653 lines
15 KiB
C
653 lines
15 KiB
C
/*
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* Copyright © 2009 Keith Packard <keithp@keithp.com>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
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*/
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#ifndef _CC_H_
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#define _CC_H_
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#include <stdio.h>
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#include <stdint.h>
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#include "cc-telemetry.h"
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char *
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cc_fullname (char *dir, char *file);
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char *
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cc_basename(char *file);
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int
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cc_mkdir(char *dir);
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struct cc_usbdev {
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char *sys;
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char *tty;
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char *manufacturer;
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char *product;
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int serial; /* AltOS always uses simple integer serial numbers */
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int idProduct;
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int idVendor;
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};
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struct cc_usbdevs {
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struct cc_usbdev **dev;
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int ndev;
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};
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void
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cc_usbdevs_free(struct cc_usbdevs *usbdevs);
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struct cc_usbdevs *
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cc_usbdevs_scan(int non_tty);
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char *
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cc_usbdevs_find_by_arg(char *arg, char *default_product);
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void
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cc_set_log_dir(char *dir);
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char *
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cc_get_log_dir(void);
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char *
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cc_make_filename(int serial, int flight, char *ext);
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/*
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* For sequential data which are not evenly spaced
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*/
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struct cc_timedataelt {
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double time;
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double value;
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};
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struct cc_timedata {
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int num;
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int size;
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struct cc_timedataelt *data;
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double time_offset;
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};
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/*
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* For GPS data
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*/
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struct cc_gpselt {
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double time;
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int hour;
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int minute;
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int second;
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int flags;
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double lat;
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double lon;
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double alt;
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};
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#define SIRF_SAT_STATE_ACQUIRED (1 << 0)
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#define SIRF_SAT_STATE_CARRIER_PHASE_VALID (1 << 1)
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#define SIRF_SAT_BIT_SYNC_COMPLETE (1 << 2)
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#define SIRF_SAT_SUBFRAME_SYNC_COMPLETE (1 << 3)
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#define SIRF_SAT_CARRIER_PULLIN_COMPLETE (1 << 4)
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#define SIRF_SAT_CODE_LOCKED (1 << 5)
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#define SIRF_SAT_ACQUISITION_FAILED (1 << 6)
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#define SIRF_SAT_EPHEMERIS_AVAILABLE (1 << 7)
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struct cc_gpssat {
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double time;
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uint16_t svid;
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uint8_t c_n;
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};
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struct cc_gpssats {
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int nsat;
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struct cc_gpssat sat[12];
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};
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struct cc_gpsdata {
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int num;
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int size;
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struct cc_gpselt *data;
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double time_offset;
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int numsats;
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int sizesats;
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struct cc_gpssats *sats;
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};
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/*
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* For sequential data which are evenly spaced
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*/
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struct cc_perioddata {
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int num;
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double start;
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double step;
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double *data;
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};
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enum ao_flight_state {
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ao_flight_startup = 0,
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ao_flight_idle = 1,
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ao_flight_pad = 2,
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ao_flight_boost = 3,
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ao_flight_fast = 4,
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ao_flight_coast = 5,
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ao_flight_drogue = 6,
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ao_flight_main = 7,
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ao_flight_landed = 8,
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ao_flight_invalid = 9
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};
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struct cc_flightraw {
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int flight;
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int serial;
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double ground_accel;
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double ground_pres;
