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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 #endif
  21
  22 #ifndef HAS_ACCEL
  23 #error Please define HAS_ACCEL
  24 #endif
  25
  26 #ifndef HAS_GPS
  27 #error Please define HAS_GPS
  28 #endif
  29
  30 #ifndef HAS_USB
  31 #error Please define HAS_USB
  32 #endif
  33
  34 /* Main flight thread. */
  35
  36 __pdata enum ao_flight_state    ao_flight_state;        /* current flight state */
  37 __pdata uint16_t                ao_launch_tick;         /* time of launch detect */
  38
  39 /*
  40  * track min/max data over a long interval to detect
  41  * resting
  42  */
  43 __pdata uint16_t                ao_interval_end;
  44 __pdata int16_t                 ao_interval_min_height;
  45 __pdata int16_t                 ao_interval_max_height;
  46
  47 __xdata uint8_t                 ao_flight_force_idle;
  48
  49 /* We also have a clock, which can be used to sanity check things in
  50  * case of other failures
  51  */
  52
  53 #define BOOST_TICKS_MAX AO_SEC_TO_TICKS(15)
  54
  55 /* Landing is detected by getting constant readings from both pressure and accelerometer
  56  * for a fairly long time (AO_INTERVAL_TICKS)
  57  */
  58 #define AO_INTERVAL_TICKS       AO_SEC_TO_TICKS(5)
  59
  60 #define abs(a)  ((a) < 0 ? -(a) : (a))
  61
  62 void
  63 ao_flight(void)
  64 {
  65         ao_sample_init();
  66         ao_flight_state = ao_flight_startup;
  67         for (;;) {
  68
  69                 /*
  70                  * Process ADC samples, just looping
  71                  * until the sensors are calibrated.
  72                  */
  73                 if (!ao_sample())
  74                         continue;
  75
  76                 switch (ao_flight_state) {
  77                 case ao_flight_startup:
  78
  79                         /* Check to see what mode we should go to.
  80                          *  - Invalid mode if accel cal appears to be out
  81                          *  - pad mode if we're upright,
  82                          *  - idle mode otherwise
  83                          */
  84 #if HAS_ACCEL
  85                         if (ao_config.accel_plus_g == 0 ||
  86                             ao_config.accel_minus_g == 0 ||
  87                             ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
  88                             ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP)
  89                         {
  90                                 /* Detected an accel value outside -1.5g to 1.5g
  91                                  * (or uncalibrated values), so we go into invalid mode
  92                                  */
  93                                 ao_flight_state = ao_flight_invalid;
  94
  95                         } else
  96 #endif
  97                                 if (!ao_flight_force_idle
  98 #if HAS_ACCEL
  99                                     && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
 100 #endif
 101                                         )
 102                         {
 103                                 /* Set pad mode - we can fly! */
 104                                 ao_flight_state = ao_flight_pad;
 105 #if HAS_USB
 106                                 /* Disable the USB controller in flight mode
 107                                  * to save power
 108                                  */
 109                                 ao_usb_disable();
 110 #endif
 111
 112                                 /* Disable packet mode in pad state */
 113                                 ao_packet_slave_stop();
 114
 115                                 /* Turn on telemetry system */
 116                                 ao_rdf_set(1);
 117                                 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
 118
 119                                 /* signal successful initialization by turning off the LED */
 120                                 ao_led_off(AO_LED_RED);
 121                         } else {
 122                                 /* Set idle mode */
 123                                 ao_flight_state = ao_flight_idle;
 124
 125                                 /* signal successful initialization by turning off the LED */
 126                                 ao_led_off(AO_LED_RED);
 127                         }
 128                         /* wakeup threads due to state change */
 129                         ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 130
 131                         break;
 132                 case ao_flight_pad:
 133
 134                         /* pad to boost:
 135                          *
 136                          * barometer: > 20m vertical motion
 137                          *             OR
 138                          * accelerometer: > 2g AND velocity > 5m/s
 139                          *
 140                          * The accelerometer should always detect motion before
 141                          * the barometer, but we use both to make sure this
 142                          * transition is detected. If the device
 143                          * doesn't have an accelerometer, then ignore the
 144                          * speed and acceleration as they are quite noisy
 145                          * on the pad.
 146                          */
 147                         if (ao_height > AO_M_TO_HEIGHT(20)
 148 #if HAS_ACCEL
 149                             || (ao_accel > AO_MSS_TO_ACCEL(20) &&
 150                                 ao_speed > AO_MS_TO_SPEED(5))
 151 #endif
 152                                 )
 153                         {
 154                                 ao_flight_state = ao_flight_boost;
 155                                 ao_launch_tick = ao_sample_tick;
 156
 157                                 /* start logging data */
 158                                 ao_log_start();
 159
 160                                 /* Increase telemetry rate */
 161                                 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
 162
 163                                 /* disable RDF beacon */
 164                                 ao_rdf_set(0);
 165
 166 #if HAS_GPS
 167                                 /* Record current GPS position by waking up GPS log tasks */
 168                                 ao_wakeup(&ao_gps_data);
 169                                 ao_wakeup(&ao_gps_tracking_data);
 170 #endif
 171 #ifdef ASCENT_PIN
 172                                 ASCENT_PIN = 0;
 173 #endif
 174
 175                                 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 176                                 break;
 177                         }
 178                         break;
 179                 case ao_flight_boost:
 180
 181                         /* boost to fast:
 182                          *
 183                          * accelerometer: start to fall at > 1/4 G
 184                          *              OR
 185                          * time: boost for more than 15 seconds
 186                          *
 187                          * Detects motor burn out by the switch from acceleration to
 188                          * deceleration, or by waiting until the maximum burn duration
 189                          * (15 seconds) has past.
