Use sdcc from path

[fw/altos] / ao_flight.c

diff --git a/ao_flight.c b/ao_flight.c
index d4f2ae8023ecffb73c7eef6f2c28745693659ce6..3aff866aa664c27a8383e5d8a6ed51f948aaa51b 100644 (file)
--- a/ao_flight.c
+++ b/ao_flight.c
@@ -3,8 +3,7 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
+ * the Free Software Foundation; version 2 of the License.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -21,29 +20,29 @@
 /* Main flight thread. */
 
 __xdata struct ao_adc          ao_flight_data;         /* last acquired data */
-__data enum flight_state       ao_flight_state;        /* current flight state */
-__data uint16_t                        ao_flight_tick;         /* time of last data */
-__data int16_t                 ao_flight_accel;        /* filtered acceleration */
-__data int16_t                 ao_flight_pres;         /* filtered pressure */
-__data int16_t                 ao_ground_pres;         /* startup pressure */
-__data int16_t                 ao_ground_accel;        /* startup acceleration */
-__data int16_t                 ao_min_pres;            /* minimum recorded pressure */
-__data uint16_t                        ao_launch_time;         /* time of launch detect */
-__data int16_t                 ao_main_pres;           /* pressure to eject main */
+__pdata enum flight_state      ao_flight_state;        /* current flight state */
+__pdata uint16_t               ao_flight_tick;         /* time of last data */
+__pdata int16_t                        ao_flight_accel;        /* filtered acceleration */
+__pdata int16_t                        ao_flight_pres;         /* filtered pressure */
+__pdata int16_t                        ao_ground_pres;         /* startup pressure */
+__pdata int16_t                        ao_ground_accel;        /* startup acceleration */
+__pdata int16_t                        ao_min_pres;            /* minimum recorded pressure */
+__pdata uint16_t               ao_launch_time;         /* time of launch detect */
+__pdata int16_t                        ao_main_pres;           /* pressure to eject main */
 
 /*
  * track min/max data over a long interval to detect
  * resting
  */
-__data uint16_t                        ao_interval_end;
-__data int16_t                 ao_interval_cur_min_accel;
-__data int16_t                 ao_interval_cur_max_accel;
-__data int16_t                 ao_interval_cur_min_pres;
-__data int16_t                 ao_interval_cur_max_pres;
-__data int16_t                 ao_interval_min_accel;
-__data int16_t                 ao_interval_max_accel;
-__data int16_t                 ao_interval_min_pres;
-__data int16_t                 ao_interval_max_pres;
+__pdata uint16_t               ao_interval_end;
+__pdata int16_t                        ao_interval_cur_min_accel;
+__pdata int16_t                        ao_interval_cur_max_accel;
+__pdata int16_t                        ao_interval_cur_min_pres;
+__pdata int16_t                        ao_interval_cur_max_pres;
+__pdata int16_t                        ao_interval_min_accel;
+__pdata int16_t                        ao_interval_max_accel;
+__pdata int16_t                        ao_interval_min_pres;
+__pdata int16_t                        ao_interval_max_pres;
 
 #define AO_INTERVAL_TICKS      AO_SEC_TO_TICKS(5)
 
@@ -102,7 +101,7 @@ __data int16_t                      ao_interval_max_pres;
 void
 ao_flight(void)
 {
-       __data static uint8_t   nsamples = 0;
+       __pdata static uint8_t  nsamples = 0;
        
        for (;;) {
                ao_sleep(&ao_adc_ring);
@@ -135,12 +134,19 @@ ao_flight(void)
                        
                        ao_interval_end = ao_flight_tick;
                        
-                       if (ao_flight_accel < ACCEL_NOSE_UP) {
+                       /* Go to launchpad state if the nose is pointing up and the battery is charged */
+                       if (ao_flight_accel < ACCEL_NOSE_UP && ao_flight_data.v_batt > 23000) {
                                ao_flight_state = ao_flight_launchpad;
-                               ao_report_notify();
+                               ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                        } else {
                                ao_flight_state = ao_flight_idle;
-                               ao_report_notify();
+                               
+                               /* Turn on the Green LED in idle mode
+                                * This also happens to bring the USB up for the TI board
+                                */
+                               ao_led_on(AO_LED_GREEN);
+                               ao_timer_set_adc_interval(100);
+                               ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                        }
                        /* signal successful initialization by turning off the LED */
                        ao_led_off(AO_LED_RED);
@@ -151,7 +157,7 @@ ao_flight(void)
                        {
                                ao_flight_state = ao_flight_boost;
                                ao_log_start();
-                               ao_report_notify();
+                               ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                                break;
                        }
                        break;
@@ -160,7 +166,7 @@ ao_flight(void)
                            (int16_t) (ao_flight_data.tick - ao_launch_time) > BOOST_TICKS_MAX)
                        {
                                ao_flight_state = ao_flight_coast;
-                               ao_report_notify();
+                               ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                                break;
                        }
                        break;
@@ -169,29 +175,29 @@ ao_flight(void)
                                ao_min_pres = ao_flight_pres;
                        if (ao_flight_pres - BARO_APOGEE > ao_min_pres) {
                                ao_flight_state = ao_flight_apogee;
-                               ao_report_notify();
+                               ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                        }
                        break;
                case ao_flight_apogee:
 //                     ao_ignite(AO_IGNITE_DROGUE);
                        ao_flight_state = ao_flight_drogue;
-                       ao_report_notify();
+                       ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                        break; 
                case ao_flight_drogue:
                        if (ao_flight_pres >= ao_main_pres) {
 //                             ao_ignite(AO_IGNITE_MAIN);
                                ao_flight_state = ao_flight_main;
-                               ao_report_notify();
+                               ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                        }
                        if ((ao_interval_max_pres - ao_interval_min_pres) < BARO_LAND) {
                                ao_flight_state = ao_flight_landed;
-                               ao_report_notify();
+                               ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                        }
                        break;
                case ao_flight_main:
                        if ((ao_interval_max_pres - ao_interval_min_pres) < BARO_LAND) {
                                ao_flight_state = ao_flight_landed;
-                               ao_report_notify();
+                               ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
                        }
                        break;
                case ao_flight_landed:
@@ -213,6 +219,6 @@ ao_flight_init(void)
        ao_interval_max_pres = 0x7fff;
        ao_interval_end = AO_INTERVAL_TICKS;
 
-       ao_add_task(&flight_task, ao_flight);
+       ao_add_task(&flight_task, ao_flight, "flight");
 }