*/
#include <ao.h>
+#include <ao_micropeak.h>
#include <ao_ms5607.h>
#include <ao_log_micro.h>
+#include <ao_async.h>
static struct ao_ms5607_sample sample;
static struct ao_ms5607_value value;
-static uint32_t pa;
-static uint32_t pa_sum;
-static uint32_t pa_avg;
-static int32_t pa_diff;
-static uint32_t pa_ground;
-static uint32_t pa_min;
-static uint32_t pa_interval_min, pa_interval_max;
-static alt_t ground_alt, max_alt;
+uint32_t pa;
+uint32_t pa_avg;
+uint32_t pa_ground;
+uint32_t pa_min;
+alt_t ground_alt, max_alt;
alt_t ao_max_height;
+static uint32_t pa_sum;
+
static void
ao_pa_get(void)
{
pa = value.pres;
}
-#define FILTER_SHIFT 3
-#define SAMPLE_SLEEP AO_MS_TO_TICKS(96)
-
-/* 16 sample, or about two seconds worth */
-#define GROUND_AVG_SHIFT 4
-#define GROUND_AVG (1 << GROUND_AVG_SHIFT)
-
-/* Pressure change (in Pa) to detect boost */
-#define BOOST_DETECT 48 /* 4m at sea level, 4.8m at 2000m */
-
-/* Pressure change (in Pa) to detect landing */
-#define LAND_DETECT 12 /* 1m at sea level, 1.2m at 2000m */
-
static void
ao_compute_height(void)
{
ao_max_height = max_alt - ground_alt;
}
-#if !HAS_EEPROM
-void
-ao_save_flight(void)
+static void
+ao_pips(void)
{
- ao_eeprom_write(0, &pa_ground, sizeof (pa_ground));
- ao_eeprom_write(sizeof (pa_ground), &pa_min, sizeof (pa_min));
+ uint8_t i;
+ for (i = 0; i < 10; i++) {
+ ao_led_toggle(AO_LED_REPORT);
+ ao_delay(AO_MS_TO_TICKS(80));
+ }
+ ao_delay(AO_MS_TO_TICKS(200));
}
-void
-ao_restore_flight(void)
-{
- ao_eeprom_read(0, &pa_ground, sizeof (pa_ground));
- ao_eeprom_read(sizeof (pa_ground), &pa_min, sizeof (pa_min));
-}
-#endif
+#define NUM_PA_HIST 16
+
+#define SKIP_PA_HIST(i,j) (((i) + (j)) & (NUM_PA_HIST - 1))
+
+static uint32_t pa_hist[NUM_PA_HIST];
int
main(void)
{
int16_t sample_count;
uint16_t time;
-#if HAS_EEPROM
- uint8_t dump_eeprom = 0;
-#endif
+ uint32_t pa_interval_min, pa_interval_max;
+ int32_t pa_diff;
+ uint8_t h, i;
+
ao_led_init(LEDS_AVAILABLE);
ao_timer_init();
-#if HAS_EEPROM
-
- /* Set MOSI and CLK as inputs with pull-ups */
- DDRB &= ~(1 << 0) | (1 << 2);
- PORTB |= (1 << 0) | (1 << 2);
-
- /* Check to see if either MOSI or CLK are pulled low by the
- * user shorting them to ground. If so, dump the eeprom out
- * via the LED. Wait for the shorting wire to go away before
- * continuing.
- */
- while ((PINB & ((1 << 0) | (1 << 2))) != ((1 << 0) | (1 << 2)))
- dump_eeprom = 1;
- PORTB &= ~(1 << 0) | (1 << 2);
-
- ao_i2c_init();
-#endif
- ao_restore_flight();
- ao_compute_height();
- ao_report_altitude();
-
+ /* Init external hardware */
ao_spi_init();
ao_ms5607_init();
ao_ms5607_setup();
-#if HAS_EEPROM
- ao_storage_init();
-
- /* Check to see if there's a flight recorded in memory */
- if (dump_eeprom && ao_log_micro_scan())
- ao_log_micro_dump();
-#endif
+ /* Give the person a second to get their finger out of the way */
+ ao_delay(AO_MS_TO_TICKS(1000));
+ ao_log_micro_restore();
+ ao_compute_height();
+ ao_report_altitude();
+ ao_pips();
+ ao_log_micro_dump();
+
+ ao_delay(BOOST_DELAY);
/* Wait for motion, averaging values to get ground pressure */
time = ao_time();
ao_pa_get();
pa_avg = pa_ground = pa << FILTER_SHIFT;
sample_count = 0;
+ h = 0;
for (;;) {
time += SAMPLE_SLEEP;
if (sample_count == 0)
- ao_led_on(AO_LED_BLUE);
+ ao_led_on(AO_LED_REPORT);
ao_delay_until(time);
ao_pa_get();
if (sample_count == 0)
- ao_led_off(AO_LED_BLUE);
+ ao_led_off(AO_LED_REPORT);
+ pa_hist[h] = pa;
+ h = SKIP_PA_HIST(h,1);
pa_avg = pa_avg - (pa_avg >> FILTER_SHIFT) + pa;
pa_diff = pa_ground - pa_avg;
- if (pa_diff < 0)
- pa_diff = -pa_diff;
/* Check for a significant pressure change */
if (pa_diff > (BOOST_DETECT << FILTER_SHIFT))
pa_ground >>= FILTER_SHIFT;
-#if HAS_EEPROM
- ao_log_micro_data(AO_LOG_MICRO_GROUND | pa_ground);
-#endif
+ /* Go back and find the first sample a decent interval above the ground */
+ pa_min = pa_ground - LAND_DETECT;
+ for (i = SKIP_PA_HIST(h,2); i != h; i = SKIP_PA_HIST(i,2)) {
+ if (pa_hist[i] < pa_min)
+ break;
+ }
+
+ /* Log the remaining samples so we get a complete history since leaving the ground */
+ for (; i != h; i = SKIP_PA_HIST(i,2)) {
+ pa = pa_hist[i];
+ ao_log_micro_data();
+ }
/* Now sit around until the pressure is stable again and record the max */
time += SAMPLE_SLEEP;
ao_delay_until(time);
if ((sample_count & 3) == 0)
- ao_led_on(AO_LED_BLUE);
+ ao_led_on(AO_LED_REPORT);
ao_pa_get();
if ((sample_count & 3) == 0)
- ao_led_off(AO_LED_BLUE);
-#if HAS_EEPROM
- ao_log_micro_data(AO_LOG_MICRO_DATA | pa);
-#endif
+ ao_led_off(AO_LED_REPORT);
+ if (sample_count & 1)
+ ao_log_micro_data();
pa_avg = pa_avg - (pa_avg >> FILTER_SHIFT) + pa;
if (pa_avg < pa_min)
pa_min = pa_avg;
}
}
pa_min >>= FILTER_SHIFT;
-#if HAS_EEPROM
- ao_log_micro_data(AO_LOG_MICRO_DONE | pa_min);
-#endif
- ao_save_flight();
+ ao_log_micro_save();
ao_compute_height();
ao_report_altitude();
for (;;) {
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