altos: Move micropeak sources around

This sticks the micropeak sources in appropriate directories, rather
than in the micropeak product directory so that they can be shared
with future micropeak-style products.

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

diff --git a/src/attiny/ao_async.c b/src/attiny/ao_async.c
new file mode 100644 (file)
index 0000000..3556f54
--- /dev/null
+++ b/src/attiny/ao_async.c
@@ -0,0 +1,71 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * 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.
+ */
+
+#include <ao.h>
+#include <ao_async.h>
+
+#define AO_ASYNC_BAUD  38400l
+#define AO_ASYNC_DELAY (uint8_t) (1000000l / AO_ASYNC_BAUD)
+
+#define LED_PORT       PORTB
+
+void
+ao_async_start(void)
+{
+       LED_PORT |= (1 << AO_LED_SERIAL);
+}
+
+void
+ao_async_stop(void)
+{
+       LED_PORT &= ~(1 << AO_LED_SERIAL);
+}
+
+void
+ao_async_byte(uint8_t byte)
+{
+       uint8_t         b;
+       uint16_t        w;
+
+       /*    start           data           stop */
+       w = (0x000 << 0) | (byte << 1) | (0x001 << 9);
+
+       ao_arch_block_interrupts();
+       for (b = 0; b < 10; b++) {
+               uint8_t v = LED_PORT & ~(1 << AO_LED_SERIAL);
+               v |= (w & 1) << AO_LED_SERIAL;
+               LED_PORT = v;
+               w >>= 1;
+
+               /* Carefully timed to hit around 9600 baud */
+               asm volatile ("nop");
+               asm volatile ("nop");
+
+               asm volatile ("nop");
+               asm volatile ("nop");
+               asm volatile ("nop");
+               asm volatile ("nop");
+               asm volatile ("nop");
+
+               asm volatile ("nop");
+               asm volatile ("nop");
+               asm volatile ("nop");
+               asm volatile ("nop");
+               asm volatile ("nop");
+       }
+       ao_arch_release_interrupts();
+}

diff --git a/src/attiny/ao_async.h b/src/attiny/ao_async.h
new file mode 100644 (file)
index 0000000..1b23971
--- /dev/null
+++ b/src/attiny/ao_async.h
@@ -0,0 +1,30 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * 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_ASYNC_H_
+#define _AO_ASYNC_H_
+
+void
+ao_async_start(void);
+
+void
+ao_async_stop(void);
+
+void
+ao_async_byte(uint8_t byte);
+
+#endif /* _AO_ASYNC_H_ */

diff --git a/src/core/ao_log_micro.c b/src/core/ao_log_micro.c
new file mode 100644 (file)
index 0000000..d665efb
--- /dev/null
+++ b/src/core/ao_log_micro.c
@@ -0,0 +1,121 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * 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.
+ */
+
+#include <ao.h>
+#include <ao_micropeak.h>
+#include <ao_log_micro.h>
+#include <ao_async.h>
+
+static uint16_t ao_log_offset = STARTING_LOG_OFFSET;
+
+void
+ao_log_micro_save(void)
+{
+       uint16_t        n_samples = (ao_log_offset - STARTING_LOG_OFFSET) / sizeof (uint16_t);
+       ao_eeprom_write(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground));
+       ao_eeprom_write(PA_MIN_OFFSET, &pa_min, sizeof (pa_min));
+       ao_eeprom_write(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples));
+}
+
+void
+ao_log_micro_restore(void)
+{
+       ao_eeprom_read(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground));
+       ao_eeprom_read(PA_MIN_OFFSET, &pa_min, sizeof (pa_min));
+}
+
+void
+ao_log_micro_data(void)
+{
+       uint16_t        low_bits = pa;
+
+       if (ao_log_offset < MAX_LOG_OFFSET) {
+               ao_eeprom_write(ao_log_offset, &low_bits, sizeof (low_bits));
+               ao_log_offset += sizeof (low_bits);
+       }
+}
+
+#define POLY 0x8408
+
+static uint16_t
+ao_log_micro_crc(uint16_t crc, uint8_t byte)
+{
+       uint8_t i;
+
+       for (i = 0; i < 8; i++) {
+               if ((crc & 0x0001) ^ (byte & 0x0001))
+                       crc = (crc >> 1) ^ POLY;
+               else
+                       crc = crc >> 1;
+               byte >>= 1;
+       }
+       return crc;
+}
+
+static void
+ao_log_hex_nibble(uint8_t b)
+{
+       if (b < 10)
+               ao_async_byte('0' + b);
+       else
+               ao_async_byte('a' - 10 + b);
+}
+
+static void
+ao_log_hex(uint8_t b)
+{
+       ao_log_hex_nibble(b>>4);
+       ao_log_hex_nibble(b&0xf);
+}
+
+static void
+ao_log_newline(void)
+{
+       ao_async_byte('\r');
+       ao_async_byte('\n');
+}
+
+void
+ao_log_micro_dump(void)
+{
+       uint16_t        n_samples;
+       uint16_t        nbytes;
+       uint8_t         byte;
+       uint16_t        b;
+       uint16_t        crc = 0xffff;
+
+       ao_eeprom_read(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples));
+       if (n_samples == 0xffff)
+               n_samples = 0;
+       nbytes = STARTING_LOG_OFFSET + sizeof (uint16_t) * n_samples;
+       ao_async_start();
+       ao_async_byte('M');
+       ao_async_byte('P');
+       for (b = 0; b < nbytes; b++) {
+               if ((b & 0xf) == 0)
+                       ao_log_newline();
+               ao_eeprom_read(b, &byte, 1);
+               ao_log_hex(byte);
+               crc = ao_log_micro_crc(crc, byte);
+       }
+       ao_log_newline();
+       crc = ~crc;
+       ao_log_hex(crc >> 8);
+       ao_log_hex(crc);
+       ao_log_newline();
+       ao_async_stop();
+}

