2 * Copyright © 2011 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; version 2 of the License.
8 * This program is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * General Public License for more details.
13 * You should have received a copy of the GNU General Public License along
14 * with this program; if not, write to the Free Software Foundation, Inc.,
15 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
18 #ifndef AO_FLIGHT_TEST
24 * Current sensor values
28 #define PRES_TYPE int32_t
29 #define ALT_TYPE int32_t
30 #define ACCEL_TYPE int16_t
33 __pdata uint16_t ao_sample_tick; /* time of last data */
34 __pdata pres_t ao_sample_pres;
35 __pdata alt_t ao_sample_alt;
36 __pdata alt_t ao_sample_height;
38 __pdata accel_t ao_sample_accel;
41 __data uint8_t ao_sample_data;
44 * Sensor calibration values
47 __pdata pres_t ao_ground_pres; /* startup pressure */
48 __pdata alt_t ao_ground_height; /* MSL of ao_ground_pres */
51 __pdata accel_t ao_ground_accel; /* startup acceleration */
52 __pdata accel_t ao_accel_2g; /* factory accel calibration */
53 __pdata int32_t ao_accel_scale; /* sensor to m/s² conversion */
56 static __pdata uint8_t ao_preflight; /* in preflight mode */
58 static __pdata uint16_t nsamples;
59 __pdata int32_t ao_sample_pres_sum;
61 __pdata int32_t ao_sample_accel_sum;
65 ao_sample_preflight_add(void)
68 ao_sample_accel_sum += ao_sample_accel;
70 ao_sample_pres_sum += ao_sample_pres;
75 ao_sample_preflight_set(void)
78 ao_ground_accel = ao_sample_accel_sum >> 9;
79 ao_sample_accel_sum = 0;
81 ao_ground_pres = ao_sample_pres_sum >> 9;
82 ao_ground_height = pres_to_altitude(ao_ground_pres);
84 ao_sample_pres_sum = 0;
88 ao_sample_preflight(void)
92 * Collect 512 samples of acceleration and pressure
93 * data and average them to find the resting values
96 ao_sample_preflight_add();
99 ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g;
100 ao_accel_scale = to_fix32(GRAVITY * 2 * 16) / ao_accel_2g;
102 ao_sample_preflight_set();
103 ao_preflight = FALSE;
108 * While in pad mode, constantly update the ground state by
109 * re-averaging the data. This tracks changes in orientation, which
110 * might be caused by adjustments to the rocket on the pad and
111 * pressure, which might be caused by changes in the weather.
115 ao_sample_preflight_update(void)
118 ao_sample_preflight_add();
119 else if (nsamples < 1024)
122 ao_sample_preflight_set();
128 ao_wakeup(DATA_TO_XDATA(&ao_sample_data));
129 ao_sleep((void *) DATA_TO_XDATA(&ao_data_head));
130 while (ao_sample_data != ao_data_head) {
131 __xdata struct ao_data *ao_data;
133 /* Capture a sample */
134 ao_data = (struct ao_data *) &ao_data_ring[ao_sample_data];
135 ao_sample_tick = ao_data->tick;
137 ao_data_pres_cook(ao_data);
138 ao_sample_pres = ao_data_pres(ao_data);
139 ao_sample_alt = pres_to_altitude(ao_sample_pres);
140 ao_sample_height = ao_sample_alt - ao_ground_height;
143 ao_sample_accel = ao_data_accel_cook(ao_data);
144 if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
145 ao_sample_accel = ao_data_accel_invert(ao_sample_accel);
146 ao_data_set_accel(ao_data, ao_sample_accel);
150 ao_sample_preflight();
152 if (ao_flight_state < ao_flight_boost)
153 ao_sample_preflight_update();
156 ao_sample_data = ao_data_ring_next(ao_sample_data);
158 return !ao_preflight;
166 ao_sample_pres_sum = 0;
169 ao_sample_accel_sum = 0;
172 ao_sample_data = ao_data_head;