X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=ao-tools%2Flib%2Fcc.h;h=ff95e4fc9ad171e30d9e5b179960c65843dbef3b;hp=dad11bf3e8c87e3768a0f76849ff129d42cb57b0;hb=fce4e6926de7cb5ef6ea64a8db134c442b86153b;hpb=0c771d999914f9d17c723900f2987acc45fd0fbb diff --git a/ao-tools/lib/cc.h b/ao-tools/lib/cc.h index dad11bf3..ff95e4fc 100644 --- a/ao-tools/lib/cc.h +++ b/ao-tools/lib/cc.h @@ -18,6 +18,10 @@ #ifndef _CC_H_ #define _CC_H_ +#include +#include +#include "cc-telemetry.h" + char * cc_fullname (char *dir, char *file); @@ -32,7 +36,7 @@ struct cc_usbdev { char *tty; char *manufacturer; char *product; - char *serial; + int serial; /* AltOS always uses simple integer serial numbers */ int idProduct; int idVendor; }; @@ -46,6 +50,602 @@ void cc_usbdevs_free(struct cc_usbdevs *usbdevs); struct cc_usbdevs * -cc_usbdevs_scan(void); +cc_usbdevs_scan(int non_tty); + +char * +cc_usbdevs_find_by_arg(char *arg, char *default_product); + +void +cc_set_log_dir(char *dir); + +char * +cc_get_log_dir(void); + +char * +cc_make_filename(int serial, int flight, char *ext); + +/* + * For sequential data which are not evenly spaced + */ + +struct cc_timedataelt { + double time; + double value; +}; + +struct cc_timedata { + int num; + int size; + struct cc_timedataelt *data; + double time_offset; +}; + + +/* + * For GPS data + */ + +struct cc_gpselt { + double time; + int hour; + int minute; + int second; + int flags; + double lat; + double lon; + double alt; +}; + +#define SIRF_SAT_STATE_ACQUIRED (1 << 0) +#define SIRF_SAT_STATE_CARRIER_PHASE_VALID (1 << 1) +#define SIRF_SAT_BIT_SYNC_COMPLETE (1 << 2) +#define SIRF_SAT_SUBFRAME_SYNC_COMPLETE (1 << 3) +#define SIRF_SAT_CARRIER_PULLIN_COMPLETE (1 << 4) +#define SIRF_SAT_CODE_LOCKED (1 << 5) +#define SIRF_SAT_ACQUISITION_FAILED (1 << 6) +#define SIRF_SAT_EPHEMERIS_AVAILABLE (1 << 7) + +struct cc_gpssat { + double time; + uint16_t svid; + uint8_t c_n; +}; + +struct cc_gpssats { + int nsat; + struct cc_gpssat sat[12]; +}; + +struct cc_gpsdata { + int num; + int size; + struct cc_gpselt *data; + double time_offset; + int numsats; + int sizesats; + struct cc_gpssats *sats; +}; + +/* + * For sequential data which are evenly spaced + */ +struct cc_perioddata { + int num; + double start; + double step; + double *data; +}; + +enum ao_flight_state { + ao_flight_startup = 0, + ao_flight_idle = 1, + ao_flight_pad = 2, + ao_flight_boost = 3, + ao_flight_fast = 4, + ao_flight_coast = 5, + ao_flight_drogue = 6, + ao_flight_main = 7, + ao_flight_landed = 8, + ao_flight_invalid = 9 +}; + +struct cc_flightraw { + int flight; + int serial; + double ground_accel; + double ground_pres; + int year, month, day; + struct cc_timedata accel; + struct cc_timedata pres; + struct cc_timedata temp; + struct cc_timedata volt; + struct cc_timedata main; + struct cc_timedata drogue; + struct cc_timedata state; + struct cc_gpsdata gps; +}; + +struct