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   1 /*
   2  * Copyright © 2009 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 #define _GNU_SOURCE
  19
  20 #include <stdint.h>
  21 #include <stdio.h>
  22 #include <stdlib.h>
  23 #include <stddef.h>
  24 #include <string.h>
  25 #include <getopt.h>
  26 #include <math.h>
  27
  28 #define GRAVITY 9.80665
  29
  30 #define AO_HERTZ        100
  31
  32 #define HAS_ADC 1
  33 #define AO_DATA_RING    64
  34 #define ao_data_ring_next(n)    (((n) + 1) & (AO_DATA_RING - 1))
  35 #define ao_data_ring_prev(n)    (((n) - 1) & (AO_DATA_RING - 1))
  36
  37 #define AO_M_TO_HEIGHT(m)       ((int16_t) (m))
  38 #define AO_MS_TO_SPEED(ms)      ((int16_t) ((ms) * 16))
  39 #define AO_MSS_TO_ACCEL(mss)    ((int16_t) ((mss) * 16))
  40
  41 #define AO_GPS_NEW_DATA         1
  42 #define AO_GPS_NEW_TRACKING     2
  43
  44 int ao_gps_new;
  45
  46 #if TELEMEGA
  47 #define AO_ADC_NUM_SENSE        6
  48 #define HAS_MS5607              1
  49 #define HAS_MPU6000             1
  50 #define HAS_MMA655X             1
  51 #define HAS_HMC5883             1
  52
  53 struct ao_adc {
  54         int16_t                 sense[AO_ADC_NUM_SENSE];
  55         int16_t                 v_batt;
  56         int16_t                 v_pbatt;
  57         int16_t                 accel_ref;
  58         int16_t                 accel;
  59         int16_t                 temp;
  60 };
  61 #else
  62 /*
  63  * One set of samples read from the A/D converter
  64  */
  65 struct ao_adc {
  66         int16_t         accel;          /* accelerometer */
  67         int16_t         pres;           /* pressure sensor */
  68         int16_t         pres_real;      /* unclipped */
  69         int16_t         temp;           /* temperature sensor */
  70         int16_t         v_batt;         /* battery voltage */
  71         int16_t         sense_d;        /* drogue continuity sense */
  72         int16_t         sense_m;        /* main continuity sense */
  73 };
  74
  75 #ifndef HAS_ACCEL
  76 #define HAS_ACCEL 1
  77 #define HAS_ACCEL_REF 0
  78 #endif
  79
  80 #endif
  81
  82 #define __pdata
  83 #define __data
  84 #define __xdata
  85 #define __code
  86 #define __reentrant
  87
  88 #define HAS_FLIGHT 1
  89 #define HAS_IGNITE 1
  90 #define HAS_USB 1
  91 #define HAS_GPS 1
  92
  93 #include <ao_data.h>
  94 #include <ao_log.h>
  95
  96 #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
  97 #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
  98 #define from_fix(x)     ((x) >> 16)
  99
 100 /*
 101  * Above this height, the baro sensor doesn't work
 102  */
 103 #define AO_BARO_SATURATE        13000
 104 #define AO_MIN_BARO_VALUE       ao_altitude_to_pres(AO_BARO_SATURATE)
 105
 106 /*
 107  * Above this speed, baro measurements are unreliable
 108  */
 109 #define AO_MAX_BARO_SPEED       200
 110
 111 #define ACCEL_NOSE_UP   (ao_accel_2g >> 2)
 112
 113 extern enum ao_flight_state ao_flight_state;
 114
 115 #define FALSE 0
 116 #define TRUE 1
 117
 118 volatile struct ao_data ao_data_ring[AO_DATA_RING];
 119 volatile uint8_t ao_data_head;
 120 int     ao_summary = 0;
 121
 122 #define ao_led_on(l)
 123 #define ao_led_off(l)
 124 #define ao_timer_set_adc_interval(i)
 125 #define ao_wakeup(wchan) ao_dump_state()
 126 #define ao_cmd_register(c)
 127 #define ao_usb_disable()
 128 #define ao_telemetry_set_interval(x)
 129 #define ao_rdf_set(rdf)
 130 #define ao_packet_slave_start()
 131 #define ao_packet_slave_stop()
 132 #define flush()
 133
 134 enum ao_igniter {
 135         ao_igniter_drogue = 0,
 136         ao_igniter_main = 1
 137 };
 138
 139 struct ao_data ao_data_static;
 140
 141 int     drogue_height;
 142 double  drogue_time;
 143 int     main_height;
 144 double  main_time;
 145
 146 int     tick_offset;
 147
 148 static int32_t  ao_k_height;
 149
 150 int16_t
 151 ao_time(void)
 152 {
 153         return ao_data_static.tick;
 154 }
 155
 156 void
 157 ao_delay(int16_t interval)
 158 {
 159         return;
 160 }
 161
 162 void
 163 ao_ignite(enum ao_igniter igniter)
 164 {
 165         double time = (double) (ao_data_static.tick + tick_offset) / 100;
 166
 167         if (igniter == ao_igniter_drogue) {
 168                 drogue_time = time;
 169                 drogue_height = ao_k_height >> 16;
 170         } else {
 171                 main_time = time;
 172                 main_height = ao_k_height >> 16;
 173         }
 174 }
 175
 176 struct ao_task {
 177         int dummy;
 178 };
 179
 180 #define ao_add_task(t,f,n) ((void) (t))
 181
 182 #define ao_log_start()
 183 #define ao_log_stop()
 184
 185 #define AO_MS_TO_TICKS(ms)      ((ms) / 10)
 186 #define AO_SEC_TO_TICKS(s)      ((s) * 100)
 187
 188 #define AO_FLIGHT_TEST
 189
 190 int     ao_flight_debug;
 191
 192 FILE *emulator_in;
 193 char *emulator_app;
 194 char *emulator_name;
 195 char *emulator_info;
 196 double emulator_error_max = 4;
 197 double emulator_height_error_max = 20;  /* noise in the baro sensor */
 198
 199 void
 200 ao_dump_state(void);
 201
 202 void
 203 ao_sleep(void *wchan);
 204
 205 const char const * const ao_state_names[] = {
 206         "startup", "idle", "pad", "boost", "fast",
 207         "coast", "drogue", "main", "landed", "invalid"
 208 };
 209
 210 struct ao_cmds {
 211         void            (*func)(void);
 212         const char      *help;
 213 };
 214
 215 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
 216 #define ao_xmemset(d,v,c) memset(d,v,c)
 217 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
 218
 219 #define AO_NEED_ALTITUDE_TO_PRES 1
 220 #if TELEMEGA
 221 #include "ao_convert_pa.c"
