+++ /dev/null
-/*
- * Copyright © 2009 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"
-#endif
-
-#ifndef HAS_ACCEL
-#error Please define HAS_ACCEL
-#endif
-
-#ifndef HAS_GPS
-#error Please define HAS_GPS
-#endif
-
-#ifndef HAS_USB
-#error Please define HAS_USB
-#endif
-
-/* Main flight thread. */
-
-__pdata enum ao_flight_state ao_flight_state; /* current flight state */
-__pdata uint16_t ao_boost_tick; /* time of launch detect */
-
-/*
- * track min/max data over a long interval to detect
- * resting
- */
-static __data uint16_t ao_interval_end;
-static __data int16_t ao_interval_min_height;
-static __data int16_t ao_interval_max_height;
-static __data int16_t ao_coast_avg_accel;
-
-__pdata uint8_t ao_flight_force_idle;
-
-/* We also have a clock, which can be used to sanity check things in
- * case of other failures
- */
-
-#define BOOST_TICKS_MAX AO_SEC_TO_TICKS(15)
-
-/* 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(10)
-
-#define abs(a) ((a) < 0 ? -(a) : (a))
-
-void
-ao_flight(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:
-
- /* Check to see what mode we should go to.
- * - Invalid mode if accel cal appears to be out
- * - pad mode if we're upright,
- * - idle mode otherwise
- */
-#if HAS_ACCEL
- if (ao_config.accel_plus_g == 0 ||
- ao_config.accel_minus_g == 0 ||
- ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
- ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP)
- {
- /* Detected an accel value outside -1.5g to 1.5g
- * (or uncalibrated values), so we go into invalid mode
- */
- ao_flight_state = ao_flight_invalid;
-
- /* Turn on packet system in invalid mode on TeleMetrum */
- ao_packet_slave_start();
- } else
-#endif
- if (!ao_flight_force_idle
-#if HAS_ACCEL
- && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
-#endif
- )
- {
- /* Set pad mode - we can fly! */
- ao_flight_state = ao_flight_pad;
-#if HAS_USB
- /* Disable the USB controller in flight mode
- * to save power
- */
- ao_usb_disable();
-#endif
-
-#if !HAS_ACCEL
- /* Disable packet mode in pad state on TeleMini */
- ao_packet_slave_stop();
-#endif
-
- /* 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);
- } else {
- /* Set idle mode */
- ao_flight_state = ao_flight_idle;
-
-#if HAS_ACCEL
- /* Turn on packet system in idle mode on TeleMetrum */
- ao_packet_slave_start();
-#endif
-
- /* 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:
-
- /* pad to boost:
- *
- * barometer: > 20m vertical motion
- * OR
- * accelerometer: > 2g AND velocity > 5m/s
- *
- * The accelerometer should always detect motion before
- * the barometer, but we use both to make sure this
- * transition is detected. If the device
- * doesn't have an accelerometer, then ignore the
- * speed and acceleration as they are quite noisy
- * on the pad.
- */
- if (ao_height > AO_M_TO_HEIGHT(20)
-#if HAS_ACCEL
- || (ao_accel > AO_MSS_TO_ACCEL(20) &&
- ao_speed > AO_MS_TO_SPEED(5))
-#endif
- )
- {
- ao_flight_state = ao_flight_boost;
- ao_boost_tick = ao_sample_tick;
-
- /* start logging data */
- ao_log_start();
-
- /* Increase telemetry rate */
- ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
-
- /* disable RDF beacon */
- ao_rdf_set(0);
-
-#if HAS_GPS
- /* Record current GPS position by waking up GPS log tasks */
- ao_wakeup(&ao_gps_data);
- ao_wakeup(&ao_gps_tracking_data);
-#endif
-
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
- }
- break;
- case ao_flight_boost:
-
- /* boost to fast:
- *
- * accelerometer: start to fall at > 1/4 G
- * OR
- * time: boost for more than 15 seconds
- *
- * Detects motor burn out by the switch from acceleration to
- * deceleration, or by waiting until the maximum burn duration
- * (15 seconds) has past.
- */
- if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) ||
- (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
- {
-#if HAS_ACCEL
- ao_flight_state = ao_flight_fast;
- ao_coast_avg_accel = ao_accel;
-#else
- ao_flight_state = ao_flight_coast;
-#endif
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
- }
- break;
-#if HAS_ACCEL
- case ao_flight_fast:
- /*
- * This is essentially the same as coast,
- * but the barometer is being ignored as
- * it may be unreliable.
