Merge branch 'new-debian' into debian

Conflicts:
	ChangeLog
	debian/altos.install
	debian/changelog
	debian/control
	debian/copyright
	debian/dirs
	debian/docs
	debian/menu
	debian/rules
	src/Makefile

1 files changed, 336 insertions, 0 deletions

diff --git a/ao-tools/lib/cc-logfile.c b/ao-tools/lib/cc-logfile.c
new file mode 100644
index 00000000..842e5c7c
--- /dev/null
+++ b/ao-tools/lib/cc-logfile.c
@@ -0,0 +1,336 @@
+/*
+ * Copyright © 2009 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "cc.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+
+static int
+timedata_add(struct cc_timedata *data, double time, double value)
+{
+	struct cc_timedataelt	*newdata;
+	int			newsize;
+	if (data->size == data->num) {
+		if (data->size == 0)
+			newdata = malloc((newsize = 256) * sizeof (struct cc_timedataelt));
+		else
+			newdata = realloc (data->data, (newsize = data->size * 2)
+					   * sizeof (struct cc_timedataelt));
+		if (!newdata)
+			return 0;
+		data->size = newsize;
+		data->data = newdata;
+	}
+	time += data->time_offset;
+	if (data->num && data->data[data->num-1].time > time) {
+		data->time_offset += 65536;
+		time += 65536;
+	}
+	data->data[data->num].time = time;
+	data->data[data->num].value = value;
+	data->num++;
+	return 1;
+}
+
+static void
+timedata_free(struct cc_timedata *data)
+{
+	if (data->data)
+		free(data->data);
+}
+
+static int
+gpsdata_add(struct cc_gpsdata *data, struct cc_gpselt *elt)
+{
+	struct cc_gpselt	*newdata;
+	int			newsize;
+	if (data->size == data->num) {
+		if (data->size == 0)
+			newdata = malloc((newsize = 256) * sizeof (struct cc_gpselt));
+		else
+			newdata = realloc (data->data, (newsize = data->size * 2)
+					   * sizeof (struct cc_gpselt));
+		if (!newdata)
+			return 0;
+		data->size = newsize;
+		data->data = newdata;
+	}
+	elt->time += data->time_offset;
+	if (data->num && data->data[data->num-1].time > elt->time) {
+		data->time_offset += 65536;
+		elt->time += 65536;
+	}
+	data->data[data->num] = *elt;
+	data->num++;
+	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->sats, (newsizesats = data->sizesats * 2)
+						   * sizeof (struct cc_gpssats));
+			if (!newsats)
+				return 0;
+			data->sats = newsats;
+			data->sizesats = newsizesats;
+		}
+		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)
+{
+	if (data->data)
+		free(data->data);
+}
+
+#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_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;
+	static struct cc_gpselt	gps;
+	static int		gps_valid;
+	struct cc_gpssat	sat;
+	int	serial;
+
+	if (sscanf(line, "serial-number %u", &serial) == 1) {
+		f->serial = serial;
+		return 1;
+	}
+	if (sscanf(line, "%c %x %x %x", &type, &tick, &a, &b) != 4)
+		return 0;
+	switch (type) {
+	case AO_LOG_FLIGHT:
+		f->ground_accel = a;
+		f->ground_pres = 0;
+		f->flight = b;
+		*ground_pres = 0;
+		*ground_pres_count = 0;
+		break;
+	case AO_LOG_SENSOR:
+		timedata_add(&f->accel, tick, a);
+		timedata_add(&f->pres, tick, b);
+		if (*ground_pres_count < 20) {
+			*ground_pres += b;
+			(*ground_pres_count)++;
+			if (*ground_pres_count >= 20)
+				f->ground_pres = *ground_pres / *ground_pres_count;
+		}
+		break;
+	case AO_LOG_TEMP_VOLT:
+		timedata_add(&f->temp, tick, a);
+		timedata_add(&f->volt, tick, b);
+		break;
