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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; 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 FILE *emulator_in;
 312 char *emulator_app;
 313 char *emulator_name;
 314 char *emulator_info;
 315 double emulator_error_max = 4;
 316 double emulator_height_error_max = 20;  /* noise in the baro sensor */
 317
 318 void
 319 ao_dump_state(void);
 320
 321 void
 322 ao_sleep(void *wchan);
 323
 324 const char const * const ao_state_names[] = {
 325         "startup", "idle", "pad", "boost", "fast",
 326         "coast", "drogue", "main", "landed", "invalid"
 327 };
 328
 329 struct ao_cmds {
 330         void            (*func)(void);
 331         const char      *help;
 332 };
 333
 334 #define ao_xmemcpy(d,s,c) memcpy(d,s,c)
 335 #define ao_xmemset(d,v,c) memset(d,v,c)
 336 #define ao_xmemcmp(d,s,c) memcmp(d,s,c)
 337
 338 #define AO_NEED_ALTITUDE_TO_PRES 1
 339 #if TELEMEGA || TELEMETRUM_V2 || EASYMINI
 340 #include "ao_convert_pa.c"
 341 #include <ao_ms5607.h>
 342 struct ao_ms5607_prom   ao_ms5607_prom;
 343 #include "ao_ms5607_convert.c"
 344 #define AO_PYRO_NUM     4
 345 #include <ao_pyro.h>
 346 #else
 347 #include "ao_convert.c"
 348 #endif
 349
 350 #include <ao_config.h>
 351 #include <ao_fake_flight.h>
 352
 353 #define ao_config_get()
 354
 355 struct ao_config ao_config;
 356
 357 #define DATA_TO_XDATA(x) (x)
 358
 359
 360 extern int16_t ao_ground_accel, ao_flight_accel;
 361 extern int16_t ao_accel_2g;
 362
 363 typedef int16_t accel_t;
 364
 365 extern uint16_t ao_sample_tick;
 366
 367 extern alt_t    ao_sample_height;
 368 extern accel_t  ao_sample_accel;
 369 extern int32_t  ao_accel_scale;
 370 extern alt_t    ao_ground_height;
 371 extern alt_t    ao_sample_alt;
 372
 373 double ao_sample_qangle;
 374
 375 int ao_sample_prev_tick;
 376 uint16_t        prev_tick;
 377
 378
 379 #include "ao_kalman.c"
 380 #include "ao_sqrt.c"
 381 #include "ao_sample.c"
 382 #include "ao_flight.c"
 383 #if TELEMEGA
 384 #define AO_PYRO_NUM     4
 385
 386 #define AO_PYRO_0       0
 387 #define AO_PYRO_1       1
 388 #define AO_PYRO_2       2
 389 #define AO_PYRO_3       3
 390
 391 #define PYRO_DBG        1
 392
 393 static void
 394 ao_pyro_pin_set(uint8_t pin, uint8_t value)
 395 {
 396         printf ("set pyro %d %d\n", pin, value);
 397 }
 398
 399 #include "ao_pyro.c"
 400 #endif
 401
 402 #define to_double(f)    ((f) / 65536.0)
 403
 404 static int      ao_records_read = 0;
 405 static int      ao_eof_read = 0;
 406 static int      ao_flight_ground_accel;
 407 static int      ao_flight_started = 0;
 408 static int      ao_test_max_height;
 409 static double   ao_test_max_height_time;
 410 static int      ao_test_main_height;
 411 static double   ao_test_main_height_time;
 412 static double   ao_test_landed_time;
 413 static double   ao_test_landed_height;
 414 static double   ao_test_landed_time;
 415 static int      landed_set;
 416 static double   landed_time;
 417 static double   landed_height;
 418
 419 #if HAS_MPU6000
 420 static struct ao_mpu6000_sample ao_ground_mpu6000;
 421 #endif
 422
 423 void
 424 ao_test_exit(void)
 425 {
 426         double  drogue_error;
 427         double  main_error;
 428         double  landed_error;
 429         double  landed_time_error;
 430
 431         if (!ao_test_main_height_time) {
 432                 ao_test_main_height_time = ao_test_max_height_time;
 433                 ao_test_main_height = ao_test_max_height;
 434         }
 435         drogue_error = fabs(ao_test_max_height_time - drogue_time);
 436         main_error = fabs(ao_test_main_height_time - main_time);
 437         landed_error = fabs(ao_test_landed_height - landed_height);
 438         landed_time_error = ao_test_landed_time - landed_time;
 439         if (drogue_error > emulator_error_max || main_error > emulator_error_max) {
 440                 printf ("%s %s\n",
 441                         emulator_app, emulator_name);
 442                 if (emulator_info)
 443                         printf ("\t%s\n", emulator_info);
 444                 printf ("\tApogee error %g\n", drogue_error);
 445                 printf ("\tMain error %g\n", main_error);
 446                 printf ("\tLanded height error %g\n", landed_error);
 447                 printf ("\tLanded time error %g\n", landed_time_error);
 448                 printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 449                         ao_test_max_height, ao_test_max_height_time,
 450                         ao_test_main_height, ao_test_main_height_time,
 451                         ao_test_landed_height, ao_test_landed_time);
 452                 printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n",
 453                         drogue_height, drogue_time, main_height, main_time,
 454                         landed_height, landed_time);
 455                 exit (1);
 456         }
 457         exit(0);
 458 }
 459
 460 #ifdef TELEMEGA
 461 struct ao_azel {
 462         int     az;
 463         int     el;
 464 };
 465
 466 static void
 467 azel (struct ao_azel *r, struct ao_quaternion *q)
 468 {
 469         double  v;
 470
 471         r->az = floor (atan2(q->y, q->x) * 180/M_PI + 0.5);
 472         v = sqrt (q->x*q->x + q->y*q->y);
 473         r->el = floor (atan2(q->z, v) * 180/M_PI + 0.5);
 474 }
 475 #endif
 476
 477 void
 478 ao_insert(void)
 479 {
 480         double  time;
 481
 482         ao_data_ring[ao_data_head] = ao_data_static;
 483         ao_data_head = ao_data_ring_next(ao_data_head);
 484         if (ao_flight_state != ao_flight_startup) {
 485 #if HAS_ACCEL
 486                 double  accel = ((ao_flight_ground_accel - ao_data_accel_cook(&ao_data_static)) * GRAVITY * 2.0) /
 487                         (ao_config.accel_minus_g - ao_config.accel_plus_g);
