X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fcore%2Fao_sample.c;fp=src%2Fcore%2Fao_sample.c;h=0000000000000000000000000000000000000000;hp=34658951724e7166dbc3008a9079a2f7a1df8e59;hb=24167015705ae831692b95735968b04a876f935e;hpb=bb9fdef607728cc326a82aa632e59724f272e53b diff --git a/src/core/ao_sample.c b/src/core/ao_sample.c deleted file mode 100644 index 34658951..00000000 --- a/src/core/ao_sample.c +++ /dev/null @@ -1,372 +0,0 @@ -/* - * Copyright © 2011 Keith Packard - * - * 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 -#endif - -#if HAS_GYRO -#include -#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; -}