cc_flightraw * +cc_log_read(FILE *file); + +void +cc_flightraw_free(struct cc_flightraw *raw); + +struct cc_flightcooked { + double flight_start; + double flight_stop; + + struct cc_perioddata accel_accel; + struct cc_perioddata accel_speed; + struct cc_perioddata accel_pos; + struct cc_perioddata pres_pos; + struct cc_perioddata pres_speed; + struct cc_perioddata pres_accel; + struct cc_perioddata gps_lat; + struct cc_perioddata gps_lon; + struct cc_perioddata gps_alt; + + /* unfiltered, but converted */ + struct cc_timedata pres; + struct cc_timedata accel; + struct cc_timedata state; +}; + +/* + * Telemetry data contents + */ + + +struct cc_gps_time { + int year; + int month; + int day; + int hour; + int minute; + int second; +}; + +struct cc_gps { + int nsat; + int gps_locked; + int gps_connected; + struct cc_gps_time gps_time; + double lat; /* degrees (+N -S) */ + double lon; /* degrees (+E -W) */ + int alt; /* m */ + + int gps_extended; /* has extra data */ + double ground_speed; /* m/s */ + int course; /* degrees */ + double climb_rate; /* m/s */ + double hdop; /* unitless? */ + int h_error; /* m */ + int v_error; /* m */ +}; + +#define SIRF_SAT_STATE_ACQUIRED (1 << 0) +#define SIRF_SAT_STATE_CARRIER_PHASE_VALID (1 << 1) +#define SIRF_SAT_BIT_SYNC_COMPLETE (1 << 2) +#define SIRF_SAT_SUBFRAME_SYNC_COMPLETE (1 << 3) +#define SIRF_SAT_CARRIER_PULLIN_COMPLETE (1 << 4) +#define SIRF_SAT_CODE_LOCKED (1 << 5) +#define SIRF_SAT_ACQUISITION_FAILED (1 << 6) +#define SIRF_SAT_EPHEMERIS_AVAILABLE (1 << 7) + +struct cc_gps_sat { + int svid; + int c_n0; +}; + +struct cc_gps_tracking { + int channels; + struct cc_gps_sat sats[12]; +}; + +struct cc_telem { + char callsign[16]; + int serial; + int flight; + int rssi; + char state[16]; + int tick; + int accel; + int pres; + int temp; + int batt; + int drogue; + int main; + int flight_accel; + int ground_accel; + int flight_vel; + int flight_pres; + int ground_pres; + int accel_plus_g; + int accel_minus_g; + struct cc_gps gps; + struct cc_gps_tracking gps_tracking; +}; + +int +cc_telem_parse(const char *input_line, struct cc_telem *telem); + +struct ao_log_mega { + char type; /* 0 */ + uint8_t is_config; /* 1 */ + uint16_t tick; /* 2 */ + union { /* 4 */ + /* AO_LOG_FLIGHT */ + struct { + uint16_t flight; /* 4 */ + int16_t ground_accel; /* 6 */ + uint32_t ground_pres; /* 8 */ + } flight; /* 12 */ + /* AO_LOG_STATE */ + struct { + uint16_t state; + uint16_t reason; + } state; + /* AO_LOG_SENSOR */ + struct { + uint32_t pres; /* 4 */ + uint32_t temp; /* 8 */ + int16_t accel_x; /* 12 */ + int16_t accel_y; /* 14 */ + int16_t accel_z; /* 16 */ + int16_t gyro_x; /* 18 */ + int16_t gyro_y; /* 20 */ + int16_t gyro_z; /* 22 */ + int16_t mag_x; /* 24 */ + int16_t mag_y; /* 26 */ + int16_t mag_z; /* 28 */ + int16_t accel; /* 30 */ + } sensor; /* 32 */ + /* AO_LOG_TEMP_VOLT */ + struct { + int16_t v_batt; /* 4 */ + int16_t