 222 #include <ao_ms5607.h>
 223 struct ao_ms5607_prom   ms5607_prom;
 224 #include "ao_ms5607_convert.c"
 225 #define AO_PYRO_NUM     4
 226 #include <ao_pyro.h>
 227 #else
 228 #include "ao_convert.c"
 229 #endif
 230
 231 struct ao_config {
 232         uint16_t        main_deploy;
 233         int16_t         accel_plus_g;
 234         int16_t         accel_minus_g;
 235         uint8_t         pad_orientation;
 236         uint16_t        apogee_lockout;
 237 #if TELEMEGA
 238         struct ao_pyro  pyro[AO_PYRO_NUM];      /* minor version 12 */
 239         int16_t         accel_zero_along;
 240         int16_t         accel_zero_across;
 241         int16_t         accel_zero_through;
 242 #endif
 243 };
 244
 245 #define AO_PAD_ORIENTATION_ANTENNA_UP   0
 246 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1
 247
 248 #define ao_config_get()
 249
 250 struct ao_config ao_config;
 251
 252 #define DATA_TO_XDATA(x) (x)
 253
 254
 255 extern int16_t ao_ground_accel, ao_flight_accel;
 256 extern int16_t ao_accel_2g;
 257
 258 typedef int16_t accel_t;
 259
 260 extern uint16_t ao_sample_tick;
 261
 262 extern alt_t    ao_sample_height;
 263 extern accel_t  ao_sample_accel;
 264 extern int32_t  ao_accel_scale;
 265 extern alt_t    ao_ground_height;
 266 extern alt_t    ao_sample_alt;
 267
 268 double ao_sample_qangle;
 269
 270 int ao_sample_prev_tick;
 271 uint16_t        prev_tick;
 272
 273
 274 #include "ao_kalman.c"
 275 #include "ao_sqrt.c"
 276 #include "ao_sample.c"
 277 #include "ao_flight.c"
 278 #if TELEMEGA
 279 #define AO_PYRO_NUM     4
 280
 281 #define AO_PYRO_0       0
 282 #define AO_PYRO_1       1
 283 #define AO_PYRO_2       2
 284 #define AO_PYRO_3       3
 285
 286 static void
 287 ao_pyro_pin_set(uint8_t pin, uint8_t value)
 288 {
 289         printf ("set pyro %d %d\n", pin, value);
 290 }
 291
 292 #include "ao_pyro.c"
 293 #endif
 294
 295 #define to_double(f)    ((f) / 65536.0)
 296
 297 static int      ao_records_read = 0;
 298 static int      ao_eof_read = 0;
 299 static int      ao_flight_ground_accel;
 300 static int      ao_flight_started = 0;
 301 static int      ao_test_max_height;
 302 static double   ao_test_max_height_time;
 303 static int      ao_test_main_height;
 304 static double   ao_test_main_height_time;
 305 static double   ao_test_landed_time;
 306 static double   ao_test_landed_height;
 307 static double   ao_test_landed_time;
 308 static int      landed_set;
 309 static double   landed_time;
 310 static double   landed_height;
 311
 312 #if HAS_MPU6000
 313 static struct ao_mpu6000_sample ao_ground_mpu6000;
 314 #endif
 315
 316 void
 317 ao_test_exit(void)
 318 {
 319         double  drogue_error;
 320         double  main_error;
 321         double  landed_error;
 322         double  landed_time_error;
 323
 324         if (!ao_test_main_height_time) {
 325                 ao_test_main_height_time = ao_test_max_height_time;
 326                 ao_test_main_height = ao_test_max_height;
 327         }
 328         drogue_error = fabs(ao_test_max_height_time - drogue_time);
 329         main_error = fabs(ao_test_main_height_time - main_time);
 330         landed_error = fabs(ao_test_landed_height - landed_height);
 331         landed_time_error = ao_test_landed_time - landed_time;
 332         if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
 333                 printf ("%s %s\n",
 334                         emulator_app, emulator_name);
 335                 if (emulator_info)
 336                         printf ("\t%s\n", emulator_info);
 337                 printf ("\tApogee error %g\n", drogue_error);
 338                 printf ("\tMain error %g\n", main_error);
 339                 printf ("\tLanded height error %g\n", landed_error);
 340                 printf ("\tLanded time error %g\n", landed_time_error);
 341                 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 342                         ao_test_max_height, ao_test_max_height_time,
 343                         ao_test_main_height, ao_test_main_height_time,
 344                         ao_test_landed_height, ao_test_landed_time);
 345                 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 346                         drogue_height, drogue_time, main_height, main_time,
 347                         landed_height, landed_time);
 348                 exit (1);
 349         }
 350         exit(0);
 351 }
 352
 353 #ifdef TELEMEGA
 354 struct ao_azel {
 355         int     az;
 356         int     el;
 357 };
 358
 359 static void
 360 azel (struct ao_azel *r, struct ao_quaternion *q)
 361 {
 362         double  v;
 363
 364         r->az = floor (atan2(q->y, q->x) * 180/M_PI + 0.5);
 365         v = sqrt (q->x*q->x + q->y*q->y);
 366         r->el = floor (atan2(q->z, v) * 180/M_PI + 0.5);
 367 }
 368 #endif
 369
 370 void
 371 ao_insert(void)
 372 {
 373         double  time;
 374
 375         ao_data_ring[ao_data_head] = ao_data_static;
 376         ao_data_head = ao_data_ring_next(ao_data_head);
 377         if (ao_flight_state != ao_flight_startup) {
 378 #if HAS_ACCEL
 379                 double  accel = ((ao_flight_ground_accel - ao_data_accel_cook(&ao_data_static)) * GRAVITY * 2.0) /
 380                         (ao_config.accel_minus_g - ao_config.accel_plus_g);
 381 #else
 382                 double  accel = 0.0;
 383 #endif
 384 #if TELEMEGA
 385                 double  height;
 386
 387                 ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
 388                 height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height;
 389 #else
 390                 double  height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
