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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 AO_ADC_RING     64
  30 #define ao_adc_ring_next(n)     (((n) + 1) & (AO_ADC_RING - 1))
  31 #define ao_adc_ring_prev(n)     (((n) - 1) & (AO_ADC_RING - 1))
  32
  33 #define AO_M_TO_HEIGHT(m)       ((int16_t) (m))
  34 #define AO_MS_TO_SPEED(ms)      ((int16_t) ((ms) * 16))
  35 #define AO_MSS_TO_ACCEL(mss)    ((int16_t) ((mss) * 16))
  36
  37 /*
  38  * One set of samples read from the A/D converter
  39  */
  40 struct ao_adc {
  41         uint16_t        tick;           /* tick when the sample was read */
  42         int16_t         accel;          /* accelerometer */
  43         int16_t         pres;           /* pressure sensor */
  44         int16_t         pres_real;      /* unclipped */
  45         int16_t         temp;           /* temperature sensor */
  46         int16_t         v_batt;         /* battery voltage */
  47         int16_t         sense_d;        /* drogue continuity sense */
  48         int16_t         sense_m;        /* main continuity sense */
  49 };
  50
  51 #define __pdata
  52 #define __data
  53 #define __xdata
  54 #define __code
  55 #define __reentrant
  56
  57 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
  58 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
  59 #define from_fix(x)     ((x) >> 16)
  60
  61 /*
  62  * Above this height, the baro sensor doesn't work
  63  */
  64 #define AO_MAX_BARO_HEIGHT      12000
  65 #define AO_BARO_SATURATE        13000
  66 #define AO_MIN_BARO_VALUE       ao_altitude_to_pres(AO_BARO_SATURATE)
  67
  68 /*
  69  * Above this speed, baro measurements are unreliable
  70  */
  71 #define AO_MAX_BARO_SPEED       200
  72
  73 #define ACCEL_NOSE_UP   (ao_accel_2g >> 2)
  74
  75 enum ao_flight_state {
  76         ao_flight_startup = 0,
  77         ao_flight_idle = 1,
  78         ao_flight_pad = 2,
  79         ao_flight_boost = 3,
  80         ao_flight_fast = 4,
  81         ao_flight_coast = 5,
  82         ao_flight_drogue = 6,
  83         ao_flight_main = 7,
  84         ao_flight_landed = 8,
  85         ao_flight_invalid = 9
  86 };
  87
  88 extern enum ao_flight_state ao_flight_state;
  89
  90 #define FALSE 0
  91 #define TRUE 1
  92
  93 struct ao_adc ao_adc_ring[AO_ADC_RING];
  94 uint8_t ao_adc_head;
  95 int     ao_summary = 0;
  96
  97 #define ao_led_on(l)
  98 #define ao_led_off(l)
  99 #define ao_timer_set_adc_interval(i)
 100 #define ao_wakeup(wchan) ao_dump_state()
 101 #define ao_cmd_register(c)
 102 #define ao_usb_disable()
 103 #define ao_telemetry_set_interval(x)
 104 #define ao_rdf_set(rdf)
 105 #define ao_packet_slave_start()
 106 #define ao_packet_slave_stop()
 107
 108 enum ao_igniter {
 109         ao_igniter_drogue = 0,
 110         ao_igniter_main = 1
 111 };
 112
 113 struct ao_adc ao_adc_static;
 114
 115 int     drogue_height;
 116 double  drogue_time;
 117 int     main_height;
 118 double  main_time;
 119
 120 int     tick_offset;
 121
 122 static int32_t  ao_k_height;
 123
 124 void
 125 ao_ignite(enum ao_igniter igniter)
 126 {
 127         double time = (double) (ao_adc_static.tick + tick_offset) / 100;
 128
 129         if (igniter == ao_igniter_drogue) {
 130                 drogue_time = time;
 131                 drogue_height = ao_k_height >> 16;
 132         } else {
 133                 main_time = time;
 134                 main_height = ao_k_height >> 16;
 135         }
 136 }
 137
 138 struct ao_task {
 139         int dummy;
 140 };
 141
 142 #define ao_add_task(t,f,n)
 143
 144 #define ao_log_start()
 145 #define ao_log_stop()
 146
 147 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
 148 #define AO_SEC_TO_TICKS(s)      ((s) * 100)
 149
 150 #define AO_FLIGHT_TEST
 151
 152 int     ao_flight_debug;
 153
 154 FILE *emulator_in;
 155 char *emulator_app;
 156 char *emulator_name;
 157 double emulator_error_max = 4;
 158 double emulator_height_error_max = 20;  /* noise in the baro sensor */
 159
 160 void
 161 ao_dump_state(void);
 162
 163 void
 164 ao_sleep(void *wchan);
 165
 166 const char const * const ao_state_names[] = {
 167         "startup", "idle", "pad", "boost", "fast",
 168         "coast", "drogue", "main", "landed", "invalid"
 169 };
 170
 171 struct ao_cmds {
