*
* 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.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
#include <ao_tracker.h>
#include <ao_exti.h>
-enum ao_flight_state ao_flight_state;
-
-static uint8_t ao_tracker_force_telem;
-static uint8_t ao_tracker_force_launch;
+static uint8_t ao_tracker_force_telem;
#if HAS_USB_CONNECT
static inline uint8_t
ao_usb_connected(void)
{
- return ao_gpio_get(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN, AO_USB_CONNECT) != 0;
+ return ao_gpio_get(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN) != 0;
}
#else
#define ao_usb_connected() 1
#endif
-#define STARTUP_AVERAGE 5
-
-int32_t ao_tracker_start_latitude;
-int32_t ao_tracker_start_longitude;
-int16_t ao_tracker_start_altitude;
+struct gps_position {
+ int32_t latitude;
+ int32_t longitude;
+ gps_alt_t altitude;
+};
-struct ao_tracker_data ao_tracker_data[AO_TRACKER_RING];
-uint8_t ao_tracker_head;
-static uint8_t ao_tracker_log_pos;
+#define GPS_RING 16
-static uint16_t telem_rate;
-static uint8_t gps_rate;
-static uint8_t telem_enabled;
+struct gps_position gps_position[GPS_RING];
-static int64_t lat_sum, lon_sum;
-static int32_t alt_sum;
-static int nsamples;
+#define ao_gps_ring_next(n) (((n) + 1) & (GPS_RING - 1))
+#define ao_gps_ring_prev(n) (((n) - 1) & (GPS_RING - 1))
-static void
-ao_tracker_state_update(struct ao_tracker_data *tracker)
-{
- uint16_t new_telem_rate;
- uint8_t new_gps_rate;
- uint8_t new_telem_enabled;
- uint32_t ground_distance;
- int16_t height;
- uint16_t speed;
-
- new_gps_rate = gps_rate;
- new_telem_rate = telem_rate;
-
- new_telem_enabled = ao_tracker_force_telem || !ao_usb_connected();
-
- /* Don't change anything if GPS isn't locked */
- if ((tracker->new & AO_GPS_NEW_DATA) &&
- (tracker->gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) ==
- (AO_GPS_VALID|AO_GPS_COURSE_VALID))
- {
- switch (ao_flight_state) {
- case ao_flight_startup:
- new_telem_rate = AO_SEC_TO_TICKS(1);
- new_gps_rate = 1;
-
- /* startup to pad when GPS locks */
-
- lat_sum += tracker->gps_data.latitude;
- lon_sum += tracker->gps_data.longitude;
- alt_sum += tracker->gps_data.altitude;
-
- ++nsamples;
-
- if (nsamples >= STARTUP_AVERAGE) {
- ao_flight_state = ao_flight_pad;
- ao_wakeup(&ao_flight_state);
- ao_tracker_start_latitude = lat_sum / nsamples;
- ao_tracker_start_longitude = lon_sum / nsamples;
- ao_tracker_start_altitude = alt_sum / nsamples;
- }
- break;
- case ao_flight_pad:
- new_telem_rate = AO_SEC_TO_TICKS(1);
- new_gps_rate = 1;
-
- ground_distance = ao_distance(tracker->gps_data.latitude,
- tracker->gps_data.longitude,
- ao_tracker_start_latitude,
- ao_tracker_start_longitude);
- height = tracker->gps_data.altitude - ao_tracker_start_altitude;
- if (height < 0)
- height = -height;
-
- if (ground_distance >= ao_config.tracker_start_horiz ||
- height >= ao_config.tracker_start_vert ||
- ao_tracker_force_launch)
- {
- ao_flight_state = ao_flight_drogue;
- ao_wakeup(&ao_flight_state);
- ao_tracker_log_pos = ao_tracker_ring_next(ao_tracker_head);
- ao_log_start();
- ao_log_gps_flight();
- }
- break;
- case ao_flight_drogue:
- /* Modulate data rates based on speed (in cm/s) */
- if (tracker->gps_data.climb_rate < 0)
- speed = -tracker->gps_data.climb_rate;
- else
- speed = tracker->gps_data.climb_rate;
- speed += tracker->gps_data.ground_speed;
-
- if (speed < AO_TRACKER_NOT_MOVING) {
- new_telem_rate = AO_SEC_TO_TICKS(10);
- new_gps_rate = 10;
- } else {
- new_telem_rate = AO_SEC_TO_TICKS(1);
- new_gps_rate = 1;
- }
