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   1 /*
   2  * Copyright © 2009 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 #ifndef AO_FLIGHT_TEST
  19 #include "ao.h"
  20 #include <ao_log.h>
  21 #endif
  22
  23 #ifndef HAS_ACCEL
  24 #error Please define HAS_ACCEL
  25 #endif
  26
  27 #ifndef HAS_GPS
  28 #error Please define HAS_GPS
  29 #endif
  30
  31 #ifndef HAS_USB
  32 #error Please define HAS_USB
  33 #endif
  34
  35 #ifndef HAS_TELEMETRY
  36 #define HAS_TELEMETRY   HAS_RADIO
  37 #endif
  38
  39 /* Main flight thread. */
  40
  41 __pdata enum ao_flight_state    ao_flight_state;        /* current flight state */
  42 __pdata uint16_t                ao_boost_tick;          /* time of launch detect */
  43 __pdata uint16_t                ao_motor_number;        /* number of motors burned so far */
  44
  45 /*
  46  * track min/max data over a long interval to detect
  47  * resting
  48  */
  49 static __data uint16_t          ao_interval_end;
  50 static __data int16_t           ao_interval_min_height;
  51 static __data int16_t           ao_interval_max_height;
  52 #if HAS_ACCEL
  53 static __data int16_t           ao_coast_avg_accel;
  54 #endif
  55
  56 __pdata uint8_t                 ao_flight_force_idle;
  57
  58 /* We also have a clock, which can be used to sanity check things in
  59  * case of other failures
  60  */
  61
  62 #define BOOST_TICKS_MAX AO_SEC_TO_TICKS(15)
  63
  64 /* Landing is detected by getting constant readings from both pressure and accelerometer
  65  * for a fairly long time (AO_INTERVAL_TICKS)
  66  */
  67 #define AO_INTERVAL_TICKS       AO_SEC_TO_TICKS(10)
  68
  69 #define abs(a)  ((a) < 0 ? -(a) : (a))
  70
  71 void
  72 ao_flight(void)
  73 {
  74         ao_sample_init();
  75         ao_flight_state = ao_flight_startup;
  76         for (;;) {
  77
  78                 /*
  79                  * Process ADC samples, just looping
  80                  * until the sensors are calibrated.
  81                  */
  82                 if (!ao_sample())
  83                         continue;
  84
  85                 switch (ao_flight_state) {
  86                 case ao_flight_startup:
  87
  88                         /* Check to see what mode we should go to.
  89                          *  - Invalid mode if accel cal appears to be out
  90                          *  - pad mode if we're upright,
  91                          *  - idle mode otherwise
  92                          */
  93 #if HAS_ACCEL
  94                         if (ao_config.accel_plus_g == 0 ||
  95                             ao_config.accel_minus_g == 0 ||
  96                             ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
  97                             ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP ||
  98                             ao_ground_height < -1000 ||
  99                             ao_ground_height > 7000)
 100                         {
 101                                 /* Detected an accel value outside -1.5g to 1.5g
 102                                  * (or uncalibrated values), so we go into invalid mode
 103                                  */
 104                                 ao_flight_state = ao_flight_invalid;
 105
 106 #if HAS_RADIO && PACKET_HAS_SLAVE
 107                                 /* Turn on packet system in invalid mode on TeleMetrum */
 108                                 ao_packet_slave_start();
 109 #endif
 110                         } else
 111 #endif
 112                                 if (!ao_flight_force_idle
 113 #if HAS_ACCEL
 114                                     && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
 115 #endif
 116                                         )
 117                         {
 118                                 /* Set pad mode - we can fly! */
 119                                 ao_flight_state = ao_flight_pad;
 120 #if HAS_USB && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE
 121                                 /* Disable the USB controller in flight mode
 122                                  * to save power
 123                                  */
 124                                 ao_usb_disable();
 125 #endif
 126
 127 #if !HAS_ACCEL && PACKET_HAS_SLAVE
 128                                 /* Disable packet mode in pad state on TeleMini */
 129                                 ao_packet_slave_stop();
 130 #endif
 131
 132 #if HAS_TELEMETRY
 133                                 /* Turn on telemetry system */
 134                                 ao_rdf_set(1);
 135                                 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
 136 #endif
 137 #if HAS_LED
 138                                 /* signal successful initialization by turning off the LED */
 139                                 ao_led_off(AO_LED_RED);
 140 #endif
 141                         } else {
 142                                 /* Set idle mode */
 143                                 ao_flight_state = ao_flight_idle;
 144
 145 #if HAS_ACCEL && HAS_RADIO && PACKET_HAS_SLAVE
 146                                 /* Turn on packet system in idle mode on TeleMetrum */
 147                                 ao_packet_slave_start();
 148 #endif
 149
 150 #if HAS_LED
 151                                 /* signal successful initialization by turning off the LED */
 152                                 ao_led_off(AO_LED_RED);
 153 #endif
 154                         }
 155                         /* wakeup threads due to state change */
 156                         ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 157
 158                         break;
 159                 case ao_flight_pad:
 160
 161                         /* pad to boost:
 162                          *
 163                          * barometer: > 20m vertical motion
 164                          *             OR
 165                          * accelerometer: > 2g AND velocity > 5m/s
 166                          *
 167                          * The accelerometer should always detect motion before
 168                          * the barometer, but we use both to make sure this
 169                          * transition is detected. If the device
 170                          * doesn't have an accelerometer, then ignore the
 171                          * speed and acceleration as they are quite noisy
 172                          * on the pad.
