git.gag.com Git - fw/altos/blob - src/product/ao_tracker.c

   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_distance.h>
  21 #include <ao_exti.h>
  22
  23 enum ao_flight_state    ao_flight_state;
  24
  25 /* Speeds for the various modes, 2m/s seems reasonable for 'not moving' */
  26 #define AO_TRACKER_NOT_MOVING   200
  27
  28 static uint8_t  ao_tracker_force_telem;
  29
  30 #if HAS_USB_CONNECT
  31 static inline uint8_t
  32 ao_usb_connected(void)
  33 {
  34         return ao_gpio_get(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN, AO_USB_CONNECT) != 0;
  35 }
  36 #else
  37 #define ao_usb_connected()      1
  38 #endif
  39
  40 #define STARTUP_AVERAGE 5
  41
  42 static void
  43 ao_tracker(void)
  44 {
  45         uint16_t        telem_rate = AO_SEC_TO_TICKS(1), new_telem_rate;
  46         uint8_t         gps_rate = 1, new_gps_rate;
  47         uint8_t         telem_enabled = 1, new_telem_enabled;
  48         int32_t         start_latitude = 0, start_longitude = 0;
  49         int16_t         start_altitude = 0;
  50         uint32_t        ground_distance;
  51         int16_t         height;
  52         uint16_t        speed;
  53         int64_t         lat_sum = 0, lon_sum = 0;
  54         int32_t         alt_sum = 0;
  55         int             nsamples = 0;
  56
  57         ao_timer_set_adc_interval(100);
  58
  59         ao_flight_state = ao_flight_startup;
  60         for (;;) {
  61                 ao_sleep(&ao_gps_new);
  62
  63                 new_gps_rate = gps_rate;
  64                 new_telem_rate = telem_rate;
  65
  66                 new_telem_enabled = ao_tracker_force_telem || !ao_usb_connected();
  67
  68                 ao_mutex_get(&ao_gps_mutex);
  69
  70                 /* Don't change anything if GPS isn't locked */
  71                 if ((ao_gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) ==
  72                     (AO_GPS_VALID|AO_GPS_COURSE_VALID))
  73                 {
  74                         switch (ao_flight_state) {
  75                         case ao_flight_startup:
  76                                 /* startup to pad when GPS locks */
  77
  78                                 lat_sum += ao_gps_data.latitude;
  79                                 lon_sum += ao_gps_data.longitude;
  80                                 alt_sum += ao_gps_data.altitude;
  81
  82                                 if (++nsamples >= STARTUP_AVERAGE) {
  83                                         ao_flight_state = ao_flight_pad;
  84                                         ao_wakeup(&ao_flight_state);
  85                                         start_latitude = lat_sum / nsamples;
  86                                         start_longitude = lon_sum / nsamples;
  87                                         start_altitude = alt_sum / nsamples;
  88                                 }
  89                                 break;
  90                         case ao_flight_pad:
  91                                 ground_distance = ao_distance(ao_gps_data.latitude,
  92                                                               start_latitude,
  93                                                               ao_gps_data.longitude,
  94                                                               start_longitude);
  95                                 height = ao_gps_data.altitude - start_altitude;
  96                                 if (height < 0)
  97                                         height = -height;
  98                                 if (ground_distance >= ao_config.tracker_start_horiz ||
  99                                     height >= ao_config.tracker_start_vert)
 100                                 {
 101                                         ao_flight_state = ao_flight_drogue;
 102                                         ao_log_start();
 103                                 }
 104                                 break;
 105                         case ao_flight_drogue:
 106
 107                                 /* Modulate data rates based on speed (in cm/s) */
 108                                 if (ao_gps_data.climb_rate < 0)
 109                                         speed = -ao_gps_data.climb_rate;
 110                                 else
 111                                         speed = ao_gps_data.climb_rate;
 112                                 speed += ao_gps_data.ground_speed;
 113
 114                                 if (speed < AO_TRACKER_NOT_MOVING) {
 115                                         new_telem_rate = AO_SEC_TO_TICKS(10);
 116                                         new_gps_rate = 10;
 117                                 } else {
 118                                         new_telem_rate = AO_SEC_TO_TICKS(1);
 119                                         new_gps_rate = 1;
 120                                 }
 121                                 break;
 122                         default:
 123                                 break;
 124                         }
 125                 }
 126                 ao_mutex_put(&ao_gps_mutex);
 127
 128                 if (new_telem_rate != telem_rate || new_telem_enabled != telem_enabled) {
 129                         if (new_telem_enabled)
 130                                 ao_telemetry_set_interval(new_telem_rate);
 131                         else
 132                                 ao_telemetry_set_interval(0);
 133                         telem_rate = new_telem_rate;
 134                         telem_enabled = new_telem_enabled;
 135                 }
 136
 137                 if (new_gps_rate != gps_rate) {
 138                         ao_gps_set_rate(new_gps_rate);
 139                         gps_rate = new_gps_rate;
 140                 }
 141         }
 142 }
 143
 144 static struct ao_task ao_tracker_task;
 145
 146 static void
 147 ao_tracker_set_telem(void)
 148 {
 149         ao_cmd_hex();
 150         if (ao_cmd_status == ao_cmd_success)
 151                 ao_tracker_force_telem = ao_cmd_lex_i;
 152 }
 153
 154 static const struct ao_cmds ao_tracker_cmds[] = {
 155         { ao_tracker_set_telem, "t <d>\0Set telem on USB" },
 156         { 0, NULL },
 157 };
 158
 159 void
 160 ao_tracker_init(void)
 161 {
 162 #if HAS_USB_CONNECT
 163         ao_enable_input(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN, 0);
 164 #endif
 165         ao_cmd_register(&ao_tracker_cmds[0]);
 166         ao_add_task(&ao_tracker_task, ao_tracker, "tracker");
 167 }