Avoid breaking telemetrum (too much) by splitting this stuff apart.
Signed-off-by: Keith Packard <keithp@keithp.com>
--- /dev/null
+/*
+ * 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_DATA_H_
+#define _AO_DATA_H_
+
+#if HAS_MS5607
+#include <ao_ms5607.h>
+#endif
+
+#if HAS_MPU6000
+#include <ao_mpu6000.h>
+#endif
+
+struct ao_data {
+ uint16_t tick;
+#if HAS_ADC
+ struct ao_adc adc;
+#endif
+#if HAS_ACCEL_REF
+ uint16_t accel_ref;
+#endif
+#if HAS_MS5607
+ struct ao_ms5607_sample ms5607;
+#endif
+#if HAS_MPU6000
+ struct ao_mpu6000_sample mpu6000;
+#endif
+};
+
+#define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1))
+#define ao_data_ring_prev(n) (((n) - 1) & (AO_DATA_RING - 1))
+
+extern volatile __xdata struct ao_data ao_data_ring[AO_DATA_RING];
+extern volatile __data uint8_t ao_data_head;
+
+#if HAS_MS5607
+
+typedef int32_t pres_t;
+typedef int32_t alt_t;
+
+static inline pres_t ao_data_pres(struct ao_data *packet)
+{
+ struct ao_ms5607_value value;
+
+ ao_ms5607_convert(&packet->ms5607, &value);
+ return value.pres;
+}
+
+#define pres_to_altitude(p) ao_pa_to_altitude(p)
+
+#else
+
+typedef int16_t pres_t;
+typedef int16_t alt_t;
+
+#define ao_data_pres(packet) ((packet)->adc.pres)
+#define pres_to_altitude(p) ao_pres_to_altitude(p)
+
+#endif
+
+/*
+ * Need a few macros to pull data from the sensors:
+ *
+ * ao_data_accel_sample - pull raw sensor and convert to normalized values
+ * ao_data_accel - pull normalized value (lives in the same memory)
+ * ao_data_set_accel - store normalized value back in the sensor location
+ * ao_data_accel_invert - flip rocket ends for positive acceleration
+ */
+
+#if HAS_MPU6000
+
+typedef int16_t accel_t;
+
+/* MPU6000 is hooked up so that positive y is positive acceleration */
+#define ao_data_accel(packet) ((packet)->mpu6000.accel_y)
+#define ao_data_accel_sample(packet) (-ao_data_accel(packet))
+#define ao_data_set_accel(packet, accel) ((packet)->mpu6000.accel_y = (accel))
+#define ao_data_accel_invert(a) (-(a))
+
+#else
+
+typedef int16_t accel_t;
+#define ao_data_accel(packet) ((packet)->adc.accel)
+#define ao_data_set_accel(packet, accel) ((packet)->adc.accel = (accel))
+#define ao_data_accel_invert(a) (0x7fff -(a))
+
+/*
+ * Ok, the math here is a bit tricky.
+ *
+ * ao_sample_accel: ADC output for acceleration
+ * ao_accel_ref: ADC output for the 5V reference.
+ * ao_cook_accel: Corrected acceleration value
+ * Vcc: 3.3V supply to the CC1111
+ * Vac: 5V supply to the accelerometer
+ * accel: input voltage to accelerometer ADC pin
+ * ref: input voltage to 5V reference ADC pin
+ *
+ *
+ * Measured acceleration is ratiometric to Vcc:
+ *
+ * ao_sample_accel accel
+ * ------------ = -----
+ * 32767 Vcc
+ *
+ * Measured 5v reference is also ratiometric to Vcc:
+ *
+ * ao_accel_ref ref
+ * ------------ = -----
+ * 32767 Vcc
+ *
+ *
+ * ao_accel_ref = 32767 * (ref / Vcc)
+ *
+ * Acceleration is measured ratiometric to the 5V supply,
+ * so what we want is:
+ *
+ * ao_cook_accel accel
+ * ------------- = -----
+ * 32767 ref
+ *
+ *
+ * accel Vcc
+ * = ----- * ---
+ * Vcc ref
+ *
+ * ao_sample_accel 32767
+ * = ------------ * ------------
+ * 32767 ao_accel_ref
+ *
+ * Multiply through by 32767:
+ *
+ * ao_sample_accel * 32767
+ * ao_cook_accel = --------------------
+ * ao_accel_ref
+ *
+ * Now, the tricky part. Getting this to compile efficiently
+ * and keeping all of the values in-range.