- break;
- default:
- break;
- }
- }
-
- if (new_telem_rate != telem_rate || new_telem_enabled != telem_enabled) {
- if (new_telem_enabled)
- ao_telemetry_set_interval(new_telem_rate);
- else
- ao_telemetry_set_interval(0);
- telem_rate = new_telem_rate;
- telem_enabled = new_telem_enabled;
- }
-
- if (new_gps_rate != gps_rate) {
- ao_gps_set_rate(new_gps_rate);
- gps_rate = new_gps_rate;
- }
-}
+static uint8_t gps_head;
-#if HAS_LOG
-static uint8_t ao_tracker_should_log;
-
-static void
-ao_tracker_log(void)
-{
- struct ao_tracker_data *tracker;
-
- if (ao_log_running) {
- while (ao_tracker_log_pos != ao_tracker_head) {
- tracker = &ao_tracker_data[ao_tracker_log_pos];
- if (tracker->new & AO_GPS_NEW_DATA) {
- ao_tracker_should_log = ao_log_gps_should_log(tracker->gps_data.latitude,
- tracker->gps_data.longitude,
- tracker->gps_data.altitude);
- if (ao_tracker_should_log)
- ao_log_gps_data(tracker->tick, tracker->state, &tracker->gps_data);
- }
- if (tracker->new & AO_GPS_NEW_TRACKING) {
- if (ao_tracker_should_log)
- ao_log_gps_tracking(tracker->tick, &tracker->gps_tracking_data);
- }
- ao_tracker_log_pos = ao_tracker_ring_next(ao_tracker_log_pos);
- }
- }
-}
-#endif
+static uint8_t tracker_mutex;
+static uint8_t log_started;
+static struct ao_telemetry_location gps_data;
+static uint8_t tracker_running;
+static uint16_t tracker_interval;
static void
ao_tracker(void)
{
- uint8_t new;
- struct ao_tracker_data *tracker;
+ uint8_t new;
+ int32_t ground_distance;
+ int16_t height;
+ uint16_t gps_tick;
+ uint8_t new_tracker_running;
#if HAS_ADC
ao_timer_set_adc_interval(100);
#if !HAS_USB_CONNECT
ao_tracker_force_telem = 1;
#endif
-
- nsamples = 0;
- lat_sum = 0;
- lon_sum = 0;
- alt_sum = 0;
-
- ao_log_scan();
+ log_started = ao_log_scan();
ao_rdf_set(1);
- ao_telemetry_set_interval(0);
- telem_rate = AO_SEC_TO_TICKS(1);
- telem_enabled = 0;
- gps_rate = 1;
- ao_flight_state = ao_flight_startup;
+ tracker_interval = ao_config.tracker_interval;
+ ao_gps_set_rate(tracker_interval);
+
for (;;) {
+
+ /** Wait for new GPS data
+ */
while (!(new = ao_gps_new))
ao_sleep(&ao_gps_new);
-
- /* Stick GPS data into the ring */
ao_mutex_get(&ao_gps_mutex);
- tracker = &ao_tracker_data[ao_tracker_head];
- tracker->tick = ao_gps_tick;
- tracker->new = new;
- tracker->state = ao_flight_state;
- tracker->gps_data = ao_gps_data;
- tracker->gps_tracking_data = ao_gps_tracking_data;
- ao_tracker_head = ao_tracker_ring_next(ao_tracker_head);
-
+ gps_data = ao_gps_data;
+ gps_tick = ao_gps_tick;
ao_gps_new = 0;
ao_mutex_put(&ao_gps_mutex);
- /* Update state based on current GPS data */
- ao_tracker_state_update(tracker);
+ new_tracker_running = ao_tracker_force_telem || !ao_usb_connected();
+
+ if (ao_config.tracker_interval != tracker_interval) {
+ tracker_interval = ao_config.tracker_interval;
+ ao_gps_set_rate(tracker_interval);
-#if HAS_LOG
- /* Log all gps data */
- ao_tracker_log();
+ /* force telemetry interval to be reset */
+ tracker_running = 0;
+ }
+
+ if (new_tracker_running && !tracker_running)
+ ao_telemetry_set_interval(AO_SEC_TO_TICKS(tracker_interval));
+ else if (!new_tracker_running && tracker_running)
+ ao_telemetry_set_interval(0);
+
+ tracker_running = new_tracker_running;
+
+ if (new_tracker_running && !ao_log_running)
+ ao_log_start();
+ else if (!new_tracker_running && ao_log_running)
+ ao_log_stop();
+
+ if (!ao_log_running)
+ continue;
+
+ if (new & AO_GPS_NEW_DATA) {
+ if ((gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) ==