- */
- if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED))
- {
- ao_flight_state = ao_flight_coast;
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
- } else
- goto check_re_boost;
- break;
-#endif
- case ao_flight_coast:
-
- /*
- * By customer request - allow the user
- * to lock out apogee detection for a specified
- * number of seconds.
- */
- if (ao_config.apogee_lockout) {
- if ((ao_sample_tick - ao_boost_tick) <
- AO_SEC_TO_TICKS(ao_config.apogee_lockout))
- break;
- }
-
- /* apogee detect: coast to drogue deploy:
- *
- * speed: < 0
- *
- * Also make sure the model altitude is tracking
- * the measured altitude reasonably closely; otherwise
- * we're probably transsonic.
- */
- if (ao_speed < 0
-#if !HAS_ACCEL
- && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100)
-#endif
- )
- {
- /* ignite the drogue charge */
- ao_ignite(ao_igniter_drogue);
-
- /* slow down the telemetry system */
- ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
-
- /* Turn the RDF beacon back on */
- ao_rdf_set(1);
-
- /* and enter drogue state */
- ao_flight_state = ao_flight_drogue;
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
- }
-#if HAS_ACCEL
- else {
- check_re_boost:
- ao_coast_avg_accel = ao_coast_avg_accel - (ao_coast_avg_accel >> 6) + (ao_accel >> 6);
- if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
- ao_boost_tick = ao_sample_tick;
- ao_flight_state = ao_flight_boost;
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
- }
- }
-#endif
-
- break;
- case ao_flight_drogue:
-
- /* drogue to main deploy:
- *
- * barometer: reach main deploy altitude
- *
- * Would like to use the accelerometer for this test, but
- * the orientation of the flight computer is unknown after
- * drogue deploy, so we ignore it. Could also detect
- * high descent rate using the pressure sensor to
- * recognize drogue deploy failure and eject the main
- * at that point. Perhaps also use the drogue sense lines
- * to notice continutity?
- */
- if (ao_height <= ao_config.main_deploy)
- {
- ao_ignite(ao_igniter_main);
-
- /*
- * Start recording min/max height
- * to figure out when the rocket has landed
- */
-
- /* initialize interval values */
- ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
-
- ao_interval_min_height = ao_interval_max_height = ao_avg_height;
-
- ao_flight_state = ao_flight_main;
- ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
- }
- break;
-
- /* fall through... */
- case ao_flight_main:
-
- /* main to land:
- *
- * barometer: altitude stable
- */
-
- if (ao_avg_height < ao_interval_min_height)
- ao_interval_min_height = ao_avg_height;
- if (ao_avg_height > ao_interval_max_height)
- ao_interval_max_height = ao_avg_height;
-
- if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
- if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
- {
- 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_avg_height;
- ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
- }
- break;
- case ao_flight_landed:
- break;
- }
- }
-}
-
-static __xdata struct ao_task flight_task;
-
-void
-ao_flight_init(void)
-{
- ao_flight_state = ao_flight_startup;
- ao_add_task(&flight_task, ao_flight, "flight");
-}
+++ /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"
-#endif
-
-/*
- * Current sensor values
- */
-
-__pdata uint16_t ao_sample_tick; /* time of last data */
-__pdata int16_t ao_sample_pres;
-__pdata int16_t ao_sample_alt;
-__pdata int16_t ao_sample_height;
-#if HAS_ACCEL
-__pdata int16_t ao_sample_accel;
-#endif
-
-__data uint8_t ao_sample_adc;
-
-/*
- * Sensor calibration values
- */
-
-__pdata int16_t ao_ground_pres; /* startup pressure */
-__pdata int16_t ao_ground_height; /* MSL of ao_ground_pres */
-
-#if HAS_ACCEL
-__pdata int16_t ao_ground_accel; /* startup acceleration */
-__pdata int16_t ao_accel_2g; /* factory accel calibration */
-__pdata int32_t ao_accel_scale; /* sensor to m/s² conversion */
-#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
-
-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) {
-#if HAS_ACCEL
- ao_sample_accel_sum += ao_sample_accel;
-#endif
- ao_sample_pres_sum += ao_sample_pres;
- ++nsamples;
- } else {
- ao_config_get();
-#if HAS_ACCEL
- ao_ground_accel = ao_sample_accel_sum >> 9;
- 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_ground_pres = ao_sample_pres_sum >> 9;
- ao_ground_height = ao_pres_to_altitude(ao_ground_pres);
- ao_preflight = FALSE;
- }
-}
-
-uint8_t
-ao_sample(void)
-{
- ao_wakeup(DATA_TO_XDATA(&ao_sample_adc));
- ao_sleep(DATA_TO_XDATA(&ao_adc_head));
- while (ao_sample_adc != ao_adc_head) {
- __xdata struct ao_adc *ao_adc;
-
- /* Capture a sample */
- ao_adc = &ao_adc_ring[ao_sample_adc];
- ao_sample_tick = ao_adc->tick;
- ao_sample_pres = ao_adc->pres;
- ao_sample_alt = ao_pres_to_altitude(ao_sample_pres);
- ao_sample_height = ao_sample_alt - ao_ground_height;
-#if HAS_ACCEL
- ao_sample_accel = ao_adc->accel;
-#if HAS_ACCEL_REF
- /*
- * Ok, the math here is a bit tricky.
