/* * Copyright © 2009 Keith Packard * * 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; either version 2 of the License, or * (at your option) any later version. * * 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. */ #define _GNU_SOURCE #include #include #include #include #include #include #include #define GRAVITY 9.80665 #define AO_HERTZ 100 #define HAS_ADC 1 #define AO_DATA_RING 64 #define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1)) #define ao_data_ring_prev(n) (((n) - 1) & (AO_DATA_RING - 1)) #if 0 #define AO_M_TO_HEIGHT(m) ((int16_t) (m)) #define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16)) #define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16)) #endif #define AO_GPS_NEW_DATA 1 #define AO_GPS_NEW_TRACKING 2 int ao_gps_new; #if !defined(TELEMEGA) && !defined(TELEMETRUM_V2) #define TELEMETRUM_V1 1 #endif #if TELEMEGA #define AO_ADC_NUM_SENSE 6 #define HAS_MS5607 1 #define HAS_MPU6000 1 #define HAS_MMA655X 1 #define HAS_HMC5883 1 #define HAS_BEEP 1 #define AO_CONFIG_MAX_SIZE 1024 struct ao_adc { int16_t sense[AO_ADC_NUM_SENSE]; int16_t v_batt; int16_t v_pbatt; int16_t temp; }; #endif #if TELEMETRUM_V2 #define AO_ADC_NUM_SENSE 2 #define HAS_MS5607 1 #define HAS_MMA655X 1 #define HAS_BEEP 1 #define AO_CONFIG_MAX_SIZE 1024 struct ao_adc { int16_t sense_a; int16_t sense_m; int16_t v_batt; int16_t temp; }; #endif #if TELEMETRUM_V1 /* * One set of samples read from the A/D converter */ struct ao_adc { int16_t accel; /* accelerometer */ int16_t pres; /* pressure sensor */ int16_t pres_real; /* unclipped */ int16_t temp; /* temperature sensor */ int16_t v_batt; /* battery voltage */ int16_t sense_d; /* drogue continuity sense */ int16_t sense_m; /* main continuity sense */ }; #ifndef HAS_ACCEL #define HAS_ACCEL 1 #define HAS_ACCEL_REF 0 #endif #endif #define __pdata #define __data #define __xdata #define __code #define __reentrant #define HAS_FLIGHT 1 #define HAS_IGNITE 1 #define HAS_USB 1 #define HAS_GPS 1 #include #include #include #include #if TELEMEGA int ao_gps_count; struct ao_telemetry_location ao_gps_first; struct ao_telemetry_location ao_gps_prev; struct ao_telemetry_location ao_gps_static; struct ao_telemetry_satellite ao_gps_tracking; static inline double sqr(double a) { return a * a; } void cc_great_circle (double start_lat, double start_lon, double end_lat, double end_lon, double *dist, double *bearing) { const double rad = M_PI / 180; const double earth_radius = 6371.2 * 1000; /* in meters */ double lat1 = rad * start_lat; double lon1 = rad * -start_lon; double lat2 = rad * end_lat; double lon2 = rad * -end_lon; // double d_lat = lat2 - lat1; double d_lon = lon2 - lon1; /* From http://en.wikipedia.org/wiki/Great-circle_distance */ double vdn = sqrt(sqr(cos(lat2) * sin(d_lon)) + sqr(cos(lat1) * sin(lat2) - sin(lat1) * cos(lat2) * cos(d_lon))); double vdd = sin(lat1) * sin(lat2) + cos(lat1) * cos(lat2) * cos(d_lon); double d = atan2(vdn,vdd); double course; if (cos(lat1) < 1e-20) { if (lat1 > 0) course = M_PI; else course = -M_PI; } else { if (d < 1e-10) course = 0; else course = acos((sin(lat2)-sin(lat1)*cos(d)) / (sin(d)*cos(lat1))); if (sin(lon2-lon1) > 0) course = 2 * M_PI-course; } *dist = d * earth_radius; *bearing = course * 180/M_PI; } double ao_distance_from_pad(void) { double dist, bearing; if (!ao_gps_count) return 0; cc_great_circle(ao_gps_first.latitude / 1e7, ao_gps_first.longitude / 1e7, ao_gps_static.latitude / 1e7, ao_gps_static.longitude / 1e7, &dist, &bearing); return dist; } double ao_gps_angle(void) { double dist, bearing; double height; double angle; if (ao_gps_count < 2) return 0; cc_great_circle(ao_gps_prev.latitude / 1e7, ao_gps_prev.longitude / 1e7, ao_gps_static.latitude / 1e7, ao_gps_static.longitude / 1e7, &dist, &bearing); height = AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_static) - AO_TELEMETRY_LOCATION_ALTITUDE(&ao_gps_prev); angle = atan2(dist, height); return angle * 180/M_PI; } #endif #define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5)) #define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5)) #define from_fix(x) ((x) >> 16) #define ACCEL_NOSE_UP (ao_accel_2g >> 2) extern enum ao_flight_state ao_flight_state; #define FALSE 0 #define TRUE 1 volatile struct ao_data ao_data_ring[AO_DATA_RING]; volatile uint8_t ao_data_head; int ao_summary = 0; #define ao_led_on(l) #define ao_led_off(l) #define ao_timer_set_adc_interval(i) #define ao_wakeup(wchan) ao_dump_state() #define ao_cmd_register(c) #define ao_usb_disable() #define ao_telemetry_set_interval(x) #define ao_rdf_set(rdf) #define ao_packet_slave_start() #define ao_packet_slave_stop() #define flush() enum ao_igniter { ao_igniter_drogue = 0, ao_igniter_main = 1 }; struct ao_data ao_data_static; int drogue_height; double drogue_time; int main_height; double main_time; int tick_offset; static ao_k_t ao_k_height; int16_t ao_time(void) { return ao_data_static.tick; } void ao_delay(int16_t interval) { return; } void ao_ignite(enum ao_igniter igniter) { double time = (double) (ao_data_static.tick + tick_offset) / 100; if (igniter == ao_igniter_drogue) { drogue_time = time; drogue_height = ao_k_height >> 16; } else { main_time = time; main_height = ao_k_height >> 16; } } struct ao_task { int dummy; }; #define ao_add_task(t,f,n) ((void) (t)) #define ao_log_start() #define ao_log_stop() #define AO_MS_TO_TICKS(ms) ((ms) / 10) #define AO_SEC_TO_TICKS(s) ((s) * 100) #define AO_FLIGHT_TEST int ao_flight_debug; FILE *emulator_in; char *emulator_app; char *emulator_name; char *emulator_info; double emulator_error_max = 4; double emulator_height_error_max = 20; /* noise in the baro sensor */ void ao_dump_state(void); void ao_sleep(void *wchan); const char const * const ao_state_names[] = { "startup", "idle", "pad", "boost", "fast", "coast", "drogue", "main", "landed", "invalid" }; struct ao_cmds { void (*func)(void); const char *help; }; #define ao_xmemcpy(d,s,c) memcpy(d,s,c) #define ao_xmemset(d,v,c) memset(d,v,c) #define ao_xmemcmp(d,s,c) memcmp(d,s,c) #define AO_NEED_ALTITUDE_TO_PRES 1 #if TELEMEGA || TELEMETRUM_V2 #include "ao_convert_pa.c" #include struct ao_ms5607_prom ao_ms5607_prom; #include "ao_ms5607_convert.c" #define AO_PYRO_NUM 4 #include #else #include "ao_convert.c" #endif #include #include #define ao_config_get() struct ao_config ao_config; #define DATA_TO_XDATA(x) (x) extern int16_t ao_ground_accel, ao_flight_accel; extern