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   1 /*
   2  * Copyright © 2009 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 #ifndef AO_FLIGHT_TEST
  19 #include "ao.h"
  20 #include <ao_log.h>
  21 #endif
  22
  23 #if HAS_MPU6000
  24 #include <ao_quaternion.h>
  25 #endif
  26
  27 #ifndef HAS_ACCEL
  28 #error Please define HAS_ACCEL
  29 #endif
  30
  31 #ifndef HAS_GPS
  32 #error Please define HAS_GPS
  33 #endif
  34
  35 #ifndef HAS_USB
  36 #error Please define HAS_USB
  37 #endif
  38
  39 #if HAS_FAKE_FLIGHT
  40 #include <ao_fake_flight.h>
  41 #endif
  42
  43 #ifndef HAS_TELEMETRY
  44 #define HAS_TELEMETRY   HAS_RADIO
  45 #endif
  46
  47 /* Main flight thread. */
  48
  49 __pdata enum ao_flight_state    ao_flight_state;        /* current flight state */
  50 __pdata uint16_t                ao_boost_tick;          /* time of launch detect */
  51 __pdata uint16_t                ao_motor_number;        /* number of motors burned so far */
  52
  53 #if HAS_SENSOR_ERRORS
  54 /* Any sensor can set this to mark the flight computer as 'broken' */
  55 __xdata uint8_t                 ao_sensor_errors;
  56 #endif
  57
  58 /*
  59  * track min/max data over a long interval to detect
  60  * resting
  61  */
  62 static __data uint16_t          ao_interval_end;
  63 static __data ao_v_t            ao_interval_min_height;
  64 static __data ao_v_t            ao_interval_max_height;
  65 #if HAS_ACCEL
  66 static __data ao_v_t            ao_coast_avg_accel;
  67 #endif
  68
  69 __pdata uint8_t                 ao_flight_force_idle;
  70
  71 /* We also have a clock, which can be used to sanity check things in
  72  * case of other failures
  73  */
  74
  75 #define BOOST_TICKS_MAX AO_SEC_TO_TICKS(15)
  76
  77 /* Landing is detected by getting constant readings from both pressure and accelerometer
  78  * for a fairly long time (AO_INTERVAL_TICKS)
  79  */
  80 #define AO_INTERVAL_TICKS       AO_SEC_TO_TICKS(10)
  81
  82 #define abs(a)  ((a) < 0 ? -(a) : (a))
  83
  84 void
  85 ao_flight(void)
  86 {
  87         ao_sample_init();
  88         ao_flight_state = ao_flight_startup;
  89         for (;;) {
  90
  91                 /*
  92                  * Process ADC samples, just looping
  93                  * until the sensors are calibrated.
  94                  */
  95                 if (!ao_sample())
  96                         continue;
  97
  98                 switch (ao_flight_state) {
  99                 case ao_flight_startup:
 100
 101                         /* Check to see what mode we should go to.
