X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fcore%2Fao_sample.h;fp=src%2Fcore%2Fao_sample.h;h=0000000000000000000000000000000000000000;hp=16d4c5076774d04ad6adefc70064f1dae43d6626;hb=24167015705ae831692b95735968b04a876f935e;hpb=bb9fdef607728cc326a82aa632e59724f272e53b diff --git a/src/core/ao_sample.h b/src/core/ao_sample.h deleted file mode 100644 index 16d4c507..00000000 --- a/src/core/ao_sample.h +++ /dev/null @@ -1,156 +0,0 @@ -/* - * Copyright © 2012 Keith Packard - * - * 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_SAMPLE_H_ -#define _AO_SAMPLE_H_ - -#include - -/* - * ao_sample.c - */ - -/* - * Barometer calibration - * - * We directly sample the barometer. The specs say: - * - * Pressure range: 15-115 kPa - * Voltage at 115kPa: 2.82 - * Output scale: 27mV/kPa - * - * If we want to detect launch with the barometer, we need - * a large enough bump to not be fooled by noise. At typical - * launch elevations (0-2000m), a 200Pa pressure change cooresponds - * to about a 20m elevation change. This is 5.4mV, or about 3LSB. - * As all of our calculations are done in 16 bits, we'll actually see a change - * of 16 times this though - * - * 27 mV/kPa * 32767 / 3300 counts/mV = 268.1 counts/kPa - */ - -/* Accelerometer calibration - * - * We're sampling the accelerometer through a resistor divider which - * consists of 5k and 10k resistors. This multiplies the values by 2/3. - * That goes into the cc1111 A/D converter, which is running at 11 bits - * of precision with the bits in the MSB of the 16 bit value. Only positive - * values are used, so values should range from 0-32752 for 0-3.3V. The - * specs say we should see 40mV/g (uncalibrated), multiply by 2/3 for what - * the A/D converter sees (26.67 mV/g). We should see 32752/3300 counts/mV, - * for a final computation of: - * - * 26.67 mV/g * 32767/3300 counts/mV = 264.8 counts/g - * - * Zero g was measured at 16000 (we would expect 16384). - * Note that this value is only require to tell if the - * rocket is standing upright. Once that is determined, - * the value of the accelerometer is averaged for 100 samples - * to find the resting accelerometer value, which is used - * for all further flight computations - */ - -/* - * Above this height, the baro sensor doesn't work - */ -#if HAS_MS5607 -#define AO_MAX_BARO_HEIGHT 30000 -#else -#define AO_MAX_BARO_HEIGHT 12000 -#endif - -/* - * Above this speed, baro measurements are unreliable - */ -#define AO_MAX_BARO_SPEED 200 - -#define ACCEL_NOSE_UP (ao_accel_2g >> 2) - -/* - * Speed and acceleration are scaled by 16 to provide a bit more - * resolution while still having reasonable range. Note that this - * limits speed to 2047m/s (around mach 6) and acceleration to - * 2047m/s² (over 200g) - */ - -#define AO_M_TO_HEIGHT(m) ((int16_t) (m)) -#define AO_MS_TO_SPEED(ms) ((int16_t) ((ms) * 16)) -#define AO_MSS_TO_ACCEL(mss) ((int16_t) ((mss) * 16)) - -extern __pdata uint16_t ao_sample_tick; /* time of last data */ -extern __data uint8_t ao_sample_adc; /* Ring position of last processed sample */ -extern __data uint8_t ao_sample_data; /* Ring position of last processed sample */ - -#if HAS_BARO -extern __pdata pres_t ao_sample_pres; /* most recent pressure sensor reading */ -extern __pdata alt_t ao_sample_alt; /* MSL of ao_sample_pres */ -extern __pdata alt_t ao_sample_height; /* AGL of ao_sample_pres */ -extern __pdata pres_t ao_ground_pres; /* startup pressure */ -extern __pdata alt_t ao_ground_height; /* MSL of ao_ground_pres */ -#endif - -#if HAS_ACCEL -extern __pdata accel_t ao_sample_accel; /* most recent accel sensor reading */ -extern __pdata accel_t ao_ground_accel; /* startup acceleration */ -extern __pdata accel_t ao_accel_2g; /* factory accel calibration */ -extern __pdata int32_t ao_accel_scale; /* sensor to m/s² conversion */ -#endif -#if HAS_GYRO -extern __pdata accel_t ao_ground_accel_along; -extern __pdata accel_t ao_ground_accel_across; -extern __pdata accel_t ao_ground_accel_through; -extern __pdata int32_t ao_ground_pitch; /* * 512 */ -extern __pdata int32_t ao_ground_yaw; /* * 512 */ -extern __pdata int32_t ao_ground_roll; /* * 512 */ -extern __pdata accel_t ao_sample_accel_along; -extern __pdata accel_t ao_sample_accel_across; -extern __pdata accel_t ao_sample_accel_through; -extern __pdata gyro_t ao_sample_roll; -extern __pdata gyro_t ao_sample_pitch; -extern __pdata gyro_t ao_sample_yaw; -extern __pdata angle_t ao_sample_orient; -#endif - -void ao_sample_init(void); - -/* returns FALSE in preflight mode, TRUE in flight mode */ -uint8_t ao_sample(void); - -/* - * ao_kalman.c - */ - -#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5)) -#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5)) -#define from_fix(x) ((x) >> 16) - -extern __pdata int16_t ao_height; /* meters */ -extern __pdata int16_t ao_speed; /* m/s * 16 */ -extern __pdata int16_t ao_accel; /* m/s² * 16 */ -extern __xdata int16_t ao_max_height; /* max of ao_height */ -extern __xdata int16_t ao_avg_height; /* running average of height */ - -extern __pdata int16_t ao_error_h; -extern __pdata int16_t ao_error_h_sq_avg; - -#if HAS_ACCEL -extern __pdata int16_t ao_error_a; -#endif - -void ao_kalman(void); - -#endif /* _AO_SAMPLE_H_ */