 172         void            (*func)(void);
 173         const char      *help;
 174 };
 175
 176 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
 177 #define ao_xmemset(d,v,c) memset(d,v,c)
 178 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
 179
 180 #include "ao_convert.c"
 181
 182 struct ao_config {
 183         uint16_t        main_deploy;
 184         int16_t         accel_plus_g;
 185         int16_t         accel_minus_g;
 186         uint8_t         pad_orientation;
 187         uint16_t        apogee_lockout;
 188 };
 189
 190 #define AO_PAD_ORIENTATION_ANTENNA_UP   0
 191 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
 192
 193 #define ao_config_get()
 194
 195 struct ao_config ao_config;
 196
 197 #define DATA_TO_XDATA(x) (x)
 198
 199 #define HAS_FLIGHT 1
 200 #define HAS_ADC 1
 201 #define HAS_USB 1
 202 #define HAS_GPS 1
 203 #ifndef HAS_ACCEL
 204 #define HAS_ACCEL 1
 205 #define HAS_ACCEL_REF 0
 206 #endif
 207
 208 #define GRAVITY 9.80665
 209 extern int16_t ao_ground_accel, ao_flight_accel;
 210 extern int16_t ao_accel_2g;
 211
 212 extern uint16_t ao_sample_tick;
 213
 214 extern int16_t  ao_sample_height;
 215 extern int16_t  ao_sample_accel;
 216 extern int32_t  ao_accel_scale;
 217 extern int16_t  ao_ground_height;
 218 extern int16_t  ao_sample_alt;
 219
 220 int ao_sample_prev_tick;
 221 uint16_t        prev_tick;
 222
 223 #include "ao_kalman.c"
 224 #include "ao_sample.c"
 225 #include "ao_flight.c"
 226
 227 #define to_double(f)    ((f) / 65536.0)
 228
 229 static int      ao_records_read = 0;
 230 static int      ao_eof_read = 0;
 231 static int      ao_flight_ground_accel;
 232 static int      ao_flight_started = 0;
 233 static int      ao_test_max_height;
 234 static double   ao_test_max_height_time;
 235 static int      ao_test_main_height;
 236 static double   ao_test_main_height_time;
 237 static double   ao_test_landed_time;
 238 static double   ao_test_landed_height;
 239 static double   ao_test_landed_time;
 240 static int      landed_set;
 241 static double   landed_time;
 242 static double   landed_height;
 243
 244 void
 245 ao_test_exit(void)
 246 {
 247         double  drogue_error;
 248         double  main_error;
 249         double  landed_error;
 250         double  landed_time_error;
 251
 252         if (!ao_test_main_height_time) {
 253                 ao_test_main_height_time = ao_test_max_height_time;
 254                 ao_test_main_height = ao_test_max_height;
 255         }
 256         drogue_error = fabs(ao_test_max_height_time - drogue_time);
 257         main_error = fabs(ao_test_main_height_time - main_time);
 258         landed_error = fabs(ao_test_landed_height - landed_height);
 259         landed_time_error = ao_test_landed_time - landed_time;
 260         if (drogue_error > emulator_error_max || main_error > emulator_error_max ||
 261             landed_time_error > emulator_error_max || landed_error > emulator_height_error_max) {
 262                 printf ("%s %s\n",
 263                         emulator_app, emulator_name);
 264                 printf ("\tApogee error %g\n", drogue_error);
 265                 printf ("\tMain error %g\n", main_error);
 266                 printf ("\tLanded height error %g\n", landed_error);
 267                 printf ("\tLanded time error %g\n", landed_time_error);
 268                 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 269                         ao_test_max_height, ao_test_max_height_time,
 270                         ao_test_main_height, ao_test_main_height_time,
 271                         ao_test_landed_height, ao_test_landed_time);
 272                 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 273                         drogue_height, drogue_time, main_height, main_time,
 274                         landed_height, landed_time);
 275                 exit (1);
 276         }
 277         exit(0);
 278 }
 279
 280 void
 281 ao_insert(void)
 282 {
 283         double  time;
 284
 285         ao_adc_ring[ao_adc_head] = ao_adc_static;
 286         ao_adc_head = ao_adc_ring_next(ao_adc_head);
 287         if (ao_flight_state != ao_flight_startup) {
 288                 double  height = ao_pres_to_altitude(ao_adc_static.pres_real) - ao_ground_height;
