doc: Add tables describing AltOS beeps and flashes

Provide a convenient place to reference when listening to the device.

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl
index dfe89438f99398eebbcaf35b3c0a18e7f9641e8b..c71e08a7dc2ddec4530fd9dc7909019675bda403 100644 (file)
--- a/doc/altusmetrum.xsl
+++ b/doc/altusmetrum.xsl
@@ -835,17 +835,144 @@ NAR #88757, TRA #12200
         the altimeter completes initialization and self test, and decides 
        which mode to enter next.
       </para>
+      <para>
+       Here's a short summary of all of the modes and the beeping (or
+       flashing, in the case of TeleMini v1) that accompanies each
+       mode. In the description of the beeping pattern, “dit” means a
+       short beep while "dah" means a long beep (three times as
+       long). “Brap” means a long dissonant tone.
+       <table frame='all'>
+         <title>AltOS Modes</title>
+         <?dbfo keep-together="always"?>
+         <tgroup cols='4' align='center' colsep='1' rowsep='1'>
+           <colspec align='center' colwidth='*' colname='Mode Name'/>
+           <colspec align='center' colwidth='*' colname='Letter'/>
+           <colspec align='center' colwidth='*' colname='Beeps'/>
+           <colspec align='center' colwidth='*' colname='Description'/>
+           <thead>
+             <row>
+               <entry>Mode Name</entry>
+               <entry>Abbreviation</entry>
+               <entry>Beeps</entry>
+               <entry>Description</entry>
+             </row>
+           </thead>
+           <tbody>
+             <row>
+               <entry>Startup</entry>
+               <entry>S</entry>
+               <entry>dit dit dit</entry>
+               <entry>
+                 <para>
+                   Calibrating sensors, detecting orientation.
+                 </para>
+               </entry>
+             </row>
+             <row>
+               <entry>Idle</entry>
+               <entry>I</entry>
+               <entry>dit dit</entry>
+               <entry>
+                 <para>
+                   Ready to accept commands over USB or radio link.
+                 </para>
+               </entry>
+             </row>
+             <row>
+               <entry>Pad</entry>
+               <entry>P</entry>
+               <entry>dit dah dah dit</entry>
+               <entry>
+                 <para>
+                   Waiting for launch. Not listening for commands.
+                 </para>
+               </entry>
+             </row>
+             <row>
+               <entry>Boost</entry>
+               <entry>B</entry>
+               <entry>dah dit dit dit</entry>
+               <entry>
+                 <para>
+                   Accelerating upwards.
+                 </para>
+               </entry>
+             </row>
+             <row>
+               <entry>Fast</entry>
+               <entry>F</entry>
+               <entry>dit dit dah dit</entry>
+               <entry>
+                 <para>
+                   Decellerating, but moving faster than 200m/s.
+                 </para>
+               </entry>
+             </row>
+             <row>
+               <entry>Coast</entry>
+               <entry>C</entry>
+               <entry>dah dit dah dit</entry>
+               <entry>
+                 <para>
+                   Decellerating, moving slower than 200m/s
+                 </para>
+               </entry>
+             </row>
+             <row>
+               <entry>Drogue</entry>
+               <entry>D</entry>
+               <entry>dah dit dit</entry>
+               <entry>
+                 <para>
+                   Descending after apogee. Above main height.
+                 </para>
+               </entry>
+             </row>
+             <row>
+               <entry>Main</entry>
+               <entry>M</entry>
+               <entry>dah dah</entry>
+               <entry>
+                 <para>
+                   Descending. Below main height.
+                 </para>
+               </entry>
+             </row>
+             <row>
+               <entry>Landed</entry>
+               <entry>L</entry>
+               <entry>dit dah dit dit</entry>
+               <entry>
+                 <para>
+                   Stable altitude for at least ten seconds.
+                 </para>
+               </entry>
+             </row>
+             <row>
+               <entry>Sensor error</entry>
+               <entry>X</entry>
+               <entry>dah dit dit dah</entry>
+               <entry>
+                 <para>
+                   Error detected during sensor calibration.
+                 </para>
+               </entry>
+             </row>
+           </tbody>
+         </tgroup>
+       </table>
+      </para>
       <para>
         In flight or “pad” mode, the altimeter engages the flight
-        state machine, goes into transmit-only mode to
-        send telemetry, and waits for launch to be detected.