 190                          */
 191                         if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) ||
 192                             (int16_t) (ao_sample_tick - ao_launch_tick) > BOOST_TICKS_MAX)
 193                         {
 194 #if HAS_ACCEL
 195                                 ao_flight_state = ao_flight_fast;
 196 #else
 197                                 ao_flight_state = ao_flight_coast;
 198 #endif
 199                                 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 200                                 break;
 201                         }
 202                         break;
 203 #if HAS_ACCEL
 204                 case ao_flight_fast:
 205                         /*
 206                          * This is essentially the same as coast,
 207                          * but the barometer is being ignored as
 208                          * it may be unreliable.
 209                          */
 210                         if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED))
 211                         {
 212                                 ao_flight_state = ao_flight_coast;
 213                                 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 214                                 break;
 215                         }
 216                         break;
 217 #endif
 218                 case ao_flight_coast:
 219
 220                         /* apogee detect: coast to drogue deploy:
 221                          *
 222                          * speed: < 0
 223                          *
 224                          * Also make sure the model altitude is tracking
 225                          * the measured altitude reasonably closely; otherwise
 226                          * we're probably transsonic.
 227                          */
 228                         if (ao_speed < 0
 229 #if !HAS_ACCEL
 230                             && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100)
 231 #endif
 232                                 )
 233                         {
 234                                 /* ignite the drogue charge */
 235                                 ao_ignite(ao_igniter_drogue);
 236
 237                                 /* slow down the telemetry system */
 238                                 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
 239
 240                                 /* Turn the RDF beacon back on */
 241                                 ao_rdf_set(1);
 242
 243 #ifdef ASCENT_PIN
 244                                 ASCENT_PIN = 1;
 245 #endif
 246                                 /*
 247                                  * Start recording min/max height
 248                                  * to figure out when the rocket has landed
 249                                  */
 250
 251                                 /* initialize interval values */
 252                                 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 253
 254                                 ao_interval_min_height = ao_interval_max_height = ao_height;
 255
 256                                 /* and enter drogue state */
 257                                 ao_flight_state = ao_flight_drogue;
 258                                 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 259                         }
 260
 261                         break;
 262                 case ao_flight_drogue:
 263
 264                         /* drogue to main deploy:
 265                          *
 266                          * barometer: reach main deploy altitude
 267                          *
 268                          * Would like to use the accelerometer for this test, but
 269                          * the orientation of the flight computer is unknown after
 270                          * drogue deploy, so we ignore it. Could also detect
 271                          * high descent rate using the pressure sensor to
 272                          * recognize drogue deploy failure and eject the main
 273                          * at that point. Perhaps also use the drogue sense lines
 274                          * to notice continutity?
 275                          */
 276                         if (ao_height <= ao_config.main_deploy)
 277                         {
 278                                 ao_ignite(ao_igniter_main);
 279                                 ao_flight_state = ao_flight_main;
 280                                 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 281                         }
 282
 283                         /* fall through... */
 284                 case ao_flight_main:
 285
 286                         /* drogue/main to land:
 287                          *
 288                          * barometer: altitude stable and within 1000m of the launch altitude
 289                          */
 290
 291                         if (ao_height < ao_interval_min_height)
 292                                 ao_interval_min_height = ao_height;
 293                         if (ao_height > ao_interval_max_height)
 294                                 ao_interval_max_height = ao_height;
 295
 296                         if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
 297                                 if (ao_height < AO_M_TO_HEIGHT(1000) &&
 298                                     ao_interval_max_height - ao_interval_min_height < AO_M_TO_HEIGHT(5))
 299                                 {
 300                                         ao_flight_state = ao_flight_landed;
 301
 302                                         /* turn off the ADC capture */
 303                                         ao_timer_set_adc_interval(0);
 304
 305                                         ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 306                                 }
 307                                 ao_interval_min_height = ao_interval_max_height = ao_height;
 308                                 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 309                         }
 310                         break;
 311                 case ao_flight_landed:
 312                         break;
 313                 }
 314         }
 315 }
 316
 317 static __xdata struct ao_task   flight_task;
 318
 319 void
 320 ao_flight_init(void)
 321 {
 322 #ifdef ASCENT_SIGNAL
 323         ASCENT_SIGNAL = 1;
 324         ASCENT_SIGNAL_DIR |= (1 << ASCENT_SIGNAL_PIN);
 325         ASCENT_SIGNAL_SEL &= ~(1 << ASCENT_SIGNAL_PIN);
 326 #endif
 327         ao_flight_state = ao_flight_startup;
 328         ao_add_task(&flight_task, ao_flight, "flight");
 329 }