diff --git a/src/core/ao_log_micro.h b/src/core/ao_log_micro.h
new file mode 100644 (file)
index 0000000..976852e
--- /dev/null
+++ b/src/core/ao_log_micro.h
@@ -0,0 +1,39 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * 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_LOG_MICRO_H_
+#define _AO_LOG_MICRO_H_
+
+#define PA_GROUND_OFFSET       0
+#define PA_MIN_OFFSET          4
+#define N_SAMPLES_OFFSET       8
+#define STARTING_LOG_OFFSET    10
+#define MAX_LOG_OFFSET         512
+
+void
+ao_log_micro_save(void);
+
+void
+ao_log_micro_restore(void);
+
+void
+ao_log_micro_data(void);
+
+void
+ao_log_micro_dump(void);
+
+#endif /* _AO_LOG_MICRO_H_ */

diff --git a/src/core/ao_microflight.c b/src/core/ao_microflight.c
new file mode 100644 (file)
index 0000000..714bb90
--- /dev/null
+++ b/src/core/ao_microflight.c
@@ -0,0 +1,143 @@
+/*
+ * Copyright © 2013 Keith Packard <keithp@keithp.com>
+ *
+ * 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_FLIGHT_TEST
+#include <ao.h>
+#endif
+#include <ao_micropeak.h>
+#include <ao_log_micro.h>
+
+uint32_t       pa;
+uint32_t       pa_ground;
+uint32_t       pa_min;
+
+static void
+ao_microsample(void)
+{
+       ao_pa_get();
+       ao_microkalman_predict();
+       ao_microkalman_correct();
+}
+
+#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];
+
+void
+ao_microflight(void)
+{
+       int16_t         sample_count;
+       uint16_t        time;
+       uint32_t        pa_interval_min, pa_interval_max;
+       int32_t         pa_diff;
+       uint8_t         h, i;
+       uint8_t         accel_lock = 0;
+       uint32_t        pa_sum = 0;
+
+       /* Wait for motion, averaging values to get ground pressure */
+
+       time = ao_time();
+       ao_pa_get();
+       ao_microkalman_init();
+       pa_ground = pa;
+       sample_count = 0;
+       h = 0;
+       for (;;) {
+               time += SAMPLE_SLEEP;
+               if (sample_count == 0)
+                       ao_led_on(AO_LED_REPORT);
+               ao_delay_until(time);
+               ao_microsample();
+               if (sample_count == 0)
+                       ao_led_off(AO_LED_REPORT);
+               pa_hist[h] = pa;
+               h = SKIP_PA_HIST(h,1);
+               pa_diff = pa_ground - ao_pa;
+
+               /* Check for a significant pressure change */
+               if (pa_diff > BOOST_DETECT)
+                       break;
+
+               if (sample_count < GROUND_AVG * 2) {
+                       if (sample_count < GROUND_AVG)
+                               pa_sum += pa;
+                       ++sample_count;
+               } else {
+                       pa_ground = pa_sum >> GROUND_AVG_SHIFT;
+                       pa_sum = 0;
+                       sample_count = 0;
+               }
+       }
+
+       /* 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 */
+
+       sample_count = 0;
+       pa_min = ao_pa;
+       pa_interval_min = ao_pa;
+       pa_interval_max = ao_pa;
+       for (;;) {
+               time += SAMPLE_SLEEP;
+               ao_delay_until(time);
+               if ((sample_count & 3) == 0)
+                       ao_led_on(AO_LED_REPORT);
+               ao_microsample();
+               if ((sample_count & 3) == 0)
+                       ao_led_off(AO_LED_REPORT);
+               if (sample_count & 1)
+                       ao_log_micro_data();
+
+               /* If accelerating upwards, don't look for min pressure */
+               if (ao_pa_accel < ACCEL_LOCK_PA)
+                       accel_lock = ACCEL_LOCK_TIME;
+               else if (accel_lock)
+                       --accel_lock;
+               else if (ao_pa < pa_min)
+                       pa_min = ao_pa;
+
+               if (sample_count == (GROUND_AVG - 1)) {
+                       pa_diff = pa_interval_max - pa_interval_min;
+
+                       /* Check to see if the pressure is now stable */
+                       if (pa_diff < LAND_DETECT)
+                               break;
+                       sample_count = 0;
+                       pa_interval_min = ao_pa;
+                       pa_interval_max = ao_pa;
+               } else {
+                       if (ao_pa < pa_interval_min)
+                               pa_interval_min = ao_pa;
+                       if (ao_pa > pa_interval_max)
+                               pa_interval_max = ao_pa;
+                       ++sample_count;
+               }
+       }
+}