 488 #else
 489                 double  accel = 0.0;
 490 #endif
 491 #if TELEMEGA || TELEMETRUM_V2 || EASYMINI
 492                 double  height;
 493
 494                 ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked);
 495                 height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height;
 496 #else
 497                 double  height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height;
 498 #endif
 499
 500                 (void) accel;
 501                 if (!tick_offset)
 502                         tick_offset = -ao_data_static.tick;
 503                 if ((prev_tick - ao_data_static.tick) > 0x400)
 504                         tick_offset += 65536;
 505                 simple_speed += accel * (ao_data_static.tick - prev_tick) / 100.0;
 506                 prev_tick = ao_data_static.tick;
 507                 time = (double) (ao_data_static.tick + tick_offset) / 100;
 508
 509                 if (ao_test_max_height < height) {
 510                         ao_test_max_height = height;
 511                         ao_test_max_height_time = time;
 512                         ao_test_landed_height = height;
 513                         ao_test_landed_time = time;
 514                 }
 515                 if (height > ao_config.main_deploy) {
 516                         ao_test_main_height_time = time;
 517                         ao_test_main_height = height;
 518                 }
 519
 520                 if (ao_test_landed_height > height) {
 521                         ao_test_landed_height = height;
 522                         ao_test_landed_time = time;
 523                 }
 524
 525                 if (ao_flight_state == ao_flight_landed && !landed_set) {
 526                         landed_set = 1;
 527                         landed_time = time;
 528                         landed_height = height;
 529                 }
 530
 531                 if (!ao_summary) {
 532 #if TELEMEGA
 533                         static struct ao_quaternion     ao_ground_mag;
 534                         static int                      ao_ground_mag_set;
 535
 536                         if (!ao_ground_mag_set) {
 537                                 ao_quaternion_init_vector (&ao_ground_mag,
 538                                                            ao_data_mag_across(&ao_data_static),
 539                                                            ao_data_mag_through(&ao_data_static),
 540                                                            ao_data_mag_along(&ao_data_static));
 541                                 ao_quaternion_normalize(&ao_ground_mag, &ao_ground_mag);
 542                                 ao_quaternion_rotate(&ao_ground_mag, &ao_ground_mag, &ao_rotation);
 543                                 ao_ground_mag_set = 1;
 544                         }
 545
 546                         struct ao_quaternion            ao_mag, ao_mag_rot;
 547
 548                         ao_quaternion_init_vector(&ao_mag,
 549                                                   ao_data_mag_across(&ao_data_static),
 550                                                   ao_data_mag_through(&ao_data_static),
 551                                                   ao_data_mag_along(&ao_data_static));
 552
 553                         ao_quaternion_normalize(&ao_mag, &ao_mag);
 554                         ao_quaternion_rotate(&ao_mag_rot, &ao_mag, &ao_rotation);
 555
 556                         float                           ao_dot;
 557                         int                             ao_mag_angle;
 558
 559                         ao_dot = ao_quaternion_dot(&ao_mag_rot, &ao_ground_mag);
 560
 561                         struct ao_azel                  ground_azel, mag_azel, rot_azel;
 562
 563                         azel(&ground_azel, &ao_ground_mag);
 564                         azel(&mag_azel, &ao_mag);
 565                         azel(&rot_azel, &ao_mag_rot);
 566
 567                         ao_mag_angle = floor (acos(ao_dot) * 180 / M_PI + 0.5);
 568
 569                         (void) ao_mag_angle;
 570
 571                         static struct ao_quaternion     ao_x = { .r = 0, .x = 1, .y = 0, .z = 0 };
 572                         struct ao_quaternion            ao_out;
 573
 574                         ao_quaternion_rotate(&ao_out, &ao_x, &ao_rotation);
 575
 576 #if 0
 577                         int     out = floor (atan2(ao_out.y, ao_out.x) * 180 / M_PI);
 578
 579                         printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d mag_tilt %4d mag_rot %4d\n",
 580                                 time,
 581                                 ao_state_names[ao_flight_state],
 582                                 ao_k_height / 65536.0,
 583                                 ao_sample_orient, out,
 584                                 mag_azel.el,
 585                                 mag_azel.az);
 586 #endif
 587 #if 0
 588                         printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d dist %12.2f gps_tilt %4d gps_sats %2d\n",
 589                                 time,
 590                                 ao_state_names[ao_flight_state],
 591                                 ao_k_height / 65536.0,
 592                                 ao_sample_orient, out,
 593                                 ao_distance_from_pad(),
 594                                 (int) floor (ao_gps_angle() + 0.5),
 595                                 (ao_gps_static.flags & 0xf) * 10);
 596
 597 #endif
 598 #if 0
 599                         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",
 600                                 ao_state_names[ao_flight_state],
 601                                 ground_azel.az, ground_azel.el,