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int year, month, day;
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struct cc_timedata accel;
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struct cc_timedata pres;
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struct cc_timedata temp;
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struct cc_timedata volt;
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struct cc_timedata main;
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struct cc_timedata drogue;
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struct cc_timedata state;
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struct cc_gpsdata gps;
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};
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struct cc_flightraw *
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cc_log_read(FILE *file);
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void
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cc_flightraw_free(struct cc_flightraw *raw);
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struct cc_flightcooked {
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double flight_start;
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double flight_stop;
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struct cc_perioddata accel_accel;
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struct cc_perioddata accel_speed;
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struct cc_perioddata accel_pos;
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struct cc_perioddata pres_pos;
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struct cc_perioddata pres_speed;
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struct cc_perioddata pres_accel;
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struct cc_perioddata gps_lat;
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struct cc_perioddata gps_lon;
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struct cc_perioddata gps_alt;
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/* unfiltered, but converted */
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struct cc_timedata pres;
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struct cc_timedata accel;
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struct cc_timedata state;
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};
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/*
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* Telemetry data contents
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*/
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struct cc_gps_time {
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int year;
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int month;
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int day;
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int hour;
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int minute;
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int second;
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};
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struct cc_gps {
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int nsat;
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int gps_locked;
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int gps_connected;
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struct cc_gps_time gps_time;
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double lat; /* degrees (+N -S) */
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double lon; /* degrees (+E -W) */
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int alt; /* m */
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int gps_extended; /* has extra data */
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double ground_speed; /* m/s */
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int course; /* degrees */
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double climb_rate; /* m/s */
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double hdop; /* unitless? */
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int h_error; /* m */
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int v_error; /* m */
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};
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#define SIRF_SAT_STATE_ACQUIRED (1 << 0)
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#define SIRF_SAT_STATE_CARRIER_PHASE_VALID (1 << 1)
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#define SIRF_SAT_BIT_SYNC_COMPLETE (1 << 2)
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#define SIRF_SAT_SUBFRAME_SYNC_COMPLETE (1 << 3)
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#define SIRF_SAT_CARRIER_PULLIN_COMPLETE (1 << 4)
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#define SIRF_SAT_CODE_LOCKED (1 << 5)
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#define SIRF_SAT_ACQUISITION_FAILED (1 << 6)
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#define SIRF_SAT_EPHEMERIS_AVAILABLE (1 << 7)
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struct cc_gps_sat {
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int svid;
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int c_n0;
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};
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struct cc_gps_tracking {
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int channels;
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struct cc_gps_sat sats[12];
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};
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struct cc_telem {
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char callsign[16];
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int serial;
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int flight;
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int rssi;
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char state[16];
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int tick;
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int accel;
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int pres;
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int temp;
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int batt;
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int drogue;
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int main;
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int flight_accel;
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int ground_accel;
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int flight_vel;
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int flight_pres;
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int ground_pres;
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int accel_plus_g;
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int accel_minus_g;
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struct cc_gps gps;
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struct cc_gps_tracking gps_tracking;
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};
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int
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cc_telem_parse(const char *input_line, struct cc_telem *telem);
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struct ao_log_mega {
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char type; /* 0 */
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uint8_t is_config; /* 1 */
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uint16_t tick; /* 2 */
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union { /* 4 */
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/* AO_LOG_FLIGHT */
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struct {
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uint16_t flight; /* 4 */
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int16_t ground_accel; /* 6 */
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uint32_t ground_pres; /* 8 */
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} flight; /* 12 */
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/* AO_LOG_STATE */
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struct {
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uint16_t state;
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uint16_t reason;