v_pbatt; /* 6 */ + int16_t n_sense; /* 8 */ + int16_t sense[10]; /* 10 */ + uint16_t pyro; /* 30 */ + } volt; /* 32 */ + /* AO_LOG_GPS_TIME */ + struct { + int32_t latitude; /* 4 */ + int32_t longitude; /* 8 */ + int16_t altitude; /* 12 */ + uint8_t hour; /* 14 */ + uint8_t minute; /* 15 */ + uint8_t second; /* 16 */ + uint8_t flags; /* 17 */ + uint8_t year; /* 18 */ + uint8_t month; /* 19 */ + uint8_t day; /* 20 */ + uint8_t pad; /* 21 */ + } gps; /* 22 */ + /* AO_LOG_GPS_SAT */ + struct { + uint16_t channels; /* 4 */ + struct { + uint8_t svid; + uint8_t c_n; + } sats[12]; /* 6 */ + } gps_sat; /* 30 */ + + struct { + uint32_t kind; + int32_t data[6]; + } config_int; + + struct { + uint32_t kind; + char string[24]; + } config_str; + + /* Raw bytes */ + uint8_t bytes[28]; + } u; +}; + +struct ao_log_metrum { + char type; /* 0 */ + uint8_t csum; /* 1 */ + uint16_t tick; /* 2 */ + union { /* 4 */ + /* AO_LOG_FLIGHT */ + struct { + uint16_t flight; /* 4 */ + int16_t ground_accel; /* 6 */ + uint32_t ground_pres; /* 8 */ + uint32_t ground_temp; /* 12 */ + } flight; /* 16 */ + /* AO_LOG_STATE */ + struct { + uint16_t state; /* 4 */ + uint16_t reason; /* 6 */ + } state; /* 8 */ + /* AO_LOG_SENSOR */ + struct { + uint32_t pres; /* 4 */ + uint32_t temp; /* 8 */ + int16_t accel; /* 12 */ + } sensor; /* 14 */ + /* AO_LOG_TEMP_VOLT */ + struct { + int16_t v_batt; /* 4 */ + int16_t sense_a; /* 6 */ + int16_t sense_m; /* 8 */ + } volt; /* 10 */ + /* AO_LOG_GPS_POS */ + struct { + int32_t latitude; /* 4 */ + int32_t longitude; /* 8 */ + uint16_t altitude_low; /* 12 */ + int16_t altitude_high; /* 14 */ + } gps; /* 16 */ + /* AO_LOG_GPS_TIME */ + struct { + uint8_t hour; /* 4 */ + uint8_t minute; /* 5 */ + uint8_t second; /* 6 */ + uint8_t flags; /* 7 */ + uint8_t year; /* 8 */ + uint8_t month; /* 9 */ + uint8_t day; /* 10 */ + uint8_t pdop; /* 11 */ + } gps_time; /* 12 */ + /* AO_LOG_GPS_SAT (up to three packets) */ + struct { + uint8_t channels; /* 4 */ + uint8_t more; /* 5 */ + struct { + uint8_t svid; + uint8_t c_n; + } sats[4]; /* 6 */ + } gps_sat; /* 14 */ + uint8_t raw[12]; /* 4 */ + } u; /* 16 */ +}; + +struct ao_log_mini { + char type; /* 0 */ + uint8_t csum; /* 1 */ + uint16_t tick; /* 2 */ + union { /* 4 */ + /* AO_LOG_FLIGHT */ + struct { + uint16_t flight; /* 4 */ + uint16_t r6; + uint32_t ground_pres; /* 8 */ + } flight; + /* AO_LOG_STATE */ + struct { + uint16_t state; /* 4 */ + uint16_t reason; /* 6 */ + } state; + /* AO_LOG_SENSOR */ + struct { + uint8_t pres[3]; /* 4 */ + uint8_t temp[3]; /* 7 */ + int16_t sense_a; /* 10 */ + int16_t sense_m; /* 12 */ + int16_t v_batt; /* 14 */ + } sensor; /* 16 */ + } u; /* 16 */ +}; /* 16 */ + +#define ao_log_pack24(dst,value) do { \ + (dst)[0] = (value); \ + (dst)[1] = (value) >> 8; \ + (dst)[2] = (value) >> 16; \ + } while (0) + +struct ao_log_gps { + char type; /* 0 */ + uint8_t csum; /* 1 */ + uint16_t tick; /* 2 */ + union { /* 4 */ + /* AO_LOG_FLIGHT */ + struct { + uint16_t flight; /* 4 */ + int16_t start_altitude; /* 6 */ + int32_t start_latitude; /* 8 */ + int32_t start_longitude; /* 12 */ + } flight; /* 16 */ + /* AO_LOG_GPS_TIME */ + struct { + int32_t latitude; /* 4 */ + int32_t longitude; /* 8 */ + uint16_t altitude_low; /* 12 */ + uint8_t hour; /* 14 */ + uint8_t minute; /* 15 */ + uint8_t second; /* 16 */ + uint8_t flags; /* 17 */ + uint8_t year; /* 18 */ + uint8_t month; /* 19 */ + uint8_t day; /* 20 */ + uint8_t course; /* 21 */ + uint16_t ground_speed; /* 22 */ + int16_t climb_rate; /* 24 */ + uint8_t pdop; /* 26 */ + uint8_t hdop; /* 27 */ + uint8_t vdop; /* 28 */ + uint8_t mode; /* 29 */ + int16_t altitude_high; /* 30 */ + } gps; /* 31 */ + /* AO_LOG_GPS_SAT */ + struct { + uint16_t channels; /* 4 */ + struct { + uint8_t svid; + uint8_t c_n; + } sats[12]; /* 6 */ + } gps_sat; /* 30 */ + } u; +}; + +#define AO_CONFIG_CONFIG 1 +#define AO_CONFIG_MAIN 2 +#define AO_CONFIG_APOGEE 3 +#define AO_CONFIG_LOCKOUT 4 +#define AO_CONFIG_FREQUENCY 5 +#define AO_CONFIG_RADIO_ENABLE 6 +#define AO_CONFIG_ACCEL_CAL 7 +#define AO_CONFIG_RADIO_CAL 8 +#define AO_CONFIG_MAX_LOG 9 +#define AO_CONFIG_IGNITE_MODE 10 +#define AO_CONFIG_PAD_ORIENTATION 11 +#define AO_CONFIG_SERIAL_NUMBER 12 +#define AO_CONFIG_LOG_FORMAT 13 +#define AO_CONFIG_MS5607_RESERVED 14 +#define AO_CONFIG_MS5607_SENS 15 +#define AO_CONFIG_MS5607_OFF 16 +#define AO_CONFIG_MS5607_TCS 17 +#define AO_CONFIG_MS5607_TCO 18 +#define AO_CONFIG_MS5607_TREF 19 +#define AO_CONFIG_MS5607_TEMPSENS 20 +#define AO_CONFIG_MS5607_CRC 21 + + +#define AO_LOG_FLIGHT 'F' +#define AO_LOG_SENSOR 'A' +#define AO_LOG_TEMP_VOLT 'T' +#define AO_LOG_DEPLOY 'D' +#define AO_LOG_STATE 'S' +#define AO_LOG_GPS_TIME 'G' +#define AO_LOG_GPS_LAT 'N' +#define AO_LOG_GPS_LON 'W' +#define AO_LOG_GPS_ALT 'H' +#define AO_LOG_GPS_SAT 'V' +#define AO_LOG_GPS_DATE 'Y' +#define AO_LOG_GPS_POS 'P' + +#define AO_LOG_CONFIG 'c' + +#define AO_GPS_NUM_SAT_MASK (0xf << 0) +#define AO_GPS_NUM_SAT_SHIFT (0) + +#define AO_GPS_VALID (1 << 4) +#define AO_GPS_RUNNING (1 << 5) +#define AO_GPS_DATE_VALID (1 << 6) +#define AO_GPS_COURSE_VALID (1 << 7) + +#define AO_LOG_FORMAT_UNKNOWN 0 /* unknown; altosui will have to guess */ +#define AO_LOG_FORMAT_FULL 1 /* 8 byte typed log records */ +#define AO_LOG_FORMAT_TINY 2 /* two byte state/baro records */ +#define AO_LOG_FORMAT_TELEMETRY 3 /* 32 byte ao_telemetry records */ +#define AO_LOG_FORMAT_TELESCIENCE 4 /* 32 byte typed telescience records */ +#define AO_LOG_FORMAT_TELEMEGA 5 /* 32 byte typed telemega records */ +#define AO_LOG_FORMAT_EASYMINI 6 /* 16-byte MS5607 baro only, 3.0V supply */ +#define AO_LOG_FORMAT_TELEMETRUM 7 /* 16-byte typed telemetrum records */ +#define AO_LOG_FORMAT_TELEMINI 8 /* 16-byte MS5607 baro only, 3.3V supply */ +#define AO_LOG_FORMAT_TELEGPS 9 /* 32 byte telegps records */ +#define AO_LOG_FORMAT_NONE 127 /* No log at all */ + +int +cc_mega_parse(const char *input_line, struct ao_log_mega *l); + +#ifndef TRUE +#define TRUE 1 +#define FALSE 0 +#endif + +/* Conversion functions */ +double +cc_pressure_to_altitude(double pressure); + +double +cc_altitude_to_pressure(double altitude); + +double +cc_altitude_to_temperature(double altitude); + +double +cc_barometer_to_pressure(double baro); + +double +cc_barometer_to_altitude(double baro); + +double +cc_accelerometer_to_acceleration(double accel, double ground_accel); + +double +cc_thermometer_to_temperature(double thermo); + +double +cc_battery_to_voltage(double battery); + +double +cc_ignitor_to_voltage(double ignite); + +void +cc_great_circle (double start_lat, double start_lon, + double end_lat, double end_lon, + double *dist, double *bearing); + +void +cc_timedata_limits(struct cc_timedata *d, double min_time, double max_time, int *start, int *stop); + +int +cc_timedata_min(struct cc_timedata *d, double min_time, double max_time); + +int +cc_timedata_min_mag(struct cc_timedata *d, double min_time, double max_time); + +int +cc_timedata_max(struct cc_timedata *d, double min_time, double max_time); + +int +cc_timedata_max_mag(struct cc_timedata *d, double min_time, double max_time); + +double +cc_timedata_average(struct cc_timedata *d, double min_time, double max_time); + +double +cc_timedata_average_mag(struct cc_timedata *d, double min_time, double max_time); + +int +cc_perioddata_limits(struct cc_perioddata *d, double min_time, double max_time, int *start, int *stop); + +int +cc_perioddata_min(struct cc_perioddata *d, double min_time, double max_time); + +int +cc_perioddata_min_mag(struct cc_perioddata *d, double min_time, double max_time); + +int +cc_perioddata_max(struct cc_perioddata *d, double min_time, double max_time); + +int +cc_perioddata_max_mag(struct cc_perioddata *d, double min_time, double max_time); + +double +cc_perioddata_average(struct cc_perioddata *d, double min_time, double max_time); + +double +cc_perioddata_average_mag(struct cc_perioddata *d, double min_time, double max_time); + +double * +cc_low_pass(double *data, int data_len, double omega_pass, double omega_stop, double error); + +struct cc_perioddata * +cc_period_make(struct cc_timedata *td, double start_time, double stop_time); + +struct cc_perioddata * +cc_period_low_pass(struct cc_perioddata *raw, double omega_pass, double omega_stop, double error); + +struct cc_timedata * +cc_timedata_convert(struct cc_timedata *d, double (*f)(double v, double a), double a); + +struct cc_timedata * +cc_timedata_integrate(struct cc_timedata *d, double min_time, double max_time); + +struct cc_perioddata * +cc_perioddata_differentiate(struct cc_perioddata *i); + +struct cc_flightcooked * +cc_flight_cook(struct cc_flightraw *raw); + +void +cc_flightcooked_free(struct cc_flightcooked *cooked); #endif /* _CC_H_ */