 602                                 mag_azel.az, mag_azel.el,
 603                                 rot_azel.az, rot_azel.el,
 604                                 ground_azel.el - rot_azel.el,
 605                                 ground_azel.az - rot_azel.az,
 606                                 ao_mag_angle,
 607                                 ao_sample_orient,
 608                                 ao_ground_mag.x,
 609                                 ao_ground_mag.y,
 610                                 ao_ground_mag.z,
 611                                 ao_mag.x,
 612                                 ao_mag.y,
 613                                 ao_mag.z,
 614                                 ao_mag_rot.x,
 615                                 ao_mag_rot.y,
 616                                 ao_mag_rot.z);
 617 #endif
 618 #endif
 619
 620 #if 1
 621                         printf("%7.2f height %8.2f accel %8.3f accel_speed %8.3f "
 622                                "state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d"
 623 #if TELEMEGA
 624                                " angle %5d "
 625                                "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 "
 626 #endif
 627                                "\n",
 628                                time,
 629                                height,
 630                                accel,
 631                                simple_speed > -100.0 ? simple_speed : -100.0,
 632                                ao_state_names[ao_flight_state],
 633                                ao_k_height / 65536.0,
 634                                ao_k_speed / 65536.0 / 16.0,
 635                                ao_k_accel / 65536.0 / 16.0,
 636                                ao_avg_height,
 637                                drogue_height,
 638                                main_height,
 639                                ao_error_h_sq_avg
 640 #if TELEMEGA
 641                                , ao_sample_orient,
 642
 643                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_x),
 644                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_y),
 645                                ao_mpu6000_accel(ao_data_static.mpu6000.accel_z),
 646                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x),
 647                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y),
 648                                ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z),
 649                                ao_data_static.hmc5883.x,
 650                                ao_data_static.hmc5883.y,
 651                                ao_data_static.hmc5883.z,
 652                                ao_mag_angle
 653 #endif
 654                                 );
 655 #endif
 656
 657 //                      if (ao_flight_state == ao_flight_landed)
 658 //                              ao_test_exit();
 659                 }
 660         }
 661 }
 662
 663
 664 uint16_t
 665 uint16(uint8_t *bytes, int off)
 666 {
 667         return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8);
 668 }
 669
 670 int16_t
 671 int16(uint8_t *bytes, int off)
 672 {
 673         return (int16_t) uint16(bytes, off);
 674 }
 675
 676 uint32_t
 677 uint32(uint8_t *bytes, int off)
 678 {
 679         return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
 680                 (((uint32_t) bytes[off+2]) << 16) |
 681                 (((uint32_t) bytes[off+3]) << 24);
 682 }
 683
 684 int32_t
 685 int32(uint8_t *bytes, int off)
 686 {
 687         return (int32_t) uint32(bytes, off);
 688 }
 689
 690 uint32_t
 691 uint24(uint8_t *bytes, int off)
 692 {
 693         return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) |
 694                 (((uint32_t) bytes[off+2]) << 16);
 695 }
 696
 697 int32_t
 698 int24(uint8_t *bytes, int off)
 699 {
 700         return (int32_t) uint24(bytes, off);
 701 }
 702
 703 static int log_format;
 704
 705 void
 706 ao_sleep(void *wchan)
 707 {
 708         if (wchan == &ao_data_head) {
 709                 char            type = 0;
 710                 uint16_t        tick = 0;
 711                 uint16_t        a = 0, b = 0;
 712                 uint8_t         bytes[1024];
 713                 union ao_telemetry_all  telem;
 714                 char            line[1024];
 715                 char            *saveptr;
 716                 char            *l;
 717                 char            *words[64];
 718                 int             nword;
 719
 720 #if TELEMEGA
 721                 if (ao_flight_state >= ao_flight_boost && ao_flight_state < ao_flight_landed)
 722                         ao_pyro_check();
 723 #endif
 724                 for (;;) {
 725                         if (ao_records_read > 2 && ao_flight_state == ao_flight_startup)
 726                         {
 727
 728 #if TELEMEGA
 729                                 ao_data_static.mpu6000 = ao_ground_mpu6000;
 730 #endif
 731 #if TELEMETRUM_V1
 732                                 ao_data_static.adc.accel = ao_flight_ground_accel;
 733 #endif
 734
 735                                 ao_insert();
 736                                 return;
 737                         }
 738
 739                         if (!fgets(line, sizeof (line), emulator_in)) {
 740                                 if (++ao_eof_read >= 1000) {
 741                                         if (!ao_summary)
 742                                                 printf ("no more data, exiting simulation\n");
 743                                         ao_test_exit();
 744                                 }
 745                                 ao_data_static.tick += 10;
 746                                 ao_insert();
 747                                 return;
 748                         }