 173                          */
 174                         if (ao_height > AO_M_TO_HEIGHT(20)
 175 #if HAS_ACCEL
 176                             || (ao_accel > AO_MSS_TO_ACCEL(20) &&
 177                                 ao_speed > AO_MS_TO_SPEED(5))
 178 #endif
 179                                 )
 180                         {
 181                                 ao_flight_state = ao_flight_boost;
 182                                 ao_boost_tick = ao_sample_tick;
 183
 184                                 /* start logging data */
 185                                 ao_log_start();
 186
 187 #if HAS_TELEMETRY
 188                                 /* Increase telemetry rate */
 189                                 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
 190
 191                                 /* disable RDF beacon */
 192                                 ao_rdf_set(0);
 193 #endif
 194
 195 #if HAS_GPS
 196                                 /* Record current GPS position by waking up GPS log tasks */
 197                                 ao_wakeup(&ao_gps_data);
 198                                 ao_wakeup(&ao_gps_tracking_data);
 199 #endif
 200
 201                                 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 202                         }
 203                         break;
 204                 case ao_flight_boost:
 205
 206                         /* boost to fast:
 207                          *
 208                          * accelerometer: start to fall at > 1/4 G
 209                          *              OR
 210                          * time: boost for more than 15 seconds
 211                          *
 212                          * Detects motor burn out by the switch from acceleration to
 213                          * deceleration, or by waiting until the maximum burn duration
 214                          * (15 seconds) has past.
 215                          */
 216                         if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) ||
 217                             (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
 218                         {
 219 #if HAS_ACCEL
 220                                 ao_flight_state = ao_flight_fast;
 221                                 ao_coast_avg_accel = ao_accel;
 222 #else
 223                                 ao_flight_state = ao_flight_coast;
 224 #endif
 225                                 ++ao_motor_number;
 226                                 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 227                         }
 228                         break;
 229 #if HAS_ACCEL
 230                 case ao_flight_fast:
 231                         /*
 232                          * This is essentially the same as coast,
 233                          * but the barometer is being ignored as
 234                          * it may be unreliable.
 235                          */
 236                         if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED))
 237                         {
 238                                 ao_flight_state = ao_flight_coast;
 239                                 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 240                         } else
 241                                 goto check_re_boost;
 242                         break;
 243 #endif
 244                 case ao_flight_coast:
 245
 246                         /*
 247                          * By customer request - allow the user
 248                          * to lock out apogee detection for a specified
 249                          * number of seconds.
 250                          */
 251                         if (ao_config.apogee_lockout) {
 252                                 if ((ao_sample_tick - ao_boost_tick) <
 253                                     AO_SEC_TO_TICKS(ao_config.apogee_lockout))
 254                                         break;
 255                         }
 256
 257                         /* apogee detect: coast to drogue deploy:
 258                          *
 259                          * speed: < 0
 260                          *
 261                          * Also make sure the model altitude is tracking
 262                          * the measured altitude reasonably closely; otherwise
 263                          * we're probably transsonic.
 264                          */
 265                         if (ao_speed < 0
 266 #if !HAS_ACCEL
 267                             && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100)
 268 #endif
 269                                 )
 270                         {
 271 #if HAS_IGNITE
 272                                 /* ignite the drogue charge */
 273                                 ao_ignite(ao_igniter_drogue);
 274 #endif
 275
 276 #if HAS_TELEMETRY
 277                                 /* slow down the telemetry system */
 278                                 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
 279
 280                                 /* Turn the RDF beacon back on */
 281                                 ao_rdf_set(1);
 282 #endif
 283
 284                                 /* and enter drogue state */
 285                                 ao_flight_state = ao_flight_drogue;
 286                                 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 287                         }
 288 #if HAS_ACCEL
 289                         else {
 290                         check_re_boost:
 291                                 ao_coast_avg_accel = ao_coast_avg_accel - (ao_coast_avg_accel >> 6) + (ao_accel >> 6);
 292                                 if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
 293                                         ao_boost_tick = ao_sample_tick;
 294                                         ao_flight_state = ao_flight_boost;
 295                                         ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 296                                 }
 297                         }
 298 #endif
 299
 300                         break;
 301                 case ao_flight_drogue:
 302
 303                         /* drogue to main deploy:
 304                          *
 305                          * barometer: reach main deploy altitude
 306                          *
 307                          * Would like to use the accelerometer for this test, but
 308                          * the orientation of the flight computer is unknown after
 309                          * drogue deploy, so we ignore it. Could also detect
 310                          * high descent rate using the pressure sensor to
 311                          * recognize drogue deploy failure and eject the main
 312                          * at that point. Perhaps also use the drogue sense lines
 313                          * to notice continutity?