+ *
+ * First off, we need to use a shift of 16 instead of * 32767 as SDCC
+ * does the obvious optimizations for byte-granularity shifts:
+ *
+ * ao_cook_accel = (ao_sample_accel << 16) / ao_accel_ref
+ *
+ * Next, lets check our input ranges:
+ *
+ * 0 <= ao_sample_accel <= 0x7fff (singled ended ADC conversion)
+ * 0x7000 <= ao_accel_ref <= 0x7fff (the 5V ref value is close to 0x7fff)
+ *
+ * Plugging in our input ranges, we get an output range of 0 - 0x12490,
+ * which is 17 bits. That won't work. If we take the accel ref and shift
+ * by a bit, we'll change its range:
+ *
+ * 0xe000 <= ao_accel_ref<<1 <= 0xfffe
+ *
+ * ao_cook_accel = (ao_sample_accel << 16) / (ao_accel_ref << 1)
+ *
+ * Now the output range is 0 - 0x9248, which nicely fits in 16 bits. It
+ * is, however, one bit too large for our signed computations. So, we
+ * take the result and shift that by a bit:
+ *
+ * ao_cook_accel = ((ao_sample_accel << 16) / (ao_accel_ref << 1)) >> 1
+ *
+ * This finally creates an output range of 0 - 0x4924. As the ADC only
+ * provides 11 bits of data, we haven't actually lost any precision,
+ * just dropped a bit of noise off the low end.
+ */
+#if HAS_ACCEL_REF
+#define ao_data_accel_sample(packet) \
+ ((uint16_t) ((((uint32_t) (packet)->adc.accel << 16) / ((packet)->accel_ref << 1))) >> 1)
+#else
+#define ao_data_accel(packet) ((packet)->adc.accel)
+#endif /* HAS_ACCEL_REF */
+
+#endif /* else some other pressure sensor */
+
+#endif /* _AO_DATA_H_ */
--- /dev/null
+/*
+ * Copyright © 2009 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"
+#include <ao_log.h>
+#endif
+
+#ifndef HAS_ACCEL
+#error Please define HAS_ACCEL
+#endif
+
+#ifndef HAS_GPS
+#error Please define HAS_GPS
+#endif
+
+#ifndef HAS_USB
+#error Please define HAS_USB
+#endif
+
+/* Main flight thread. */
+
+__pdata enum ao_flight_state ao_flight_state; /* current flight state */
+__pdata uint16_t ao_boost_tick; /* time of launch detect */
+
+/*
+ * track min/max data over a long interval to detect
+ * resting
+ */
+static __data uint16_t ao_interval_end;
+static __data int16_t ao_interval_min_height;
+static __data int16_t ao_interval_max_height;
+static __data int16_t ao_coast_avg_accel;
+
+__pdata uint8_t ao_flight_force_idle;
+
+/* We also have a clock, which can be used to sanity check things in
+ * case of other failures
+ */
+
+#define BOOST_TICKS_MAX AO_SEC_TO_TICKS(15)
+
+/* Landing is detected by getting constant readings from both pressure and accelerometer
+ * for a fairly long time (AO_INTERVAL_TICKS)
+ */
+#define AO_INTERVAL_TICKS AO_SEC_TO_TICKS(10)
+
+#define abs(a) ((a) < 0 ? -(a) : (a))
+
+void
+ao_flight(void)
+{
+ ao_sample_init();
+ ao_flight_state = ao_flight_startup;
+ for (;;) {
+
+ /*
+ * Process ADC samples, just looping
+ * until the sensors are calibrated.
+ */
+ if (!ao_sample())
+ continue;
+
+ switch (ao_flight_state) {
+ case ao_flight_startup:
+
+ /* Check to see what mode we should go to.
+ * - Invalid mode if accel cal appears to be out
+ * - pad mode if we're upright,
+ * - idle mode otherwise
+ */
+#if HAS_ACCEL
+ if (ao_config.accel_plus_g == 0 ||
+ ao_config.accel_minus_g == 0 ||
+ ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
+ ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP)
+ {
+ /* Detected an accel value outside -1.5g to 1.5g
+ * (or uncalibrated values), so we go into invalid mode
+ */
+ ao_flight_state = ao_flight_invalid;
+
+#if HAS_RADIO
+ /* Turn on packet system in invalid mode on TeleMetrum */
+ ao_packet_slave_start();
+#endif
+ } else
+#endif
+ if (!ao_flight_force_idle
+#if HAS_ACCEL
+ && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
+#endif
+ )
+ {
+ /* Set pad mode - we can fly! */
+ ao_flight_state = ao_flight_pad;
+#if HAS_USB
+ /* Disable the USB controller in flight mode
+ * to save power
+ */
+ ao_usb_disable();
+#endif
+
+#if !HAS_ACCEL
+ /* Disable packet mode in pad state on TeleMini */
+ ao_packet_slave_stop();
+#endif
+
+#if HAS_RADIO
+ /* Turn on telemetry system */
+ ao_rdf_set(1);
+ ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
+#endif
+ /* signal successful initialization by turning off the LED */
+ ao_led_off(AO_LED_RED);
+ } else {
+ /* Set idle mode */
+ ao_flight_state = ao_flight_idle;
+
+#if HAS_ACCEL && HAS_RADIO
+ /* Turn on packet system in idle mode on TeleMetrum */
+ ao_packet_slave_start();
+#endif
+
+ /* signal successful initialization by turning off the LED */
+ ao_led_off(AO_LED_RED);
+ }
+ /* wakeup threads due to state change */
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+
+ break;
+ case ao_flight_pad:
+
+ /* pad to boost:
+ *
+ * barometer: > 20m vertical motion
+ * OR
+ * accelerometer: > 2g AND velocity > 5m/s
+ *
+ * The accelerometer should always detect motion before
+ * the barometer, but we use both to make sure this
+ * transition is detected. If the device
+ * doesn't have an accelerometer, then ignore the
+ * speed and acceleration as they are quite noisy
+ * on the pad.
