+++ /dev/null
-/*
- * Copyright © 2012 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_SAMPLE_H_
-#define _AO_SAMPLE_H_
-
-#include <ao_data.h>
-
-/*
- * ao_sample.c
- */
-
-/*
- * Barometer calibration
- *
- * We directly sample the barometer. The specs say:
- *
- * Pressure range: 15-115 kPa
- * Voltage at 115kPa: 2.82
- * Output scale: 27mV/kPa
- *
- * If we want to detect launch with the barometer, we need
- * a large enough bump to not be fooled by noise. At typical
- * launch elevations (0-2000m), a 200Pa pressure change cooresponds
- * to about a 20m elevation change. This is 5.4mV, or about 3LSB.
- * As all of our calculations are done in 16 bits, we'll actually see a change
- * of 16 times this though
- *
- * 27 mV/kPa * 32767 / 3300 counts/mV = 268.1 counts/kPa
- */
-
-/* Accelerometer calibration
- *
- * We're sampling the accelerometer through a resistor divider which
- * consists of 5k and 10k resistors. This multiplies the values by 2/3.
- * That goes into the cc1111 A/D converter, which is running at 11 bits
- * of precision with the bits in the MSB of the 16 bit value. Only positive
- * values are used, so values should range from 0-32752 for 0-3.3V. The
- * specs say we should see 40mV/g (uncalibrated), multiply by 2/3 for what
- * the A/D converter sees (26.67 mV/g). We should see 32752/3300 counts/mV,
- * for a final computation of:
- *
- * 26.67 mV/g * 32767/3300 counts/mV = 264.8 counts/g
- *
- * Zero g was measured at 16000 (we would expect 16384).
- * Note that this value is only require to tell if the
- * rocket is standing upright. Once that is determined,
- * the value of the accelerometer is averaged for 100 samples
- * to find the resting accelerometer value, which is used
- * for all further flight computations
- */
-
-/*
- * Above this height, the baro sensor doesn't work
- */
-#if HAS_MS5607
-#define AO_MAX_BARO_HEIGHT 30000
-#else
-#define AO_MAX_BARO_HEIGHT 12000
-#endif
-
-/*
- * Above this speed, baro measurements are unreliable
- */
-#define AO_MAX_BARO_SPEED 200
-
-#define ACCEL_NOSE_UP (ao_accel_2g >> 2)
-
-/*
- * Speed and acceleration are scaled by 16 to provide a bit more
- * resolution while still having reasonable range. Note that this
- * limits speed to 2047m/s (around mach 6) and acceleration to
- * 2047m/s² (over 200g)
- */
-
-#define AO_M_TO_HEIGHT(m) ((int16_t) (m))
-#define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16))
-#define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16))
-
-extern __pdata uint16_t ao_sample_tick; /* time of last data */
-extern __data uint8_t ao_sample_adc; /* Ring position of last processed sample */
-extern __data uint8_t ao_sample_data; /* Ring position of last processed sample */
-
-#if HAS_BARO
-extern __pdata pres_t ao_sample_pres; /* most recent pressure sensor reading */
-extern __pdata alt_t ao_sample_alt; /* MSL of ao_sample_pres */
-extern __pdata alt_t ao_sample_height; /* AGL of ao_sample_pres */
-extern __pdata pres_t ao_ground_pres; /* startup pressure */
-extern __pdata alt_t ao_ground_height; /* MSL of ao_ground_pres */
-#endif
-
-#if HAS_ACCEL
-extern __pdata accel_t ao_sample_accel; /* most recent accel sensor reading */
-extern __pdata accel_t ao_ground_accel; /* startup acceleration */
-extern __pdata accel_t ao_accel_2g; /* factory accel calibration */
-extern __pdata int32_t ao_accel_scale; /* sensor to m/s² conversion */
-#endif
-#if HAS_GYRO
-extern __pdata accel_t ao_ground_accel_along;
-extern __pdata accel_t ao_ground_accel_across;
-extern __pdata accel_t ao_ground_accel_through;
-extern __pdata int32_t ao_ground_pitch; /* * 512 */
-extern __pdata int32_t ao_ground_yaw; /* * 512 */
-extern __pdata int32_t ao_ground_roll; /* * 512 */
-extern __pdata accel_t ao_sample_accel_along;
-extern __pdata accel_t ao_sample_accel_across;
-extern __pdata accel_t ao_sample_accel_through;
-extern __pdata gyro_t ao_sample_roll;
-extern __pdata gyro_t ao_sample_pitch;
-extern __pdata gyro_t ao_sample_yaw;
-extern __pdata angle_t ao_sample_orient;
-#endif
-
-void ao_sample_init(void);
-
-/* returns FALSE in preflight mode, TRUE in flight mode */
-uint8_t ao_sample(void);
-
-/*
- * ao_kalman.c
- */
-
-#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
-#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
-#define from_fix(x) ((x) >> 16)
-
-extern __pdata int16_t ao_height; /* meters */
-extern __pdata int16_t ao_speed; /* m/s * 16 */
-extern __pdata int16_t ao_accel; /* m/s² * 16 */
-extern __xdata int16_t ao_max_height; /* max of ao_height */
-extern __xdata int16_t ao_avg_height; /* running average of height */
-
-extern __pdata int16_t ao_error_h;
-extern __pdata int16_t ao_error_h_sq_avg;
-
-#if HAS_ACCEL
-extern __pdata int16_t ao_error_a;
-#endif
-
-void ao_kalman(void);
-
-#endif /* _AO_SAMPLE_H_ */
projects / fw / altos / blobdiff