int16_t ao_accel_2g; typedef int16_t accel_t; extern uint16_t ao_sample_tick; extern alt_t ao_sample_height; extern accel_t ao_sample_accel; extern int32_t ao_accel_scale; extern alt_t ao_ground_height; extern alt_t ao_sample_alt; double ao_sample_qangle; int ao_sample_prev_tick; uint16_t prev_tick; #include "ao_kalman.c" #include "ao_sqrt.c" #include "ao_sample.c" #include "ao_flight.c" #if TELEMEGA #define AO_PYRO_NUM 4 #define AO_PYRO_0 0 #define AO_PYRO_1 1 #define AO_PYRO_2 2 #define AO_PYRO_3 3 static void ao_pyro_pin_set(uint8_t pin, uint8_t value) { printf ("set pyro %d %d\n", pin, value); } #include "ao_pyro.c" #endif #define to_double(f) ((f) / 65536.0) static int ao_records_read = 0; static int ao_eof_read = 0; static int ao_flight_ground_accel; static int ao_flight_started = 0; static int ao_test_max_height; static double ao_test_max_height_time; static int ao_test_main_height; static double ao_test_main_height_time; static double ao_test_landed_time; static double ao_test_landed_height; static double ao_test_landed_time; static int landed_set; static double landed_time; static double landed_height; #if HAS_MPU6000 static struct ao_mpu6000_sample ao_ground_mpu6000; #endif void ao_test_exit(void) { double drogue_error; double main_error; double landed_error; double landed_time_error; if (!ao_test_main_height_time) { ao_test_main_height_time = ao_test_max_height_time; ao_test_main_height = ao_test_max_height; } drogue_error = fabs(ao_test_max_height_time - drogue_time); main_error = fabs(ao_test_main_height_time - main_time); landed_error = fabs(ao_test_landed_height - landed_height); landed_time_error = ao_test_landed_time - landed_time; if (drogue_error > emulator_error_max || main_error > emulator_error_max) { printf ("%s %s\n", emulator_app, emulator_name); if (emulator_info) printf ("\t%s\n", emulator_info); printf ("\tApogee error %g\n", drogue_error); printf ("\tMain error %g\n", main_error); printf ("\tLanded height error %g\n", landed_error); printf ("\tLanded time error %g\n", landed_time_error); printf ("\tActual: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n", ao_test_max_height, ao_test_max_height_time, ao_test_main_height, ao_test_main_height_time, ao_test_landed_height, ao_test_landed_time); printf ("\tComputed: apogee: %d at %7.2f main: %d at %7.2f landed %7.2f at %7.2f\n", drogue_height, drogue_time, main_height, main_time, landed_height, landed_time); exit (1); } exit(0); } #ifdef TELEMEGA struct ao_azel { int az; int el; }; static void azel (struct ao_azel *r, struct ao_quaternion *q) { double v; r->az = floor (atan2(q->y, q->x) * 180/M_PI + 0.5); v = sqrt (q->x*q->x + q->y*q->y); r->el = floor (atan2(q->z, v) * 180/M_PI + 0.5); } #endif void ao_insert(void) { double time; ao_data_ring[ao_data_head] = ao_data_static; ao_data_head = ao_data_ring_next(ao_data_head); if (ao_flight_state != ao_flight_startup) { #if HAS_ACCEL double accel = ((ao_flight_ground_accel - ao_data_accel_cook(&ao_data_static)) * GRAVITY * 2.0) / (ao_config.accel_minus_g - ao_config.accel_plus_g); #else double accel = 0.0; #endif #if TELEMEGA || TELEMETRUM_V2 double height; ao_ms5607_convert(&ao_data_static.ms5607_raw, &ao_data_static.ms5607_cooked); height = ao_pa_to_altitude(ao_data_static.ms5607_cooked.pres) - ao_ground_height; #else double height = ao_pres_to_altitude(ao_data_static.adc.pres_real) - ao_ground_height; #endif (void) accel; if (!tick_offset) tick_offset = -ao_data_static.tick; if ((prev_tick - ao_data_static.tick) > 0x400) tick_offset += 65536; prev_tick = ao_data_static.tick; time = (double) (ao_data_static.tick + tick_offset) / 100; if (ao_test_max_height < height) { ao_test_max_height = height; ao_test_max_height_time = time; ao_test_landed_height = height; ao_test_landed_time = time; } if (height > ao_config.main_deploy) { ao_test_main_height_time = time; ao_test_main_height = height; } if (ao_test_landed_height > height) { ao_test_landed_height = height; ao_test_landed_time = time; } if (ao_flight_state == ao_flight_landed && !landed_set) { landed_set = 1; landed_time = time; landed_height = height; } if (!ao_summary) { #if TELEMEGA static struct ao_quaternion ao_ground_mag; static int ao_ground_mag_set; if (!ao_ground_mag_set) { ao_quaternion_init_vector (&ao_ground_mag, ao_data_mag_across(&ao_data_static), ao_data_mag_through(&ao_data_static), ao_data_mag_along(&ao_data_static)); ao_quaternion_normalize(&ao_ground_mag, &ao_ground_mag); ao_quaternion_rotate(&ao_ground_mag, &ao_ground_mag, &ao_rotation); ao_ground_mag_set = 1; } struct ao_quaternion ao_mag, ao_mag_rot; ao_quaternion_init_vector(&ao_mag, ao_data_mag_across(&ao_data_static), ao_data_mag_through(&ao_data_static), ao_data_mag_along(&ao_data_static)); ao_quaternion_normalize(&ao_mag, &ao_mag); ao_quaternion_rotate(&ao_mag_rot, &ao_mag, &ao_rotation); float ao_dot; int ao_mag_angle; ao_dot = ao_quaternion_dot(&ao_mag_rot, &ao_ground_mag); struct ao_azel ground_azel, mag_azel, rot_azel; azel(&ground_azel, &ao_ground_mag); azel(&mag_azel, &ao_mag); azel(&rot_azel, &ao_mag_rot); ao_mag_angle = floor (acos(ao_dot) * 180 / M_PI + 0.5); (void) ao_mag_angle; static struct ao_quaternion ao_x = { .r = 0, .x = 1, .y = 0, .z = 0 }; struct ao_quaternion ao_out; ao_quaternion_rotate(&ao_out, &ao_x, &ao_rotation); #if 0 int out = floor (atan2(ao_out.y, ao_out.x) * 180 / M_PI); printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d mag_tilt %4d mag_rot %4d\n", time, ao_state_names[ao_flight_state], ao_k_height / 65536.0, ao_sample_orient, out, mag_azel.el, mag_azel.az); #endif #if 0 printf ("%7.2f state %-8.8s height %8.4f tilt %4d rot %4d dist %12.2f gps_tilt %4d gps_sats %2d\n", time, ao_state_names[ao_flight_state], ao_k_height / 65536.0, ao_sample_orient, out, ao_distance_from_pad(), (int) floor (ao_gps_angle() + 0.5), (ao_gps_static.flags & 0xf) * 10); #endif #if 0 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", ao_state_names[ao_flight_state], ground_azel.az, ground_azel.el, mag_azel.az, mag_azel.el, rot_azel.az, rot_azel.el, ground_azel.el - rot_azel.el, ground_azel.az - rot_azel.az, ao_mag_angle, ao_sample_orient, ao_ground_mag.x, ao_ground_mag.y, ao_ground_mag.z, ao_mag.x, ao_mag.y, ao_mag.z, ao_mag_rot.x, ao_mag_rot.y, ao_mag_rot.z); #endif #endif #if 1 printf("%7.2f height %8.2f accel %8.3f " #if TELEMEGA && 1 "angle %5d " "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 " #endif "state %-8.8s k_height %8.2f k_speed %8.3f k_accel %8.3f avg_height %5d drogue %4d main %4d error %5d\n", time, height, accel, #if TELEMEGA && 1 ao_sample_orient, ao_mpu6000_accel(ao_data_static.mpu6000.accel_x), ao_mpu6000_accel(ao_data_static.mpu6000.accel_y), ao_mpu6000_accel(ao_data_static.mpu6000.accel_z), ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_x - ao_ground_mpu6000.gyro_x), ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_y - ao_ground_mpu6000.gyro_y), ao_mpu6000_gyro(ao_data_static.mpu6000.gyro_z - ao_ground_mpu6000.gyro_z), ao_data_static.hmc5883.x, ao_data_static.hmc5883.y, ao_data_static.hmc5883.z, ao_mag_angle, #endif ao_state_names[ao_flight_state], ao_k_height / 65536.0, ao_k_speed / 65536.0 / 16.0, ao_k_accel / 65536.0 / 16.0, ao_avg_height, drogue_height, main_height, ao_error_h_sq_avg); #endif // if (ao_flight_state == ao_flight_landed) // ao_test_exit(); } } } uint16_t uint16(uint8_t *bytes, int off) { return (uint16_t) bytes[off] | (((uint16_t) bytes[off+1]) << 8); } int16_t int16(uint8_t *bytes, int off) { return (int16_t) uint16(bytes, off); } uint32_t uint32(uint8_t *bytes, int off) { return (uint32_t) bytes[off] | (((uint32_t) bytes[off+1]) << 8) | (((uint32_t) bytes[off+2]) << 16) | (((uint32_t) bytes[off+3]) << 24); } int32_t int32(uint8_t *bytes, int off) { return (int32_t) uint32(bytes, off); } static int log_format; void ao_sleep(void *wchan) { if (wchan == &ao_data_head) { char type = 0; uint16_t tick = 0; uint16_t a = 0, b = 0; uint8_t bytes[1024]; union ao_telemetry_all telem; char line[1024]; char *saveptr; char *l; char *words[64]; int nword; #if TELEMEGA if (ao_flight_state >= ao_flight_boost && ao_flight_state < ao_flight_landed) ao_pyro_check(); #endif for (;;) { if (ao_records_read > 2 && ao_flight_state == ao_flight_startup) { #if TELEMEGA ao_data_static.mpu6000 = ao_ground_mpu6000; #endif #if TELEMETRUM_V1 ao_data_static.adc.accel = ao_flight_ground_accel; #endif ao_insert(); return; } if (!fgets(line, sizeof (line), emulator_in)) { if (++ao_eof_read >= 1000) { if (!ao_summary) printf ("no more data, exiting simulation\n"); ao_test_exit(); } ao_data_static.tick += 10; ao_insert(); return; } l = line; for (nword = 0; nword < 64; nword++) { words[nword] = strtok_r(l, " \t\n", &saveptr); l = NULL; if (words[nword] == NULL) break; } #if TELEMEGA if ((log_format == AO_LOG_FORMAT_TELEMEGA_OLD || log_format == AO_LOG_FORMAT_TELEMEGA) && nword == 30 && strlen(words[0]) == 1) { int i; struct ao_ms5607_value value; type = words[0][0]; tick = strtoul(words[1], NULL, 16); // printf ("%c %04x", type, tick); for (i = 2; i < nword; i++) { bytes[i - 2] = strtoul(words[i], NULL, 16); // printf(" %02x", bytes[i-2]); } // printf ("\n"); switch (type) { case 'F': ao_flight_ground_accel = int16(bytes, 2); ao_flight_started = 1; ao_ground_pres = int32(bytes, 4); ao_ground_height = ao_pa_to_altitude(ao_ground_pres); ao_ground_accel_along = int16(bytes, 8); ao_ground_accel_across = int16(bytes, 10); ao_ground_accel_through = int16(bytes, 12); ao_ground_roll = int16(bytes, 14); ao_ground_pitch = int16(bytes, 16); ao_ground_yaw = int16(bytes, 18); ao_ground_mpu6000.accel_x = ao_ground_accel_across; ao_ground_mpu6000.accel_y = ao_ground_accel_along; ao_ground_mpu6000.accel_z = ao_ground_accel_through; ao_ground_mpu6000.gyro_x = ao_ground_pitch >> 9; ao_ground_mpu6000.gyro_y = ao_ground_roll >> 9; ao_ground_mpu6000.gyro_z = ao_ground_yaw >> 9; break; case 'A': ao_data_static.tick = tick; ao_data_static.ms5607_raw.pres = int32(bytes, 0); ao_data_static.ms5607_raw.temp = int32(bytes, 4); ao_ms5607_convert(&ao_data_static.ms5607_raw, &value); ao_data_static.mpu6000.accel_x = int16(bytes, 8); ao_data_static.mpu6000.accel_y = int16(bytes, 10); ao_data_static.mpu6000.accel_z = int16(bytes, 12); ao_data_static.mpu6000.gyro_x = int16(bytes, 14); ao_data_static.mpu6000.gyro_y = int16(bytes, 16); ao_data_static.mpu6000.gyro_z = int16(bytes, 18); ao_data_static.hmc5883.x = int16(bytes, 20); ao_data_static.hmc5883.y = int16(bytes, 22); ao_data_static.hmc5883.z = int16(bytes, 24); #if HAS_MMA655X ao_data_static.mma655x = int16(bytes, 26); if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP) ao_data_static.mma655x = ao_data_accel_invert(ao_data_static.mma655x); #endif ao_records_read++; ao_insert(); return; case 'G': ao_gps_prev = ao_gps_static; ao_gps_static.tick = tick; ao_gps_static.latitude = int32(bytes, 0); ao_gps_static.longitude = int32(bytes, 4); { int32_t altitude = int32(bytes, 8); AO_TELEMETRY_LOCATION_SET_ALTITUDE(&ao_gps_static, altitude); } ao_gps_static.flags = bytes[13]; if (!ao_gps_count) ao_gps_first = ao_gps_static; ao_gps_count++; break; } continue; } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) { if (strcmp(words[1], "reserved:") == 0) ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10); else if (strcmp(words[1], "sens:") == 0) ao_ms5607_prom.sens = strtoul(words[2], NULL, 10); else if (strcmp(words[1], "off:") == 0) ao_ms5607_prom.off = strtoul(words[2], NULL, 10); else if (strcmp(words[1], "tcs:") == 0) ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10); else if (strcmp(words[1], "tco:") == 0) ao_ms5607_prom.tco = strtoul(words[2], NULL, 10); else if (strcmp(words[1], "tref:") == 0) ao_ms5607_prom.tref = strtoul(words[2], NULL, 10); else if (strcmp(words[1], "tempsens:") == 0) ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10); else if (strcmp(words[1], "crc:") == 0) ao_ms5607_prom.crc = strtoul(words[2], NULL, 10); continue; } else if (nword >= 3 && strcmp(words[0], "Pyro") == 0) { int p = strtoul(words[1], NULL, 10); int i, j; struct ao_pyro *pyro = &ao_config.pyro[p]; for (i = 2; i < nword; i++) { for (j = 0; j < NUM_PYRO_VALUES; j++) if (!strcmp (words[i], ao_pyro_values[j].name)) break; if (j == NUM_PYRO_VALUES) continue; pyro->flags |= ao_pyro_values[j].flag; if (ao_pyro_values[j].offset != NO_VALUE && i + 1 < nword) { int16_t val = strtoul(words[++i], NULL, 10); printf("pyro %d condition %s value %d\n", p, words[i-1], val); *((int16_t *) ((char *) pyro + ao_pyro_values[j].offset)) = val; } } } #endif #if TELEMETRUM_V2 if (log_format == AO_LOG_FORMAT_TELEMETRUM && nword == 14 && strlen(words[0]) == 1) { int i; struct ao_ms5607_value value; type = words[0][0]; tick = strtoul(words[1], NULL, 16); // printf ("%c %04x", type, tick); for (i = 2; i < nword; i++) { bytes[i - 2] = strtoul(words[i], NULL, 