 391 #endif
 392
 393                 if (!tick_offset)
 394                         tick_offset = -ao_data_static.tick;
 395                 if ((prev_tick - ao_data_static.tick) > 0x400)
 396                         tick_offset += 65536;
 397                 prev_tick = ao_data_static.tick;
 398                 time = (double) (ao_data_static.tick + tick_offset) / 100;
 399
 400                 if (ao_test_max_height < height) {
 401                         ao_test_max_height = height;
 402                         ao_test_max_height_time = time;
 403                         ao_test_landed_height = height;
 404                         ao_test_landed_time = time;
 405                 }
 406                 if (height > ao_config.main_deploy) {
 407                         ao_test_main_height_time = time;
 408                         ao_test_main_height = height;
 409                 }
 410
 411                 if (ao_test_landed_height > height) {
 412                         ao_test_landed_height = height;
 413                         ao_test_landed_time = time;
 414                 }
 415
 416                 if (ao_flight_state == ao_flight_landed && !landed_set) {
 417                         landed_set = 1;
 418                         landed_time = time;
 419                         landed_height = height;
 420                 }
 421
 422                 if (!ao_summary) {
 423 #if TELEMEGA
 424                         static struct ao_quaternion     ao_ground_mag;
 425                         static int                      ao_ground_mag_set;
 426
 427                         if (!ao_ground_mag_set) {
 428                                 ao_quaternion_init_vector (&ao_ground_mag,
 429                                                            ao_data_mag_across(&ao_data_static),
 430                                                            ao_data_mag_through(&ao_data_static),
 431                                                            ao_data_mag_along(&ao_data_static));
 432                                 ao_quaternion_normalize(&ao_ground_mag, &ao_ground_mag);
 433                                 ao_quaternion_rotate(&ao_ground_mag, &ao_ground_mag, &ao_rotation);
 434                                 ao_ground_mag_set = 1;
 435                         }
 436
 437                         struct ao_quaternion            ao_mag, ao_mag_rot;
 438
 439                         ao_quaternion_init_vector(&ao_mag,
 440                                                   ao_data_mag_across(&ao_data_static),
 441                                                   ao_data_mag_through(&ao_data_static),
 442                                                   ao_data_mag_along(&ao_data_static));
 443
 444                         ao_quaternion_normalize(&ao_mag, &ao_mag);
 445                         ao_quaternion_rotate(&ao_mag_rot, &ao_mag, &ao_rotation);
 446
 447                         float                           ao_dot;
 448                         int                             ao_mag_angle;
 449
 450                         ao_dot = ao_quaternion_dot(&ao_mag_rot, &ao_ground_mag);
 451
 452                         struct ao_azel                  ground_azel, mag_azel, rot_azel;
 453
 454                         azel(&ground_azel, &ao_ground_mag);
 455                         azel(&mag_azel, &ao_mag);
 456                         azel(&rot_azel, &ao_mag_rot);
 457
 458                         ao_mag_angle = floor (acos(ao_dot) * 180 / M_PI + 0.5);
 459
 460                         static struct ao_quaternion     ao_x = { .r = 0, .x = 1, .y = 0, .z = 0 };
 461                         struct ao_quaternion            ao_out;
 462
 463                         ao_quaternion_rotate(&ao_out, &ao_x, &ao_rotation);
 464
 465                         int     out = floor (atan2(ao_out.y, ao_out.x) * 180 / M_PI);
 466
 467                         printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d mag_tilt %4d mag_rot %4d\n",
 468                                 time,
 469                                 ao_state_names[ao_flight_state],
 470                                 ao_k_height / 65536.0,
 471                                 ao_sample_orient, out,
 472                                 mag_azel.el,
 473                                 mag_azel.az);
 474
 475
 476 #if 0
 477                         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",
 478                                 ao_state_names[ao_flight_state],
 479                                 ground_azel.az, ground_azel.el,
 480                                 mag_azel.az, mag_azel.el,
 481                                 rot_azel.az, rot_azel.el,
 482                                 ground_azel.el - rot_azel.el,
 483                                 ground_azel.az - rot_azel.az,
 484                                 ao_mag_angle,
 485                                 ao_sample_orient,
 486                                 ao_ground_mag.x,
 487                                 ao_ground_mag.y,
 488                                 ao_ground_mag.z,
 489                                 ao_mag.x,
 490                                 ao_mag.y,
 491                                 ao_mag.z,
 492                                 ao_mag_rot.x,
 493                                 ao_mag_rot.y,
 494                                 ao_mag_rot.z);
 495 #endif
 496 #endif
 497
 498 #if 0
 499                         printf("%7.2f height %8.2f accel %8.3f "
 500 #if TELEMEGA
 501                                "angle %5d "
 502                                "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 "
