+++ /dev/null
-/*
- * 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.
- */
-
-#ifndef AO_FLIGHT_TEST
-#include "ao.h"
-#include <ao_data.h>
-#endif
-
-#if HAS_GYRO
-#include <ao_quaternion.h>
-#endif
-
-/*
- * Current sensor values
- */
-
-#ifndef PRES_TYPE
-#define PRES_TYPE int32_t
-#define ALT_TYPE int32_t
-#define ACCEL_TYPE int16_t
-#endif
-
-__pdata uint16_t ao_sample_tick; /* time of last data */
-__pdata pres_t ao_sample_pres;
-__pdata alt_t ao_sample_alt;
-__pdata alt_t ao_sample_height;
-#if HAS_ACCEL
-__pdata accel_t ao_sample_accel;
-#endif
-#if HAS_GYRO
-__pdata accel_t ao_sample_accel_along;
-__pdata accel_t ao_sample_accel_across;
-__pdata accel_t ao_sample_accel_through;
-__pdata gyro_t ao_sample_roll;
-__pdata gyro_t ao_sample_pitch;
-__pdata gyro_t ao_sample_yaw;
-__pdata angle_t ao_sample_orient;
-#endif
-
-__data uint8_t ao_sample_data;
-
-/*
- * Sensor calibration values
- */
-
-__pdata pres_t ao_ground_pres; /* startup pressure */
-__pdata alt_t ao_ground_height; /* MSL of ao_ground_pres */
-
-#if HAS_ACCEL
-__pdata accel_t ao_ground_accel; /* startup acceleration */
-__pdata accel_t ao_accel_2g; /* factory accel calibration */
-__pdata int32_t ao_accel_scale; /* sensor to m/s² conversion */
-#endif
-
-#if HAS_GYRO
-__pdata accel_t ao_ground_accel_along;
-__pdata accel_t ao_ground_accel_across;
-__pdata accel_t ao_ground_accel_through;
-__pdata int32_t ao_ground_pitch;
-__pdata int32_t ao_ground_yaw;
-__pdata int32_t ao_ground_roll;
-#endif
-
-static __pdata uint8_t ao_preflight; /* in preflight mode */
-
-static __pdata uint16_t nsamples;
-__pdata int32_t ao_sample_pres_sum;
-#if HAS_ACCEL
-__pdata int32_t ao_sample_accel_sum;
-#endif
-#if HAS_GYRO
-__pdata int32_t ao_sample_accel_along_sum;
-__pdata int32_t ao_sample_accel_across_sum;
-__pdata int32_t ao_sample_accel_through_sum;
-__pdata int32_t ao_sample_pitch_sum;
-__pdata int32_t ao_sample_yaw_sum;
-__pdata int32_t ao_sample_roll_sum;
-static struct ao_quaternion ao_rotation;
-#endif
-
-#if HAS_FLIGHT_DEBUG
-extern uint8_t ao_orient_test;
-#endif
-
-static void
-ao_sample_preflight_add(void)
-{
-#if HAS_ACCEL
- ao_sample_accel_sum += ao_sample_accel;
-#endif
- ao_sample_pres_sum += ao_sample_pres;
-#if HAS_GYRO
- ao_sample_accel_along_sum += ao_sample_accel_along;
- ao_sample_accel_across_sum += ao_sample_accel_across;
- ao_sample_accel_through_sum += ao_sample_accel_through;
- ao_sample_pitch_sum += ao_sample_pitch;
- ao_sample_yaw_sum += ao_sample_yaw;
- ao_sample_roll_sum += ao_sample_roll;
-#endif
- ++nsamples;
-}
-
-static void
-ao_sample_preflight_set(void)
-{
-#if HAS_ACCEL
- ao_ground_accel = ao_sample_accel_sum >> 9;
- ao_sample_accel_sum = 0;
-#endif
- ao_ground_pres = ao_sample_pres_sum >> 9;
- ao_ground_height = pres_to_altitude(ao_ground_pres);
- ao_sample_pres_sum = 0;
-#if HAS_GYRO
- ao_ground_accel_along = ao_sample_accel_along_sum >> 9;
- ao_ground_accel_across = ao_sample_accel_across_sum >> 9;
- ao_ground_accel_through = ao_sample_accel_through_sum >> 9;
- ao_ground_pitch = ao_sample_pitch_sum;
- ao_ground_yaw = ao_sample_yaw_sum;
- ao_ground_roll = ao_sample_roll_sum;
- ao_sample_accel_along_sum = 0;
- ao_sample_accel_across_sum = 0;
- ao_sample_accel_through_sum = 0;
- ao_sample_pitch_sum = 0;
- ao_sample_yaw_sum = 0;
- ao_sample_roll_sum = 0;
- ao_sample_orient = 0;
-
- struct ao_quaternion orient;
-
