altos: Rename 'core' to 'kernel'

[fw/altos] / src / core / ao_flight_nano.c

diff --git a/src/core/ao_flight_nano.c b/src/core/ao_flight_nano.c
deleted file mode 100644 (file)
index 406d81a..0000000
--- a/src/core/ao_flight_nano.c
+++ /dev/null
@@ -1,120 +0,0 @@
-/*
- * Copyright © 2011 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#include "ao.h"
-
-/* Main flight thread. */
-
-__pdata enum ao_flight_state   ao_flight_state;        /* current flight state */
-__pdata uint16_t               ao_launch_tick;         /* time of launch detect */
-
-/*
- * track min/max data over a long interval to detect
- * resting
- */
-__pdata uint16_t               ao_interval_end;
-__pdata alt_t                  ao_interval_min_height;
-__pdata alt_t                  ao_interval_max_height;
-
-__pdata uint8_t                        ao_flight_force_idle;
-
-/* Landing is detected by getting constant readings from both pressure and accelerometer
- * for a fairly long time (AO_INTERVAL_TICKS)
- */
-#define AO_INTERVAL_TICKS      AO_SEC_TO_TICKS(5)
-
-static void
-ao_flight_nano(void)
-{
-       ao_sample_init();
-       ao_flight_state = ao_flight_startup;
-
-       for (;;) {
-               /*
-                * Process ADC samples, just looping
-                * until the sensors are calibrated.
-                */
-               if (!ao_sample())
-                       continue;
-
-               switch (ao_flight_state) {
-               case ao_flight_startup:
-                       if (ao_flight_force_idle) {
-                               /* Set idle mode */
-                               ao_flight_state = ao_flight_idle;
-                       } else {
-                               ao_flight_state = ao_flight_pad;
-                               /* Disable packet mode in pad state */
-                               ao_packet_slave_stop();
-
-                               /* Turn on telemetry system */
-                               ao_rdf_set(1);
-                               ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
-                       }
-                       /* signal successful initialization by turning off the LED */
-                       ao_led_off(AO_LED_RED);
-
-                       /* wakeup threads due to state change */
-                       ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-                       break;
-               case ao_flight_pad:
-                       if (ao_height> AO_M_TO_HEIGHT(20)) {
-                               ao_flight_state = ao_flight_drogue;
-                               ao_launch_tick = ao_sample_tick;
-
-                               /* start logging data */
-                               ao_log_start();
-
-                               ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-                       }
-                       break;
-               case ao_flight_drogue:
-                       /* drogue/main to land:
-                        *
-                        * barometer: altitude stable
-                        */
-
-                       if (ao_height < ao_interval_min_height)
-                               ao_interval_min_height = ao_height;
-                       if (ao_height > ao_interval_max_height)
-                               ao_interval_max_height = ao_height;
-
-                       if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
-                               if (ao_interval_max_height - ao_interval_min_height < AO_M_TO_HEIGHT(5))
-                               {
-                                       ao_flight_state = ao_flight_landed;
-
-                                       /* turn off the ADC capture */
-                                       ao_timer_set_adc_interval(0);
-                                       ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-                               }
-                               ao_interval_min_height = ao_interval_max_height = ao_height;
-                               ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
-                       }
-                       break;
-               }
-       }
-}
-
-static __xdata struct ao_task  flight_task;
-
-void
-ao_flight_nano_init(void)
-{
-       ao_flight_state = ao_flight_startup;
-       ao_add_task(&flight_task, ao_flight_nano, "flight");
-}