 102                          *  - Invalid mode if accel cal appears to be out
 103                          *  - pad mode if we're upright,
 104                          *  - idle mode otherwise
 105                          */
 106 #if HAS_ACCEL
 107                         if (ao_config.accel_plus_g == 0 ||
 108                             ao_config.accel_minus_g == 0 ||
 109                             ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
 110                             ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP ||
 111                             ao_ground_height < -1000 ||
 112                             ao_ground_height > 7000)
 113                         {
 114                                 /* Detected an accel value outside -1.5g to 1.5g
 115                                  * (or uncalibrated values), so we go into invalid mode
 116                                  */
 117                                 ao_flight_state = ao_flight_invalid;
 118
 119 #if HAS_RADIO && PACKET_HAS_SLAVE
 120                                 /* Turn on packet system in invalid mode on TeleMetrum */
 121                                 ao_packet_slave_start();
 122 #endif
 123                         } else
 124 #endif
 125                                 if (!ao_flight_force_idle
 126 #if HAS_ACCEL
 127                                     && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
 128 #endif
 129                                         )
 130                         {
 131                                 /* Set pad mode - we can fly! */
 132                                 ao_flight_state = ao_flight_pad;
 133 #if HAS_USB && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE
 134                                 /* Disable the USB controller in flight mode
 135                                  * to save power
 136                                  */
 137 #if HAS_FAKE_FLIGHT
 138                                 if (!ao_fake_flight_active)
 139 #endif
 140                                         ao_usb_disable();
 141 #endif
 142
 143 #if !HAS_ACCEL && PACKET_HAS_SLAVE
 144                                 /* Disable packet mode in pad state on TeleMini */
 145                                 ao_packet_slave_stop();
 146 #endif
 147
 148 #if HAS_TELEMETRY
 149                                 /* Turn on telemetry system */
 150                                 ao_rdf_set(1);
 151                                 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
 152 #endif
 153 #if AO_LED_RED
 154                                 /* signal successful initialization by turning off the LED */
 155                                 ao_led_off(AO_LED_RED);
 156 #endif
 157                         } else {
 158                                 /* Set idle mode */
 159                                 ao_flight_state = ao_flight_idle;
 160 #if HAS_SENSOR_ERRORS
 161                                 if (ao_sensor_errors)
 162                                         ao_flight_state = ao_flight_invalid;
 163 #endif
 164
 165 #if HAS_ACCEL && HAS_RADIO && PACKET_HAS_SLAVE
 166                                 /* Turn on packet system in idle mode on TeleMetrum */
 167                                 ao_packet_slave_start();
 168 #endif
 169
 170 #if AO_LED_RED
 171                                 /* signal successful initialization by turning off the LED */
 172                                 ao_led_off(AO_LED_RED);
 173 #endif
 174                         }
 175                         /* wakeup threads due to state change */
 176                         ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 177
 178                         break;
 179                 case ao_flight_pad:
 180                         /* pad to boost:
 181                          *
 182                          * barometer: > 20m vertical motion
 183                          *             OR
 184                          * accelerometer: > 2g AND velocity > 5m/s
 185                          *
 186                          * The accelerometer should always detect motion before
 187                          * the barometer, but we use both to make sure this
 188                          * transition is detected. If the device
 189                          * doesn't have an accelerometer, then ignore the
 190                          * speed and acceleration as they are quite noisy
 191                          * on the pad.
 192                          */
 193                         if (ao_height > AO_M_TO_HEIGHT(20)
 194 #if HAS_ACCEL
 195                             || (ao_accel > AO_MSS_TO_ACCEL(20) &&
 196                                 ao_speed > AO_MS_TO_SPEED(5))
 197 #endif
 198                                 )
 199                         {
 200                                 ao_flight_state = ao_flight_boost;
 201                                 ao_boost_tick = ao_sample_tick;
 202
 203                                 /* start logging data */
 204                                 ao_log_start();
 205
 206 #if HAS_TELEMETRY
 207                                 /* Increase telemetry rate */
 208                                 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
 209
 210                                 /* disable RDF beacon */
 211                                 ao_rdf_set(0);
 212 #endif
 213
 214 #if HAS_GPS
 215                                 /* Record current GPS position by waking up GPS log tasks */
 216                                 ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
 217                                 ao_wakeup(&ao_gps_new);
 218 #endif
 219
 220                                 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 221                         }
 222                         break;
 223                 case ao_flight_boost:
 224
 225                         /* boost to fast:
 226                          *
 227                          * accelerometer: start to fall at > 1/4 G
 228                          *              OR
 229                          * time: boost for more than 15 seconds
 230                          *
 231                          * Detects motor burn out by the switch from acceleration to
 232                          * deceleration, or by waiting until the maximum burn duration
 233                          * (15 seconds) has past.
 234                          */
 235                         if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) ||
 236                             (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
 237                         {
 238 #if HAS_ACCEL
 239                                 ao_flight_state = ao_flight_fast;
 240                                 ao_coast_avg_accel = ao_accel;
 241 #else
 242                                 ao_flight_state = ao_flight_coast;
 243 #endif
 244                                 ++ao_motor_number;
 245                                 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 246                         }
 247                         break;
 248 #if HAS_ACCEL
 249                 case ao_flight_fast:
 250                         /*
 251                          * This is essentially the same as coast,
 252                          * but the barometer is being ignored as
 253                          * it may be unreliable.
