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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
  38 __pdata uint8_t                 ao_flight_force_idle;
  39 __pdata uint16_t                ao_motor_number;
  40
  41 void
  42 ao_flight(void)
  43 {
  44         ao_sample_init();
  45         ao_flight_state = ao_flight_startup;
  46         for (;;) {
  47
  48                 /*
  49                  * Process ADC samples, just looping
  50                  * until the sensors are calibrated.
  51                  */
  52                 if (!ao_sample())
  53                         continue;
  54
  55                 switch (ao_flight_state) {
  56                 case ao_flight_startup:
  57
  58                         /* Check to see what mode we should go to.
  59                          *  - Invalid mode if accel cal appears to be out
  60                          *  - pad mode if we're upright,
  61                          *  - idle mode otherwise
  62                          */
  63 #if HAS_ACCEL
  64                         if (ao_config.accel_plus_g == 0 ||
  65                             ao_config.accel_minus_g == 0 ||
  66                             ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
  67                             ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP)
  68                         {
  69                                 /* Detected an accel value outside -1.5g to 1.5g
  70                                  * (or uncalibrated values), so we go into invalid mode
  71                                  */
  72                                 ao_flight_state = ao_flight_invalid;
  73
  74 #if HAS_RADIO && PACKET_HAS_SLAVE
  75                                 /* Turn on packet system in invalid mode on TeleMetrum */
  76                                 ao_packet_slave_start();
  77 #endif
  78                         } else
  79 #endif
  80                                 if (!ao_flight_force_idle
  81 #if HAS_ACCEL
  82                                     && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
  83 #endif
  84                                         )
  85                         {
  86                                 /* Set pad mode - we can fly! */
  87                                 ao_flight_state = ao_flight_drogue;
  88 #if HAS_USB
  89                                 /* Disable the USB controller in flight mode
  90                                  * to save power
  91                                  */
  92                                 ao_usb_disable();
  93 #endif
  94
  95                                 /* Disable packet mode in pad state */
  96                                 ao_packet_slave_stop();
  97
  98                                 /* Turn on telemetry system */
  99                                 ao_rdf_set(1);
 100                                 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_BALLOON);
 101
 102                                 /* signal successful initialization by turning off the LED */
 103                                 ao_led_off(AO_LED_RED);
 104
 105                                 /* start logging data */
 106                                 ao_log_start();
 107
 108 #if HAS_GPS
 109                                 /* Record current GPS position by waking up GPS log tasks */
 110                                 ao_wakeup(&ao_gps_data);
 111                                 ao_wakeup(&ao_gps_tracking_data);
 112 #endif
 113
 114                                 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 115
 116                         } else {
 117                                 /* Set idle mode */
 118                                 ao_flight_state = ao_flight_idle;
 119
 120                                 /* signal successful initialization by turning off the LED */
 121                                 ao_led_off(AO_LED_RED);
 122                         }
 123                         /* wakeup threads due to state change */
 124                         ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 125
 126                         break;
 127                 case ao_flight_drogue:
 128                         break;
 129
 130                 }
 131         }
 132 }
 133
 134 static __xdata struct ao_task   flight_task;
 135
 136 void
 137 ao_flight_init(void)
 138 {
 139         ao_flight_state = ao_flight_startup;
 140         ao_add_task(&flight_task, ao_flight, "flight");
 141 }