diff --git a/src/core/ao_microkalman.c b/src/core/ao_microkalman.c
new file mode 100644 (file)
index 0000000..0684ea2
--- /dev/null
+++ b/src/core/ao_microkalman.c
@@ -0,0 +1,74 @@
+/*
+ * Copyright © 2013 Keith Packard <keithp@keithp.com>
+ *
+ * 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_FLIGHT_TEST
+#include <ao.h>
+#endif
+#include <ao_micropeak.h>
+
+#define FIX_BITS       16
+
+#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
+#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
+#define from_fix8(x)   ((x) >> 8)
+#define from_fix(x)    ((x) >> 16)
+#define fix8_to_fix16(x)       ((x) << 8)
+#define fix16_to_fix8(x)       ((x) >> 8)
+
+#include <ao_kalman.h>
+
+/* Basic time step (96ms) */
+#define AO_MK_STEP     to_fix16(0.096)
+/* step ** 2 / 2 */
+#define AO_MK_STEP_2_2 to_fix16(0.004608)
+
+uint32_t       ao_k_pa;                /* 24.8 fixed point */
+int32_t                ao_k_pa_speed;          /* 16.16 fixed point */
+int32_t                ao_k_pa_accel;          /* 16.16 fixed point */
+
+uint32_t       ao_pa;                  /* integer portion */
+int16_t                ao_pa_speed;            /* integer portion */
+int16_t                ao_pa_accel;            /* integer portion */
+
+void
+ao_microkalman_init(void)
+{
+       ao_pa = pa;
+       ao_k_pa = pa << 8;
+}      
+
+void
+ao_microkalman_predict(void)
+{
+       ao_k_pa       += fix16_to_fix8((int32_t) ao_pa_speed * AO_MK_STEP + (int32_t) ao_pa_accel * AO_MK_STEP_2_2);
+       ao_k_pa_speed += (int32_t) ao_pa_accel * AO_MK_STEP;
+}
+
+void
+ao_microkalman_correct(void)
+{
+       int16_t e;      /* Height error in Pa */
+
+       e = pa - from_fix8(ao_k_pa);
+
+       ao_k_pa       += fix16_to_fix8((int32_t) e * AO_MK_BARO_K0_10);
+       ao_k_pa_speed += (int32_t) e * AO_MK_BARO_K1_10;
+       ao_k_pa_accel += (int32_t) e * AO_MK_BARO_K2_10;
+       ao_pa = from_fix8(ao_k_pa);
+       ao_pa_speed = from_fix(ao_k_pa_speed);
+       ao_pa_accel = from_fix(ao_k_pa_accel);
+}

diff --git a/src/core/ao_report_micro.c b/src/core/ao_report_micro.c
new file mode 100644 (file)
index 0000000..0e8e287
--- /dev/null
+++ b/src/core/ao_report_micro.c
@@ -0,0 +1,57 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * 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.
+ */
+
+#include <ao.h>
+
+#define mid(time)      ao_led_for(AO_LED_REPORT, time)
+#define pause(time)    ao_delay(time)
+
+static void
+ao_report_digit(uint8_t digit) __reentrant
+{
+       if (!digit) {
+               mid(AO_MS_TO_TICKS(1000));
+               pause(AO_MS_TO_TICKS(300));
+       } else {
+               while (digit--) {
+                       mid(AO_MS_TO_TICKS(300));
+                       pause(AO_MS_TO_TICKS(300));
+               }
+       }
+       pause(AO_MS_TO_TICKS(1000));
+}
+
+void
+ao_report_altitude(void)
+{
+       __pdata alt_t   agl = ao_max_height;
+       static __xdata uint8_t  digits[11];
+       __pdata uint8_t ndigits, i;
+
+       if (agl < 0)
+               agl = 0;
+       ndigits = 0;
+       do {
+               digits[ndigits++] = agl % 10;
+               agl /= 10;
+       } while (agl);
+
+       i = ndigits;
+       do
+               ao_report_digit(digits[--i]);
+       while (i != 0);
+}

diff --git a/src/micropeak/Makefile b/src/micropeak/Makefile
index 44e0b873a14c76acb50af5597949f1e2ba2d8155..e51b2847d1fbf74eb9e4c639d2cfd570f9a7784f 100644 (file)
--- a/src/micropeak/Makefile
+++ b/src/micropeak/Makefile
@@ -2,7 +2,7 @@
 # Tiny AltOS build
 #
 #
 # Tiny AltOS build
 #
 #