 503 #endif
 504                                "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",
 505                                time,
 506                                height,
 507                                accel,
 508 #if TELEMEGA
 509                                ao_sample_orient,
 510
 511                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
 512                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
 513                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_z),
 514                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x),
 515                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y),
 516                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z),
 517                                ao_data_static.hmc5883.x,
 518                                ao_data_static.hmc5883.y,
 519                                ao_data_static.hmc5883.z,
 520                                ao_mag_angle,
 521 #endif
 522                                ao_state_names[ao_flight_state],
 523                                ao_k_height / 65536.0,
 524                                ao_k_speed / 65536.0 / 16.0,
 525                                ao_k_accel / 65536.0 / 16.0,
 526                                ao_avg_height,
 527                                drogue_height,
 528                                main_height,
 529                                ao_error_h_sq_avg);
 530 #endif
 531
 532 //                      if (ao_flight_state == ao_flight_landed)
 533 //                              ao_test_exit();
 534                 }
 535         }
 536 }
 537
 538 #define AO_MAX_CALLSIGN                 8
 539 #define AO_MAX_VERSION                  8
 540 #define AO_MAX_TELEMETRY                128
 541
 542 struct ao_telemetry_generic {
 543         uint16_t        serial;         /* 0 */
 544         uint16_t        tick;           /* 2 */
 545         uint8_t         type;           /* 4 */
 546         uint8_t         payload[27];    /* 5 */
 547         /* 32 */
 548 };
 549
 550 #define AO_TELEMETRY_SENSOR_TELEMETRUM  0x01
 551 #define AO_TELEMETRY_SENSOR_TELEMINI    0x02
 552 #define AO_TELEMETRY_SENSOR_TELENANO    0x03
 553
 554 struct ao_telemetry_sensor {
 555         uint16_t        serial;         /*  0 */
 556         uint16_t        tick;           /*  2 */
 557         uint8_t         type;           /*  4 */
 558
 559         uint8_t         state;          /*  5 flight state */
 560         int16_t         accel;          /*  6 accelerometer (TM only) */
 561         int16_t         pres;           /*  8 pressure sensor */
 562         int16_t         temp;           /* 10 temperature sensor */
 563         int16_t         v_batt;         /* 12 battery voltage */
 564         int16_t         sense_d;        /* 14 drogue continuity sense (TM/Tm) */
 565         int16_t         sense_m;        /* 16 main continuity sense (TM/Tm) */
 566
 567         int16_t         acceleration;   /* 18 m/s² * 16 */
 568         int16_t         speed;          /* 20 m/s * 16 */
 569         int16_t         height;         /* 22 m */
 570
 571         int16_t         ground_pres;    /* 24 average pres on pad */
 572         int16_t         ground_accel;   /* 26 average accel on pad */
 573         int16_t         accel_plus_g;   /* 28 accel calibration at +1g */
 574         int16_t         accel_minus_g;  /* 30 accel calibration at -1g */
 575         /* 32 */
 576 };
 577
 578 #define AO_TELEMETRY_CONFIGURATION      0x04
 579
 580 struct ao_telemetry_configuration {
 581         uint16_t        serial;                         /*  0 */
 582         uint16_t        tick;                           /*  2 */
 583         uint8_t         type;                           /*  4 */
 584
 585         uint8_t         device;                         /*  5 device type */
 586         uint16_t        flight;                         /*  6 flight number */
 587         uint8_t         config_major;                   /*  8 Config major version */
 588         uint8_t         config_minor;                   /*  9 Config minor version */
 589         uint16_t        apogee_delay;                   /* 10 Apogee deploy delay in seconds */
 590         uint16_t        main_deploy;                    /* 12 Main deploy alt in meters */
 591         uint16_t        flight_log_max;                 /* 14 Maximum flight log size in kB */
 592         char            callsign[AO_MAX_CALLSIGN];      /* 16 Radio operator identity */
 593         char            version[AO_MAX_VERSION];        /* 24 Software version */
 594         /* 32 */
 595 };
 596
 597 #define AO_TELEMETRY_LOCATION           0x05
 598
 599 #define AO_GPS_MODE_NOT_VALID           'N'
 600 #define AO_GPS_MODE_AUTONOMOUS          'A'
 601 #define AO_GPS_MODE_DIFFERENTIAL        'D'
 602 #define AO_GPS_MODE_ESTIMATED           'E'
 603 #define AO_GPS_MODE_MANUAL              'M'
 604 #define AO_GPS_MODE_SIMULATED           'S'
 605
 606 struct ao_telemetry_location {
 607         uint16_t        serial;         /*  0 */
 608         uint16_t        tick;           /*  2 */
 609         uint8_t         type;           /*  4 */
 610
 611         uint8_t         flags;          /*  5 Number of sats and other flags */
 612         int16_t         altitude;       /*  6 GPS reported altitude (m) */
 613         int32_t         latitude;       /*  8 latitude (degrees * 10⁷) */
 614         int32_t         longitude;      /* 12 longitude (degrees * 10⁷) */
 615         uint8_t         year;           /* 16 (- 2000) */
 616         uint8_t         month;          /* 17 (1-12) */
