Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

5 files changed, 120 insertions, 10 deletions

diff --git a/ao-tools/ao-postflight/ao-postflight.c b/ao-tools/ao-postflight/ao-postflight.c
index 1e6ac744..6418521e 100644
--- a/ao-tools/ao-postflight/ao-postflight.c
+++ b/ao-tools/ao-postflight/ao-postflight.c
@@ -162,7 +162,7 @@ merge_data(struct cc_perioddata *first, struct cc_perioddata *last, double split
 }
 
 static void
-analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file, FILE *raw_file, char *plot_name)
+analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file, FILE *raw_file, char *plot_name, FILE *gps_file)
 {
 	double	height;
 	double	accel;
@@ -312,6 +312,17 @@ analyse_flight(struct cc_flightraw *f, FILE *summary_file, FILE *detail_file, FI
 				time, pres, accel);
 		}
 	}
+	if (gps_file) {
+		fprintf(gps_file, "%9s %12s %12s %12s\n",
+			"time", "lat", "lon", "alt");
+		for (i = 0; i < f->gps.num; i++) {
+			fprintf(gps_file, "%12.7f %12.7f %12.7f %12.7f\n",
+				(f->gps.data[i].time - boost_start) / 100.0,
+				f->gps.data[i].lat,
+				f->gps.data[i].lon,
+				f->gps.data[i].alt);
+		}
+	}
 	if (cooked && plot_name) {
 		struct cc_perioddata	*speed;
 		plsdev("svgcairo");
@@ -350,6 +361,7 @@ static const struct option options[] = {
 	{ .name = "detail", .has_arg = 1, .val = 'd' },
 	{ .name = "plot", .has_arg = 1, .val = 'p' },
 	{ .name = "raw", .has_arg = 1, .val = 'r' },
+	{ .name = "gps", .has_arg = 1, .val = 'g' },
 	{ 0, 0, 0, 0},
 };
 
@@ -360,6 +372,7 @@ static void usage(char *program)
 		"\t[--detail=<detail-file] [-d <detail-file>]\n"
 		"\t[--raw=<raw-file> -r <raw-file]\n"
 		"\t[--plot=<plot-file> -p <plot-file>]\n"
+		"\t[--gps=<gps-file> -g <gps-file>]\n"
 		"\t{flight-log} ...\n", program);
 	exit(1);
 }
@@ -371,6 +384,7 @@ main (int argc, char **argv)
 	FILE			*summary_file = NULL;
 	FILE			*detail_file = NULL;
 	FILE			*raw_file = NULL;
+	FILE			*gps_file = NULL;
 	int			i;
 	int			ret = 0;
 	struct cc_flightraw	*raw;
@@ -381,8 +395,9 @@ main (int argc, char **argv)
 	char			*detail_name = NULL;
 	char			*raw_name = NULL;
 	char			*plot_name = NULL;
+	char			*gps_name = NULL;
 
-	while ((c = getopt_long(argc, argv, "s:d:p:r:", options, NULL)) != -1) {
+	while ((c = getopt_long(argc, argv, "s:d:p:r:g:", options, NULL)) != -1) {
 		switch (c) {
 		case 's':
 			summary_name = optarg;
@@ -396,6 +411,9 @@ main (int argc, char **argv)
 		case 'r':
 			raw_name = optarg;
 			break;
+		case 'g':
+			gps_name = optarg;
+			break;
 		default:
 			usage(argv[0]);
 			break;
@@ -427,6 +445,13 @@ main (int argc, char **argv)
 			exit(1);
 		}
 	}
+	if (gps_name) {
+		gps_file = fopen(gps_name, "w");
+		if (!gps_file) {
+			perror(gps_name);
+			exit(1);
+		}
+	}
 	for (i = optind; i < argc; i++) {
 		file = fopen(argv[i], "r");
 		if (!file) {
@@ -447,7 +472,7 @@ main (int argc, char **argv)
 		}
 		if (!raw->serial)
 			raw->serial = serial;
-		analyse_flight(raw, summary_file, detail_file, raw_file, plot_name);
+		analyse_flight(raw, summary_file, detail_file, raw_file, plot_name, gps_file);
 		cc_flightraw_free(raw);
 	}
 	return ret;
diff --git a/ao-tools/ao-rawload/ao-rawload.c b/ao-tools/ao-rawload/ao-rawload.c
index 255f63ec..d9ee5718 100644
--- a/ao-tools/ao-rawload/ao-rawload.c
+++ b/ao-tools/ao-rawload/ao-rawload.c
@@ -105,8 +105,6 @@ main (int argc, char **argv)
 		ccdbg_close(dbg);
 		exit(1);
 	}
-	ccdbg_set_pc(dbg, image->address);
-	ccdbg_resume(dbg);
 	ccdbg_close(dbg);
 	exit (0);
 }
diff --git a/ao-tools/lib/cc-logfile.c b/ao-tools/lib/cc-logfile.c
index 4abf7eb6..2136eec4 100644
--- a/ao-tools/lib/cc-logfile.c
+++ b/ao-tools/lib/cc-logfile.c
@@ -80,6 +80,44 @@ gpsdata_add(struct cc_gpsdata *data, struct cc_gpselt *elt)
 	return 1;
 }
 