+	case AO_LOG_DEPLOY:
+		timedata_add(&f->drogue, tick, a);
+		timedata_add(&f->main, tick, b);
+		break;
+	case AO_LOG_STATE:
+		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.hour = (a & 0xff);
+		gps.minute = (a >> 8) & 0xff;
+		gps.second = (b & 0xff);
+		gps.flags = (b >> 8) & 0xff;
+		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 = (int16_t) a;
+		gps_valid |= GPS_ALT;
+		break;
+	case AO_LOG_GPS_SAT:
+		sat.time = tick;
+		sat.svid = a;
+		sat.c_n = (b >> 8) & 0xff;
+		gpssat_add(&f->gps, &sat);
+		break;
+	case AO_LOG_GPS_DATE:
+		f->year = 2000 + (a & 0xff);
+		f->month = (a >> 8) & 0xff;
+		f->day = (b & 0xff);
+		break;
+	default:
+		return 0;
+	}
+	if (gps_valid == 0xf) {
+		gps_valid = 0;
+		gpsdata_add(&f->gps, &gps);
+	}
+	return 1;
+}
+
+static const char *state_names[] = {
+	"startup",
+	"idle",
+	"pad",
+	"boost",
+	"fast",
+	"coast",
+	"drogue",
+	"main",
+	"landed",
+	"invalid"
+};
+
+static enum ao_flight_state
+state_name_to_state(char *state_name)
+{
+	enum ao_flight_state	state;
+	for (state = ao_flight_startup; state < ao_flight_invalid; state++)
+		if (!strcmp(state_names[state], state_name))
+			return state;
+	return ao_flight_invalid;
+}
+
+static int
+read_telem(const char *line, struct cc_flightraw *f)
+{
+	struct cc_telem		telem;
+	struct cc_gpselt	gps;
+	struct cc_gpssat	sat;
+	int			s;
+
+	if (!cc_telem_parse(line, &telem))
+		return 0;
+	f->ground_accel = telem.ground_accel;
+	f->ground_pres = telem.ground_pres;
+	f->flight = 0;
+	timedata_add(&f->accel, telem.tick, telem.flight_accel);
+	timedata_add(&f->pres, telem.tick, telem.flight_pres);
+	timedata_add(&f->temp, telem.tick, telem.temp);
+	timedata_add(&f->volt, telem.tick, telem.batt);
+	timedata_add(&f->drogue, telem.tick, telem.drogue);
+	timedata_add(&f->main, telem.tick, telem.main);
+	timedata_add(&f->state, telem.tick, state_name_to_state(telem.state));
+	if (telem.gps.gps_locked) {
+		f->year = telem.gps.gps_time.year;
+		f->month = telem.gps.gps_time.month;
+		f->day = telem.gps.gps_time.day;
+		gps.time = telem.tick;
+		gps.lat = telem.gps.lat;
+		gps.lon = telem.gps.lon;
+		gps.alt = telem.gps.alt;
+		gps.hour = telem.gps.gps_time.hour;
+		gps.minute = telem.gps.gps_time.minute;
+		gps.second = telem.gps.gps_time.second;
+		gpsdata_add(&f->gps, &gps);
+	}
+	for (s = 0; s < telem.gps_tracking.channels; s++) {
+		sat.time = telem.tick;
+		sat.svid = telem.gps_tracking.sats[s].svid;
+		sat.c_n = telem.gps_tracking.sats[s].c_n0;
+		gpssat_add(&f->gps, &sat);
+	}
+	return 1;
+}
+
+struct cc_flightraw *
+cc_log_read(FILE *file)
+{
+	struct cc_flightraw	*f;
+	char			line[8192];
+	double			ground_pres;
+	int			ground_pres_count;
+
+	f = calloc(1, sizeof (struct cc_flightraw));
+	if (!f)
+		return NULL;
+	while (fgets(line, sizeof (line), file)) {
+		if (read_eeprom(line, f, &ground_pres, &ground_pres_count))
+			continue;
+		if (read_telem(line, f))
+			continue;
+		fprintf (stderr, "invalid line: %s", line);
+	}
+	return f;
+}
+
+void
+cc_flightraw_free(struct cc_flightraw *raw)
+{
+	timedata_free(&raw->accel);
+	timedata_free(&raw->pres);
+	timedata_free(&raw->temp);
+	timedata_free(&raw->volt);
+	timedata_free(&raw->main);
+	timedata_free(&raw->drogue);
+	timedata_free(&raw->state);
+	gpsdata_free(&raw->gps);
+	free(raw);
+}