-vpath % ../attiny:../drivers:../core:..
+vpath % ../attiny:../drivers:../core:../product:..

 vpath ao-make-product.5c ../util
 vpath make-altitude-pa ../util
 
 vpath ao-make-product.5c ../util
 vpath make-altitude-pa ../util
 


@@ -30,7 +30,7 @@ ALTOS_SRC = \
        ao_ms5607.c \
        ao_exti.c \
        ao_convert_pa.c \
        ao_ms5607.c \
        ao_exti.c \
        ao_convert_pa.c \

-       ao_report_tiny.c \
+       ao_report_micro.c \

        ao_notask.c \
        ao_eeprom_tiny.c \
        ao_panic.c \
        ao_notask.c \
        ao_eeprom_tiny.c \
        ao_panic.c \


@@ -53,7 +53,7 @@ INC=\
 IDPRODUCT=0
 PRODUCT=MicroPeak-v0.1
 PRODUCT_DEF=-DMICROPEAK
 IDPRODUCT=0
 PRODUCT=MicroPeak-v0.1
 PRODUCT_DEF=-DMICROPEAK

-CFLAGS = $(PRODUCT_DEF) -I. -I../attiny -I../core -I.. -I../drivers
+CFLAGS = $(PRODUCT_DEF) -I. -I../attiny -I../core -I.. -I../drivers -I../product

 CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O2 -mcall-prologues -DATTINY
 
 NICKLE=nickle
 CFLAGS += -g -mmcu=$(MCU) -Wall -Wstrict-prototypes -O2 -mcall-prologues -DATTINY
 
 NICKLE=nickle

diff --git a/src/micropeak/ao_async.c b/src/micropeak/ao_async.c
deleted file mode 100644 (file)
index 3556f54..0000000
--- a/src/micropeak/ao_async.c
+++ /dev/null
@@ -1,71 +0,0 @@
-/*
- * Copyright © 2012 Keith Packard <keithp@keithp.com>
- *
- * 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.
- */
-
-#include <ao.h>
-#include <ao_async.h>
-
-#define AO_ASYNC_BAUD  38400l
-#define AO_ASYNC_DELAY (uint8_t) (1000000l / AO_ASYNC_BAUD)
-
-#define LED_PORT       PORTB
-
-void
-ao_async_start(void)
-{
-       LED_PORT |= (1 << AO_LED_SERIAL);
-}
-
-void
-ao_async_stop(void)
-{
-       LED_PORT &= ~(1 << AO_LED_SERIAL);
-}
-
-void
-ao_async_byte(uint8_t byte)
-{
-       uint8_t         b;
-       uint16_t        w;
-
-       /*    start           data           stop */
-       w = (0x000 << 0) | (byte << 1) | (0x001 << 9);
-
-       ao_arch_block_interrupts();
-       for (b = 0; b < 10; b++) {
-               uint8_t v = LED_PORT & ~(1 << AO_LED_SERIAL);
-               v |= (w & 1) << AO_LED_SERIAL;
-               LED_PORT = v;
-               w >>= 1;
-
-               /* Carefully timed to hit around 9600 baud */
-               asm volatile ("nop");
-               asm volatile ("nop");
-
-               asm volatile ("nop");
-               asm volatile ("nop");
-               asm volatile ("nop");
-               asm volatile ("nop");
-               asm volatile ("nop");
-
-               asm volatile ("nop");
-               asm volatile ("nop");
-               asm volatile ("nop");
-               asm volatile ("nop");
-               asm volatile ("nop");
-       }
-       ao_arch_release_interrupts();
-}

diff --git a/src/micropeak/ao_async.h b/src/micropeak/ao_async.h
deleted file mode 100644 (file)
index 1b23971..0000000
--- a/src/micropeak/ao_async.h
+++ /dev/null
@@ -1,30 +0,0 @@
-/*
- * Copyright © 2012 Keith Packard <keithp@keithp.com>
- *
- * 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_ASYNC_H_
-#define _AO_ASYNC_H_
-
-void
-ao_async_start(void);
-
-void
-ao_async_stop(void);
-
-void
-ao_async_byte(uint8_t byte);
-
-#endif /* _AO_ASYNC_H_ */