 289                 double  accel = ((ao_flight_ground_accel - ao_adc_static.accel) * GRAVITY * 2.0) /
 290                         (ao_config.accel_minus_g - ao_config.accel_plus_g);
 291
 292                 if (!tick_offset)
 293                         tick_offset = -ao_adc_static.tick;
 294                 if ((prev_tick - ao_adc_static.tick) > 0x400)
 295                         tick_offset += 65536;
 296                 prev_tick = ao_adc_static.tick;
 297                 time = (double) (ao_adc_static.tick + tick_offset) / 100;
 298
 299                 if (ao_test_max_height < height) {
 300                         ao_test_max_height = height;
 301                         ao_test_max_height_time = time;
 302                         ao_test_landed_height = height;
 303                         ao_test_landed_time = time;
 304                 }
 305                 if (height > ao_config.main_deploy) {
 306                         ao_test_main_height_time = time;
 307                         ao_test_main_height = height;
 308                 }
 309
 310                 if (ao_test_landed_height > height) {
 311                         ao_test_landed_height = height;
 312                         ao_test_landed_time = time;
 313                 }
 314
 315                 if (ao_flight_state == ao_flight_landed && !landed_set) {
 316                         landed_set = 1;
 317                         landed_time = time;
 318                         landed_height = height;
 319                 }
 320
 321                 if (!ao_summary) {
 322                         printf("%7.2f height %8.2f accel %8.3f state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d\n",
 323                                time,
 324                                height,
 325                                accel,
 326                                ao_state_names[ao_flight_state],
 327                                ao_k_height / 65536.0,
 328                                ao_k_speed / 65536.0 / 16.0,
 329                                ao_k_accel / 65536.0 / 16.0,
 330                                ao_avg_height,
 331                                drogue_height,
 332                                main_height,
 333                                ao_error_h_sq_avg);
 334
 335 //                      if (ao_flight_state == ao_flight_landed)
 336 //                              ao_test_exit();
 337                 }
 338         }
 339 }
 340
 341 #define AO_MAX_CALLSIGN                 8
 342 #define AO_MAX_VERSION                  8
 343 #define AO_MAX_TELEMETRY                128
 344
 345 struct ao_telemetry_generic {
 346         uint16_t        serial;         /* 0 */
 347         uint16_t        tick;           /* 2 */
 348         uint8_t         type;           /* 4 */
 349         uint8_t         payload[27];    /* 5 */
 350         /* 32 */
 351 };
 352
 353 #define AO_TELEMETRY_SENSOR_TELEMETRUM  0x01
 354 #define AO_TELEMETRY_SENSOR_TELEMINI    0x02
 355 #define AO_TELEMETRY_SENSOR_TELENANO    0x03
 356
 357 struct ao_telemetry_sensor {
 358         uint16_t        serial;         /*  0 */
 359         uint16_t        tick;           /*  2 */
 360         uint8_t         type;           /*  4 */
 361
 362         uint8_t         state;          /*  5 flight state */
 363         int16_t         accel;          /*  6 accelerometer (TM only) */
 364         int16_t         pres;           /*  8 pressure sensor */
 365         int16_t         temp;           /* 10 temperature sensor */
 366         int16_t         v_batt;         /* 12 battery voltage */
 367         int16_t         sense_d;        /* 14 drogue continuity sense (TM/Tm) */
 368         int16_t         sense_m;        /* 16 main continuity sense (TM/Tm) */
 369
 370         int16_t         acceleration;   /* 18 m/s² * 16 */
 371         int16_t         speed;          /* 20 m/s * 16 */
 372         int16_t         height;         /* 22 m */
 373
 374         int16_t         ground_pres;    /* 24 average pres on pad */
 375         int16_t         ground_accel;   /* 26 average accel on pad */
 376         int16_t         accel_plus_g;   /* 28 accel calibration at +1g */
 377         int16_t         accel_minus_g;  /* 30 accel calibration at -1g */
 378         /* 32 */
 379 };
 380
 381 #define AO_TELEMETRY_CONFIGURATION      0x04