+ (AO_GPS_VALID|AO_GPS_COURSE_VALID))
+ {
+ uint8_t ring;
+ uint8_t moving = 0;
+ gps_alt_t altitude = AO_TELEMETRY_LOCATION_ALTITUDE(&gps_data);
+
+ for (ring = ao_gps_ring_next(gps_head); ring != gps_head; ring = ao_gps_ring_next(ring)) {
+ ground_distance = ao_distance(gps_data.latitude, gps_data.longitude,
+ gps_position[ring].latitude,
+ gps_position[ring].longitude);
+ height = gps_position[ring].altitude - altitude;
+ if (height < 0)
+ height = -height;
+
+ if (ao_tracker_force_telem > 1)
+ printf("head %d ring %d ground_distance %d height %d\n", gps_head, ring, ground_distance, height);
+ if (ground_distance > ao_config.tracker_motion ||
+ height > (ao_config.tracker_motion << 1))
+ {
+ moving = 1;
+ break;
+ }
+ }
+ if (ao_tracker_force_telem > 1) {
+ printf ("moving %d started %d\n", moving, log_started);
+ flush();
+ }
+ if (moving) {
+ ao_mutex_get(&tracker_mutex);
+ if (!log_started) {
+ ao_log_gps_flight();
+ log_started = 1;
+ }
+ ao_log_gps_data(gps_tick, &gps_data);
+ gps_position[gps_head].latitude = gps_data.latitude;
+ gps_position[gps_head].longitude = gps_data.longitude;
+ gps_position[gps_head].altitude = altitude;
+ gps_head = ao_gps_ring_next(gps_head);
+ ao_mutex_put(&tracker_mutex);
+ }
+ }
+ }
+ }
+}
+
+#ifdef AO_LED_GPS_LOCK
+
+static struct ao_task ao_gps_lock_task;
+
+static void
+ao_gps_lock(void)
+{
+ for (;;) {
+ if ((gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) ==
+ (AO_GPS_VALID|AO_GPS_COURSE_VALID))
+ {
+ ao_led_for(AO_LED_GPS_LOCK, AO_MS_TO_TICKS(20));
+ }
+ ao_delay(AO_SEC_TO_TICKS(3));
+ }
+}
#endif
+
+
+static uint8_t erasing_current;
+
+void
+ao_tracker_erase_start(uint16_t flight)
+{
+ erasing_current = flight == ao_flight_number;
+ if (erasing_current) {
+ ao_mutex_get(&tracker_mutex);
+ ao_log_stop();
+ if (++ao_flight_number == 0)
+ ao_flight_number = 1;
+ }
+}
+
+void
+ao_tracker_erase_end(void)
+{
+ if (erasing_current) {
+ log_started = ao_log_scan();
+ ao_mutex_put(&tracker_mutex);
}
}
static void
ao_tracker_set_telem(void)
{
- uint8_t telem, launch;
- ao_cmd_hex();
- telem = ao_cmd_lex_i;
- ao_cmd_hex();
- launch = ao_cmd_lex_i;
- if (ao_cmd_status == ao_cmd_success) {
- ao_tracker_force_telem = telem;
- ao_tracker_force_launch = launch;
- }
+ uint16_t r = ao_cmd_hex();
+ if (ao_cmd_status == ao_cmd_success)
+ ao_tracker_force_telem = r;
ao_cmd_status = ao_cmd_success;
- printf ("flight %d force telem %d force launch %d\n",
- ao_flight_number, ao_tracker_force_telem, ao_tracker_force_launch);
+ printf ("flight: %d\n", ao_flight_number);
+ printf ("force_telem: %d\n", ao_tracker_force_telem);
+ printf ("tracker_running: %d\n", tracker_running);
+ printf ("log_started: %d\n", log_started);
+ printf ("latitude: %ld\n", (long) gps_data.latitude);
+ printf ("longitude: %ld\n", (long) gps_data.longitude);
+ printf ("altitude: %ld\n", AO_TELEMETRY_LOCATION_ALTITUDE(&gps_data));
+ printf ("log_running: %d\n", ao_log_running);
+ printf ("log_start_pos: %ld\n", (long) ao_log_start_pos);
+ printf ("log_cur_pos: %ld\n", (long) ao_log_current_pos);
+ printf ("log_end_pos: %ld\n", (long) ao_log_end_pos);
}
static const struct ao_cmds ao_tracker_cmds[] = {
- { ao_tracker_set_telem, "t <d>\0Set telem on USB" },
+ { ao_tracker_set_telem, "t <d>\0Set telem on USB (0 off, 1 on, 2 dbg)" },
{ 0, NULL },
};
#endif
ao_cmd_register(&ao_tracker_cmds[0]);
ao_add_task(&ao_tracker_task, ao_tracker, "tracker");
+#ifdef AO_LED_GPS_LOCK
+ ao_add_task(&ao_gps_lock_task, ao_gps_lock, "gps lock");
+#endif
}
projects / fw / altos / blobdiff