git.gag.com Git - fw/altos/blob - src/ao_flight_nano.c

   1 /*
   2  * Copyright © 2011 Keith Packard <keithp@keithp.com>
   3  *
   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.
   7  *
   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.
  12  *
  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.
  16  */
  17
  18 #include "ao.h"
  19
  20 /* Main flight thread. */
  21
  22 __pdata enum ao_flight_state    ao_flight_state;        /* current flight state */
  23 __pdata uint16_t                ao_launch_tick;         /* time of launch detect */
  24
  25 /*
  26  * track min/max data over a long interval to detect
  27  * resting
  28  */
  29 __pdata uint16_t                ao_interval_end;
  30 __pdata int16_t                 ao_interval_min_height;
  31 __pdata int16_t                 ao_interval_max_height;
  32
  33 __pdata uint8_t                 ao_flight_force_idle;
  34
  35 /* Landing is detected by getting constant readings from both pressure and accelerometer
  36  * for a fairly long time (AO_INTERVAL_TICKS)
  37  */
  38 #define AO_INTERVAL_TICKS       AO_SEC_TO_TICKS(5)
  39
  40 static void
  41 ao_flight_nano(void)
  42 {
  43         ao_sample_init();
  44         ao_flight_state = ao_flight_startup;
  45
  46         for (;;) {
  47                 /*
  48                  * Process ADC samples, just looping
  49                  * until the sensors are calibrated.
  50                  */
  51                 if (!ao_sample())
  52                         continue;
  53
  54                 switch (ao_flight_state) {
  55                 case ao_flight_startup:
  56                         if (ao_flight_force_idle) {
  57                                 /* Set idle mode */
  58                                 ao_flight_state = ao_flight_idle;
  59                         } else {
  60                                 ao_flight_state = ao_flight_pad;
  61                                 /* Disable packet mode in pad state */
  62                                 ao_packet_slave_stop();
  63
  64                                 /* Turn on telemetry system */
  65                                 ao_rdf_set(1);
  66                                 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
  67                         }
  68                         /* signal successful initialization by turning off the LED */
  69                         ao_led_off(AO_LED_RED);
  70
  71                         /* wakeup threads due to state change */
  72                         ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
  73                         break;
  74                 case ao_flight_pad:
  75                         if (ao_height> AO_M_TO_HEIGHT(20)) {
  76                                 ao_flight_state = ao_flight_drogue;
  77                                 ao_launch_tick = ao_sample_tick;
  78
  79                                 /* start logging data */
  80                                 ao_log_start();
  81
  82                                 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
  83                         }
  84                         break;
  85                 case ao_flight_drogue:
  86                         /* drogue/main to land:
  87                          *
  88                          * barometer: altitude stable
  89                          */
  90
  91                         if (ao_height < ao_interval_min_height)
  92                                 ao_interval_min_height = ao_height;
  93                         if (ao_height > ao_interval_max_height)
  94                                 ao_interval_max_height = ao_height;
  95
  96                         if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
  97                                 if (ao_interval_max_height - ao_interval_min_height < AO_M_TO_HEIGHT(5))
  98                                 {
  99                                         ao_flight_state = ao_flight_landed;
 100
 101                                         /* turn off the ADC capture */
 102                                         ao_timer_set_adc_interval(0);
 103                                         ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 104                                 }
 105                                 ao_interval_min_height = ao_interval_max_height = ao_height;
 106                                 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 107                         }
 108                         break;
 109                 }
 110         }
 111 }
 112
 113 static __xdata struct ao_task   flight_task;
 114
 115 void
 116 ao_flight_nano_init(void)
 117 {
 118         ao_flight_state = ao_flight_startup;
 119         ao_add_task(&flight_task, ao_flight_nano, "flight");
 120 }