 254                          */
 255                         if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED))
 256                         {
 257                                 ao_flight_state = ao_flight_coast;
 258                                 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 259                         } else
 260                                 goto check_re_boost;
 261                         break;
 262 #endif
 263                 case ao_flight_coast:
 264
 265                         /*
 266                          * By customer request - allow the user
 267                          * to lock out apogee detection for a specified
 268                          * number of seconds.
 269                          */
 270                         if (ao_config.apogee_lockout) {
 271                                 if ((ao_sample_tick - ao_boost_tick) <
 272                                     AO_SEC_TO_TICKS(ao_config.apogee_lockout))
 273                                         break;
 274                         }
 275
 276                         /* apogee detect: coast to drogue deploy:
 277                          *
 278                          * speed: < 0
 279                          *
 280                          * Also make sure the model altitude is tracking
 281                          * the measured altitude reasonably closely; otherwise
 282                          * we're probably transsonic.
 283                          */
 284                         if (ao_speed < 0
 285 #if !HAS_ACCEL
 286                             && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100)
 287 #endif
 288                                 )
 289                         {
 290 #if HAS_IGNITE
 291                                 /* ignite the drogue charge */
 292                                 ao_ignite(ao_igniter_drogue);
 293 #endif
 294
 295 #if HAS_TELEMETRY
 296                                 /* slow down the telemetry system */
 297                                 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
 298
 299                                 /* Turn the RDF beacon back on */
 300                                 ao_rdf_set(1);
 301 #endif
 302
 303                                 /* and enter drogue state */
 304                                 ao_flight_state = ao_flight_drogue;
 305                                 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 306                         }
 307 #if HAS_ACCEL
 308                         else {
 309                         check_re_boost:
 310                                 ao_coast_avg_accel = ao_coast_avg_accel - (ao_coast_avg_accel >> 6) + (ao_accel >> 6);
 311                                 if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
 312                                         ao_boost_tick = ao_sample_tick;
 313                                         ao_flight_state = ao_flight_boost;
 314                                         ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 315                                 }
 316                         }
 317 #endif
 318
 319                         break;
 320                 case ao_flight_drogue:
 321
 322                         /* drogue to main deploy:
 323                          *
 324                          * barometer: reach main deploy altitude
 325                          *
 326                          * Would like to use the accelerometer for this test, but
 327                          * the orientation of the flight computer is unknown after
 328                          * drogue deploy, so we ignore it. Could also detect
 329                          * high descent rate using the pressure sensor to
 330                          * recognize drogue deploy failure and eject the main
 331                          * at that point. Perhaps also use the drogue sense lines
 332                          * to notice continutity?
 333                          */
 334                         if (ao_height <= ao_config.main_deploy)
 335                         {
 336 #if HAS_IGNITE
 337                                 ao_ignite(ao_igniter_main);
 338 #endif
 339
 340                                 /*
 341                                  * Start recording min/max height
 342                                  * to figure out when the rocket has landed
 343                                  */
 344
 345                                 /* initialize interval values */
 346                                 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 347
 348                                 ao_interval_min_height = ao_interval_max_height = ao_avg_height;
 349
 350                                 ao_flight_state = ao_flight_main;
 351                                 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 352                         }