 617         uint8_t         day;            /* 18 (1-31) */
 618         uint8_t         hour;           /* 19 (0-23) */
 619         uint8_t         minute;         /* 20 (0-59) */
 620         uint8_t         second;         /* 21 (0-59) */
 621         uint8_t         pdop;           /* 22 (m * 5) */
 622         uint8_t         hdop;           /* 23 (m * 5) */
 623         uint8_t         vdop;           /* 24 (m * 5) */
 624         uint8_t         mode;           /* 25 */
 625         uint16_t        ground_speed;   /* 26 cm/s */
 626         int16_t         climb_rate;     /* 28 cm/s */
 627         uint8_t         course;         /* 30 degrees / 2 */
 628         uint8_t         unused[1];      /* 31 */
 629         /* 32 */
 630 };
 631
 632 #define AO_TELEMETRY_SATELLITE          0x06
 633
 634 struct ao_telemetry_satellite_info {
 635         uint8_t         svid;
 636         uint8_t         c_n_1;
 637 };
 638
 639 struct ao_telemetry_satellite {
 640         uint16_t                                serial;         /*  0 */
 641         uint16_t                                tick;           /*  2 */
 642         uint8_t                                 type;           /*  4 */
 643         uint8_t                                 channels;       /*  5 number of reported sats */
 644
 645         struct ao_telemetry_satellite_info      sats[12];       /* 6 */
 646         uint8_t                                 unused[2];      /* 30 */
 647         /* 32 */
 648 };
 649
 650 union ao_telemetry_all {
 651         struct ao_telemetry_generic             generic;
 652         struct ao_telemetry_sensor              sensor;
 653         struct ao_telemetry_configuration       configuration;
 654         struct ao_telemetry_location            location;
 655         struct ao_telemetry_satellite           satellite;
 656 };
 657
 658 uint16_t
 659 uint16(uint8_t *bytes, int off)
 660 {
 661         return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
 662 }
 663
 664 int16_t
 665 int16(uint8_t *bytes, int off)
 666 {
 667         return (int16_t) uint16(bytes, off);
 668 }
 669
 670 uint32_t
 671 uint32(uint8_t *bytes, int off)
 672 {
 673         return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
 674                 (((uint32_t) bytes[off+2]) << 16) |
 675                 (((uint32_t) bytes[off+3]) << 24);
 676 }
 677
 678 int32_t
 679 int32(uint8_t *bytes, int off)
 680 {
 681         return (int32_t) uint32(bytes, off);
 682 }
 683
 684 static int log_format;
 685
 686 void
 687 ao_sleep(void *wchan)
 688 {
 689         if (wchan == &ao_data_head) {
 690                 char            type = 0;
 691                 uint16_t        tick = 0;
 692                 uint16_t        a = 0, b = 0;
 693                 uint8_t         bytes[1024];
 694                 union ao_telemetry_all  telem;
 695                 char            line[1024];
 696                 char            *saveptr;
 697                 char            *l;
 698                 char            *words[64];
 699                 int             nword;
 700
 701 #if TELEMEGA
 702                 if (ao_flight_state >= ao_flight_boost && ao_flight_state < ao_flight_landed)
 703                         ao_pyro_check();
 704 #endif
 705                 for (;;) {
 706                         if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 707                         {
 708 #if TELEMEGA
 709                                 ao_data_static.mpu6000 = ao_ground_mpu6000;
 710 #else
 711                                 ao_data_static.adc.accel = ao_flight_ground_accel;
 712 #endif
 713                                 ao_insert();
 714                                 return;
 715                         }
 716
 717                         if (!fgets(line, sizeof (line), emulator_in)) {
 718                                 if (++ao_eof_read >= 1000) {
 719                                         if (!ao_summary)
 720                                                 printf ("no more data, exiting simulation\n");
 721                                         ao_test_exit();
 722                                 }
 723                                 ao_data_static.tick += 10;
 724                                 ao_insert();
 725                                 return;
 726                         }
 727                         l = line;
 728                         for (nword = 0; nword < 64; nword++) {
 729                                 words[nword] = strtok_r(l, " \t\n", &saveptr);
 730                                 l = NULL;
 731                                 if (words[nword] == NULL)
 732                                         break;
 733                         }
 734 #if TELEMEGA
 735                         if (log_format == AO_LOG_FORMAT_TELEMEGA && nword == 30 && strlen(words[0]) == 1) {
 736                                 int     i;
 737                                 struct ao_ms5607_value  value;
 738
 739                                 type = words[0][0];
 740                                 tick = strtoul(words[1], NULL, 16);
 741 //                              printf ("%c %04x", type, tick);
 742                                 for (i = 2; i < nword; i++) {
 743                                         bytes[i - 2] = strtoul(words[i], NULL, 16);
 744 //                                      printf(" %02x", bytes[i-2]);
 745                                 }
 746 //                              printf ("\n");
 747                                 switch (type) {
 748                                 case 'F':
 749                                         ao_flight_ground_accel = int16(bytes, 2);