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} state;
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/* AO_LOG_SENSOR */
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struct {
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uint32_t pres; /* 4 */
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uint32_t temp; /* 8 */
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int16_t accel_x; /* 12 */
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int16_t accel_y; /* 14 */
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int16_t accel_z; /* 16 */
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int16_t gyro_x; /* 18 */
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int16_t gyro_y; /* 20 */
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int16_t gyro_z; /* 22 */
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int16_t mag_x; /* 24 */
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int16_t mag_y; /* 26 */
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int16_t mag_z; /* 28 */
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int16_t accel; /* 30 */
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} sensor; /* 32 */
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/* AO_LOG_TEMP_VOLT */
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struct {
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int16_t v_batt; /* 4 */
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int16_t v_pbatt; /* 6 */
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int16_t n_sense; /* 8 */
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int16_t sense[10]; /* 10 */
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uint16_t pyro; /* 30 */
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} volt; /* 32 */
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/* AO_LOG_GPS_TIME */
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struct {
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int32_t latitude; /* 4 */
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int32_t longitude; /* 8 */
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int16_t altitude; /* 12 */
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uint8_t hour; /* 14 */
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uint8_t minute; /* 15 */
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uint8_t second; /* 16 */
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uint8_t flags; /* 17 */
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uint8_t year; /* 18 */
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uint8_t month; /* 19 */
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uint8_t day; /* 20 */
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uint8_t pad; /* 21 */
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} gps; /* 22 */
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/* AO_LOG_GPS_SAT */
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struct {
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uint16_t channels; /* 4 */
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struct {
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uint8_t svid;
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uint8_t c_n;
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} sats[12]; /* 6 */
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} gps_sat; /* 30 */
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struct {
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uint32_t kind;
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int32_t data[6];
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} config_int;
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struct {
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uint32_t kind;
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char string[24];
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} config_str;
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/* Raw bytes */
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uint8_t bytes[28];
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} u;
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};
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struct ao_log_metrum {
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char type; /* 0 */
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uint8_t csum; /* 1 */
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uint16_t tick; /* 2 */
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union { /* 4 */
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/* AO_LOG_FLIGHT */
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struct {
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uint16_t flight; /* 4 */
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int16_t ground_accel; /* 6 */
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uint32_t ground_pres; /* 8 */
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uint32_t ground_temp; /* 12 */
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} flight; /* 16 */
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/* AO_LOG_STATE */
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struct {
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uint16_t state; /* 4 */
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uint16_t reason; /* 6 */
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} state; /* 8 */
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/* AO_LOG_SENSOR */
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struct {
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uint32_t pres; /* 4 */
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uint32_t temp; /* 8 */
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int16_t accel; /* 12 */
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} sensor; /* 14 */
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/* AO_LOG_TEMP_VOLT */
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struct {
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int16_t v_batt; /* 4 */
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int16_t sense_a; /* 6 */
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int16_t sense_m; /* 8 */
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} volt; /* 10 */
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/* AO_LOG_GPS_POS */
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struct {
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int32_t latitude; /* 4 */
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int32_t longitude; /* 8 */
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uint16_t altitude_low; /* 12 */
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int16_t altitude_high; /* 14 */
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} gps; /* 16 */
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/* AO_LOG_GPS_TIME */
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struct {
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uint8_t hour; /* 4 */
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uint8_t minute; /* 5 */
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uint8_t second; /* 6 */
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uint8_t flags; /* 7 */
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uint8_t year; /* 8 */
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uint8_t month; /* 9 */
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uint8_t day; /* 10 */
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uint8_t pdop; /* 11 */
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} gps_time; /* 12 */
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/* AO_LOG_GPS_SAT (up to three packets) */
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struct {
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uint8_t channels; /* 4 */
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uint8_t more; /* 5 */
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struct {
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uint8_t svid;
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uint8_t c_n;
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} sats[4]; /* 6 */
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} gps_sat; /* 14 */
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uint8_t raw[12]; /* 4 */