16); // printf(" %02x", bytes[i-2]); } // printf ("\n"); switch (type) { case 'F': ao_flight_ground_accel = int16(bytes, 2); ao_flight_started = 1; ao_ground_pres = int32(bytes, 4); ao_ground_height = ao_pa_to_altitude(ao_ground_pres); break; case 'A': ao_data_static.tick = tick; ao_data_static.ms5607_raw.pres = int32(bytes, 0); ao_data_static.ms5607_raw.temp = int32(bytes, 4); ao_ms5607_convert(&ao_data_static.ms5607_raw, &value); ao_data_static.mma655x = int16(bytes, 8); ao_records_read++; ao_insert(); return; } continue; } else if (nword == 3 && strcmp(words[0], "ms5607") == 0) { if (strcmp(words[1], "reserved:") == 0) ao_ms5607_prom.reserved = strtoul(words[2], NULL, 10); else if (strcmp(words[1], "sens:") == 0) ao_ms5607_prom.sens = strtoul(words[2], NULL, 10); else if (strcmp(words[1], "off:") == 0) ao_ms5607_prom.off = strtoul(words[2], NULL, 10); else if (strcmp(words[1], "tcs:") == 0) ao_ms5607_prom.tcs = strtoul(words[2], NULL, 10); else if (strcmp(words[1], "tco:") == 0) ao_ms5607_prom.tco = strtoul(words[2], NULL, 10); else if (strcmp(words[1], "tref:") == 0) ao_ms5607_prom.tref = strtoul(words[2], NULL, 10); else if (strcmp(words[1], "tempsens:") == 0) ao_ms5607_prom.tempsens = strtoul(words[2], NULL, 10); else if (strcmp(words[1], "crc:") == 0) ao_ms5607_prom.crc = strtoul(words[2], NULL, 10); continue; } #endif #if TELEMETRUM_V1 if (nword == 4 && log_format != AO_LOG_FORMAT_TELEMEGA) { type = words[0][0]; tick = strtoul(words[1], NULL, 16); a = strtoul(words[2], NULL, 16); b = strtoul(words[3], NULL, 16); if (type == 'P') type = 'A'; } #endif else if (nword == 2 && strcmp(words[0], "log-format") == 0) { log_format = strtoul(words[1], NULL, 10); } else if (nword >= 6 && strcmp(words[0], "Accel") == 0) { ao_config.accel_plus_g = atoi(words[3]); ao_config.accel_minus_g = atoi(words[5]); #ifdef TELEMEGA } else if (nword >= 8 && strcmp(words[0], "IMU") == 0) { ao_config.accel_zero_along = atoi(words[3]); ao_config.accel_zero_across = atoi(words[5]); ao_config.accel_zero_through = atoi(words[7]); #endif } else if (nword >= 4 && strcmp(words[0], "Main") == 0) { ao_config.main_deploy = atoi(words[2]); } else if (nword >= 3 && strcmp(words[0], "Apogee") == 0 && strcmp(words[1], "lockout:") == 0) { ao_config.apogee_lockout = atoi(words[2]); } else if (nword >= 3 && strcmp(words[0], "Pad") == 0 && strcmp(words[1], "orientation:") == 0) { ao_config.pad_orientation = atoi(words[2]); } else if (nword >= 36 && strcmp(words[0], "CALL") == 0) { tick = atoi(words[10]); if (!ao_flight_started) { type = 'F'; a = atoi(words[26]); ao_flight_started = 1; } else { type = 'A'; a = atoi(words[12]); b = atoi(words[14]); } } else if (nword == 3 && strcmp(words[0], "BARO") == 0) { tick = strtol(words[1], NULL, 16); a = 16384 - 328; b = strtol(words[2], NULL, 10); type = 'A'; if (!ao_flight_started) { ao_flight_ground_accel = 16384 - 328; ao_config.accel_plus_g = 16384 - 328; ao_config.accel_minus_g = 16384 + 328; ao_flight_started = 1; } } else if (nword == 2 && strcmp(words[0], "TELEM") == 0) { __xdata char *hex = words[1]; char elt[3]; int i, len; uint8_t sum; len = strlen(hex); if (len > sizeof (bytes) * 2) { len = sizeof (bytes)*2; hex[len] = '\0'; } for (i = 0; i < len; i += 