 750                                         ao_flight_started = 1;
 751                                         ao_ground_pres = int32(bytes, 4);
 752                                         ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
 753                                         break;
 754                                 case 'A':
 755                                         ao_data_static.tick = tick;
 756                                         ao_data_static.ms5607_raw.pres = int32(bytes, 0);
 757                                         ao_data_static.ms5607_raw.temp = int32(bytes, 4);
 758                                         ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
 759                                         ao_data_static.mpu6000.accel_x = int16(bytes, 8);
 760                                         ao_data_static.mpu6000.accel_y = int16(bytes, 10);
 761                                         ao_data_static.mpu6000.accel_z = int16(bytes, 12);
 762                                         ao_data_static.mpu6000.gyro_x = int16(bytes, 14);
 763                                         ao_data_static.mpu6000.gyro_y = int16(bytes, 16);
 764                                         ao_data_static.mpu6000.gyro_z = int16(bytes, 18);
 765                                         ao_data_static.hmc5883.x = int16(bytes, 20);
 766                                         ao_data_static.hmc5883.y = int16(bytes, 22);
 767                                         ao_data_static.hmc5883.z = int16(bytes, 24);
 768 #if HAS_MMA655X
 769                                         ao_data_static.mma655x = int16(bytes, 26);
 770 #endif
 771                                         ao_records_read++;
 772                                         ao_insert();
 773                                         return;
 774                                 }
 775                                 continue;
 776                         } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
 777                                 if (strcmp(words[1], "reserved:") == 0)
 778                                         ms5607_prom.reserved = strtoul(words[2], NULL, 10);
 779                                 else if (strcmp(words[1], "sens:") == 0)
 780                                         ms5607_prom.sens = strtoul(words[2], NULL, 10);
 781                                 else if (strcmp(words[1], "off:") == 0)
 782                                         ms5607_prom.off = strtoul(words[2], NULL, 10);
 783                                 else if (strcmp(words[1], "tcs:") == 0)
 784                                         ms5607_prom.tcs = strtoul(words[2], NULL, 10);
 785                                 else if (strcmp(words[1], "tco:") == 0)
 786                                         ms5607_prom.tco = strtoul(words[2], NULL, 10);
 787                                 else if (strcmp(words[1], "tref:") == 0)
 788                                         ms5607_prom.tref = strtoul(words[2], NULL, 10);
 789                                 else if (strcmp(words[1], "tempsens:") == 0)
 790                                         ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
 791                                 else if (strcmp(words[1], "crc:") == 0)
 792                                         ms5607_prom.crc = strtoul(words[2], NULL, 10);
 793                                 continue;
 794                         } else if (nword >= 3 && strcmp(words[0], "Pyro") == 0) {
 795                                 int     p = strtoul(words[1], NULL, 10);
 796                                 int     i, j;
 797                                 struct ao_pyro  *pyro = &ao_config.pyro[p];
 798
 799                                 for (i = 2; i < nword; i++) {
 800                                         for (j = 0; j < NUM_PYRO_VALUES; j++)
 801                                                 if (!strcmp (words[2], ao_pyro_values[j].name))
 802                                                         break;
 803                                         if (j == NUM_PYRO_VALUES)
 804                                                 continue;
 805                                         pyro->flags |= ao_pyro_values[j].flag;
 806                                         if (ao_pyro_values[j].offset != NO_VALUE && i + 1 < nword) {
 807                                                 int16_t val = strtoul(words[++i], NULL, 10);
 808                                                 *((int16_t *) ((char *) pyro + ao_pyro_values[j].offset)) = val;
 809                                         }
 810                                 }
 811                         }
 812 #else
 813                         if (nword == 4 && log_format != AO_LOG_FORMAT_TELEMEGA) {
 814                                 type = words[0][0];
 815                                 tick = strtoul(words[1], NULL, 16);
 816                                 a = strtoul(words[2], NULL, 16);
 817                                 b = strtoul(words[3], NULL, 16);
 818                                 if (type == 'P')
 819                                         type = 'A';
 820                         }
 821 #endif
 822                         else if (nword == 2 && strcmp(words[0], "log-format") == 0) {
 823                                 log_format = strtoul(words[1], NULL, 10);
 824                         } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
 825                                 ao_config.accel_plus_g = atoi(words[3]);
 826                                 ao_config.accel_minus_g = atoi(words[5]);
