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