 749                         l = line;
 750                         for (nword = 0; nword < 64; nword++) {
 751                                 words[nword] = strtok_r(l, " \t\n", &saveptr);
 752                                 l = NULL;
 753                                 if (words[nword] == NULL)
 754                                         break;
 755                         }
 756 #if TELEMEGA
 757                         if ((log_format == AO_LOG_FORMAT_TELEMEGA_OLD || log_format == AO_LOG_FORMAT_TELEMEGA) && nword == 30 && strlen(words[0]) == 1) {
 758                                 int     i;
 759                                 struct ao_ms5607_value  value;
 760
 761                                 type = words[0][0];
 762                                 tick = strtoul(words[1], NULL, 16);
 763 //                              printf ("%c %04x", type, tick);
 764                                 for (i = 2; i < nword; i++) {
 765                                         bytes[i - 2] = strtoul(words[i], NULL, 16);
 766 //                                      printf(" %02x", bytes[i-2]);
 767                                 }
 768 //                              printf ("\n");
 769                                 switch (type) {
 770                                 case 'F':
 771                                         ao_flight_ground_accel = int16(bytes, 2);
 772                                         ao_flight_started = 1;
 773                                         ao_ground_pres = int32(bytes, 4);
 774                                         ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
 775                                         ao_ground_accel_along = int16(bytes, 8);
 776                                         ao_ground_accel_across = int16(bytes, 10);
 777                                         ao_ground_accel_through = int16(bytes, 12);
 778                                         ao_ground_roll = int16(bytes, 14);
 779                                         ao_ground_pitch = int16(bytes, 16);
 780                                         ao_ground_yaw = int16(bytes, 18);
 781                                         ao_ground_mpu6000.accel_x = ao_ground_accel_across;
 782                                         ao_ground_mpu6000.accel_y = ao_ground_accel_along;
 783                                         ao_ground_mpu6000.accel_z = ao_ground_accel_through;
 784                                         ao_ground_mpu6000.gyro_x = ao_ground_pitch >> 9;
 785                                         ao_ground_mpu6000.gyro_y = ao_ground_roll >> 9;
 786                                         ao_ground_mpu6000.gyro_z = ao_ground_yaw >> 9;
 787                                         break;
 788                                 case 'A':
 789                                         ao_data_static.tick = tick;
 790                                         ao_data_static.ms5607_raw.pres = int32(bytes, 0);
 791                                         ao_data_static.ms5607_raw.temp = int32(bytes, 4);
 792                                         ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
 793                                         ao_data_static.mpu6000.accel_x = int16(bytes, 8);
 794                                         ao_data_static.mpu6000.accel_y = int16(bytes, 10);
 795                                         ao_data_static.mpu6000.accel_z = int16(bytes, 12);
 796                                         ao_data_static.mpu6000.gyro_x = int16(bytes, 14);
 797                                         ao_data_static.mpu6000.gyro_y = int16(bytes, 16);
 798                                         ao_data_static.mpu6000.gyro_z = int16(bytes, 18);
 799                                         ao_data_static.hmc5883.x = int16(bytes, 20);
 800                                         ao_data_static.hmc5883.y = int16(bytes, 22);
 801                                         ao_data_static.hmc5883.z = int16(bytes, 24);
 802 #if HAS_MMA655X
 803                                         ao_data_static.mma655x = int16(bytes, 26);
 804                                         if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
 805                                                 ao_data_static.mma655x = ao_data_accel_invert(ao_data_static.mma655x);
 806 #endif
 807                                         ao_records_read++;
 808                                         ao_insert();
 809                                         return;
 810                                 case 'G':
 811                                         ao_gps_prev = ao_gps_static;
 812                                         ao_gps_static.tick = tick;
 813                                         ao_gps_static.latitude = int32(bytes, 0);
 814                                         ao_gps_static.longitude = int32(bytes, 4);
 815                                         {
 816                                                 int32_t altitude = int32(bytes, 8);
 817                                                 AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_static, altitude);
 818                                         }
 819                                         ao_gps_static.flags = bytes[13];
 820                                         if (!ao_gps_count)
 821                                                 ao_gps_first = ao_gps_static;
 822                                         ao_gps_count++;
 823                                         break;
 824                                 }
 825                                 continue;
 826                         } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
 827                                 if (strcmp(words[1], "reserved:") == 0)
