713         q_dot.q0 = -0.5 * (ao_orient.q1 * rate_x + ao_orient.q2 * rate_y + ao_orient.q3 * rate_z) + lambda * ao_orient.q0;
 714         q_dot.q1 =  0.5 * (ao_orient.q0 * rate_x + ao_orient.q2 * rate_z - ao_orient.q3 * rate_y) + lambda * ao_orient.q1;
 715         q_dot.q2 =  0.5 * (ao_orient.q0 * rate_y + ao_orient.q3 * rate_x - ao_orient.q1 * rate_z) + lambda * ao_orient.q2;
 716         q_dot.q3 =  0.5 * (ao_orient.q0 * rate_z + ao_orient.q1 * rate_y - ao_orient.q2 * rate_x) + lambda * ao_orient.q3;
 717
 718         printf ("update_orientation %g %g %g (%g s)\n", rate_x, rate_y, rate_z, dt);
 719         printf ("q_dot (%g) %g %g %g\n",
 720                 q_dot.q0,
 721                 q_dot.q1,
 722                 q_dot.q2,
 723                 q_dot.q3);
 724
 725         ao_orient.q0 += q_dot.q0 * dt;
 726         ao_orient.q1 += q_dot.q1 * dt;
 727         ao_orient.q2 += q_dot.q2 * dt;
 728         ao_orient.q3 += q_dot.q3 * dt;
 729
 730         ao_quat_normalize(&ao_orient);
 731
 732         ao_quat_rot(&ao_current, &ao_up, &ao_orient);
 733
 734         printf ("orient (%g) %g %g %g current (%g) %g %g %g\n",
 735                 ao_orient.q0,
 736                 ao_orient.q1,
 737                 ao_orient.q2,
 738                 ao_orient.q3,
 739                 ao_current.q0,
 740                 ao_current.q1,
 741                 ao_current.q2,
 742                 ao_current.q3);
 743 }
 744 #endif
 745
 746 void
 747 ao_sleep(void *wchan)
 748 {
 749         if (wchan == &ao_data_head) {
 750                 char            type = 0;
 751                 uint16_t        tick = 0;
 752                 uint16_t        a = 0, b = 0;
 753                 uint8_t         bytes[1024];
 754                 union ao_telemetry_all  telem;
 755                 char            line[1024];
 756                 char            *saveptr;
 757                 char            *l;
 758                 char            *words[64];
 759                 int             nword;
 760
 761                 for (;;) {
 762                         if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 763                         {
 764 #if MEGAMETRUM
 765                                 ao_data_static.mpu6000 = ao_ground_mpu6000;
 766 #else
 767                                 ao_data_static.adc.accel = ao_flight_ground_accel;
 768 #endif
 769                                 ao_insert();
 770                                 return;
 771                         }
 772
 773                         if (!fgets(line, sizeof (line), emulator_in)) {
 774                                 if (++ao_eof_read >= 1000) {
 775                                         if (!ao_summary)
 776                                                 printf ("no more data, exiting simulation\n");
 777                                         ao_test_exit();
 778                                 }
 779                                 ao_data_static.tick += 10;
 780                                 ao_insert();
 781                                 return;
 782                         }
 783                         l = line;
 784                         for (nword = 0; nword < 64; nword++) {
 785                                 words[nword] = strtok_r(l, " \t\n", &saveptr);
 786                                 l = NULL;
 787                                 if (words[nword] == NULL)
 788                                         break;
 789                         }
 790 #if MEGAMETRUM
 791                         if (log_format == AO_LOG_FORMAT_MEGAMETRUM && nword == 30 && strlen(words[0]) == 1) {
 792                                 int     i;
 793                                 struct ao_ms5607_value  value;
 794
 795                                 type = words[0][0];
 796                                 tick = strtoul(words[1], NULL, 16);
 797 //                              printf ("%c %04x", type, tick);
 798                                 for (i = 2; i < nword; i++) {
 799                                         bytes[i - 2] = strtoul(words[i], NULL, 16);
 800 //                                      printf(" %02x", bytes[i-2]);
 801                                 }
 802 //                              printf ("\n");
 803                                 switch (type) {
 804                                 case 'F':
 805                                         ao_flight_ground_accel = int16(bytes, 2);
 806                                         ao_flight_started = 1;
 807                                         ao_ground_pres = int32(bytes, 4);
 808                                         ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
 809                                         break;
 810                                 case 'A':
 811                                         ao_data_static.tick = tick;
 812                                         ao_data_static.ms5607_raw.pres = int32(bytes, 0);
 813                                         ao_data_static.ms5607_raw.temp = int32(bytes, 4);
 814                                         ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
 815                                         ao_data_static.mpu6000.accel_x = int16(bytes, 8);
 816                                         ao_data_static.mpu6000.accel_y = -int16(bytes, 10);
