From: Keith Packard Date: Tue, 18 Feb 2014 17:43:43 +0000 (-0800) Subject: altos: Move balloon flight code to core X-Git-Tag: 1.3.2.2~175^2~4 X-Git-Url: https://git.gag.com/?a=commitdiff_plain;h=9b9d5b273a410e315739c5c6eaa4105523056b9a;p=fw%2Faltos altos: Move balloon flight code to core This lets us create more than one balloon product Signed-off-by: Keith Packard --- diff --git a/src/core/ao_balloon.c b/src/core/ao_balloon.c new file mode 100644 index 00000000..12752d1f --- /dev/null +++ b/src/core/ao_balloon.c @@ -0,0 +1,129 @@ +/* + * Copyright © 2009 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" +#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 uint8_t ao_flight_force_idle; + +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 (!ao_flight_force_idle) + { + /* 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 + + /* 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_BALLOON); + + /* signal successful initialization by turning off the LED */ + ao_led_off(AO_LED_RED); + } else { + /* Set idle mode */ + ao_flight_state = ao_flight_idle; + + /* 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 coast: + * + * barometer: > 20m vertical motion + */ + if (ao_height > AO_M_TO_HEIGHT(20)) + { + ao_flight_state = ao_flight_drogue; + + /* start logging data */ + ao_log_start(); + +#if HAS_GPS + /* Record current GPS position by waking up GPS log tasks */ + ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING; + ao_wakeup(&ao_gps_new); +#endif + + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } + break; + case ao_flight_drogue: + 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"); +} diff --git a/src/teleballoon-v1.1/ao_balloon.c b/src/teleballoon-v1.1/ao_balloon.c deleted file mode 100644 index 12752d1f..00000000 --- a/src/teleballoon-v1.1/ao_balloon.c +++ /dev/null @@ -1,129 +0,0 @@ -/* - * Copyright © 2009 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" -#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 uint8_t ao_flight_force_idle; - -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 (!ao_flight_force_idle) - { - /* 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 - - /* 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_BALLOON); - - /* signal successful initialization by turning off the LED */ - ao_led_off(AO_LED_RED); - } else { - /* Set idle mode */ - ao_flight_state = ao_flight_idle; - - /* 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 coast: - * - * barometer: > 20m vertical motion - */ - if (ao_height > AO_M_TO_HEIGHT(20)) - { - ao_flight_state = ao_flight_drogue; - - /* start logging data */ - ao_log_start(); - -#if HAS_GPS - /* Record current GPS position by waking up GPS log tasks */ - ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING; - ao_wakeup(&ao_gps_new); -#endif - - ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); - } - break; - case ao_flight_drogue: - 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"); -}