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-rw-r--r--ao-tools/lib/cc-logfile.c251
1 files changed, 251 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..4abf7eb6
--- /dev/null
+++ b/ao-tools/lib/cc-logfile.c
@@ -0,0 +1,251 @@
+/*
+ * 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 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_POS_NONE (~0UL)
+
+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;
+ 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:
+ gps.time = tick;
+ break;
+ case AO_LOG_GPS_LAT:
+ gps.lat = ((int32_t) (a + (b << 16))) / 10000000.0;
+ break;
+ case AO_LOG_GPS_LON:
+ gps.lon = ((int32_t) (a + (b << 16))) / 10000000.0;
+ break;
+ case AO_LOG_GPS_ALT:
+ gps.alt = ((int32_t) (a + (b << 16)));
+ gpsdata_add(&f->gps, &gps);
+ break;
+ case AO_LOG_GPS_SAT:
+ break;
+ default:
+ return 0;
+ }
+ 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;
+ 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) {
+ gps.time = telem.tick;
+ gps.lat = telem.gps.lat;
+ gps.lon = telem.gps.lon;
+ gps.alt = telem.gps.alt;
+ gpsdata_add(&f->gps, &gps);
+ }
+ 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);
+}
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