 827 #ifdef TELEMEGA
 828                         } else if (nword >= 8 && strcmp(words[0], "IMU") == 0) {
 829                                 ao_config.accel_zero_along = atoi(words[3]);
 830                                 ao_config.accel_zero_across = atoi(words[5]);
 831                                 ao_config.accel_zero_through = atoi(words[7]);
 832                                 printf ("%d %d %d\n", ao_config.accel_zero_along, ao_config.accel_zero_across, ao_config.accel_zero_through);
 833 #endif
 834                         } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
 835                                 ao_config.main_deploy = atoi(words[2]);
 836                         } else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 &&
 837                                    strcmp(words[1], "lockout:") == 0) {
 838                                 ao_config.apogee_lockout = atoi(words[2]);
 839                         } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
 840                                 tick = atoi(words[10]);
 841                                 if (!ao_flight_started) {
 842                                         type = 'F';
 843                                         a = atoi(words[26]);
 844                                         ao_flight_started = 1;
 845                                 } else {
 846                                         type = 'A';
 847                                         a = atoi(words[12]);
 848                                         b = atoi(words[14]);
 849                                 }
 850                         } else if (nword == 3 && strcmp(words[0], "BARO") == 0) {
 851                                 tick = strtol(words[1], NULL, 16);
 852                                 a = 16384 - 328;
 853                                 b = strtol(words[2], NULL, 10);
 854                                 type = 'A';
 855                                 if (!ao_flight_started) {
 856                                         ao_flight_ground_accel = 16384 - 328;
 857                                         ao_config.accel_plus_g = 16384 - 328;
 858                                         ao_config.accel_minus_g = 16384 + 328;
 859                                         ao_flight_started = 1;
 860                                 }
 861                         } else if (nword == 2 && strcmp(words[0], "TELEM") == 0) {
 862                                 __xdata char    *hex = words[1];
 863                                 char    elt[3];
 864                                 int     i, len;
 865                                 uint8_t sum;
 866
 867                                 len = strlen(hex);
 868                                 if (len > sizeof (bytes) * 2) {
 869                                         len = sizeof (bytes)*2;
 870                                         hex[len] = '\0';
 871                                 }
 872                                 for (i = 0; i < len; i += 2) {
 873                                         elt[0] = hex[i];
 874                                         elt[1] = hex[i+1];
 875                                         elt[2] = '\0';
 876                                         bytes[i/2] = (uint8_t) strtol(elt, NULL, 16);
 877                                 }
 878                                 len = i/2;
 879                                 if (bytes[0] != len - 2) {
 880                                         printf ("bad length %d != %d\n", bytes[0], len - 2);
 881                                         continue;
 882                                 }
 883                                 sum = 0x5a;
 884                                 for (i = 1; i < len-1; i++)
 885                                         sum += bytes[i];
 886                                 if (sum != bytes[len-1]) {
 887                                         printf ("bad checksum\n");
 888                                         continue;
 889                                 }
 890                                 if ((bytes[len-2] & 0x80) == 0) {
 891                                         continue;
 892                                 }
 893                                 if (len == 36) {
 894                                         ao_xmemcpy(&telem, bytes + 1, 32);
 895                                         tick = telem.generic.tick;
 896                                         switch (telem.generic.type) {
 897                                         case AO_TELEMETRY_SENSOR_TELEMETRUM:
 898                                         case AO_TELEMETRY_SENSOR_TELEMINI:
 899                                         case AO_TELEMETRY_SENSOR_TELENANO:
 900                                                 if (!ao_flight_started) {
 901                                                         ao_flight_ground_accel = telem.sensor.ground_accel;
 902                                                         ao_config.accel_plus_g = telem.sensor.accel_plus_g;
 903                                                         ao_config.accel_minus_g = telem.sensor.accel_minus_g;
 904                                                         ao_flight_started = 1;
 905                                                 }
 906                                                 type = 'A';
 907                                                 a = telem.sensor.accel;
 908                                                 b = telem.sensor.pres;
 909                                                 break;
 910                                         }
 911                                 } else if (len == 99) {