diff --git a/src/micropeak/ao_log_micro.c b/src/micropeak/ao_log_micro.c
deleted file mode 100644 (file)
index d665efb..0000000
--- a/src/micropeak/ao_log_micro.c
+++ /dev/null
@@ -1,121 +0,0 @@
-/*
- * Copyright © 2012 Keith Packard <keithp@keithp.com>
- *
- * 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.
- */
-
-#include <ao.h>
-#include <ao_micropeak.h>
-#include <ao_log_micro.h>
-#include <ao_async.h>
-
-static uint16_t ao_log_offset = STARTING_LOG_OFFSET;
-
-void
-ao_log_micro_save(void)
-{
-       uint16_t        n_samples = (ao_log_offset - STARTING_LOG_OFFSET) / sizeof (uint16_t);
-       ao_eeprom_write(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground));
-       ao_eeprom_write(PA_MIN_OFFSET, &pa_min, sizeof (pa_min));
-       ao_eeprom_write(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples));
-}
-
-void
-ao_log_micro_restore(void)
-{
-       ao_eeprom_read(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground));
-       ao_eeprom_read(PA_MIN_OFFSET, &pa_min, sizeof (pa_min));
-}
-
-void
-ao_log_micro_data(void)
-{
-       uint16_t        low_bits = pa;
-
-       if (ao_log_offset < MAX_LOG_OFFSET) {
-               ao_eeprom_write(ao_log_offset, &low_bits, sizeof (low_bits));
-               ao_log_offset += sizeof (low_bits);
-       }
-}
-
-#define POLY 0x8408
-
-static uint16_t
-ao_log_micro_crc(uint16_t crc, uint8_t byte)
-{
-       uint8_t i;
-
-       for (i = 0; i < 8; i++) {
-               if ((crc & 0x0001) ^ (byte & 0x0001))
-                       crc = (crc >> 1) ^ POLY;
-               else
-                       crc = crc >> 1;
-               byte >>= 1;
-       }
-       return crc;
-}
-
-static void
-ao_log_hex_nibble(uint8_t b)
-{
-       if (b < 10)
-               ao_async_byte('0' + b);
-       else
-               ao_async_byte('a' - 10 + b);
-}
-
-static void
-ao_log_hex(uint8_t b)
-{
-       ao_log_hex_nibble(b>>4);
-       ao_log_hex_nibble(b&0xf);
-}
-
-static void
-ao_log_newline(void)
-{
-       ao_async_byte('\r');
-       ao_async_byte('\n');
-}
-
-void
-ao_log_micro_dump(void)
-{
-       uint16_t        n_samples;
-       uint16_t        nbytes;
-       uint8_t         byte;
-       uint16_t        b;
-       uint16_t        crc = 0xffff;
-
-       ao_eeprom_read(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples));
-       if (n_samples == 0xffff)
-               n_samples = 0;
-       nbytes = STARTING_LOG_OFFSET + sizeof (uint16_t) * n_samples;
-       ao_async_start();
-       ao_async_byte('M');
-       ao_async_byte('P');
-       for (b = 0; b < nbytes; b++) {
-               if ((b & 0xf) == 0)
-                       ao_log_newline();
-               ao_eeprom_read(b, &byte, 1);
-               ao_log_hex(byte);
-               crc = ao_log_micro_crc(crc, byte);
-       }
-       ao_log_newline();
-       crc = ~crc;
-       ao_log_hex(crc >> 8);
-       ao_log_hex(crc);
-       ao_log_newline();
-       ao_async_stop();
-}

diff --git a/src/micropeak/ao_log_micro.h b/src/micropeak/ao_log_micro.h
deleted file mode 100644 (file)
index 976852e..0000000
--- a/src/micropeak/ao_log_micro.h
+++ /dev/null
@@ -1,39 +0,0 @@
-/*
- * Copyright © 2012 Keith Packard <keithp@keithp.com>
- *
- * 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_LOG_MICRO_H_
-#define _AO_LOG_MICRO_H_
-
-#define PA_GROUND_OFFSET       0
-#define PA_MIN_OFFSET          4
-#define N_SAMPLES_OFFSET       8
-#define STARTING_LOG_OFFSET    10
-#define MAX_LOG_OFFSET         512
-
-void
-ao_log_micro_save(void);
-
-void
-ao_log_micro_restore(void);
-
-void
-ao_log_micro_data(void);
-
-void
-ao_log_micro_dump(void);
-
-#endif /* _AO_LOG_MICRO_H_ */