 314                          */
 315                         if (ao_height <= ao_config.main_deploy)
 316                         {
 317 #if HAS_IGNITE
 318                                 ao_ignite(ao_igniter_main);
 319 #endif
 320
 321                                 /*
 322                                  * Start recording min/max height
 323                                  * to figure out when the rocket has landed
 324                                  */
 325
 326                                 /* initialize interval values */
 327                                 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 328
 329                                 ao_interval_min_height = ao_interval_max_height = ao_avg_height;
 330
 331                                 ao_flight_state = ao_flight_main;
 332                                 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 333                         }
 334                         break;
 335
 336                         /* fall through... */
 337                 case ao_flight_main:
 338
 339                         /* main to land:
 340                          *
 341                          * barometer: altitude stable
 342                          */
 343
 344                         if (ao_avg_height < ao_interval_min_height)
 345                                 ao_interval_min_height = ao_avg_height;
 346                         if (ao_avg_height > ao_interval_max_height)
 347                                 ao_interval_max_height = ao_avg_height;
 348
 349                         if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
 350                                 if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
 351                                 {
 352                                         ao_flight_state = ao_flight_landed;
 353
 354                                         /* turn off the ADC capture */
 355                                         ao_timer_set_adc_interval(0);
 356
 357                                         ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 358                                 }
 359                                 ao_interval_min_height = ao_interval_max_height = ao_avg_height;
 360                                 ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
 361                         }
 362                         break;
 363                 default:
 364                         break;
 365                 }
 366         }
 367 }
 368
 369 #if HAS_FLIGHT_DEBUG
 370 static inline int int_part(int16_t i)   { return i >> 4; }
 371 static inline int frac_part(int16_t i)  { return ((i & 0xf) * 100 + 8) / 16; }
 372
 373 static void
 374 ao_flight_dump(void)
 375 {
 376 #if HAS_ACCEL
 377         int16_t accel;
 378
 379         accel = ((ao_ground_accel - ao_sample_accel) * ao_accel_scale) >> 16;
 380 #endif
 381
 382         printf ("sample:\n");
 383         printf ("  tick        %d\n", ao_sample_tick);
 384         printf ("  raw pres    %d\n", ao_sample_pres);
 385 #if HAS_ACCEL
 386         printf ("  raw accel   %d\n", ao_sample_accel);
 387 #endif
 388         printf ("  ground pres %d\n", ao_ground_pres);
 389         printf ("  ground alt  %d\n", ao_ground_height);
 390 #if HAS_ACCEL
 391         printf ("  raw accel   %d\n", ao_sample_accel);
 392         printf ("  groundaccel %d\n", ao_ground_accel);
 393         printf ("  accel_2g    %d\n", ao_accel_2g);
 394 #endif
 395
 396         printf ("  alt         %d\n", ao_sample_alt);
 397         printf ("  height      %d\n", ao_sample_height);
 398 #if HAS_ACCEL
 399         printf ("  accel       %d.%02d\n", int_part(accel), frac_part(accel));
 400 #endif
 401
 402
 403         printf ("kalman:\n");
 404         printf ("  height      %d\n", ao_height);
 405         printf ("  speed       %d.%02d\n", int_part(ao_speed), frac_part(ao_speed));
 406         printf ("  accel       %d.%02d\n", int_part(ao_accel), frac_part(ao_accel));
 407         printf ("  max_height  %d\n", ao_max_height);
 408         printf ("  avg_height  %d\n", ao_avg_height);
 409         printf ("  error_h     %d\n", ao_error_h);
 410         printf ("  error_avg   %d\n", ao_error_h_sq_avg);
 411 }
 412
 413 __code struct ao_cmds ao_flight_cmds[] = {
 414         { ao_flight_dump,       "F\0Dump flight status" },
 415         { 0, NULL },
 416 };
 417 #endif
 418
 419 static __xdata struct ao_task   flight_task;
 420
 421 void
 422 ao_flight_init(void)
 423 {
 424         ao_flight_state = ao_flight_startup;
 425 #if HAS_FLIGHT_DEBUG
 426         ao_cmd_register(&ao_flight_cmds[0]);
 427 #endif
 428         ao_add_task(&flight_task, ao_flight, "flight");
 429 }