 817                                         ao_data_static.mpu6000.accel_z = int16(bytes, 12);
 818                                         ao_data_static.mpu6000.gyro_x = int16(bytes, 14);
 819                                         ao_data_static.mpu6000.gyro_y = -int16(bytes, 16);
 820                                         ao_data_static.mpu6000.gyro_z = int16(bytes, 18);
 821 #if HAS_MMA655X
 822                                         ao_data_static.mma655x = int16(bytes, 26);
 823 #endif
 824                                         if (ao_records_read == 0)
 825                                                 ao_ground_mpu6000 = ao_data_static.mpu6000;
 826                                         else if (ao_records_read < 10) {
 827 #define f(f) ao_ground_mpu6000.f = ao_ground_mpu6000.f + ((ao_data_static.mpu6000.f - ao_ground_mpu6000.f) >> 2)
 828                                                 f(accel_x);
 829                                                 f(accel_y);
 830                                                 f(accel_z);
 831                                                 f(gyro_x);
 832                                                 f(gyro_y);
 833                                                 f(gyro_z);
 834
 835                                                 double          accel_x = ao_mpu6000_accel(ao_ground_mpu6000.accel_x);
 836                                                 double          accel_y = ao_mpu6000_accel(ao_ground_mpu6000.accel_y);
 837                                                 double          accel_z = ao_mpu6000_accel(ao_ground_mpu6000.accel_z);
 838
 839                                                 /* X and Y are in the ground plane, arbitraryily picked as MPU X and Z axes
 840                                                  * Z is normal to the ground, the MPU y axis
 841                                                  */
 842                                                 set_orientation(accel_x, accel_z, accel_y, tick);
 843                                         } else {
 844                                                 double          rate_x = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x);
 845                                                 double          rate_y = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y);
 846                                                 double          rate_z = ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z);
 847
 848                                                 update_orientation(rate_x, rate_z, rate_y, tick);
 849                                         }
 850                                         ao_records_read++;
 851                                         ao_insert();
 852                                         return;
 853                                 }
 854                                 continue;
 855                         } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
 856                                 if (strcmp(words[1], "reserved:") == 0)
 857                                         ms5607_prom.reserved = strtoul(words[2], NULL, 10);
 858                                 else if (strcmp(words[1], "sens:") == 0)
 859                                         ms5607_prom.sens = strtoul(words[2], NULL, 10);
 860                                 else if (strcmp(words[1], "off:") == 0)
 861                                         ms5607_prom.off = strtoul(words[2], NULL, 10);
 862                                 else if (strcmp(words[1], "tcs:") == 0)
 863                                         ms5607_prom.tcs = strtoul(words[2], NULL, 10);
 864                                 else if (strcmp(words[1], "tco:") == 0)
 865                                         ms5607_prom.tco = strtoul(words[2], NULL, 10);
 866                                 else if (strcmp(words[1], "tref:") == 0)
 867                                         ms5607_prom.tref = strtoul(words[2], NULL, 10);
 868                                 else if (strcmp(words[1], "tempsens:") == 0)
 869                                         ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
 870                                 else if (strcmp(words[1], "crc:") == 0)
 871                                         ms5607_prom.crc = strtoul(words[2], NULL, 10);
 872                                 continue;
 873                         }
 874 #else
 875                         if (nword == 4 && log_format != AO_LOG_FORMAT_MEGAMETRUM) {
 876                                 type = words[0][0];
 877                                 tick = strtoul(words[1], NULL, 16);
 878                                 a = strtoul(words[2], NULL, 16);
 879                                 b = strtoul(words[3], NULL, 16);
 880                                 if (type == 'P')
 881                                         type = 'A';
 882                         }
 883 #endif
 884                         else if (nword == 2 && strcmp(words[0], "log-format") == 0) {
 885                                 log_format = strtoul(words[1], NULL, 10);
 886                         } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
 887                                 ao_config.accel_plus_g = atoi(words[3]);
 888                                 ao_config.accel_minus_g = atoi(words[5]);
 889                         } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
