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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_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 static uint8_t  ao_tracker_force_launch;
  30
  31 #if HAS_USB_CONNECT
  32 static inline uint8_t
  33 ao_usb_connected(void)
  34 {
  35         return ao_gpio_get(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN, AO_USB_CONNECT) != 0;
  36 }
  37 #else
  38 #define ao_usb_connected()      1
  39 #endif
  40
  41 #define STARTUP_AVERAGE 5
  42
  43 static void
  44 ao_tracker_start_flight(void)
  45 {
  46         struct ao_log_mega log;
  47         ao_log_start();
  48         log.type = AO_LOG_FLIGHT;
  49         log.tick = ao_time();
  50 #if HAS_ACCEL
  51         log.u.flight.ground_accel = ao_ground_accel;
  52 #endif
  53 #if HAS_GYRO
  54         log.u.flight.ground_accel_along = ao_ground_accel_along;
  55         log.u.flight.ground_accel_across = ao_ground_accel_across;
  56         log.u.flight.ground_accel_through = ao_ground_accel_through;
  57         log.u.flight.ground_roll = ao_ground_roll;
  58         log.u.flight.ground_pitch = ao_ground_pitch;
  59         log.u.flight.ground_yaw = ao_ground_yaw;
  60 #endif
  61 #if HAS_FLIGHT
  62         log.u.flight.ground_pres = ao_ground_pres;
  63 #endif
  64         log.u.flight.flight = ao_flight_number;
  65         ao_log_mega(&log);
  66 }
  67
  68 static void
  69 ao_tracker(void)
  70 {
  71         uint16_t        telem_rate = AO_SEC_TO_TICKS(1), new_telem_rate;
  72         uint8_t         gps_rate = 1, new_gps_rate;
  73         uint8_t         telem_enabled = 1, new_telem_enabled;
  74         int32_t         start_latitude = 0, start_longitude = 0;
  75         int16_t         start_altitude = 0;
  76         uint32_t        ground_distance;
  77         int16_t         height;
  78         uint16_t        speed;
  79         int64_t         lat_sum = 0, lon_sum = 0;
  80         int32_t         alt_sum = 0;
  81         int             nsamples = 0;
  82
  83 #if HAS_ADC
  84         ao_timer_set_adc_interval(100);
  85 #endif
  86
  87         ao_log_scan();
  88
  89         ao_rdf_set(1);
  90
  91         ao_telemetry_set_interval(0);
  92
  93         ao_flight_state = ao_flight_startup;
  94         for (;;) {
  95                 ao_sleep(&ao_gps_new);
  96
  97                 new_gps_rate = gps_rate;
  98                 new_telem_rate = telem_rate;
  99
 100                 new_telem_enabled = ao_tracker_force_telem || !ao_usb_connected();
 101
 102                 ao_mutex_get(&ao_gps_mutex);
 103
 104                 /* Don't change anything if GPS isn't locked */
 105                 if ((ao_gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) ==
 106                     (AO_GPS_VALID|AO_GPS_COURSE_VALID))
 107                 {
 108                         switch (ao_flight_state) {
 109                         case ao_flight_startup:
 110                                 /* startup to pad when GPS locks */
 111
 112                                 lat_sum += ao_gps_data.latitude;
 113                                 lon_sum += ao_gps_data.longitude;
 114                                 alt_sum += ao_gps_data.altitude;
 115
 116                                 if (++nsamples >= STARTUP_AVERAGE) {
 117                                         ao_flight_state = ao_flight_pad;
 118                                         ao_wakeup(&ao_flight_state);
 119                                         start_latitude = lat_sum / nsamples;
 120                                         start_longitude = lon_sum / nsamples;
 121                                         start_altitude = alt_sum / nsamples;
 122                                 }
 123                                 break;
 124                         case ao_flight_pad:
 125                                 ground_distance = ao_distance(ao_gps_data.latitude,
 126                                                               ao_gps_data.longitude,
 127                                                               start_latitude,
 128                                                               start_longitude);
 129                                 height = ao_gps_data.altitude - start_altitude;
 130                                 if (height < 0)
 131                                         height = -height;
 132
 133                                 if (ground_distance >= ao_config.tracker_start_horiz ||
 134                                     height >= ao_config.tracker_start_vert ||
 135                                     ao_tracker_force_launch)
 136                                 {
 137                                         ao_flight_state = ao_flight_drogue;
 138                                         ao_wakeup(&ao_flight_state);
 139                                         ao_log_start();
 140                                         ao_tracker_start_flight();
 141                                 }
 142                                 break;
 143                         case ao_flight_drogue:
 144                                 /* Modulate data rates based on speed (in cm/s) */
 145                                 if (ao_gps_data.climb_rate < 0)
 146                                         speed = -ao_gps_data.climb_rate;
 147                                 else
 148                                         speed = ao_gps_data.climb_rate;
 149                                 speed += ao_gps_data.ground_speed;
 150
 151                                 if (speed < AO_TRACKER_NOT_MOVING) {
 152                                         new_telem_rate = AO_SEC_TO_TICKS(10);
 153                                         new_gps_rate = 10;
 154                                 } else {
 155                                         new_telem_rate = AO_SEC_TO_TICKS(1);
 156                                         new_gps_rate = 1;
 157                                 }
 158                                 break;
 159                         default:
 160                                 break;
 161                         }
 162                 }
 163                 ao_mutex_put(&ao_gps_mutex);
 164
 165                 if (new_telem_rate != telem_rate || new_telem_enabled != telem_enabled) {
 166                         if (new_telem_enabled)
 167                                 ao_telemetry_set_interval(new_telem_rate);
 168                         else
 169                                 ao_telemetry_set_interval(0);
 170                         telem_rate = new_telem_rate;
 171                         telem_enabled = new_telem_enabled;
 172                 }
 173
 174                 if (new_gps_rate != gps_rate) {
 175                         ao_gps_set_rate(new_gps_rate);
 176                         gps_rate = new_gps_rate;
 177                 }
 178         }
 179 }
 180
 181 static struct ao_task ao_tracker_task;
 182
 183 static void
 184 ao_tracker_set_telem(void)
 185 {
 186         ao_cmd_hex();
 187         if (ao_cmd_status == ao_cmd_success) {
 188                 ao_tracker_force_telem = (ao_cmd_lex_i & 1) != 0;
 189                 ao_tracker_force_launch = (ao_cmd_lex_i & 2) != 0;
 190                 printf ("force telem %d force launch %d\n", ao_tracker_force_telem, ao_tracker_force_launch);
 191         }
 192 }
 193
 194 static const struct ao_cmds ao_tracker_cmds[] = {
 195         { ao_tracker_set_telem, "t <d>\0Set telem on USB" },
 196         { 0, NULL },
 197 };
 198
 199 void
 200 ao_tracker_init(void)
 201 {
 202 #if HAS_USB_CONNECT
 203         ao_enable_input(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN, 0);
 204 #endif
 205         ao_cmd_register(&ao_tracker_cmds[0]);
 206         ao_add_task(&ao_tracker_task, ao_tracker, "tracker");
 207 }