+ */
+ if (ao_height > AO_M_TO_HEIGHT(20)
+#if HAS_ACCEL
+ || (ao_accel > AO_MSS_TO_ACCEL(20) &&
+ ao_speed > AO_MS_TO_SPEED(5))
+#endif
+ )
+ {
+ ao_flight_state = ao_flight_boost;
+ ao_boost_tick = ao_sample_tick;
+
+ /* start logging data */
+ ao_log_start();
+
+#if HAS_RADIO
+ /* Increase telemetry rate */
+ ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
+
+ /* disable RDF beacon */
+ ao_rdf_set(0);
+#endif
+
+#if HAS_GPS
+ /* Record current GPS position by waking up GPS log tasks */
+ ao_wakeup(&ao_gps_data);
+ ao_wakeup(&ao_gps_tracking_data);
+#endif
+
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ }
+ break;
+ case ao_flight_boost:
+
+ /* boost to fast:
+ *
+ * accelerometer: start to fall at > 1/4 G
+ * OR
+ * time: boost for more than 15 seconds
+ *
+ * Detects motor burn out by the switch from acceleration to
+ * deceleration, or by waiting until the maximum burn duration
+ * (15 seconds) has past.
+ */
+ if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) ||
+ (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
+ {
+#if HAS_ACCEL
+ ao_flight_state = ao_flight_fast;
+ ao_coast_avg_accel = ao_accel;
+#else
+ ao_flight_state = ao_flight_coast;
+#endif
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ }
+ break;
+#if HAS_ACCEL
+ case ao_flight_fast:
+ /*
+ * This is essentially the same as coast,
+ * but the barometer is being ignored as
+ * it may be unreliable.
+ */
+ if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED))
+ {
+ ao_flight_state = ao_flight_coast;
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ } else
+ goto check_re_boost;
+ break;
+#endif
+ case ao_flight_coast:
+
+ /*
+ * By customer request - allow the user
+ * to lock out apogee detection for a specified
+ * number of seconds.
+ */
+ if (ao_config.apogee_lockout) {
+ if ((ao_sample_tick - ao_boost_tick) <
+ AO_SEC_TO_TICKS(ao_config.apogee_lockout))
+ break;
+ }
+
+ /* apogee detect: coast to drogue deploy:
+ *
+ * speed: < 0
+ *
+ * Also make sure the model altitude is tracking
+ * the measured altitude reasonably closely; otherwise
+ * we're probably transsonic.
+ */
+ if (ao_speed < 0
+#if !HAS_ACCEL
+ && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100)
+#endif
+ )
+ {
+#if HAS_IGNITE
+ /* ignite the drogue charge */
+ ao_ignite(ao_igniter_drogue);
+#endif
+
+#if HAS_RADIO
+ /* slow down the telemetry system */
+ ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
+
+ /* Turn the RDF beacon back on */
+ ao_rdf_set(1);
+#endif
+
+ /* and enter drogue state */
+ ao_flight_state = ao_flight_drogue;
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ }
+#if HAS_ACCEL
+ else {
+ check_re_boost:
+ ao_coast_avg_accel = ao_coast_avg_accel - (ao_coast_avg_accel >> 6) + (ao_accel >> 6);
+ if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
+ ao_boost_tick = ao_sample_tick;
+ ao_flight_state = ao_flight_boost;
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ }
+ }
+#endif
+
+ break;
+ case ao_flight_drogue:
+
+ /* drogue to main deploy:
+ *
+ * barometer: reach main deploy altitude
+ *
+ * Would like to use the accelerometer for this test, but
+ * the orientation of the flight computer is unknown after
+ * drogue deploy, so we ignore it. Could also detect
+ * high descent rate using the pressure sensor to
+ * recognize drogue deploy failure and eject the main
+ * at that point. Perhaps also use the drogue sense lines
+ * to notice continutity?