 382
 383 struct ao_telemetry_configuration {
 384         uint16_t        serial;                         /*  0 */
 385         uint16_t        tick;                           /*  2 */
 386         uint8_t         type;                           /*  4 */
 387
 388         uint8_t         device;                         /*  5 device type */
 389         uint16_t        flight;                         /*  6 flight number */
 390         uint8_t         config_major;                   /*  8 Config major version */
 391         uint8_t         config_minor;                   /*  9 Config minor version */
 392         uint16_t        apogee_delay;                   /* 10 Apogee deploy delay in seconds */
 393         uint16_t        main_deploy;                    /* 12 Main deploy alt in meters */
 394         uint16_t        flight_log_max;                 /* 14 Maximum flight log size in kB */
 395         char            callsign[AO_MAX_CALLSIGN];      /* 16 Radio operator identity */
 396         char            version[AO_MAX_VERSION];        /* 24 Software version */
 397         /* 32 */
 398 };
 399
 400 #define AO_TELEMETRY_LOCATION           0x05
 401
 402 #define AO_GPS_MODE_NOT_VALID           'N'
 403 #define AO_GPS_MODE_AUTONOMOUS          'A'
 404 #define AO_GPS_MODE_DIFFERENTIAL        'D'
 405 #define AO_GPS_MODE_ESTIMATED           'E'
 406 #define AO_GPS_MODE_MANUAL              'M'
 407 #define AO_GPS_MODE_SIMULATED           'S'
 408
 409 struct ao_telemetry_location {
 410         uint16_t        serial;         /*  0 */
 411         uint16_t        tick;           /*  2 */
 412         uint8_t         type;           /*  4 */
 413
 414         uint8_t         flags;          /*  5 Number of sats and other flags */
 415         int16_t         altitude;       /*  6 GPS reported altitude (m) */
 416         int32_t         latitude;       /*  8 latitude (degrees * 10⁷) */
 417         int32_t         longitude;      /* 12 longitude (degrees * 10⁷) */
 418         uint8_t         year;           /* 16 (- 2000) */
 419         uint8_t         month;          /* 17 (1-12) */
 420         uint8_t         day;            /* 18 (1-31) */
 421         uint8_t         hour;           /* 19 (0-23) */
 422         uint8_t         minute;         /* 20 (0-59) */
 423         uint8_t         second;         /* 21 (0-59) */
 424         uint8_t         pdop;           /* 22 (m * 5) */
 425         uint8_t         hdop;           /* 23 (m * 5) */
 426         uint8_t         vdop;           /* 24 (m * 5) */
 427         uint8_t         mode;           /* 25 */
 428         uint16_t        ground_speed;   /* 26 cm/s */
 429         int16_t         climb_rate;     /* 28 cm/s */
 430         uint8_t         course;         /* 30 degrees / 2 */
 431         uint8_t         unused[1];      /* 31 */
 432         /* 32 */
 433 };
 434
 435 #define AO_TELEMETRY_SATELLITE          0x06
 436
 437 struct ao_telemetry_satellite_info {
 438         uint8_t         svid;
 439         uint8_t         c_n_1;
 440 };
 441
 442 struct ao_telemetry_satellite {
 443         uint16_t                                serial;         /*  0 */
 444         uint16_t                                tick;           /*  2 */
 445         uint8_t                                 type;           /*  4 */
 446         uint8_t                                 channels;       /*  5 number of reported sats */
 447
 448         struct ao_telemetry_satellite_info      sats[12];       /* 6 */
 449         uint8_t                                 unused[2];      /* 30 */
 450         /* 32 */
 451 };
 452
 453 union ao_telemetry_all {
 454         struct ao_telemetry_generic             generic;
 455         struct ao_telemetry_sensor              sensor;
 456         struct ao_telemetry_configuration       configuration;
 457         struct ao_telemetry_location            location;
 458         struct ao_telemetry_satellite           satellite;
 459 };
 460
 461 uint16_t
 462 uint16(uint8_t *bytes, int off)
 463 {
 464         off++;
 465         return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
 466 }
 467
 468 int16_t
 469 int16(uint8_t *bytes, int off)
 470 {
 471         return (int16_t) uint16(bytes, off);
 472 }
 473
 474 void
 475 ao_sleep(void *wchan)
 476 {