 828                                         ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10);
 829                                 else if (strcmp(words[1], "sens:") == 0)
 830                                         ao_ms5607_prom.sens = strtoul(words[2], NULL, 10);
 831                                 else if (strcmp(words[1], "off:") == 0)
 832                                         ao_ms5607_prom.off = strtoul(words[2], NULL, 10);
 833                                 else if (strcmp(words[1], "tcs:") == 0)
 834                                         ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10);
 835                                 else if (strcmp(words[1], "tco:") == 0)
 836                                         ao_ms5607_prom.tco = strtoul(words[2], NULL, 10);
 837                                 else if (strcmp(words[1], "tref:") == 0)
 838                                         ao_ms5607_prom.tref = strtoul(words[2], NULL, 10);
 839                                 else if (strcmp(words[1], "tempsens:") == 0)
 840                                         ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
 841                                 else if (strcmp(words[1], "crc:") == 0)
 842                                         ao_ms5607_prom.crc = strtoul(words[2], NULL, 10);
 843                                 continue;
 844                         } else if (nword >= 3 && strcmp(words[0], "Pyro") == 0) {
 845                                 int     p = strtoul(words[1], NULL, 10);
 846                                 int     i, j;
 847                                 struct ao_pyro  *pyro = &ao_config.pyro[p];
 848
 849                                 for (i = 2; i < nword; i++) {
 850                                         for (j = 0; j < NUM_PYRO_VALUES; j++)
 851                                                 if (!strcmp (words[i], ao_pyro_values[j].name))
 852                                                         break;
 853                                         if (j == NUM_PYRO_VALUES)
 854                                                 continue;
 855                                         pyro->flags |= ao_pyro_values[j].flag;
 856                                         if (ao_pyro_values[j].offset != NO_VALUE && i + 1 < nword) {
 857                                                 int16_t val = strtoul(words[++i], NULL, 10);
 858                                                 printf("pyro %d condition %s value %d\n", p, words[i-1], val);
 859                                                 *((int16_t *) ((char *) pyro + ao_pyro_values[j].offset)) = val;
 860                                         }
 861                                 }
 862                         }
 863 #endif
 864 #if EASYMINI
 865                         if ((log_format == AO_LOG_FORMAT_EASYMINI1 || log_format == AO_LOG_FORMAT_EASYMINI2) && nword == 14 && strlen(words[0]) == 1) {
 866                                 int     i;
 867                                 struct ao_ms5607_value  value;
 868
 869                                 type = words[0][0];
 870                                 tick = strtoul(words[1], NULL, 16);
 871 //                              printf ("%c %04x", type, tick);
 872                                 for (i = 2; i < nword; i++) {
 873                                         bytes[i - 2] = strtoul(words[i], NULL, 16);
 874 //                                      printf(" %02x", bytes[i-2]);
 875                                 }
 876 //                              printf ("\n");
 877                                 switch (type) {
 878                                 case 'F':
 879                                         ao_flight_started = 1;
 880                                         ao_ground_pres = uint32(bytes, 4);
 881                                         ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
 882 #if 0
 883                                         printf("ground pres %d height %d\n", ao_ground_pres, ao_ground_height);
 884                                         printf("sens %d off %d tcs %d tco %d tref %d tempsens %d crc %d\n",
 885                                                ao_ms5607_prom.sens,
 886                                                ao_ms5607_prom.off,
 887                                                ao_ms5607_prom.tcs,
 888                                                ao_ms5607_prom.tco,
 889                                                ao_ms5607_prom.tref,
 890                                                ao_ms5607_prom.tempsens,
 891                                                ao_ms5607_prom.crc);
 892 #endif
 893                                         break;
 894                                 case 'A':
 895                                         ao_data_static.tick = tick;
 896                                         ao_data_static.ms5607_raw.pres = int24(bytes, 0);
 897                                         ao_data_static.ms5607_raw.temp = int24(bytes, 3);
 898 #if 0
 899                                         printf("raw pres %d temp %d\n",
 900                                                ao_data_static.ms5607_raw.pres,
 901                                                ao_data_static.ms5607_raw.temp);
 902 #endif
 903                                         ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
 904 //                                      printf("pres %d height %d\n", value.pres, ao_pa_to_altitude(value.pres));
 905                                         ao_records_read++;
 906                                         ao_insert();
 907                                         return;
 908                                 }
 909                                 continue;