 353                         break;
 354
 355                         /* fall through... */
 356                 case ao_flight_main:
 357
 358                         /* main to land:
 359                          *
 360                          * barometer: altitude stable
 361                          */
 362
 363                         if (ao_avg_height < ao_interval_min_height)
 364                                 ao_interval_min_height = ao_avg_height;
 365                         if (ao_avg_height > ao_interval_max_height)
 366                                 ao_interval_max_height = ao_avg_height;
 367
 368                         if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
 369                                 if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
 370                                 {
 371                                         ao_flight_state = ao_flight_landed;
 372
 373                                         /* turn off the ADC capture */
 374                                         ao_timer_set_adc_interval(0);
 375
 376                                         ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 377                                 }
 378                                 ao_interval_min_height = ao_interval_max_height = ao_avg_height;
 379                                 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 380                         }
 381                         break;
 382 #if HAS_FLIGHT_DEBUG
 383                 case ao_flight_test:
 384 #if HAS_GYRO
 385                         printf ("angle %4d pitch %7d yaw %7d roll %7d\n",
 386                                 ao_sample_orient,
 387                                 ((ao_sample_pitch << 9) - ao_ground_pitch) >> 9,
 388                                 ((ao_sample_yaw << 9) - ao_ground_yaw) >> 9,
 389                                 ((ao_sample_roll << 9) - ao_ground_roll) >> 9);
 390 #endif
 391                         flush();
 392                         break;
 393 #endif /* HAS_FLIGHT_DEBUG */
 394                 default:
 395                         break;
 396                 }
 397         }
 398 }
 399
 400 #if HAS_FLIGHT_DEBUG
 401 static inline int int_part(ao_v_t i)    { return i >> 4; }
 402 static inline int frac_part(ao_v_t i)   { return ((i & 0xf) * 100 + 8) / 16; }
 403
 404 static void
 405 ao_flight_dump(void)
 406 {
 407 #if HAS_ACCEL
 408         ao_v_t  accel;
 409
 410         accel = ((ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale) >> 16;
 411 #endif
 412
 413         printf ("sample:\n");
 414         printf ("  tick        %d\n", ao_sample_tick);
 415         printf ("  raw pres    %d\n", ao_sample_pres);
 416 #if HAS_ACCEL
 417         printf ("  raw accel   %d\n", ao_sample_accel);
 418 #endif
 419         printf ("  ground pres %d\n", ao_ground_pres);
 420         printf ("  ground alt  %d\n", ao_ground_height);
 421 #if HAS_ACCEL
 422         printf ("  raw accel   %d\n", ao_sample_accel);
 423         printf ("  groundaccel %d\n", ao_ground_accel);
 424         printf ("  accel_2g    %d\n", ao_accel_2g);
 425 #endif
 426
 427         printf ("  alt         %d\n", ao_sample_alt);
 428         printf ("  height      %d\n", ao_sample_height);
 429 #if HAS_ACCEL
 430         printf ("  accel       %d.%02d\n", int_part(accel), frac_part(accel));
 431 #endif
 432
 433
 434         printf ("kalman:\n");
 435         printf ("  height      %d\n", ao_height);
 436         printf ("  speed       %d.%02d\n", int_part(ao_speed), frac_part(ao_speed));
 437         printf ("  accel       %d.%02d\n", int_part(ao_accel), frac_part(ao_accel));
 438         printf ("  max_height  %d\n", ao_max_height);
 439         printf ("  avg_height  %d\n", ao_avg_height);
 440         printf ("  error_h     %d\n", ao_error_h);
 441         printf ("  error_avg   %d\n", ao_error_h_sq_avg);
 442 }
 443
 444 static void
 445 ao_gyro_test(void)
 446 {
 447         ao_flight_state = ao_flight_test;
 448         ao_getchar();
 449         ao_flight_state = ao_flight_idle;
 450 }
 451
 452 uint8_t ao_orient_test;
 453
 454 static void
 455 ao_orient_test_select(void)
 456 {
 457         ao_orient_test = !ao_orient_test;
 458 }
 459
 460 __code struct ao_cmds ao_flight_cmds[] = {
 461         { ao_flight_dump,       "F\0Dump flight status" },
 462         { ao_gyro_test,         "G\0Test gyro code" },
 463         { ao_orient_test_select,"O\0Test orientation code" },
 464         { 0, NULL },
 465 };
 466 #endif
 467
 468 static __xdata struct ao_task   flight_task;
 469
 470 void
 471 ao_flight_init(void)
 472 {
 473         ao_flight_state = ao_flight_startup;
 474 #if HAS_FLIGHT_DEBUG
 475         ao_cmd_register(&ao_flight_cmds[0]);
 476 #endif
 477         ao_add_task(&flight_task, ao_flight, "flight");
 478 }