 912                                         ao_flight_started = 1;
 913                                         tick = uint16(bytes+1, 21);
 914                                         ao_flight_ground_accel = int16(bytes+1, 7);
 915                                         ao_config.accel_plus_g = int16(bytes+1, 17);
 916                                         ao_config.accel_minus_g = int16(bytes+1, 19);
 917                                         type = 'A';
 918                                         a = int16(bytes+1, 23);
 919                                         b = int16(bytes+1, 25);
 920                                 } else if (len == 98) {
 921                                         ao_flight_started = 1;
 922                                         tick = uint16(bytes+1, 20);
 923                                         ao_flight_ground_accel = int16(bytes+1, 6);
 924                                         ao_config.accel_plus_g = int16(bytes+1, 16);
 925                                         ao_config.accel_minus_g = int16(bytes+1, 18);
 926                                         type = 'A';
 927                                         a = int16(bytes+1, 22);
 928                                         b = int16(bytes+1, 24);
 929                                 } else {
 930                                         printf("unknown len %d\n", len);
 931                                         continue;
 932                                 }
 933                         }
 934                         if (type != 'F' && !ao_flight_started)
 935                                 continue;
 936
 937 #if TELEMEGA
 938                         (void) a;
 939                         (void) b;
 940 #else
 941                         switch (type) {
 942                         case 'F':
 943                                 ao_flight_ground_accel = a;
 944                                 if (ao_config.accel_plus_g == 0) {
 945                                         ao_config.accel_plus_g = a;
 946                                         ao_config.accel_minus_g = a + 530;
 947                                 }
 948                                 if (ao_config.main_deploy == 0)
 949                                         ao_config.main_deploy = 250;
 950                                 ao_flight_started = 1;
 951                                 break;
 952                         case 'S':
 953                                 break;
 954                         case 'A':
 955                                 ao_data_static.tick = tick;
 956                                 ao_data_static.adc.accel = a;
 957                                 ao_data_static.adc.pres_real = b;
 958                                 if (b < AO_MIN_BARO_VALUE)
 959                                         b = AO_MIN_BARO_VALUE;
 960                                 ao_data_static.adc.pres = b;
 961                                 ao_records_read++;
 962                                 ao_insert();
 963                                 return;
 964                         case 'T':
 965                                 ao_data_static.tick = tick;
 966                                 ao_data_static.adc.temp = a;
 967                                 ao_data_static.adc.v_batt = b;
 968                                 break;
 969                         case 'D':
 970                         case 'G':
 971                         case 'N':
 972                         case 'W':
 973                         case 'H':
 974                                 break;
 975                         }
 976 #endif
 977                 }
 978
 979         }
 980 }
 981 #define COUNTS_PER_G 264.8
 982
 983 void
 984 ao_dump_state(void)
 985 {
 986 }
 987
 988 static const struct option options[] = {
 989         { .name = "summary", .has_arg = 0, .val = 's' },
 990         { .name = "debug", .has_arg = 0, .val = 'd' },
 991         { .name = "info", .has_arg = 1, .val = 'i' },
 992         { 0, 0, 0, 0},
 993 };
 994
 995 void run_flight_fixed(char *name, FILE *f, int summary, char *info)
 996 {
 997         emulator_name = name;
 998         emulator_in = f;
 999         emulator_info = info;
1000         ao_summary = summary;
1001         ao_flight_init();
1002         ao_flight();
1003 }
1004
1005 int
1006 main (int argc, char **argv)
1007 {
1008         int     summary = 0;
1009         int     c;
1010         int     i;
1011         char    *info = NULL;
1012
1013 #if HAS_ACCEL
1014         emulator_app="full";
1015 #else
1016         emulator_app="baro";
1017 #endif
1018         while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) {
1019                 switch (c) {
1020                 case 's':
1021                         summary = 1;
1022                         break;
1023                 case 'd':
1024                         ao_flight_debug = 1;
1025                         break;
1026                 case 'i':
1027                         info = optarg;
1028                         break;
1029                 }
1030         }
1031
1032         if (optind == argc)
1033                 run_flight_fixed("<stdin>", stdin, summary, info);
1034         else
1035                 for (i = optind; i < argc; i++) {
1036                         FILE    *f = fopen(argv[i], "r");
1037                         if (!f) {
1038                                 perror(argv[i]);
1039                                 continue;
1040                         }
1041                         run_flight_fixed(argv[i], f, summary, info);
1042                         fclose(f);
1043                 }
1044         exit(0);
1045 }