 910                         } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
 911                                 if (strcmp(words[1], "reserved:") == 0)
 912                                         ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10);
 913                                 else if (strcmp(words[1], "sens:") == 0)
 914                                         ao_ms5607_prom.sens = strtoul(words[2], NULL, 10);
 915                                 else if (strcmp(words[1], "off:") == 0)
 916                                         ao_ms5607_prom.off = strtoul(words[2], NULL, 10);
 917                                 else if (strcmp(words[1], "tcs:") == 0)
 918                                         ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10);
 919                                 else if (strcmp(words[1], "tco:") == 0)
 920                                         ao_ms5607_prom.tco = strtoul(words[2], NULL, 10);
 921                                 else if (strcmp(words[1], "tref:") == 0)
 922                                         ao_ms5607_prom.tref = strtoul(words[2], NULL, 10);
 923                                 else if (strcmp(words[1], "tempsens:") == 0)
 924                                         ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
 925                                 else if (strcmp(words[1], "crc:") == 0)
 926                                         ao_ms5607_prom.crc = strtoul(words[2], NULL, 10);
 927                                 continue;
 928                         }
 929 #endif
 930 #if TELEMETRUM_V2
 931                         if (log_format == AO_LOG_FORMAT_TELEMETRUM && nword == 14 && strlen(words[0]) == 1) {
 932                                 int     i;
 933                                 struct ao_ms5607_value  value;
 934
 935                                 type = words[0][0];
 936                                 tick = strtoul(words[1], NULL, 16);
 937 //                              printf ("%c %04x", type, tick);
 938                                 for (i = 2; i < nword; i++) {
 939                                         bytes[i - 2] = strtoul(words[i], NULL, 16);
 940 //                                      printf(" %02x", bytes[i-2]);
 941                                 }
 942 //                              printf ("\n");
 943                                 switch (type) {
 944                                 case 'F':
 945                                         ao_flight_ground_accel = int16(bytes, 2);
 946                                         ao_flight_started = 1;
 947                                         ao_ground_pres = int32(bytes, 4);
 948                                         ao_ground_height = ao_pa_to_altitude(ao_ground_pres);
 949                                         break;
 950                                 case 'A':
 951                                         ao_data_static.tick = tick;
 952                                         ao_data_static.ms5607_raw.pres = int32(bytes, 0);
 953                                         ao_data_static.ms5607_raw.temp = int32(bytes, 4);
 954                                         ao_ms5607_convert(&ao_data_static.ms5607_raw, &value);
 955                                         ao_data_static.mma655x = int16(bytes, 8);
 956                                         ao_records_read++;
 957                                         ao_insert();
 958                                         return;
 959                                 }
 960                                 continue;
 961                         } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) {
 962                                 if (strcmp(words[1], "reserved:") == 0)
 963                                         ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10);
 964                                 else if (strcmp(words[1], "sens:") == 0)
 965                                         ao_ms5607_prom.sens = strtoul(words[2], NULL, 10);
 966                                 else if (strcmp(words[1], "off:") == 0)
 967                                         ao_ms5607_prom.off = strtoul(words[2], NULL, 10);
 968                                 else if (strcmp(words[1], "tcs:") == 0)
 969                                         ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10);
 970                                 else if (strcmp(words[1], "tco:") == 0)
 971                                         ao_ms5607_prom.tco = strtoul(words[2], NULL, 10);
 972                                 else if (strcmp(words[1], "tref:") == 0)
 973                                         ao_ms5607_prom.tref = strtoul(words[2], NULL, 10);
 974                                 else if (strcmp(words[1], "tempsens:") == 0)
 975                                         ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10);
 976                                 else if (strcmp(words[1], "crc:") == 0)
 977                                         ao_ms5607_prom.crc = strtoul(words[2], NULL, 10);
 978                                 continue;
 979                         }
 980 #endif
 981 #if TELEMETRUM_V1
 982                         if (nword == 4 && log_format != AO_LOG_FORMAT_TELEMEGA) {
 983                                 type = words[0][0];
 984                                 tick = strtoul(words[1], NULL, 16);
 985                                 a = strtoul(words[2], NULL, 16);
 986                                 b = strtoul(words[3], NULL, 16);
 987                                 if (type == 'P')
 988                                         type = 'A';
 989                         }
 990 #endif
 991                         else if (nword == 2 && strcmp(words[0], "log-format") == 0) {
 992                                 log_format = strtoul(words[1], NULL, 10);