 477         if (wchan == &ao_adc_head) {
 478                 char            type;
 479                 uint16_t        tick;
 480                 uint16_t        a, b;
 481                 int             ret;
 482                 uint8_t         bytes[1024];
 483                 union ao_telemetry_all  telem;
 484                 char            line[1024];
 485                 char            *saveptr;
 486                 char            *l;
 487                 char            *words[64];
 488                 int             nword;
 489
 490                 for (;;) {
 491                         if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 492                         {
 493                                 ao_adc_static.accel = ao_flight_ground_accel;
 494                                 ao_insert();
 495                                 return;
 496                         }
 497
 498                         if (!fgets(line, sizeof (line), emulator_in)) {
 499                                 if (++ao_eof_read >= 1000) {
 500                                         if (!ao_summary)
 501                                                 printf ("no more data, exiting simulation\n");
 502                                         ao_test_exit();
 503                                 }
 504                                 ao_adc_static.tick += 10;
 505                                 ao_insert();
 506                                 return;
 507                         }
 508                         l = line;
 509                         for (nword = 0; nword < 64; nword++) {
 510                                 words[nword] = strtok_r(l, " \t\n", &saveptr);
 511                                 l = NULL;
 512                                 if (words[nword] == NULL)
 513                                         break;
 514                         }
 515                         if (nword == 4) {
 516                                 type = words[0][0];
 517                                 tick = strtoul(words[1], NULL, 16);
 518                                 a = strtoul(words[2], NULL, 16);
 519                                 b = strtoul(words[3], NULL, 16);
 520                                 if (type == 'P')
 521                                         type = 'A';
 522                         } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
 523                                 ao_config.accel_plus_g = atoi(words[3]);
 524                                 ao_config.accel_minus_g = atoi(words[5]);
 525                         } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
 526                                 ao_config.main_deploy = atoi(words[2]);
 527                         } else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 &&
 528                                    strcmp(words[1], "lockout:") == 0) {
 529                                 ao_config.apogee_lockout = atoi(words[2]);
 530                         } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
 531                                 tick = atoi(words[10]);
 532                                 if (!ao_flight_started) {
 533                                         type = 'F';
 534                                         a = atoi(words[26]);
 535                                         ao_flight_started = 1;
 536                                 } else {
 537                                         type = 'A';
 538                                         a = atoi(words[12]);
 539                                         b = atoi(words[14]);
 540                                 }
 541                         } else if (nword == 3 && strcmp(words[0], "BARO") == 0) {
 542                                 tick = strtol(words[1], NULL, 16);
 543                                 a = 16384 - 328;
 544                                 b = strtol(words[2], NULL, 10);
 545                                 type = 'A';
 546                                 if (!ao_flight_started) {
 547                                         ao_flight_ground_accel = 16384 - 328;
 548                                         ao_config.accel_plus_g = 16384 - 328;
 549                                         ao_config.accel_minus_g = 16384 + 328;
 550                                         ao_flight_started = 1;