diff --git a/src/micropeak/ao_microflight.c b/src/micropeak/ao_microflight.c
deleted file mode 100644 (file)
index 714bb90..0000000
--- a/src/micropeak/ao_microflight.c
+++ /dev/null
@@ -1,143 +0,0 @@
-/*
- * Copyright © 2013 Keith Packard <keithp@keithp.com>
- *
- * 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_FLIGHT_TEST
-#include <ao.h>
-#endif
-#include <ao_micropeak.h>
-#include <ao_log_micro.h>
-
-uint32_t       pa;
-uint32_t       pa_ground;
-uint32_t       pa_min;
-
-static void
-ao_microsample(void)
-{
-       ao_pa_get();
-       ao_microkalman_predict();
-       ao_microkalman_correct();
-}
-
-#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];
-
-void
-ao_microflight(void)
-{
-       int16_t         sample_count;
-       uint16_t        time;
-       uint32_t        pa_interval_min, pa_interval_max;
-       int32_t         pa_diff;
-       uint8_t         h, i;
-       uint8_t         accel_lock = 0;
-       uint32_t        pa_sum = 0;
-
-       /* Wait for motion, averaging values to get ground pressure */
-
-       time = ao_time();
-       ao_pa_get();
-       ao_microkalman_init();
-       pa_ground = pa;
-       sample_count = 0;
-       h = 0;
-       for (;;) {
-               time += SAMPLE_SLEEP;
-               if (sample_count == 0)
-                       ao_led_on(AO_LED_REPORT);
-               ao_delay_until(time);
-               ao_microsample();
-               if (sample_count == 0)
-                       ao_led_off(AO_LED_REPORT);
-               pa_hist[h] = pa;
-               h = SKIP_PA_HIST(h,1);
-               pa_diff = pa_ground - ao_pa;
-
-               /* Check for a significant pressure change */
-               if (pa_diff > BOOST_DETECT)
-                       break;
-
-               if (sample_count < GROUND_AVG * 2) {
-                       if (sample_count < GROUND_AVG)
-                               pa_sum += pa;
-                       ++sample_count;
-               } else {
-                       pa_ground = pa_sum >> GROUND_AVG_SHIFT;
-                       pa_sum = 0;
-                       sample_count = 0;
-               }
-       }
-
-       /* 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 */
-
-       sample_count = 0;
-       pa_min = ao_pa;
-       pa_interval_min = ao_pa;
-       pa_interval_max = ao_pa;
-       for (;;) {
-               time += SAMPLE_SLEEP;
-               ao_delay_until(time);
-               if ((sample_count & 3) == 0)
-                       ao_led_on(AO_LED_REPORT);
-               ao_microsample();
-               if ((sample_count & 3) == 0)
-                       ao_led_off(AO_LED_REPORT);
-               if (sample_count & 1)
-                       ao_log_micro_data();
-
-               /* If accelerating upwards, don't look for min pressure */
-               if (ao_pa_accel < ACCEL_LOCK_PA)
-                       accel_lock = ACCEL_LOCK_TIME;
-               else if (accel_lock)
-                       --accel_lock;
-               else if (ao_pa < pa_min)
-                       pa_min = ao_pa;
-
-               if (sample_count == (GROUND_AVG - 1)) {
-                       pa_diff = pa_interval_max - pa_interval_min;
-
-                       /* Check to see if the pressure is now stable */
-                       if (pa_diff < LAND_DETECT)
-                               break;
-                       sample_count = 0;
-                       pa_interval_min = ao_pa;
-                       pa_interval_max = ao_pa;
-               } else {
-                       if (ao_pa < pa_interval_min)
-                               pa_interval_min = ao_pa;
-                       if (ao_pa > pa_interval_max)
-                               pa_interval_max = ao_pa;
-                       ++sample_count;
-               }
-       }
-}

diff --git a/src/micropeak/ao_microkalman.c b/src/micropeak/ao_microkalman.c
deleted file mode 100644 (file)
index 0684ea2..0000000
--- a/src/micropeak/ao_microkalman.c
+++ /dev/null
@@ -1,74 +0,0 @@
-/*
- * Copyright © 2013 Keith Packard <keithp@keithp.com>
- *
- * 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_FLIGHT_TEST
-#include <ao.h>
-#endif
-#include <ao_micropeak.h>
-
-#define FIX_BITS       16
-
-#define to_fix16(x) ((int16_t) ((x) * 65536.0 + 0.5))
-#define to_fix32(x) ((int32_t) ((x) * 65536.0 + 0.5))
-#define from_fix8(x)   ((x) >> 8)
-#define from_fix(x)    ((x) >> 16)
-#define fix8_to_fix16(x)       ((x) << 8)
-#define fix16_to_fix8(x)       ((x) >> 8)
-
-#include <ao_kalman.h>
-
-/* Basic time step (96ms) */
-#define AO_MK_STEP     to_fix16(0.096)
-/* step ** 2 / 2 */
-#define AO_MK_STEP_2_2 to_fix16(0.004608)
-
-uint32_t       ao_k_pa;                /* 24.8 fixed point */
-int32_t                ao_k_pa_speed;          /* 16.16 fixed point */
-int32_t                ao_k_pa_accel;          /* 16.16 fixed point */
-
-uint32_t       ao_pa;                  /* integer portion */
-int16_t                ao_pa_speed;            /* integer portion */
-int16_t                ao_pa_accel;            /* integer portion */
-
-void
-ao_microkalman_init(void)
-{
-       ao_pa = pa;
-       ao_k_pa = pa << 8;
-}      
-
-void
-ao_microkalman_predict(void)
-{
-       ao_k_pa       += fix16_to_fix8((int32_t) ao_pa_speed * AO_MK_STEP + (int32_t) ao_pa_accel * AO_MK_STEP_2_2);
-       ao_k_pa_speed += (int32_t) ao_pa_accel * AO_MK_STEP;
-}
-
-void
-ao_microkalman_correct(void)
-{
-       int16_t e;      /* Height error in Pa */
-
-       e = pa - from_fix8(ao_k_pa);
-
-       ao_k_pa       += fix16_to_fix8((int32_t) e * AO_MK_BARO_K0_10);
-       ao_k_pa_speed += (int32_t) e * AO_MK_BARO_K1_10;
-       ao_k_pa_accel += (int32_t) e * AO_MK_BARO_K2_10;
-       ao_pa = from_fix8(ao_k_pa);
-       ao_pa_speed = from_fix(ao_k_pa_speed);
-       ao_pa_accel = from_fix(ao_k_pa_accel);
-}