 890                                 ao_config.main_deploy = atoi(words[2]);
 891                         } else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 &&
 892                                    strcmp(words[1], "lockout:") == 0) {
 893                                 ao_config.apogee_lockout = atoi(words[2]);
 894                         } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
 895                                 tick = atoi(words[10]);
 896                                 if (!ao_flight_started) {
 897                                         type = 'F';
 898                                         a = atoi(words[26]);
 899                                         ao_flight_started = 1;
 900                                 } else {
 901                                         type = 'A';
 902                                         a = atoi(words[12]);
 903                                         b = atoi(words[14]);
 904                                 }
 905                         } else if (nword == 3 && strcmp(words[0], "BARO") == 0) {
 906                                 tick = strtol(words[1], NULL, 16);
 907                                 a = 16384 - 328;
 908                                 b = strtol(words[2], NULL, 10);
 909                                 type = 'A';
 910                                 if (!ao_flight_started) {
 911                                         ao_flight_ground_accel = 16384 - 328;
 912                                         ao_config.accel_plus_g = 16384 - 328;
 913                                         ao_config.accel_minus_g = 16384 + 328;
 914                                         ao_flight_started = 1;
 915                                 }
 916                         } else if (nword == 2 && strcmp(words[0], "TELEM") == 0) {
 917                                 __xdata char    *hex = words[1];
 918                                 char    elt[3];
 919                                 int     i, len;
 920                                 uint8_t sum;
 921
 922                                 len = strlen(hex);
 923                                 if (len > sizeof (bytes) * 2) {
 924                                         len = sizeof (bytes)*2;
 925                                         hex[len] = '\0';
 926                                 }
 927                                 for (i = 0; i < len; i += 2) {
 928                                         elt[0] = hex[i];
 929                                         elt[1] = hex[i+1];
 930                                         elt[2] = '\0';
 931                                         bytes[i/2] = (uint8_t) strtol(elt, NULL, 16);
 932                                 }
 933                                 len = i/2;
 934                                 if (bytes[0] != len - 2) {
 935                                         printf ("bad length %d != %d\n", bytes[0], len - 2);
 936                                         continue;
 937                                 }
 938                                 sum = 0x5a;
 939                                 for (i = 1; i < len-1; i++)
 940                                         sum += bytes[i];
 941                                 if (sum != bytes[len-1]) {
 942                                         printf ("bad checksum\n");
 943                                         continue;
 944                                 }
 945                                 if ((bytes[len-2] & 0x80) == 0) {
 946                                         continue;
 947                                 }
 948                                 if (len == 36) {
 949                                         ao_xmemcpy(&telem, bytes + 1, 32);
 950                                         tick = telem.generic.tick;
 951                                         switch (telem.generic.type) {
 952                                         case AO_TELEMETRY_SENSOR_TELEMETRUM:
 953                                         case AO_TELEMETRY_SENSOR_TELEMINI:
 954                                         case AO_TELEMETRY_SENSOR_TELENANO:
 955                                                 if (!ao_flight_started) {
 956                                                         ao_flight_ground_accel = telem.sensor.ground_accel;
 957                                                         ao_config.accel_plus_g = telem.sensor.accel_plus_g;
 958                                                         ao_config.accel_minus_g = telem.sensor.accel_minus_g;
 959                                                         ao_flight_started = 1;
 960                                                 }
 961                                                 type = 'A';
 962                                                 a = telem.sensor.accel;
 963                                                 b = telem.sensor.pres;
 964                                                 break;
 965                                         }
 966                                 } else if (len == 99) {
 967                                         ao_flight_started = 1;
 968                                         tick = uint16(bytes+1, 21);
 969                                         ao_flight_ground_accel = int16(bytes+1, 7);
 970                                         ao_config.accel_plus_g = int16(bytes+1, 17);
