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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 #endif
  21
  22 #ifndef HAS_ACCEL
  23 #error Please define HAS_ACCEL
  24 #endif
  25
  26 #ifndef HAS_GPS
  27 #error Please define HAS_GPS
  28 #endif
  29
  30 #ifndef HAS_USB
  31 #error Please define HAS_USB
  32 #endif
  33
  34 #if HAS_SENSOR_ERRORS
  35 /* Any sensor can set this to mark the flight computer as 'broken' */
  36 __xdata uint8_t                 ao_sensor_errors;
  37 #endif
  38
  39 __pdata uint16_t                ao_motor_number;        /* number of motors burned so far */
  40
  41 /* Main flight thread. */
  42
  43 __pdata enum ao_flight_state    ao_flight_state;        /* current flight state */
  44
  45 __pdata uint8_t                 ao_flight_force_idle;
  46
  47 void
  48 ao_flight(void)
  49 {
  50         ao_sample_init();
  51         ao_flight_state = ao_flight_startup;
  52         for (;;) {
  53
  54                 /*
  55                  * Process ADC samples, just looping
  56                  * until the sensors are calibrated.
  57                  */
  58                 if (!ao_sample())
  59                         continue;
  60
  61                 switch (ao_flight_state) {
  62                 case ao_flight_startup:
  63
  64                         /* Check to see what mode we should go to.
  65                          *  - Invalid mode if accel cal appears to be out
  66                          *  - pad mode if we're upright,
  67                          *  - idle mode otherwise
  68                          */
  69                         if (!ao_flight_force_idle)
  70                         {
  71                                 /* Set pad mode - we can fly! */
  72                                 ao_flight_state = ao_flight_pad;
  73 #if HAS_USB
  74                                 /* Disable the USB controller in flight mode
  75                                  * to save power
  76                                  */
  77                                 if (!ao_usb_running)
  78                                         ao_usb_disable();
  79 #endif
  80
  81                                 /* Disable packet mode in pad state */
  82                                 ao_packet_slave_stop();
  83
  84                                 /* Turn on telemetry system */
  85                                 ao_rdf_set(1);
  86                                 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_BALLOON);
  87
  88                                 /* signal successful initialization by turning off the LED */
  89                                 ao_led_off(AO_LED_RED);
  90                         } else {
  91                                 /* Set idle mode */
  92                                 ao_flight_state = ao_flight_idle;
  93
  94                                 /* signal successful initialization by turning off the LED */
  95                                 ao_led_off(AO_LED_RED);
  96                         }
  97                         /* wakeup threads due to state change */
  98                         ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
  99
 100                         break;
 101                 case ao_flight_pad:
 102
 103                         /* pad to coast:
 104                          *
 105                          * barometer: > 20m vertical motion
 106                          */
 107                         if (ao_height > AO_M_TO_HEIGHT(20))
 108                         {
 109                                 ao_flight_state = ao_flight_drogue;
 110
 111                                 /* start logging data */
 112                                 ao_log_start();
 113
 114 #if HAS_GPS
 115                                 /* Record current GPS position by waking up GPS log tasks */
 116                                 ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
 117                                 ao_wakeup(&ao_gps_new);
 118 #endif
 119
 120                                 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 121                         }
 122                         break;
 123                 default:
 124                         break;
 125                 }
 126         }
 127 }
 128
 129 static __xdata struct ao_task   flight_task;
 130
 131 void
 132 ao_flight_init(void)
 133 {
 134         ao_flight_state = ao_flight_startup;
 135         ao_add_task(&flight_task, ao_flight, "flight");
 136 }