2) { elt[0] = hex[i]; elt[1] = hex[i+1]; elt[2] = '\0'; bytes[i/2] = (uint8_t) strtol(elt, NULL, 16); } len = i/2; if (bytes[0] != len - 2) { printf ("bad length %d != %d\n", bytes[0], len - 2); continue; } sum = 0x5a; for (i = 1; i < len-1; i++) sum += bytes[i]; if (sum != bytes[len-1]) { printf ("bad checksum\n"); continue; } if ((bytes[len-2] & 0x80) == 0) { continue; } if (len == 36) { ao_xmemcpy(&telem, bytes + 1, 32); tick = telem.generic.tick; switch (telem.generic.type) { case AO_TELEMETRY_SENSOR_TELEMETRUM: case AO_TELEMETRY_SENSOR_TELEMINI: case AO_TELEMETRY_SENSOR_TELENANO: if (!ao_flight_started) { ao_flight_ground_accel = telem.sensor.ground_accel; ao_config.accel_plus_g = telem.sensor.accel_plus_g; ao_config.accel_minus_g = telem.sensor.accel_minus_g; ao_flight_started = 1; } type = 'A'; a = telem.sensor.accel; b = telem.sensor.pres; break; } } else if (len == 99) { ao_flight_started = 1; tick = uint16(bytes+1, 21); ao_flight_ground_accel = int16(bytes+1, 7); ao_config.accel_plus_g = int16(bytes+1, 17); ao_config.accel_minus_g = int16(bytes+1, 19); type = 'A'; a = int16(bytes+1, 23); b = int16(bytes+1, 25); } else if (len == 98) { ao_flight_started = 1; tick = uint16(bytes+1, 20); ao_flight_ground_accel = int16(bytes+1, 6); ao_config.accel_plus_g = int16(bytes+1, 16); ao_config.accel_minus_g = int16(bytes+1, 18); type = 'A'; a = int16(bytes+1, 22); b = int16(bytes+1, 24); } else { printf("unknown len %d\n", len); continue; } } if (type != 'F' && !ao_flight_started) continue; #if TELEMEGA || TELEMETRUM_V2 (void) a; (void) b; #else switch (type) { case 'F': ao_flight_ground_accel = a; if (ao_config.accel_plus_g == 0) { ao_config.accel_plus_g = a; ao_config.accel_minus_g = a + 530; } if (ao_config.main_deploy == 0) ao_config.main_deploy = 250; ao_flight_started = 1; break; case 'S': break; case 'A': ao_data_static.tick = tick; ao_data_static.adc.accel = a; ao_data_static.adc.pres_real = b; ao_data_static.adc.pres = b; ao_records_read++; ao_insert(); return; case 'T': ao_data_static.tick = tick; ao_data_static.adc.temp = a; ao_data_static.adc.v_batt = b; break; case 'D': case 'G': case 'N': case 'W': case 'H': break; } #endif } } } #define COUNTS_PER_G 264.8 void ao_dump_state(void) { } static const struct option options[] = { { .name = "summary", .has_arg = 0, .val = 's' }, { .name = "debug", .has_arg = 0, .val = 'd' }, { .name = "info", .has_arg = 1, .val = 'i' }, { 0, 0, 0, 0}, }; void run_flight_fixed(char *name, FILE *f, int summary, char *info) { emulator_name = name; emulator_in = f; emulator_info = info; ao_summary = summary; ao_flight_init(); ao_flight(); } int main (int argc, char **argv) { int summary = 0; int c; int i; char *info = NULL; #if HAS_ACCEL emulator_app="full"; #else emulator_app="baro"; #endif while ((c = getopt_long(argc, argv, "sdi:", options, NULL)) != -1) { switch (c) { case 's': summary = 1; break; case 'd': ao_flight_debug = 1; break; case 'i': info = optarg; break; } } if (optind == argc) run_flight_fixed("", stdin, summary, info); else for (i = optind; i < argc; i++) { FILE *f = fopen(argv[i], "r"); if (!f) { perror(argv[i]); continue; } run_flight_fixed(argv[i], f, summary, info); fclose(f); } exit(0); }