 971                                         ao_config.accel_minus_g = int16(bytes+1, 19);
 972                                         type = 'A';
 973                                         a = int16(bytes+1, 23);
 974                                         b = int16(bytes+1, 25);
 975                                 } else if (len == 98) {
 976                                         ao_flight_started = 1;
 977                                         tick = uint16(bytes+1, 20);
 978                                         ao_flight_ground_accel = int16(bytes+1, 6);
 979                                         ao_config.accel_plus_g = int16(bytes+1, 16);
 980                                         ao_config.accel_minus_g = int16(bytes+1, 18);
 981                                         type = 'A';
 982                                         a = int16(bytes+1, 22);
 983                                         b = int16(bytes+1, 24);
 984                                 } else {
 985                                         printf("unknown len %d\n", len);
 986                                         continue;
 987                                 }
 988                         }
 989                         if (type != 'F' && !ao_flight_started)
 990                                 continue;
 991
 992 #if MEGAMETRUM
 993                         (void) a;
 994                         (void) b;
 995 #else
 996                         switch (type) {
 997                         case 'F':
 998                                 ao_flight_ground_accel = a;
 999                                 if (ao_config.accel_plus_g == 0) {
1000                                         ao_config.accel_plus_g = a;
1001                                         ao_config.accel_minus_g = a + 530;
1002                                 }
1003                                 if (ao_config.main_deploy == 0)
1004                                         ao_config.main_deploy = 250;
1005                                 ao_flight_started = 1;
1006                                 break;
1007                         case 'S':
1008                                 break;
1009                         case 'A':
1010                                 ao_data_static.tick = tick;
1011                                 ao_data_static.adc.accel = a;
1012                                 ao_data_static.adc.pres_real = b;
1013                                 if (b < AO_MIN_BARO_VALUE)
1014                                         b = AO_MIN_BARO_VALUE;
1015                                 ao_data_static.adc.pres = b;
1016                                 ao_records_read++;
1017                                 ao_insert();
1018                                 return;
1019                         case 'T':
1020                                 ao_data_static.tick = tick;
1021                                 ao_data_static.adc.temp = a;
1022                                 ao_data_static.adc.v_batt = b;
1023                                 break;
1024                         case 'D':
1025                         case 'G':
1026                         case 'N':
1027                         case 'W':
1028                         case 'H':
1029                                 break;
1030                         }
1031 #endif
1032                 }
1033
1034         }
1035 }
1036 #define COUNTS_PER_G 264.8
1037
1038 void
1039 ao_dump_state(void)
1040 {
1041 }
1042
1043 static const struct option options[] = {
1044         { .name = "summary", .has_arg = 0, .val = 's' },
1045         { .name = "debug", .has_arg = 0, .val = 'd' },
1046         { .name = "info", .has_arg = 1, .val = 'i' },
1047         { 0, 0, 0, 0},
1048 };
1049
1050 void run_flight_fixed(char *name, FILE *f, int summary, char *info)
1051 {
1052         emulator_name = name;
1053         emulator_in = f;
1054         emulator_info = info;
1055         ao_summary = summary;
1056         ao_flight_init();
1057         ao_flight();
1058 }
1059
1060 int
1061 main (int argc, char **argv)
1062 {
1063         int     summary = 0;
1064         int     c;
1065         int     i;
1066         char    *info = NULL;
1067
1068 #if HAS_ACCEL
1069         emulator_app="full";
1070 #else
1071         emulator_app="baro";
1072 #endif
1073         while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) {
1074                 switch (c) {
1075                 case 's':
1076                         summary = 1;
1077                         break;
1078                 case 'd':
1079                         ao_flight_debug = 1;
1080                         break;
1081                 case 'i':
1082                         info = optarg;
1083                         break;
1084                 }
1085         }
1086
1087         if (optind == argc)
1088                 run_flight_fixed("<stdin>", stdin, summary, info);
1089         else
1090                 for (i = optind; i < argc; i++) {
1091                         FILE    *f = fopen(argv[i], "r");
1092                         if (!f) {
1093                                 perror(argv[i]);
1094                                 continue;
1095                         }
1096                         run_flight_fixed(argv[i], f, summary, info);
1097                         fclose(f);
1098                 }
1099         exit(0);
1100 }