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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 /* Main flight thread. */
  35
  36 __pdata enum ao_flight_state    ao_flight_state;        /* current flight state */
  37
  38 __pdata uint8_t                 ao_flight_force_idle;
  39
  40 void
  41 ao_flight(void)
  42 {
  43         ao_sample_init();
  44         ao_flight_state = ao_flight_startup;
  45         for (;;) {
  46
  47                 /*
  48                  * Process ADC samples, just looping
  49                  * until the sensors are calibrated.
  50                  */
  51                 if (!ao_sample())
  52                         continue;
  53
  54                 switch (ao_flight_state) {
  55                 case ao_flight_startup:
  56
  57                         /* Check to see what mode we should go to.
  58                          *  - Invalid mode if accel cal appears to be out
  59                          *  - pad mode if we're upright,
  60                          *  - idle mode otherwise
  61                          */
  62 #if HAS_ACCEL
  63                         if (ao_config.accel_plus_g == 0 ||
  64                             ao_config.accel_minus_g == 0 ||
  65                             ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
  66                             ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP)
  67                         {
  68                                 /* Detected an accel value outside -1.5g to 1.5g
  69                                  * (or uncalibrated values), so we go into invalid mode
  70                                  */
  71                                 ao_flight_state = ao_flight_invalid;
  72
  73                                 /* Turn on packet system in invalid mode on TeleMetrum */
  74                                 ao_packet_slave_start();
  75                         } else
  76 #endif
  77                                 if (!ao_flight_force_idle
  78 #if HAS_ACCEL
  79                                     && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
  80 #endif
  81                                         )
  82                         {
  83                                 /* Set pad mode - we can fly! */
  84                                 ao_flight_state = ao_flight_pad;
  85 #if HAS_USB
  86                                 /* Disable the USB controller in flight mode
  87                                  * to save power
  88                                  */
  89                                 ao_usb_disable();
  90 #endif
  91
  92 #if !HAS_ACCEL
  93                                 /* Disable packet mode in pad state on TeleMini */
  94                                 ao_packet_slave_stop();
  95 #endif
  96
  97                                 /* Turn on telemetry system */
  98                                 ao_rdf_set(1);
  99                                 ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_BALLOON);
 100
 101                                 /* signal successful initialization by turning off the LED */
 102                                 ao_led_off(AO_LED_RED);
 103                         } else {
 104                                 /* Set idle mode */
 105                                 ao_flight_state = ao_flight_idle;
 106
 107 #if HAS_ACCEL
 108                                 /* Turn on packet system in idle mode on TeleMetrum */
 109                                 ao_packet_slave_start();
 110 #endif
 111
 112                                 /* signal successful initialization by turning off the LED */
 113                                 ao_led_off(AO_LED_RED);
 114                         }
 115                         /* wakeup threads due to state change */
 116                         ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 117
 118                         break;
 119                 case ao_flight_pad:
 120
 121                         /* pad to coast:
 122                          *
 123                          * barometer: > 20m vertical motion
 124                          */
 125                         if (ao_height > AO_M_TO_HEIGHT(20))
 126                         {
 127                                 ao_flight_state = ao_flight_drogue;
 128
 129                                 /* start logging data */
 130                                 ao_log_start();
 131
 132 #if HAS_GPS
 133                                 /* Record current GPS position by waking up GPS log tasks */
 134                                 ao_wakeup(&ao_gps_data);
 135                                 ao_wakeup(&ao_gps_tracking_data);
 136 #endif
 137
 138                                 ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
 139                         }
 140                         break;
 141                 case ao_flight_drogue:
 142                         break;
 143
 144                 }
 145         }
 146 }
 147
 148 static __xdata struct ao_task   flight_task;
 149
 150 void
 151 ao_flight_init(void)
 152 {
 153         ao_flight_state = ao_flight_startup;
 154         ao_add_task(&flight_task, ao_flight, "flight");
 155 }