 993                         } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) {
 994                                 ao_config.accel_plus_g = atoi(words[3]);
 995                                 ao_config.accel_minus_g = atoi(words[5]);
 996 #ifdef TELEMEGA
 997                         } else if (nword >= 8 && strcmp(words[0], "IMU") == 0) {
 998                                 ao_config.accel_zero_along = atoi(words[3]);
 999                                 ao_config.accel_zero_across = atoi(words[5]);
1000                                 ao_config.accel_zero_through = atoi(words[7]);
1001 #endif
1002                         } else if (nword >= 4 && strcmp(words[0], "Main") == 0) {
1003                                 ao_config.main_deploy = atoi(words[2]);
1004                         } else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 &&
1005                                    strcmp(words[1], "lockout:") == 0) {
1006                                 ao_config.apogee_lockout = atoi(words[2]);
1007                         } else if (nword >= 3 && strcmp(words[0], "Pad") == 0 &&
1008                                    strcmp(words[1], "orientation:") == 0) {
1009                                 ao_config.pad_orientation = atoi(words[2]);
1010                         } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) {
1011                                 tick = atoi(words[10]);
1012                                 if (!ao_flight_started) {
1013                                         type = 'F';
1014                                         a = atoi(words[26]);
1015                                         ao_flight_started = 1;
1016                                 } else {
1017                                         type = 'A';
1018                                         a = atoi(words[12]);
1019                                         b = atoi(words[14]);
1020                                 }
1021                         } else if (nword == 3 && strcmp(words[0], "BARO") == 0) {
1022                                 tick = strtol(words[1], NULL, 16);
1023                                 a = 16384 - 328;
1024                                 b = strtol(words[2], NULL, 10);
1025                                 type = 'A';
1026                                 if (!ao_flight_started) {
1027                                         ao_flight_ground_accel = 16384 - 328;
1028                                         ao_config.accel_plus_g = 16384 - 328;
1029                                         ao_config.accel_minus_g = 16384 + 328;
1030                                         ao_flight_started = 1;
1031                                 }
1032                         } else if (nword == 2 && strcmp(words[0], "TELEM") == 0) {
1033                                 __xdata char    *hex = words[1];
1034                                 char    elt[3];
1035                                 int     i, len;
1036                                 uint8_t sum;
1037
1038                                 len = strlen(hex);
1039                                 if (len > sizeof (bytes) * 2) {
1040                                         len = sizeof (bytes)*2;
1041                                         hex[len] = '\0';
1042                                 }
1043                                 for (i = 0; i < len; i += 2) {
1044                                         elt[0] = hex[i];
1045                                         elt[1] = hex[i+1];
1046                                         elt[2] = '\0';
1047                                         bytes[i/2] = (uint8_t) strtol(elt, NULL, 16);
1048                                 }
1049                                 len = i/2;
1050                                 if (bytes[0] != len - 2) {
1051                                         printf ("bad length %d != %d\n", bytes[0], len - 2);
1052                                         continue;
1053                                 }
1054                                 sum = 0x5a;
1055                                 for (i = 1; i < len-1; i++)
1056                                         sum += bytes[i];
1057                                 if (sum != bytes[len-1]) {
1058                                         printf ("bad checksum\n");
1059                                         continue;
1060                                 }
1061                                 if ((bytes[len-2] & 0x80) == 0) {
1062                                         continue;
1063                                 }
1064                                 if (len == 36) {
1065                                         ao_xmemcpy(&telem, bytes + 1, 32);
1066                                         tick = telem.generic.tick;
1067                                         switch (telem.generic.type) {
1068                                         case AO_TELEMETRY_SENSOR_TELEMETRUM:
1069                                         case AO_TELEMETRY_SENSOR_TELEMINI:
1070                                         case AO_TELEMETRY_SENSOR_TELENANO:
1071                                                 if (!ao_flight_started) {
1072                                                         ao_flight_ground_accel = telem.sensor.ground_accel;
1073                                                         ao_config.accel_plus_g = telem.sensor.accel_plus_g;
1074                                                         ao_config.accel_minus_g = telem.sensor.accel_minus_g;
1075                                                         ao_flight_started = 1;
1076                                                 }
1077                                                 type = 'A';
1078                                                 a = telem.sensor.accel;