diff --git a/src/micropeak/ao_micropeak.c b/src/micropeak/ao_micropeak.c
deleted file mode 100644 (file)
index 10f0d19..0000000
--- a/src/micropeak/ao_micropeak.c
+++ /dev/null
@@ -1,89 +0,0 @@
-/*
- * Copyright © 2012 Keith Packard <keithp@keithp.com>
- *
- * 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.
- */
-
-#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;
-
-alt_t          ground_alt, max_alt;
-alt_t          ao_max_height;
-
-void
-ao_pa_get(void)
-{
-       ao_ms5607_sample(&sample);
-       ao_ms5607_convert(&sample, &value);
-       pa = value.pres;
-}
-
-static void
-ao_compute_height(void)
-{
-       ground_alt = ao_pa_to_altitude(pa_ground);
-       max_alt = ao_pa_to_altitude(pa_min);
-       ao_max_height = max_alt - ground_alt;
-}
-
-static void
-ao_pips(void)
-{
-       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));
-}
-
-int
-main(void)
-{
-       ao_led_init(LEDS_AVAILABLE);
-       ao_timer_init();
-
-       /* Init external hardware */
-       ao_spi_init();
-       ao_ms5607_init();
-       ao_ms5607_setup();
-
-       /* 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);
-
-       ao_microflight();
-
-       ao_log_micro_save();
-       ao_compute_height();
-       ao_report_altitude();
-       for (;;) {
-               cli();
-               set_sleep_mode(SLEEP_MODE_PWR_DOWN);
-               sleep_mode();
-       }
-}

diff --git a/src/micropeak/ao_micropeak.h b/src/micropeak/ao_micropeak.h
deleted file mode 100644 (file)
index 382b98d..0000000
--- a/src/micropeak/ao_micropeak.h
+++ /dev/null
@@ -1,78 +0,0 @@
-/*
- * Copyright © 2012 Keith Packard <keithp@keithp.com>
- *
- * 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_MICROPEAK_H_
-#define _AO_MICROPEAK_H_
-
-#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           120     /* 10m at sea level, 12m at 2000m */
-
-/* Wait after power on before doing anything to give the user time to assemble the rocket */
-#define BOOST_DELAY            AO_SEC_TO_TICKS(30)
-
-/* Pressure change (in Pa) to detect landing */
-#define LAND_DETECT            24      /* 2m at sea level, 2.4m at 2000m */
-
-/* Current sensor pressure value */
-extern uint32_t        pa;
-
-/* Average pressure value on ground */
-extern uint32_t        pa_ground;
-
-/* Minimum recorded filtered pressure value */
-extern uint32_t        pa_min;
-
-/* Pressure values converted to altitudes */
-extern alt_t   ground_alt, max_alt;
-
-/* max_alt - ground_alt */
-extern alt_t   ao_max_height;
-
-void
-ao_pa_get(void);
-
-void
-ao_microflight(void);
-
-#define ACCEL_LOCK_PA          -20
-#define ACCEL_LOCK_TIME                10
-
-extern uint32_t        ao_k_pa;                /* 24.8 fixed point */
-extern int32_t ao_k_pa_speed;          /* 16.16 fixed point */
-extern int32_t ao_k_pa_accel;          /* 16.16 fixed point */
-
-extern uint32_t        ao_pa;                  /* integer portion */
-extern int16_t ao_pa_speed;            /* integer portion */
-extern int16_t ao_pa_accel;            /* integer portion */
-
-void
-ao_microkalman_init(void);
-
-void
-ao_microkalman_predict(void);
-
-void
-ao_microkalman_correct(void);
-       
-#endif
-