 551                                 }
 552                         } else if (nword == 2 && strcmp(words[0], "TELEM") == 0) {
 553                                 __xdata char    *hex = words[1];
 554                                 char    elt[3];
 555                                 int     i, len;
 556                                 uint8_t sum;
 557
 558                                 len = strlen(hex);
 559                                 if (len > sizeof (bytes) * 2) {
 560                                         len = sizeof (bytes)*2;
 561                                         hex[len] = '\0';
 562                                 }
 563                                 for (i = 0; i < len; i += 2) {
 564                                         elt[0] = hex[i];
 565                                         elt[1] = hex[i+1];
 566                                         elt[2] = '\0';
 567                                         bytes[i/2] = (uint8_t) strtol(elt, NULL, 16);
 568                                 }
 569                                 len = i/2;
 570                                 if (bytes[0] != len - 2) {
 571                                         printf ("bad length %d != %d\n", bytes[0], len - 2);
 572                                         continue;
 573                                 }
 574                                 sum = 0x5a;
 575                                 for (i = 1; i < len-1; i++)
 576                                         sum += bytes[i];
 577                                 if (sum != bytes[len-1]) {
 578                                         printf ("bad checksum\n");
 579                                         continue;
 580                                 }
 581                                 if ((bytes[len-2] & 0x80) == 0) {
 582                                         continue;
 583                                 }
 584                                 if (len == 36) {
 585                                         ao_xmemcpy(&telem, bytes + 1, 32);
 586                                         tick = telem.generic.tick;
 587                                         switch (telem.generic.type) {
 588                                         case AO_TELEMETRY_SENSOR_TELEMETRUM:
 589                                         case AO_TELEMETRY_SENSOR_TELEMINI:
 590                                         case AO_TELEMETRY_SENSOR_TELENANO:
 591                                                 if (!ao_flight_started) {
 592                                                         ao_flight_ground_accel = telem.sensor.ground_accel;
 593                                                         ao_config.accel_plus_g = telem.sensor.accel_plus_g;
 594                                                         ao_config.accel_minus_g = telem.sensor.accel_minus_g;
 595                                                         ao_flight_started = 1;
 596                                                 }
 597                                                 type = 'A';
 598                                                 a = telem.sensor.accel;
 599                                                 b = telem.sensor.pres;
 600                                                 break;
 601                                         }
 602                                 } else if (len == 99) {
 603                                         ao_flight_started = 1;
 604                                         tick = uint16(bytes, 21);
 605                                         ao_flight_ground_accel = int16(bytes, 7);
 606                                         ao_config.accel_plus_g = int16(bytes, 17);
 607                                         ao_config.accel_minus_g = int16(bytes, 19);
 608                                         type = 'A';
 609                                         a = int16(bytes, 23);
 610                                         b = int16(bytes, 25);
 611                                 } else if (len == 98) {
 612                                         ao_flight_started = 1;
 613                                         tick = uint16(bytes, 20);
 614                                         ao_flight_ground_accel = int16(bytes, 6);
