*
* 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
/* Main flight thread. */
-__xdata struct ao_adc ao_flight_data;
-__data enum flight_state ao_flight_state;
-__data uint16_t ao_flight_state_tick;
-__data int16_t ao_flight_accel;
-__data int16_t ao_flight_pres;
-__data int16_t ao_ground_pres;
-__data int16_t ao_ground_accel;
-__data int16_t ao_min_pres;
-__data uint16_t ao_launch_time;
+__xdata struct ao_adc ao_flight_data; /* last acquired data */
+__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
+ */
+__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)
/* Accelerometer calibration
*
#define BARO_kPa 268
#define BARO_LAUNCH (BARO_kPa / 5) /* .2kPa */
#define BARO_APOGEE (BARO_kPa / 10) /* .1kPa */
+#define BARO_MAIN (BARO_kPa) /* 1kPa */
+#define BARO_LAND (BARO_kPa / 20) /* .05kPa */
/* We also have a clock, which can be used to sanity check things in
* case of other failures
void
ao_flight(void)
{
- __data static uint8_t nsamples = 0;
+ __pdata static uint8_t nsamples = 0;
for (;;) {
ao_sleep(&ao_adc_ring);
ao_flight_accel += ao_flight_data.accel >> 4;
ao_flight_pres -= ao_flight_pres >> 4;
ao_flight_pres += ao_flight_data.pres >> 4;
+ ao_flight_tick = ao_time();
+ ao_flight_tick = ao_time();
+ if ((int16_t) (ao_flight_tick - ao_interval_end) >= 0) {
+ ao_interval_max_pres = ao_interval_cur_max_pres;
+ ao_interval_min_pres = ao_interval_cur_min_pres;
+ ao_interval_max_accel = ao_interval_cur_max_accel;
+ ao_interval_min_accel = ao_interval_cur_min_accel;
+ ao_interval_end = ao_flight_tick + AO_INTERVAL_TICKS;
+ }
+
switch (ao_flight_state) {
case ao_flight_startup:
if (nsamples < 100) {
ao_ground_accel = ao_flight_accel;
ao_ground_pres = ao_flight_pres;
ao_min_pres = ao_flight_pres;
- if (ao_flight_accel < ACCEL_NOSE_UP) {
+ ao_main_pres = ao_ground_pres - BARO_MAIN;
+
+ ao_interval_end = ao_flight_tick;
+
+ /* 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_flight_state_tick = ao_time();
- ao_report_notify();
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
} else {
ao_flight_state = ao_flight_idle;
- ao_flight_state_tick = ao_time();
- 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);
break;
case ao_flight_launchpad:
if (ao_flight_accel < ACCEL_BOOST ||
ao_flight_pres + BARO_LAUNCH < ao_ground_pres)
{
ao_flight_state = ao_flight_boost;
- ao_flight_state_tick = ao_time();
ao_log_start();
- ao_report_notify();
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
break;
}
break;
(int16_t) (ao_flight_data.tick - ao_launch_time) > BOOST_TICKS_MAX)
{
ao_flight_state = ao_flight_coast;
- ao_flight_state_tick = ao_time();
- ao_report_notify();
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
break;
}
break;
ao_min_pres = ao_flight_pres;
if (ao_flight_pres - BARO_APOGEE > ao_min_pres) {
ao_flight_state = ao_flight_apogee;
- ao_flight_state_tick = ao_time();
- 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_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_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_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_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ }
+ break;
+ case ao_flight_landed:
+ ao_log_stop();
break;
}
}
ao_flight_init(void)
{
ao_flight_state = ao_flight_startup;
+ ao_interval_min_accel = 0;
+ ao_interval_max_accel = 0x7fff;
+ ao_interval_min_pres = 0;
+ 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");
}
projects / fw / altos / blobdiff