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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; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   9  * This program is distributed in the hope that it will be useful, but
  10  * WITHOUT ANY WARRANTY; without even the implied warranty of
  11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  12  * General Public License for more details.
  13  *
  14  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 #ifndef AO_FLIGHT_TEST
  20 #include "ao.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 #if HAS_SENSOR_ERRORS
  36 /* Any sensor can set this to mark the flight computer as 'broken' */
  37 __xdata uint8_t                 ao_sensor_errors;
  38 #endif
  39
  40 __pdata uint16_t                ao_motor_number;        /* number of motors burned so far */
  41
  42 /* Main flight thread. */
  43
  44 __pdata enum ao_flight_state    ao_flight_state;        /* current flight state */
  45
  46 __pdata uint8_t                 ao_flight_force_idle;
  47
  48 void
  49 ao_flight(void)
  50 {
  51         ao_sample_init();
  52         ao_flight_state = ao_flight_startup;
  53         for (;;) {
  54
  55                 /*
  56                  * Process ADC samples, just looping
  57                  * until the sensors are calibrated.
  58                  */
  59                 if (!ao_sample())
  60                         continue;
  61
  62                 switch (ao_flight_state) {
  63                 case ao_flight_startup:
  64
  65                         /* Check to see what mode we should go to.
  66                          *  - Invalid mode if accel cal appears to be out
  67                          *  - pad mode if we're upright,
  68                          *  - idle mode otherwise
  69                          */
  70                         if (!ao_flight_force_idle)
  71                         {
  72                                 /* Set pad mode - we can fly! */
  73                                 ao_flight_state = ao_flight_pad;
  74 #if HAS_USB
  75                                 /* Disable the USB controller in flight mode
  76                                  * to save power
  77                                  */
  78                                 if (!ao_usb_running)
  79                                         ao_usb_disable();
  80 #endif
  81
  82                                 /* Disable packet mode in pad state */
  83                                 ao_packet_slave_stop();
  84
  85                                 /* Turn on telemetry system */
  86                                 ao_rdf_set(1);
  87                                 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_BALLOON);
  88
  89                                 /* signal successful initialization by turning off the LED */
  90                                 ao_led_off(AO_LED_RED);
  91                         } else {
  92                                 /* Set idle mode */
  93                                 ao_flight_state = ao_flight_idle;
  94
  95                                 /* signal successful initialization by turning off the LED */
  96                                 ao_led_off(AO_LED_RED);
  97                         }
  98                         /* wakeup threads due to state change */
  99                         ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 100
 101                         break;
 102                 case ao_flight_pad:
 103
 104                         /* pad to coast:
 105                          *
 106                          * barometer: > 20m vertical motion
 107                          */
 108                         if (ao_height > AO_M_TO_HEIGHT(20))
 109                         {
 110                                 ao_flight_state = ao_flight_drogue;
 111
 112                                 /* start logging data */
 113                                 ao_log_start();
 114
 115 #if HAS_GPS
 116                                 /* Record current GPS position by waking up GPS log tasks */
 117                                 ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
 118                                 ao_wakeup(&ao_gps_new);
 119 #endif
 120
 121                                 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 122                         }
 123                         break;
 124                 default:
 125                         break;
 126                 }
 127         }
 128 }
 129
 130 static __xdata struct ao_task   flight_task;
 131
 132 void
 133 ao_flight_init(void)
 134 {
 135         ao_flight_state = ao_flight_startup;
 136         ao_add_task(&flight_task, ao_flight, "flight");
 137 }