--- /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.
+ */
+
+#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 int16_t ao_interval_min_height;
+__pdata int16_t ao_interval_max_height;
+
+__xdata 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;
+ 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");
+}
#define HAS_EXTERNAL_TEMP 0
#define HAS_ACCEL_REF 0
#define HAS_ACCEL 1
+ #define HAS_IGNITE 1
#endif
#if defined(TELEMETRUM_V_1_1)
#define M25_CS_MASK 0x02 /* CS0 is P1_1 */
#define M25_MAX_CHIPS 1
#define HAS_ACCEL 1
+ #define HAS_IGNITE 1
#endif
#if defined(TELEDONGLE_V_0_2)
#define LEDS_AVAILABLE (AO_LED_RED|AO_LED_GREEN)
#define SPI_CS_ON_P1 1
#define SPI_CS_ON_P0 0
+ #define HAS_IGNITE 0
#endif
#if defined(TELEMINI_V_0_1)
#define LEDS_AVAILABLE (AO_LED_RED|AO_LED_GREEN)
#define HAS_EXTERNAL_TEMP 0
#define HAS_ACCEL 0
+ #define HAS_IGNITE 1
#endif
#if defined(TELENANO_V_0_1)
#define LEDS_AVAILABLE (AO_LED_RED|AO_LED_GREEN)
#define HAS_EXTERNAL_TEMP 0
#define HAS_ACCEL 0
+ #define HAS_IGNITE 0
#endif
#if defined(TELEMETRUM_V_0_1)
#define SPI_CS_ON_P1 1
#define SPI_CS_ON_P0 0
#define HAS_ACCEL 1
+ #define HAS_IGNITE 1
#endif
#if defined(TELEDONGLE_V_0_1)
#define LEDS_AVAILABLE (AO_LED_RED|AO_LED_GREEN)
#define SPI_CS_ON_P1 0
#define SPI_CS_ON_P0 1
+ #define HAS_IGNITE 0
#endif
#if defined(TIDONGLE)
#define LEDS_AVAILABLE (AO_LED_RED)
#define SPI_CS_ON_P1 0
#define SPI_CS_ON_P0 1
+ #define HAS_IGNITE 0
#endif
#if DBG_ON_P1
#error Please define HAS_DBG
#endif
+#ifndef HAS_IGNITE
+#error Please define HAS_IGNITE
+#endif
+
#ifndef PACKET_HAS_MASTER
#error Please define PACKET_HAS_MASTER
#endif