altos: Rename 'core' to 'kernel'

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

diff --git a/src/kernel/ao_flight_nano.c b/src/kernel/ao_flight_nano.c
new file mode 100644 (file)
index 0000000..406d81a
--- /dev/null
+++ b/src/kernel/ao_flight_nano.c
@@ -0,0 +1,120 @@
+/*
+ * 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");
+}