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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(void)
  45 {
  46         uint16_t        telem_rate = AO_SEC_TO_TICKS(1), new_telem_rate;
  47         uint8_t         gps_rate = 1, new_gps_rate;
  48         uint8_t         telem_enabled = 1, new_telem_enabled;
  49         int32_t         start_latitude = 0, start_longitude = 0;
  50         int16_t         start_altitude = 0;
  51         uint32_t        ground_distance;
  52         int16_t         height;
  53         uint16_t        speed;
  54         int64_t         lat_sum = 0, lon_sum = 0;
  55         int32_t         alt_sum = 0;
  56         int             nsamples = 0;
  57
  58 #if HAS_ADC
  59         ao_timer_set_adc_interval(100);
  60 #endif
  61
  62         ao_log_scan();
  63
  64         ao_rdf_set(1);
  65
  66         ao_telemetry_set_interval(0);
  67
  68         ao_flight_state = ao_flight_startup;
  69         for (;;) {
  70                 ao_sleep(&ao_gps_new);
  71
  72                 new_gps_rate = gps_rate;
  73                 new_telem_rate = telem_rate;
  74
  75                 new_telem_enabled = ao_tracker_force_telem || !ao_usb_connected();
  76
  77                 ao_mutex_get(&ao_gps_mutex);
  78
  79                 /* Don't change anything if GPS isn't locked */
  80                 if ((ao_gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) ==
  81                     (AO_GPS_VALID|AO_GPS_COURSE_VALID))
  82                 {
  83                         switch (ao_flight_state) {
  84                         case ao_flight_startup:
  85                                 /* startup to pad when GPS locks */
  86
  87                                 lat_sum += ao_gps_data.latitude;
  88                                 lon_sum += ao_gps_data.longitude;
  89                                 alt_sum += ao_gps_data.altitude;
  90
  91                                 if (++nsamples >= STARTUP_AVERAGE) {
  92                                         ao_flight_state = ao_flight_pad;
  93                                         ao_wakeup(&ao_flight_state);
  94                                         start_latitude = lat_sum / nsamples;
  95                                         start_longitude = lon_sum / nsamples;
  96                                         start_altitude = alt_sum / nsamples;
  97                                 }
  98                                 break;
  99                         case ao_flight_pad:
 100                                 ground_distance = ao_distance(ao_gps_data.latitude,
 101                                                               ao_gps_data.longitude,
 102                                                               start_latitude,
 103                                                               start_longitude);
 104                                 height = ao_gps_data.altitude - start_altitude;
 105                                 if (height < 0)
 106                                         height = -height;
 107
 108                                 if (ground_distance >= ao_config.tracker_start_horiz ||
 109                                     height >= ao_config.tracker_start_vert ||
 110                                     ao_tracker_force_launch)
 111                                 {
 112                                         ao_flight_state = ao_flight_drogue;
 113                                         ao_wakeup(&ao_flight_state);
 114                                         ao_log_start();
 115                                 }
 116                                 break;
 117                         case ao_flight_drogue:
 118
 119                                 /* Modulate data rates based on speed (in cm/s) */
 120                                 if (ao_gps_data.climb_rate < 0)
 121                                         speed = -ao_gps_data.climb_rate;
 122                                 else
 123                                         speed = ao_gps_data.climb_rate;
 124                                 speed += ao_gps_data.ground_speed;
 125
 126                                 if (speed < AO_TRACKER_NOT_MOVING) {
 127                                         new_telem_rate = AO_SEC_TO_TICKS(10);
 128                                         new_gps_rate = 10;
 129                                 } else {
 130                                         new_telem_rate = AO_SEC_TO_TICKS(1);
 131                                         new_gps_rate = 1;
 132                                 }
 133                                 break;
 134                         default:
 135                                 break;
 136                         }
 137                 }
 138                 ao_mutex_put(&ao_gps_mutex);
 139
 140                 if (new_telem_rate != telem_rate || new_telem_enabled != telem_enabled) {
 141                         if (new_telem_enabled)
 142                                 ao_telemetry_set_interval(new_telem_rate);
 143                         else
 144                                 ao_telemetry_set_interval(0);
 145                         telem_rate = new_telem_rate;
 146                         telem_enabled = new_telem_enabled;
 147                 }
 148
 149                 if (new_gps_rate != gps_rate) {
 150                         ao_gps_set_rate(new_gps_rate);
 151                         gps_rate = new_gps_rate;
 152                 }
 153         }
 154 }
 155
 156 static struct ao_task ao_tracker_task;
 157
 158 static void
 159 ao_tracker_set_telem(void)
 160 {
 161         ao_cmd_hex();
 162         if (ao_cmd_status == ao_cmd_success) {
 163                 ao_tracker_force_telem = (ao_cmd_lex_i & 1) != 0;
 164                 ao_tracker_force_launch = (ao_cmd_lex_i & 2) != 0;
 165                 printf ("force telem %d force launch %d\n", ao_tracker_force_telem, ao_tracker_force_launch);
 166         }
 167 }
 168
 169 static const struct ao_cmds ao_tracker_cmds[] = {
 170         { ao_tracker_set_telem, "t <d>\0Set telem on USB" },
 171         { 0, NULL },
 172 };
 173
 174 void
 175 ao_tracker_init(void)
 176 {
 177 #if HAS_USB_CONNECT
 178         ao_enable_input(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN, 0);
 179 #endif
 180         ao_cmd_register(&ao_tracker_cmds[0]);
 181         ao_add_task(&ao_tracker_task, ao_tracker, "tracker");
 182 }