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