/* Main flight thread. */
__xdata struct ao_adc ao_flight_data; /* last acquired data */
-__data enum flight_state ao_flight_state; /* current flight state */
-__data uint16_t ao_flight_tick; /* time of last data */
-__data int16_t ao_flight_accel; /* filtered acceleration */
-__data int16_t ao_flight_pres; /* filtered pressure */
-__data int16_t ao_ground_pres; /* startup pressure */
-__data int16_t ao_ground_accel; /* startup acceleration */
-__data int16_t ao_min_pres; /* minimum recorded pressure */
-__data uint16_t ao_launch_time; /* time of launch detect */
-__data int16_t ao_main_pres; /* pressure to eject main */
+__pdata enum flight_state ao_flight_state; /* current flight state */
+__pdata uint16_t ao_flight_tick; /* time of last data */
+__pdata int16_t ao_flight_accel; /* filtered acceleration */
+__pdata int16_t ao_flight_pres; /* filtered pressure */
+__pdata int16_t ao_ground_pres; /* startup pressure */
+__pdata int16_t ao_ground_accel; /* startup acceleration */
+__pdata int16_t ao_min_pres; /* minimum recorded pressure */
+__pdata uint16_t ao_launch_time; /* time of launch detect */
+__pdata int16_t ao_main_pres; /* pressure to eject main */
/*
* track min/max data over a long interval to detect
* resting
*/
-__data uint16_t ao_interval_end;
-__data int16_t ao_interval_cur_min_accel;
-__data int16_t ao_interval_cur_max_accel;
-__data int16_t ao_interval_cur_min_pres;
-__data int16_t ao_interval_cur_max_pres;
-__data int16_t ao_interval_min_accel;
-__data int16_t ao_interval_max_accel;
-__data int16_t ao_interval_min_pres;
-__data int16_t ao_interval_max_pres;
+__pdata uint16_t ao_interval_end;
+__pdata int16_t ao_interval_cur_min_accel;
+__pdata int16_t ao_interval_cur_max_accel;
+__pdata int16_t ao_interval_cur_min_pres;
+__pdata int16_t ao_interval_cur_max_pres;
+__pdata int16_t ao_interval_min_accel;
+__pdata int16_t ao_interval_max_accel;
+__pdata int16_t ao_interval_min_pres;
+__pdata int16_t ao_interval_max_pres;
#define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
void
ao_flight(void)
{
- __data static uint8_t nsamples = 0;
+ __pdata static uint8_t nsamples = 0;
for (;;) {
ao_sleep(&ao_adc_ring);
ao_interval_end = ao_flight_tick;
- if (ao_flight_accel < ACCEL_NOSE_UP) {
+ /* Go to launchpad state if the nose is pointing up and the battery is charged */
+ if (ao_flight_accel < ACCEL_NOSE_UP && ao_flight_data.v_batt > 23000) {
ao_flight_state = ao_flight_launchpad;
- ao_report_notify();
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
} else {
ao_flight_state = ao_flight_idle;
- ao_report_notify();
+
+ /* Turn on the Green LED in idle mode
+ * This also happens to bring the USB up for the TI board
+ */
+ ao_led_on(AO_LED_GREEN);
+ ao_timer_set_adc_interval(100);
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
/* signal successful initialization by turning off the LED */
ao_led_off(AO_LED_RED);
{
ao_flight_state = ao_flight_boost;
ao_log_start();
- ao_report_notify();
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
break;
}
break;
(int16_t) (ao_flight_data.tick - ao_launch_time) > BOOST_TICKS_MAX)
{
ao_flight_state = ao_flight_coast;
- ao_report_notify();
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
break;
}
break;
ao_min_pres = ao_flight_pres;
if (ao_flight_pres - BARO_APOGEE > ao_min_pres) {
ao_flight_state = ao_flight_apogee;
- ao_report_notify();
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
break;
case ao_flight_apogee:
// ao_ignite(AO_IGNITE_DROGUE);
ao_flight_state = ao_flight_drogue;
- ao_report_notify();
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
break;
case ao_flight_drogue:
if (ao_flight_pres >= ao_main_pres) {
// ao_ignite(AO_IGNITE_MAIN);
ao_flight_state = ao_flight_main;
- ao_report_notify();
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
if ((ao_interval_max_pres - ao_interval_min_pres) < BARO_LAND) {
ao_flight_state = ao_flight_landed;
- ao_report_notify();
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
break;
case ao_flight_main:
if ((ao_interval_max_pres - ao_interval_min_pres) < BARO_LAND) {
ao_flight_state = ao_flight_landed;
- ao_report_notify();
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
break;
case ao_flight_landed:
ao_interval_max_pres = 0x7fff;
ao_interval_end = AO_INTERVAL_TICKS;
- ao_add_task(&flight_task, ao_flight);
+ ao_add_task(&flight_task, ao_flight, "flight");
}