X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=ao_flight.c;h=3aff866aa664c27a8383e5d8a6ed51f948aaa51b;hp=d4f2ae8023ecffb73c7eef6f2c28745693659ce6;hb=c7555eb16876aa8ff9fe7f648d325a1b8fb54d23;hpb=022f83ca6fd589005d8eb3e25e633950fef69fa7

diff --git a/ao_flight.c b/ao_flight.c
index d4f2ae80..3aff866a 100644
--- 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");
 }