altos: Rename *_mm.c back to *.c

[fw/altos] / src / core / ao_sample.c

diff --git a/src/core/ao_sample.c b/src/core/ao_sample.c
new file mode 100644 (file)
index 0000000..ac11eef
--- /dev/null
+++ b/src/core/ao_sample.c
@@ -0,0 +1,138 @@
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * 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; 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
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#ifndef AO_FLIGHT_TEST
+#include "ao.h"
+#include <ao_data.h>
+#endif
+
+/*
+ * Current sensor values
+ */
+
+#ifndef PRES_TYPE
+#define PRES_TYPE int32_t
+#define ALT_TYPE int32_t
+#define ACCEL_TYPE int16_t
+#endif
+
+__pdata uint16_t       ao_sample_tick;         /* time of last data */
+__pdata pres_t         ao_sample_pres;
+__pdata alt_t          ao_sample_alt;
+__pdata alt_t          ao_sample_height;
+#if HAS_ACCEL
+__pdata accel_t                ao_sample_accel;
+#endif
+
+__data uint8_t         ao_sample_data;
+
+/*
+ * Sensor calibration values
+ */
+
+__pdata pres_t         ao_ground_pres;         /* startup pressure */
+__pdata alt_t          ao_ground_height;       /* MSL of ao_ground_pres */
+
+#if HAS_ACCEL
+__pdata accel_t                ao_ground_accel;        /* startup acceleration */
+__pdata accel_t                ao_accel_2g;            /* factory accel calibration */
+__pdata int32_t                ao_accel_scale;         /* sensor to m/s² conversion */
+#endif
+
+static __pdata uint8_t ao_preflight;           /* in preflight mode */
+
+static __pdata uint16_t        nsamples;
+__pdata int32_t ao_sample_pres_sum;
+#if HAS_ACCEL
+__pdata int32_t ao_sample_accel_sum;
+#endif
+
+static void
+ao_sample_preflight(void)
+{
+       /* startup state:
+        *
+        * Collect 512 samples of acceleration and pressure
+        * data and average them to find the resting values
+        */
+       if (nsamples < 512) {
+#if HAS_ACCEL
+               ao_sample_accel_sum += ao_sample_accel;
+#endif
+               ao_sample_pres_sum += ao_sample_pres;
+               ++nsamples;
+       } else {
+               ao_config_get();
+#if HAS_ACCEL
+               ao_ground_accel = ao_sample_accel_sum >> 9;
+               ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g;
+               ao_accel_scale = to_fix32(GRAVITY * 2 * 16) / ao_accel_2g;
+#endif
+               ao_ground_pres = ao_sample_pres_sum >> 9;
+               ao_ground_height = pres_to_altitude(ao_ground_pres);
+               ao_preflight = FALSE;
+       }
+}
+
+
+uint8_t
+ao_sample(void)
+{
+       ao_config_get();
+       ao_wakeup(DATA_TO_XDATA(&ao_sample_data));
+       ao_sleep((void *) DATA_TO_XDATA(&ao_data_head));
+       while (ao_sample_data != ao_data_head) {
+               __xdata struct ao_data *ao_data;
+
+               /* Capture a sample */
+               ao_data = (struct ao_data *) &ao_data_ring[ao_sample_data];
+               ao_sample_tick = ao_data->tick;
+
+               ao_data_pres_cook(ao_data);
+               ao_sample_pres = ao_data_pres(ao_data);
+               ao_sample_alt = pres_to_altitude(ao_sample_pres);
+               ao_sample_height = ao_sample_alt - ao_ground_height;
+
+#if HAS_ACCEL
+               ao_sample_accel = ao_data_accel_cook(ao_data);
+               if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
+                       ao_sample_accel = ao_data_accel_invert(ao_sample_accel);
+               ao_data_set_accel(ao_data, ao_sample_accel);
+#endif
+
+               if (ao_preflight)
+                       ao_sample_preflight();
+               else
+                       ao_kalman();
+               ao_sample_data = ao_data_ring_next(ao_sample_data);
+       }
+       return !ao_preflight;
+}
+
+void
+ao_sample_init(void)
+{
+       nsamples = 0;
+       ao_sample_pres_sum = 0;
+       ao_sample_pres = 0;
+#if HAS_ACCEL
+       ao_sample_accel_sum = 0;
+       ao_sample_accel = 0;
+#endif
+       ao_sample_data = ao_data_head;
+       ao_preflight = TRUE;
+}