- /* Take the pad IMU acceleration values and compute our current direction
- */
-
- ao_quaternion_init_vector(&orient,
- (ao_ground_accel_across - ao_config.accel_zero_across),
- (ao_ground_accel_through - ao_config.accel_zero_through),
- (ao_ground_accel_along - ao_config.accel_zero_along));
-
- ao_quaternion_normalize(&orient,
- &orient);
-
- /* Here's up */
-
- struct ao_quaternion up = { .r = 0, .x = 0, .y = 0, .z = 1 };
-
- if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
- up.z = -1;
-
- /* Compute rotation to get from up to our current orientation, set
- * that as the current rotation vector
- */
- ao_quaternion_vectors_to_rotation(&ao_rotation, &up, &orient);
-#if HAS_FLIGHT_DEBUG
- if (ao_orient_test)
- printf("\n\treset\n");
-#endif
-#endif
- nsamples = 0;
-}
-
-#if HAS_GYRO
-
-#define TIME_DIV 200.0f
-
-static void
-ao_sample_rotate(void)
-{
-#ifdef AO_FLIGHT_TEST
- float dt = (ao_sample_tick - ao_sample_prev_tick) / TIME_DIV;
-#else
- static const float dt = 1/TIME_DIV;
-#endif
- float x = ao_mpu6000_gyro((float) ((ao_sample_pitch << 9) - ao_ground_pitch) / 512.0f) * dt;
- float y = ao_mpu6000_gyro((float) ((ao_sample_yaw << 9) - ao_ground_yaw) / 512.0f) * dt;
- float z = ao_mpu6000_gyro((float) ((ao_sample_roll << 9) - ao_ground_roll) / 512.0f) * dt;
- struct ao_quaternion rot;
-
- ao_quaternion_init_half_euler(&rot, x, y, z);
- ao_quaternion_multiply(&ao_rotation, &rot, &ao_rotation);
-
- /* And normalize to make sure it remains a unit vector */
- ao_quaternion_normalize(&ao_rotation, &ao_rotation);
-
- /* Compute pitch angle from vertical by taking the pad
- * orientation vector and rotating it by the current total
- * rotation value. That will be a unit vector pointing along
- * the airframe axis. The Z value will be the cosine of the
- * change in the angle from vertical since boost.
- *
- * rot = ao_rotation * vertical * ao_rotation°
- * rot = ao_rotation * (0,0,0,1) * ao_rotation°
- * = ((a.z, a.y, -a.x, a.r) * (a.r, -a.x, -a.y, -a.z)) .z
- *
- * = (-a.z * -a.z) + (a.y * -a.y) - (-a.x * -a.x) + (a.r * a.r)
- * = a.z² - a.y² - a.x² + a.r²
- *
- * rot = ao_rotation * (0, 0, 0, -1) * ao_rotation°
- * = ((-a.z, -a.y, a.x, -a.r) * (a.r, -a.x, -a.y, -a.z)) .z
- *
- * = (a.z * -a.z) + (-a.y * -a.y) - (a.x * -a.x) + (-a.r * a.r)
- * = -a.z² + a.y² + a.x² - a.r²
- */
-
- float rotz;
- rotz = ao_rotation.z * ao_rotation.z - ao_rotation.y * ao_rotation.y - ao_rotation.x * ao_rotation.x + ao_rotation.r * ao_rotation.r;
-
- ao_sample_orient = acosf(rotz) * (float) (180.0/M_PI);
-
-#if HAS_FLIGHT_DEBUG
- if (ao_orient_test) {
- printf ("rot %d %d %d orient %d \r",
- (int) (x * 1000),
- (int) (y * 1000),
- (int) (z * 1000),
- ao_sample_orient);
- }
-#endif
-
-}
-#endif
-
-static void
-ao_sample_preflight(void)
-{
- /* startup state:
- *
- * Collect 512 samples of acceleration and pressure
- * data and average them to find the resting values
- */
- if (nsamples < 512) {
- ao_sample_preflight_add();
- } else {
-#if HAS_ACCEL
- ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g;
- ao_accel_scale = to_fix32(GRAVITY * 2 * 16) / ao_accel_2g;
-#endif
- ao_sample_preflight_set();
- ao_preflight = FALSE;
- }
-}
-
-/*
- * While in pad mode, constantly update the ground state by
- * re-averaging the data. This tracks changes in orientation, which
- * might be caused by adjustments to the rocket on the pad and
- * pressure, which might be caused by changes in the weather.