diff --git a/src/micropeak/ao_report_tiny.c b/src/micropeak/ao_report_tiny.c
deleted file mode 100644 (file)
index 0e8e287..0000000
--- a/src/micropeak/ao_report_tiny.c
+++ /dev/null
@@ -1,57 +0,0 @@
-/*
- * Copyright © 2012 Keith Packard <keithp@keithp.com>
- *
- * 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.
- */
-
-#include <ao.h>
-
-#define mid(time)      ao_led_for(AO_LED_REPORT, time)
-#define pause(time)    ao_delay(time)
-
-static void
-ao_report_digit(uint8_t digit) __reentrant
-{
-       if (!digit) {
-               mid(AO_MS_TO_TICKS(1000));
-               pause(AO_MS_TO_TICKS(300));
-       } else {
-               while (digit--) {
-                       mid(AO_MS_TO_TICKS(300));
-                       pause(AO_MS_TO_TICKS(300));
-               }
-       }
-       pause(AO_MS_TO_TICKS(1000));
-}
-
-void
-ao_report_altitude(void)
-{
-       __pdata alt_t   agl = ao_max_height;
-       static __xdata uint8_t  digits[11];
-       __pdata uint8_t ndigits, i;
-
-       if (agl < 0)
-               agl = 0;
-       ndigits = 0;
-       do {
-               digits[ndigits++] = agl % 10;
-               agl /= 10;
-       } while (agl);
-
-       i = ndigits;
-       do
-               ao_report_digit(digits[--i]);
-       while (i != 0);
-}

diff --git a/src/product/ao_micropeak.c b/src/product/ao_micropeak.c
new file mode 100644 (file)
index 0000000..10f0d19
--- /dev/null
+++ b/src/product/ao_micropeak.c
@@ -0,0 +1,89 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * 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.
+ */
+
+#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;
+
+alt_t          ground_alt, max_alt;
+alt_t          ao_max_height;
+
+void
+ao_pa_get(void)
+{
+       ao_ms5607_sample(&sample);
+       ao_ms5607_convert(&sample, &value);
+       pa = value.pres;
+}
+
+static void
+ao_compute_height(void)
+{
+       ground_alt = ao_pa_to_altitude(pa_ground);
+       max_alt = ao_pa_to_altitude(pa_min);
+       ao_max_height = max_alt - ground_alt;
+}
+
+static void
+ao_pips(void)
+{
+       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));
+}
+
+int
+main(void)
+{
+       ao_led_init(LEDS_AVAILABLE);
+       ao_timer_init();
+
+       /* Init external hardware */
+       ao_spi_init();
+       ao_ms5607_init();
+       ao_ms5607_setup();
+
+       /* 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);
+
+       ao_microflight();
+
+       ao_log_micro_save();
+       ao_compute_height();
+       ao_report_altitude();
+       for (;;) {
+               cli();
+               set_sleep_mode(SLEEP_MODE_PWR_DOWN);
+               sleep_mode();
+       }
+}

diff --git a/src/product/ao_micropeak.h b/src/product/ao_micropeak.h
new file mode 100644 (file)
index 0000000..3e3dec1
--- /dev/null
+++ b/src/product/ao_micropeak.h
@@ -0,0 +1,78 @@
+/*
+ * Copyright © 2012 Keith Packard <keithp@keithp.com>
+ *
+ * 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_MICROPEAK_H_
+#define _AO_MICROPEAK_H_
+
+#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           120     /* 10m at sea level, 12m at 2000m */
+
+/* Wait after power on before doing anything to give the user time to assemble the rocket */
+#define BOOST_DELAY            AO_SEC_TO_TICKS(60)
+
+/* Pressure change (in Pa) to detect landing */
+#define LAND_DETECT            24      /* 2m at sea level, 2.4m at 2000m */
+
+/* Current sensor pressure value */
+extern uint32_t        pa;
+
+/* Average pressure value on ground */
+extern uint32_t        pa_ground;
+
+/* Minimum recorded filtered pressure value */
+extern uint32_t        pa_min;
+
+/* Pressure values converted to altitudes */
+extern alt_t   ground_alt, max_alt;
+
+/* max_alt - ground_alt */
+extern alt_t   ao_max_height;
+
+void
+ao_pa_get(void);
+
+void
+ao_microflight(void);
+
+#define ACCEL_LOCK_PA          -20
+#define ACCEL_LOCK_TIME                10
+
+extern uint32_t        ao_k_pa;                /* 24.8 fixed point */
+extern int32_t ao_k_pa_speed;          /* 16.16 fixed point */
+extern int32_t ao_k_pa_accel;          /* 16.16 fixed point */
+
+extern uint32_t        ao_pa;                  /* integer portion */
+extern int16_t ao_pa_speed;            /* integer portion */
+extern int16_t ao_pa_accel;            /* integer portion */
+
+void
+ao_microkalman_init(void);
+
+void
+ao_microkalman_predict(void);
+
+void
+ao_microkalman_correct(void);
+       
+#endif
+