+static int
+gpssat_add(struct cc_gpsdata *data, struct cc_gpssat *sat)
+{
+	int	i, j;
+	int	reuse = 0;
+	int	newsizesats;
+	struct cc_gpssats	*newsats;
+
+	for (i = data->numsats; --i >= 0;) {
+		if (data->sats[i].sat[0].time == sat->time) {
+			reuse = 1;
+			break;
+		}
+		if (data->sats[i].sat[0].time < sat->time)
+			break;
+	}
+	if (!reuse) {
+		if (data->numsats == data->sizesats) {
+			if (data->sizesats == 0)
+				newsats = malloc((newsizesats = 256) * sizeof (struct cc_gpssats));
+			else
+				newsats = realloc (data->data, (newsizesats = data->sizesats * 2)
+						   * sizeof (struct cc_gpssats));
+			if (!newsats)
+				return 0;
+			data->sats = newsats;
+		}
+		i = data->numsats++;
+		data->sats[i].nsat = 0;
+	}
+	j = data->sats[i].nsat;
+	if (j < 12) {
+		data->sats[i].sat[j] = *sat;
+		data->sats[i].nsat = j + 1;
+	}
+	return 1;
+}
+
 static void
 gpsdata_free(struct cc_gpsdata *data)
 {
@@ -100,13 +138,20 @@ gpsdata_free(struct cc_gpsdata *data)
 
 #define AO_LOG_POS_NONE		(~0UL)
 
+#define GPS_TIME	1
+#define GPS_LAT		2
+#define GPS_LON		4
+#define GPS_ALT		8
+
 static int
 read_eeprom(const char *line, struct cc_flightraw *f, double *ground_pres, int *ground_pres_count)
 {
 	char	type;
 	int	tick;
 	int	a, b;
-	struct cc_gpselt	gps;
+	static struct cc_gpselt	gps;
+	static int		gps_valid;
+	struct cc_gpssat	sat;
 	int	serial;
 
 	if (sscanf(line, "serial-number %u", &serial) == 1) {
@@ -145,23 +190,38 @@ read_eeprom(const char *line, struct cc_flightraw *f, double *ground_pres, int *
 		timedata_add(&f->state, tick, a);
 		break;
 	case AO_LOG_GPS_TIME:
+		/* the flight computer writes TIME first, so reset
+		 * any stale data before adding this record
+		 */
 		gps.time = tick;
+		gps_valid = GPS_TIME;
 		break;
 	case AO_LOG_GPS_LAT:
 		gps.lat = ((int32_t) (a + (b << 16))) / 10000000.0;
+		gps_valid |= GPS_LAT;
 		break;
 	case AO_LOG_GPS_LON:
 		gps.lon = ((int32_t) (a + (b << 16))) / 10000000.0;
+		gps_valid |= GPS_LON;
 		break;
 	case AO_LOG_GPS_ALT:
-		gps.alt = ((int32_t) (a + (b << 16)));
-		gpsdata_add(&f->gps, &gps);
+		gps.alt = (int16_t) a;
+		gps_valid |= GPS_ALT;
 		break;
 	case AO_LOG_GPS_SAT:
+		sat.time = tick;
+		sat.svid = a;
+		sat.state = (b & 0xff);
+		sat.c_n = (b >> 8) & 0xff;
+		gpssat_add(&f->gps, &sat);
 		break;
 	default:
 		return 0;
 	}
+	if (gps_valid == 0xf) {
+		gps_valid = 0;
+		gpsdata_add(&f->gps, &gps);
+	}
 	return 1;
 }
 
diff --git a/ao-tools/lib/cc.h b/ao-tools/lib/cc.h
index 01226958..b5f1132f 100644
--- a/ao-tools/lib/cc.h
+++ b/ao-tools/lib/cc.h
@@ -19,6 +19,7 @@
 #define _CC_H_
 
 #include <stdio.h>
+#include <stdint.h>
 
 char *
 cc_fullname (char *dir, char *file);
@@ -90,11 +91,35 @@ struct cc_gpselt {
 	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		state;
+	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;
 };
 
 /*
diff --git a/ao-tools/tests/reset b/ao-tools/tests/reset
index a32c8bec..65b72803 100644
--- a/ao-tools/tests/reset
+++ b/ao-tools/tests/reset
@@ -1,5 +1,7 @@
 # reset
 C D R
-C D R
-C D R
+C D .
+C D .
+C D .
+C D .
 C D R