 615                                         ao_config.accel_plus_g = int16(bytes, 16);
 616                                         ao_config.accel_minus_g = int16(bytes, 18);
 617                                         type = 'A';
 618                                         a = int16(bytes, 22);
 619                                         b = int16(bytes, 24);
 620                                 } else {
 621                                         printf("unknown len %d\n", len);
 622                                         continue;
 623                                 }
 624                         }
 625                         if (type != 'F' && !ao_flight_started)
 626                                 continue;
 627
 628                         switch (type) {
 629                         case 'F':
 630                                 ao_flight_ground_accel = a;
 631                                 if (ao_config.accel_plus_g == 0) {
 632                                         ao_config.accel_plus_g = a;
 633                                         ao_config.accel_minus_g = a + 530;
 634                                 }
 635                                 if (ao_config.main_deploy == 0)
 636                                         ao_config.main_deploy = 250;
 637                                 ao_flight_started = 1;
 638                                 break;
 639                         case 'S':
 640                                 break;
 641                         case 'A':
 642                                 ao_adc_static.tick = tick;
 643                                 ao_adc_static.accel = a;
 644                                 ao_adc_static.pres_real = b;
 645                                 if (b < AO_MIN_BARO_VALUE)
 646                                         b = AO_MIN_BARO_VALUE;
 647                                 ao_adc_static.pres = b;
 648                                 ao_records_read++;
 649                                 ao_insert();
 650                                 return;
 651                         case 'T':
 652                                 ao_adc_static.tick = tick;
 653                                 ao_adc_static.temp = a;
 654                                 ao_adc_static.v_batt = b;
 655                                 break;
 656                         case 'D':
 657                         case 'G':
 658                         case 'N':
 659                         case 'W':
 660                         case 'H':
 661                                 break;
 662                         }
 663                 }
 664
 665         }
 666 }
 667 #define COUNTS_PER_G 264.8
 668
 669 void
 670 ao_dump_state(void)
 671 {
 672 }
 673
 674 static const struct option options[] = {
 675         { .name = "summary", .has_arg = 0, .val = 's' },
 676         { .name = "debug", .has_arg = 0, .val = 'd' },
 677         { 0, 0, 0, 0},
 678 };
 679
 680 void run_flight_fixed(char *name, FILE *f, int summary)
 681 {
 682         emulator_name = name;
 683         emulator_in = f;
 684         ao_summary = summary;
 685         ao_flight_init();
 686         ao_flight();
 687 }
 688
 689 int
 690 main (int argc, char **argv)
 691 {
 692         int     summary = 0;
 693         int     c;
 694         int     i;
 695
 696 #if HAS_ACCEL
 697         emulator_app="full";
 698 #else
 699         emulator_app="baro";
 700 #endif
 701         while ((c = getopt_long(argc, argv, "sd", options, NULL)) != -1) {
 702                 switch (c) {
 703                 case 's':
 704                         summary = 1;
 705                         break;
 706                 case 'd':
 707                         ao_flight_debug = 1;
 708                         break;
 709                 }
 710         }
 711
 712         if (optind == argc)
 713                 run_flight_fixed("<stdin>", stdin, summary);
 714         else
 715                 for (i = optind; i < argc; i++) {
 716                         FILE    *f = fopen(argv[i], "r");
 717                         if (!f) {
 718                                 perror(argv[i]);
 719                                 continue;
 720                         }
 721                         run_flight_fixed(argv[i], f, summary);
 722                         fclose(f);
 723                 }
 724 }