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} u; /* 16 */
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};
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struct ao_log_mini {
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char type; /* 0 */
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uint8_t csum; /* 1 */
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uint16_t tick; /* 2 */
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union { /* 4 */
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/* AO_LOG_FLIGHT */
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struct {
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uint16_t flight; /* 4 */
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uint16_t r6;
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uint32_t ground_pres; /* 8 */
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} flight;
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/* AO_LOG_STATE */
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struct {
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uint16_t state; /* 4 */
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uint16_t reason; /* 6 */
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} state;
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/* AO_LOG_SENSOR */
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struct {
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uint8_t pres[3]; /* 4 */
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uint8_t temp[3]; /* 7 */
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int16_t sense_a; /* 10 */
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int16_t sense_m; /* 12 */
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int16_t v_batt; /* 14 */
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} sensor; /* 16 */
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} u; /* 16 */
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}; /* 16 */
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#define ao_log_pack24(dst,value) do { \
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(dst)[0] = (value); \
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(dst)[1] = (value) >> 8; \
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(dst)[2] = (value) >> 16; \
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} while (0)
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struct ao_log_gps {
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char type; /* 0 */
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uint8_t csum; /* 1 */
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uint16_t tick; /* 2 */
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union { /* 4 */
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/* AO_LOG_FLIGHT */
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struct {
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uint16_t flight; /* 4 */
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int16_t start_altitude; /* 6 */
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int32_t start_latitude; /* 8 */
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int32_t start_longitude; /* 12 */
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} flight; /* 16 */
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/* AO_LOG_GPS_TIME */
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struct {
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int32_t latitude; /* 4 */
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int32_t longitude; /* 8 */
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uint16_t altitude_low; /* 12 */
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uint8_t hour; /* 14 */
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uint8_t minute; /* 15 */
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uint8_t second; /* 16 */
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uint8_t flags; /* 17 */
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uint8_t year; /* 18 */
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uint8_t month; /* 19 */
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uint8_t day; /* 20 */
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uint8_t course; /* 21 */
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uint16_t ground_speed; /* 22 */
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int16_t climb_rate; /* 24 */
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uint8_t pdop; /* 26 */
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uint8_t hdop; /* 27 */
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uint8_t vdop; /* 28 */
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uint8_t mode; /* 29 */
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int16_t altitude_high; /* 30 */
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} gps; /* 31 */
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/* AO_LOG_GPS_SAT */
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struct {
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uint16_t channels; /* 4 */
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struct {
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uint8_t svid;
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uint8_t c_n;
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} sats[12]; /* 6 */
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} gps_sat; /* 30 */
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} u;
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};
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#define AO_CONFIG_CONFIG 1
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#define AO_CONFIG_MAIN 2
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#define AO_CONFIG_APOGEE 3
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#define AO_CONFIG_LOCKOUT 4
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#define AO_CONFIG_FREQUENCY 5
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#define AO_CONFIG_RADIO_ENABLE 6
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#define AO_CONFIG_ACCEL_CAL 7
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#define AO_CONFIG_RADIO_CAL 8
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#define AO_CONFIG_MAX_LOG 9
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#define AO_CONFIG_IGNITE_MODE 10
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#define AO_CONFIG_PAD_ORIENTATION 11
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#define AO_CONFIG_SERIAL_NUMBER 12
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#define AO_CONFIG_LOG_FORMAT 13
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#define AO_CONFIG_MS5607_RESERVED 14
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#define AO_CONFIG_MS5607_SENS 15
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#define AO_CONFIG_MS5607_OFF 16
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#define AO_CONFIG_MS5607_TCS 17
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#define AO_CONFIG_MS5607_TCO 18
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#define AO_CONFIG_MS5607_TREF 19
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#define AO_CONFIG_MS5607_TEMPSENS 20
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#define AO_CONFIG_MS5607_CRC 21
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#define AO_LOG_FLIGHT 'F'
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#define AO_LOG_SENSOR 'A'
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#define AO_LOG_TEMP_VOLT 'T'
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#define AO_LOG_DEPLOY 'D'
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#define AO_LOG_STATE 'S'
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#define AO_LOG_GPS_TIME 'G'
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#define AO_LOG_GPS_LAT 'N'
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#define AO_LOG_GPS_LON 'W'
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#define AO_LOG_GPS_ALT 'H'
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#define AO_LOG_GPS_SAT 'V'
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#define AO_LOG_GPS_DATE 'Y'
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#define AO_LOG_GPS_POS 'P'
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#define AO_LOG_CONFIG 'c'
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#define AO_GPS_NUM_SAT_MASK (0xf << 0)