- *
- * ao_sample_accel: ADC output for acceleration
- * ao_accel_ref: ADC output for the 5V reference.
- * ao_cook_accel: Corrected acceleration value
- * Vcc: 3.3V supply to the CC1111
- * Vac: 5V supply to the accelerometer
- * accel: input voltage to accelerometer ADC pin
- * ref: input voltage to 5V reference ADC pin
- *
- *
- * Measured acceleration is ratiometric to Vcc:
- *
- * ao_sample_accel accel
- * ------------ = -----
- * 32767 Vcc
- *
- * Measured 5v reference is also ratiometric to Vcc:
- *
- * ao_accel_ref ref
- * ------------ = -----
- * 32767 Vcc
- *
- *
- * ao_accel_ref = 32767 * (ref / Vcc)
- *
- * Acceleration is measured ratiometric to the 5V supply,
- * so what we want is:
- *
- * ao_cook_accel accel
- * ------------- = -----
- * 32767 ref
- *
- *
- * accel Vcc
- * = ----- * ---
- * Vcc ref
- *
- * ao_sample_accel 32767
- * = ------------ * ------------
- * 32767 ao_accel_ref
- *
- * Multiply through by 32767:
- *
- * ao_sample_accel * 32767
- * ao_cook_accel = --------------------
- * ao_accel_ref
- *
- * Now, the tricky part. Getting this to compile efficiently
- * and keeping all of the values in-range.
- *
- * First off, we need to use a shift of 16 instead of * 32767 as SDCC
- * does the obvious optimizations for byte-granularity shifts:
- *
- * ao_cook_accel = (ao_sample_accel << 16) / ao_accel_ref
- *
- * Next, lets check our input ranges:
- *
- * 0 <= ao_sample_accel <= 0x7fff (singled ended ADC conversion)
- * 0x7000 <= ao_accel_ref <= 0x7fff (the 5V ref value is close to 0x7fff)
- *
- * Plugging in our input ranges, we get an output range of 0 - 0x12490,
- * which is 17 bits. That won't work. If we take the accel ref and shift
- * by a bit, we'll change its range:
- *
- * 0xe000 <= ao_accel_ref<<1 <= 0xfffe
- *
- * ao_cook_accel = (ao_sample_accel << 16) / (ao_accel_ref << 1)
- *
- * Now the output range is 0 - 0x9248, which nicely fits in 16 bits. It
- * is, however, one bit too large for our signed computations. So, we
- * take the result and shift that by a bit:
- *
- * ao_cook_accel = ((ao_sample_accel << 16) / (ao_accel_ref << 1)) >> 1
- *
- * This finally creates an output range of 0 - 0x4924. As the ADC only
- * provides 11 bits of data, we haven't actually lost any precision,
- * just dropped a bit of noise off the low end.
- */
- ao_sample_accel = (uint16_t) ((((uint32_t) ao_sample_accel << 16) / (ao_accel_ref[ao_sample_adc] << 1))) >> 1;
- if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
- ao_sample_accel = 0x7fff - ao_sample_accel;
- ao_adc->accel = ao_sample_accel;
-#else
- if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP) {
- ao_sample_accel = 0x7fff - ao_sample_accel;
- ao_adc->accel = ao_sample_accel;
- }
-#endif
-#endif
-
- if (ao_preflight)
- ao_sample_preflight();
- else
- ao_kalman();
- ao_sample_adc = ao_adc_ring_next(ao_sample_adc);
- }
- return !ao_preflight;
-}
-
-void
-ao_sample_init(void)
-{
- nsamples = 0;
- ao_sample_pres_sum = 0;
- ao_sample_pres = 0;
-#if HAS_ACCEL
- ao_sample_accel_sum = 0;
- ao_sample_accel = 0;
-#endif
- ao_sample_adc = ao_adc_head;
- ao_preflight = TRUE;
-}
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