1079                                                 b = telem.sensor.pres;
1080                                                 break;
1081                                         }
1082                                 } else if (len == 99) {
1083                                         ao_flight_started = 1;
1084                                         tick = uint16(bytes+1, 21);
1085                                         ao_flight_ground_accel = int16(bytes+1, 7);
1086                                         ao_config.accel_plus_g = int16(bytes+1, 17);
1087                                         ao_config.accel_minus_g = int16(bytes+1, 19);
1088                                         type = 'A';
1089                                         a = int16(bytes+1, 23);
1090                                         b = int16(bytes+1, 25);
1091                                 } else if (len == 98) {
1092                                         ao_flight_started = 1;
1093                                         tick = uint16(bytes+1, 20);
1094                                         ao_flight_ground_accel = int16(bytes+1, 6);
1095                                         ao_config.accel_plus_g = int16(bytes+1, 16);
1096                                         ao_config.accel_minus_g = int16(bytes+1, 18);
1097                                         type = 'A';
1098                                         a = int16(bytes+1, 22);
1099                                         b = int16(bytes+1, 24);
1100                                 } else {
1101                                         printf("unknown len %d\n", len);
1102                                         continue;
1103                                 }
1104                         }
1105                         if (type != 'F' && !ao_flight_started)
1106                                 continue;
1107
1108 #if TELEMEGA || TELEMETRUM_V2 || EASYMINI
1109                         (void) a;
1110                         (void) b;
1111 #else
1112                         switch (type) {
1113                         case 'F':
1114                                 ao_flight_ground_accel = a;
1115                                 if (ao_config.accel_plus_g == 0) {
1116                                         ao_config.accel_plus_g = a;
1117                                         ao_config.accel_minus_g = a + 530;
1118                                 }
1119                                 if (ao_config.main_deploy == 0)
1120                                         ao_config.main_deploy = 250;
1121                                 ao_flight_started = 1;
1122                                 break;
1123                         case 'S':
1124                                 break;
1125                         case 'A':
1126                                 ao_data_static.tick = tick;
1127                                 ao_data_static.adc.accel = a;
1128                                 ao_data_static.adc.pres_real = b;
1129                                 ao_data_static.adc.pres = b;
1130                                 ao_records_read++;
1131                                 ao_insert();
1132                                 return;
1133                         case 'T':
1134                                 ao_data_static.tick = tick;
1135                                 ao_data_static.adc.temp = a;
1136                                 ao_data_static.adc.v_batt = b;
1137                                 break;
1138                         case 'D':
1139                         case 'G':
1140                         case 'N':
1141                         case 'W':
1142                         case 'H':
1143                                 break;
1144                         }
1145 #endif
1146                 }
1147
1148         }
1149 }
1150 #define COUNTS_PER_G 264.8
1151
1152 void
1153 ao_dump_state(void)
1154 {
1155 }
1156
1157 static const struct option options[] = {
1158         { .name = "summary", .has_arg = 0, .val = 's' },
1159         { .name = "debug", .has_arg = 0, .val = 'd' },
1160         { .name = "info", .has_arg = 1, .val = 'i' },
1161         { 0, 0, 0, 0},
1162 };
1163
1164 void run_flight_fixed(char *name, FILE *f, int summary, char *info)
1165 {
1166         emulator_name = name;
1167         emulator_in = f;
1168         emulator_info = info;
1169         ao_summary = summary;
1170
1171         ao_flight_init();
1172         ao_flight();
1173 }
1174
1175 int
1176 main (int argc, char **argv)
1177 {
1178         int     summary = 0;
1179         int     c;
1180         int     i;
1181         char    *info = NULL;
1182
1183 #if HAS_ACCEL
1184         emulator_app="full";
1185 #else
1186         emulator_app="baro";
1187 #endif
1188         while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) {
1189                 switch (c) {
1190                 case 's':
1191                         summary = 1;
1192                         break;
1193                 case 'd':
1194                         ao_flight_debug = 1;
1195                         break;
1196                 case 'i':
1197                         info = optarg;
1198                         break;
1199                 }
1200         }
1201
1202         if (optind == argc)
1203                 run_flight_fixed("<stdin>", stdin, summary, info);
1204         else
1205                 for (i = optind; i < argc; i++) {
1206                         FILE    *f = fopen(argv[i], "r");
1207                         if (!f) {
1208                                 perror(argv[i]);
1209                                 continue;
1210                         }
1211                         run_flight_fixed(argv[i], f, summary, info);
1212                         fclose(f);
1213                 }
1214         exit(0);
1215 }