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   1 /*
   2  * Copyright © 2014 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 #include <ao_flight.h>
  20 #include <ao_log.h>
  21 #include <ao_log_gps.h>
  22 #include <ao_distance.h>
  23 #include <ao_tracker.h>
  24 #include <ao_exti.h>
  25
  26 static uint8_t          ao_tracker_force_telem;
  27
  28 #if HAS_USB_CONNECT
  29 static inline uint8_t
  30 ao_usb_connected(void)
  31 {
  32         return ao_gpio_get(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN, AO_USB_CONNECT) != 0;
  33 }
  34 #else
  35 #define ao_usb_connected()      1
  36 #endif
  37
  38 static int32_t  last_log_latitude, last_log_longitude;
  39 static int16_t  last_log_altitude;
  40 static uint8_t  unmoving;
  41 static uint8_t  log_started;
  42 static struct ao_telemetry_location gps_data;
  43 static uint8_t  tracker_running;
  44 static uint16_t tracker_interval;
  45
  46 static void
  47 ao_tracker(void)
  48 {
  49         uint8_t new;
  50         int32_t ground_distance;
  51         int16_t height;
  52         uint16_t gps_tick;
  53         uint8_t new_tracker_running;
  54
  55 #if HAS_ADC
  56         ao_timer_set_adc_interval(100);
  57 #endif
  58
  59 #if !HAS_USB_CONNECT
  60         ao_tracker_force_telem = 1;
  61 #endif
  62         ao_log_scan();
  63         ao_log_start();
  64
  65         ao_rdf_set(1);
  66
  67         tracker_interval = ao_config.tracker_interval;
  68         ao_gps_set_rate(tracker_interval);
  69
  70         for (;;) {
  71
  72                 /** Wait for new GPS data
  73                  */
  74                 while (!(new = ao_gps_new))
  75                         ao_sleep(&ao_gps_new);
  76                 ao_mutex_get(&ao_gps_mutex);
  77                 gps_data = ao_gps_data;
  78                 gps_tick = ao_gps_tick;
  79                 ao_gps_new = 0;
  80                 ao_mutex_put(&ao_gps_mutex);
  81
  82                 new_tracker_running = ao_tracker_force_telem || !ao_usb_connected();
  83
  84                 if (ao_config.tracker_interval != tracker_interval) {
  85                         tracker_interval = ao_config.tracker_interval;
  86                         ao_gps_set_rate(tracker_interval);
  87
  88                         /* force telemetry interval to be reset */
  89                         tracker_running = 0;
  90                 }
  91
  92                 if (new_tracker_running && !tracker_running) {
  93                         ao_telemetry_set_interval(AO_SEC_TO_TICKS(tracker_interval));
  94                 } else if (!new_tracker_running && tracker_running) {
  95                         ao_telemetry_set_interval(0);
  96                 }
  97
  98                 tracker_running = new_tracker_running;
  99
 100                 if (!tracker_running)
 101                         continue;
 102
 103                 if (new & AO_GPS_NEW_DATA) {
 104                         if ((gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) ==
 105                             (AO_GPS_VALID|AO_GPS_COURSE_VALID))
 106                         {
 107                                 if (log_started) {
 108                                         ground_distance = ao_distance(gps_data.latitude, gps_data.longitude,
 109                                                                       last_log_latitude, last_log_longitude);
 110                                         height = last_log_altitude - gps_data.altitude;
 111                                         if (height < 0)
 112                                                 height = -height;
 113                                         if (ground_distance <= ao_config.tracker_motion &&
 114                                             height <= ao_config.tracker_motion)
 115                                         {
 116                                                 if (unmoving < AO_TRACKER_MOTION_COUNT)
 117                                                         unmoving++;
 118                                         } else
 119                                                 unmoving = 0;
 120                                 }
 121                         } else {
 122                                 if (!log_started)
 123                                         continue;
 124                                 if (unmoving < AO_TRACKER_MOTION_COUNT)
 125                                         unmoving++;
 126                         }
 127
 128                         if (unmoving < AO_TRACKER_MOTION_COUNT) {
 129                                 if (!log_started) {
 130                                         ao_log_gps_flight();
 131                                         log_started = 1;
 132                                 }
 133                                 ao_log_gps_data(gps_tick, &gps_data);
 134                                 last_log_latitude = gps_data.latitude;
 135                                 last_log_longitude = gps_data.longitude;
 136                                 last_log_altitude = gps_data.altitude;
 137                         }
 138                 }
 139         }
 140 }
 141
 142 static struct ao_task ao_tracker_task;
 143
 144 static void
 145 ao_tracker_set_telem(void)
 146 {
 147         uint8_t telem;
 148         ao_cmd_hex();
 149         telem = ao_cmd_lex_i;
 150         if (ao_cmd_status == ao_cmd_success)
 151                 ao_tracker_force_telem = telem;
 152         ao_cmd_status = ao_cmd_success;
 153         printf ("flight: %d\n", ao_flight_number);
 154         printf ("force_telem: %d\n", ao_tracker_force_telem);
 155         printf ("log_started: %d\n", log_started);
 156         printf ("unmoving: %d\n", unmoving);
 157         printf ("latitude: %ld\n", (long) gps_data.latitude);
 158         printf ("longitude: %ld\n", (long) gps_data.longitude);
 159         printf ("altitude: %d\n", gps_data.altitude);
 160         printf ("log_running: %d\n", ao_log_running);
 161         printf ("log_start_pos: %ld\n", (long) ao_log_start_pos);
 162         printf ("log_cur_pos: %ld\n", (long) ao_log_current_pos);
 163         printf ("log_end_pos: %ld\n", (long) ao_log_end_pos);
 164 }
 165
 166 static const struct ao_cmds ao_tracker_cmds[] = {
 167         { ao_tracker_set_telem, "t <d>\0Set telem on USB" },
 168         { 0, NULL },
 169 };
 170
 171 void
 172 ao_tracker_init(void)
 173 {
 174 #if HAS_USB_CONNECT
 175         ao_enable_input(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN, 0);
 176 #endif
 177         ao_cmd_register(&ao_tracker_cmds[0]);
 178         ao_add_task(&ao_tracker_task, ao_tracker, "tracker");
 179 }