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