-        Flight mode is indicated by an “di-dah-dah-dit” (“P” for pad)
-        on the beeper or lights, followed by beeps or flashes
-        indicating the state of the pyrotechnic igniter continuity.
-        One beep/flash indicates apogee continuity, two beeps/flashes
-        indicate main continuity, three beeps/flashes indicate both
-        apogee and main continuity, and one longer “brap” sound or
-        rapidly alternating lights indicates no continuity.  For a
+        state machine, goes into transmit-only mode to send telemetry,
+        and waits for launch to be detected.  Flight mode is indicated
+        by an “di-dah-dah-dit” (“P” for pad) on the beeper or lights,
+        followed by beeps or flashes indicating the state of the
+        pyrotechnic igniter continuity.  One beep/flash indicates
+        apogee continuity, two beeps/flashes indicate main continuity,
+        three beeps/flashes indicate both apogee and main continuity,
+        and one longer “brap” sound which is made by rapidly
+        alternating between two tones indicates no continuity.  For a
         dual deploy flight, make sure you're getting three beeps or
         flashes before launching!  For apogee-only or motor eject
         flights, do what makes sense.
@@ -862,6 +989,93 @@ NAR #88757, TRA #12200
         data from the on-board storage chip after flight, and for
         ground testing pyro charges.
       </para>
+      <para>
+       In “Idle” and “Pad” modes, once the mode indication
+       beeps/flashes and continuity indication has been sent, if
+       there is no space available to log the flight in on-board
+       memory, the flight computer will emit a warbling tone (much
+       slower than the “no continuity tone”)
+      </para>
+      <para>
+       Here's a summary of all of the “pad” and “idle” mode indications.
+       <table frame='all'>
+         <title>Pad/Idle Indications</title>
+         <?dbfo keep-together="always"?>
+         <tgroup cols='3' align='center' colsep='1' rowsep='1'>
+           <colspec align='center' colwidth='*' colname='Name'/>
+           <colspec align='center' colwidth='*' colname='Beeps'/>
+           <colspec align='center' colwidth='*' colname='Description'/>
+           <thead>
+             <row>
+               <entry>Name</entry>
+               <entry>Beeps</entry>
+               <entry>Description</entry>
+             </row>
+           </thead>
+           <tbody>
+             <row>
+               <entry>Neither</entry>
+               <entry>brap</entry>
+               <entry>
+                 <para>
+                   No continuity detected on either apogee or main
+                   igniters.
+                 </para>
+               </entry>
+             </row>
+             <row>
+               <entry>Apogee</entry>
+               <entry>dit</entry>
+               <entry>
+                 <para>
+                   Continuity detected only on apogee igniter.
+                 </para>
+               </entry>
+             </row>
+             <row>
+               <entry>Main</entry>
+               <entry>dit dit</entry>
+               <entry>
+                 <para>
+                   Continuity detected only on main igniter.
+                 </para>
+               </entry>
+             </row>
+             <row>
+               <entry>Both</entry>
+               <entry>dit dit dit</entry>
+               <entry>
+                 <para>
+                   Continuity detected on both igniters.
+                 </para>
+               </entry>
+             </row>
+             <row>
+               <entry>Storage Full</entry>
+               <entry>warble</entry>
+               <entry>
+                 <para>
+                   On-board data logging storage is full. This will
+                   not prevent the flight computer from safely
+                   controlling the flight or transmitting telemetry
+                   signals, but no record of the flight will be
+                   stored in on-board flash.
+                 </para>
+               </entry>
+             </row>
+           </tbody>
+         </tgroup>
+       </table>
+      </para>
+      <para>
+       Once landed, the flight computer will signal that by emitting
+       the “Landed” sound described above, after which it will beep
+       out the apogee height (in meters). Each digit is represented
+       by a sequence of short “dit” beeps, with a pause between
+       digits. A zero digit is represented with one long “dah”
+       beep. The flight computer will continue to report landed mode
+       and beep out the maximum height until turned off.
+      </para>
       <para>
         One “neat trick” of particular value when TeleMetrum or TeleMega are used with 
         very large air-frames, is that you can power the board up while the