- */
-
-static void
-ao_sample_preflight_update(void)
-{
- if (nsamples < 512)
- ao_sample_preflight_add();
- else if (nsamples < 1024)
- ++nsamples;
- else
- ao_sample_preflight_set();
-}
-
-#if 0
-#if HAS_GYRO
-static int32_t p_filt;
-static int32_t y_filt;
-
-static gyro_t inline ao_gyro(void) {
- gyro_t p = ao_sample_pitch - ao_ground_pitch;
- gyro_t y = ao_sample_yaw - ao_ground_yaw;
-
- p_filt = p_filt - (p_filt >> 6) + p;
- y_filt = y_filt - (y_filt >> 6) + y;
-
- p = p_filt >> 6;
- y = y_filt >> 6;
- return ao_sqrt(p*p + y*y);
-}
-#endif
-#endif
-
-uint8_t
-ao_sample(void)
-{
- ao_wakeup(DATA_TO_XDATA(&ao_sample_data));
- ao_sleep((void *) DATA_TO_XDATA(&ao_data_head));
- while (ao_sample_data != ao_data_head) {
- __xdata struct ao_data *ao_data;
-
- /* Capture a sample */
- ao_data = (struct ao_data *) &ao_data_ring[ao_sample_data];
- ao_sample_tick = ao_data->tick;
-
-#if HAS_BARO
- ao_data_pres_cook(ao_data);
- ao_sample_pres = ao_data_pres(ao_data);
- ao_sample_alt = pres_to_altitude(ao_sample_pres);
- ao_sample_height = ao_sample_alt - ao_ground_height;
-#endif
-
-#if HAS_ACCEL
- ao_sample_accel = ao_data_accel_cook(ao_data);
- if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
- ao_sample_accel = ao_data_accel_invert(ao_sample_accel);
- ao_data_set_accel(ao_data, ao_sample_accel);
-#endif
-#if HAS_GYRO
- ao_sample_accel_along = ao_data_along(ao_data);
- ao_sample_accel_across = ao_data_across(ao_data);
- ao_sample_accel_through = ao_data_through(ao_data);
- ao_sample_pitch = ao_data_pitch(ao_data);
- ao_sample_yaw = ao_data_yaw(ao_data);
- ao_sample_roll = ao_data_roll(ao_data);
-#endif
-
- if (ao_preflight)
- ao_sample_preflight();
- else {
- if (ao_flight_state < ao_flight_boost)
- ao_sample_preflight_update();
- ao_kalman();
-#if HAS_GYRO
- ao_sample_rotate();
-#endif
- }
-#ifdef AO_FLIGHT_TEST
- ao_sample_prev_tick = ao_sample_tick;
-#endif
- ao_sample_data = ao_data_ring_next(ao_sample_data);
- }
- return !ao_preflight;
-}
-
-void
-ao_sample_init(void)
-{
- ao_config_get();
- nsamples = 0;
- ao_sample_pres_sum = 0;
- ao_sample_pres = 0;
-#if HAS_ACCEL
- ao_sample_accel_sum = 0;
- ao_sample_accel = 0;
-#endif
-#if HAS_GYRO
- ao_sample_accel_along_sum = 0;
- ao_sample_accel_across_sum = 0;
- ao_sample_accel_through_sum = 0;
- ao_sample_accel_along = 0;
- ao_sample_accel_across = 0;
- ao_sample_accel_through = 0;
- ao_sample_pitch_sum = 0;
- ao_sample_yaw_sum = 0;
- ao_sample_roll_sum = 0;
- ao_sample_pitch = 0;
- ao_sample_yaw = 0;
- ao_sample_roll = 0;
- ao_sample_orient = 0;
-#endif
- ao_sample_data = ao_data_head;
- ao_preflight = TRUE;
-}
projects / fw / altos / blobdiff