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#define AO_GPS_NUM_SAT_SHIFT (0)
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#define AO_GPS_VALID (1 << 4)
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#define AO_GPS_RUNNING (1 << 5)
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#define AO_GPS_DATE_VALID (1 << 6)
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#define AO_GPS_COURSE_VALID (1 << 7)
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#define AO_LOG_FORMAT_UNKNOWN 0 /* unknown; altosui will have to guess */
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#define AO_LOG_FORMAT_FULL 1 /* 8 byte typed log records */
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#define AO_LOG_FORMAT_TINY 2 /* two byte state/baro records */
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#define AO_LOG_FORMAT_TELEMETRY 3 /* 32 byte ao_telemetry records */
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#define AO_LOG_FORMAT_TELESCIENCE 4 /* 32 byte typed telescience records */
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#define AO_LOG_FORMAT_TELEMEGA 5 /* 32 byte typed telemega records */
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#define AO_LOG_FORMAT_EASYMINI 6 /* 16-byte MS5607 baro only, 3.0V supply */
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#define AO_LOG_FORMAT_TELEMETRUM 7 /* 16-byte typed telemetrum records */
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#define AO_LOG_FORMAT_TELEMINI 8 /* 16-byte MS5607 baro only, 3.3V supply */
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#define AO_LOG_FORMAT_TELEGPS 9 /* 32 byte telegps records */
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#define AO_LOG_FORMAT_NONE 127 /* No log at all */
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int
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cc_mega_parse(const char *input_line, struct ao_log_mega *l);
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#ifndef TRUE
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#define TRUE 1
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#define FALSE 0
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#endif
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/* Conversion functions */
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double
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cc_pressure_to_altitude(double pressure);
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double
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cc_altitude_to_pressure(double altitude);
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double
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cc_altitude_to_temperature(double altitude);
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double
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cc_barometer_to_pressure(double baro);
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double
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cc_barometer_to_altitude(double baro);
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double
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cc_accelerometer_to_acceleration(double accel, double ground_accel);
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double
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cc_thermometer_to_temperature(double thermo);
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double
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cc_battery_to_voltage(double battery);
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double
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cc_ignitor_to_voltage(double ignite);
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void
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cc_great_circle (double start_lat, double start_lon,
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double end_lat, double end_lon,
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double *dist, double *bearing);
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void
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cc_timedata_limits(struct cc_timedata *d, double min_time, double max_time, int *start, int *stop);
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int
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cc_timedata_min(struct cc_timedata *d, double min_time, double max_time);
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int
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cc_timedata_min_mag(struct cc_timedata *d, double min_time, double max_time);
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int
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cc_timedata_max(struct cc_timedata *d, double min_time, double max_time);
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int
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cc_timedata_max_mag(struct cc_timedata *d, double min_time, double max_time);
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double
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cc_timedata_average(struct cc_timedata *d, double min_time, double max_time);
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double
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cc_timedata_average_mag(struct cc_timedata *d, double min_time, double max_time);
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int
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cc_perioddata_limits(struct cc_perioddata *d, double min_time, double max_time, int *start, int *stop);
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int
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cc_perioddata_min(struct cc_perioddata *d, double min_time, double max_time);
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int
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cc_perioddata_min_mag(struct cc_perioddata *d, double min_time, double max_time);
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int
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cc_perioddata_max(struct cc_perioddata *d, double min_time, double max_time);
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int
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cc_perioddata_max_mag(struct cc_perioddata *d, double min_time, double max_time);
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double
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cc_perioddata_average(struct cc_perioddata *d, double min_time, double max_time);
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double
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cc_perioddata_average_mag(struct cc_perioddata *d, double min_time, double max_time);
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double *
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cc_low_pass(double *data, int data_len, double omega_pass, double omega_stop, double error);
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struct cc_perioddata *
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cc_period_make(struct cc_timedata *td, double start_time, double stop_time);
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struct cc_perioddata *
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cc_period_low_pass(struct cc_perioddata *raw, double omega_pass, double omega_stop, double error);
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struct cc_timedata *
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cc_timedata_convert(struct cc_timedata *d, double (*f)(double v, double a), double a);
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struct cc_timedata *
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cc_timedata_integrate(struct cc_timedata *d, double min_time, double max_time);
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struct cc_perioddata *
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cc_perioddata_differentiate(struct cc_perioddata *i);
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struct cc_flightcooked *
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cc_flight_cook(struct cc_flightraw *raw);
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void
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cc_flightcooked_free(struct cc_flightcooked *cooked);
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#endif /* _CC_H_ */
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