+ */
+ if (ao_height <= ao_config.main_deploy)
+ {
+#if HAS_IGNITE
+ ao_ignite(ao_igniter_main);
+#endif
+
+ /*
+ * Start recording min/max height
+ * to figure out when the rocket has landed
+ */
+
+ /* initialize interval values */
+ ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
+
+ ao_interval_min_height = ao_interval_max_height = ao_avg_height;
+
+ ao_flight_state = ao_flight_main;
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ }
+ break;
+
+ /* fall through... */
+ case ao_flight_main:
+
+ /* main to land:
+ *
+ * barometer: altitude stable
+ */
+
+ if (ao_avg_height < ao_interval_min_height)
+ ao_interval_min_height = ao_avg_height;
+ if (ao_avg_height > ao_interval_max_height)
+ ao_interval_max_height = ao_avg_height;
+
+ if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
+ if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
+ {
+ ao_flight_state = ao_flight_landed;
+
+ /* turn off the ADC capture */
+ ao_timer_set_adc_interval(0);
+
+ ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+ }
+ ao_interval_min_height = ao_interval_max_height = ao_avg_height;
+ ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
+ }
+ break;
+ case ao_flight_landed:
+ break;
+ }
+ }
+}
+
+static __xdata struct ao_task flight_task;
+
+void
+ao_flight_init(void)
+{
+ ao_flight_state = ao_flight_startup;
+ ao_add_task(&flight_task, ao_flight, "flight");
+}
--- /dev/null
+/*
+ * 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_log.h>
+#include <ao_data.h>
+#include <ao_flight.h>
+
+static __xdata uint8_t ao_log_mutex;
+static __xdata struct ao_log_mega log;
+
+static uint8_t
+ao_log_csum(__xdata uint8_t *b) __reentrant
+{
+ uint8_t sum = 0x5a;
+ uint8_t i;
+
+ for (i = 0; i < sizeof (struct ao_log_mega); i++)
+ sum += *b++;
+ return -sum;
+}
+
+uint8_t
+ao_log_mega(__xdata struct ao_log_mega *log) __reentrant
+{
+ uint8_t wrote = 0;
+ /* set checksum */
+ log->csum = 0;
+ log->csum = ao_log_csum((__xdata uint8_t *) log);
+ ao_mutex_get(&ao_log_mutex); {
+ if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
+ ao_log_stop();
+ if (ao_log_running) {
+ wrote = 1;
+ ao_storage_write(ao_log_current_pos,
+ log,
+ sizeof (struct ao_log_mega));
+ ao_log_current_pos += sizeof (struct ao_log_mega);
+ }
+ } ao_mutex_put(&ao_log_mutex);
+ return wrote;
+}
+
+static uint8_t
+ao_log_dump_check_data(void)
+{
+ if (ao_log_csum((uint8_t *) &log) != 0)
+ return 0;
+ return 1;
+}
+
+static __data uint8_t ao_log_data_pos;
+
+/* a hack to make sure that ao_log_megas fill the eeprom block in even units */
+typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_mega))] ;
+
+#ifndef AO_SENSOR_INTERVAL_ASCENT
+#define AO_SENSOR_INTERVAL_ASCENT 1
+#define AO_SENSOR_INTERVAL_DESCENT 10
+#define AO_OTHER_INTERVAL 32
+#endif
+
+void
+ao_log(void)
+{
+ __pdata uint16_t next_sensor, next_other;
+ uint8_t i;
+
+ ao_storage_setup();
+
+ ao_log_scan();
+
+ while (!ao_log_running)
+ ao_sleep(&ao_log_running);
+
+#if HAS_FLIGHT
+ log.type = AO_LOG_FLIGHT;
+ log.tick = ao_sample_tick;
+#if HAS_ACCEL
+ log.u.flight.ground_accel = ao_ground_accel;
+#endif
+ log.u.flight.ground_pres = ao_ground_pres;
+ log.u.flight.flight = ao_flight_number;
+ ao_log_mega(&log);
+#endif
+
+ /* Write the whole contents of the ring to the log
+ * when starting up.
+ */
+ ao_log_data_pos = ao_data_ring_next(ao_data_head);
+ next_other = next_sensor = ao_data_ring[ao_log_data_pos].tick;
+ ao_log_state = ao_flight_startup;
+ for (;;) {
+ /* Write samples to EEPROM */
+ while (ao_log_data_pos != ao_data_head) {
+ log.tick = ao_data_ring[ao_log_data_pos].tick;
+ if ((int16_t) (log.tick - next_sensor) >= 0) {
+ log.type = AO_LOG_SENSOR;
+ log.u.sensor.pres = ao_data_ring[ao_log_data_pos].ms5607.pres;
+ log.u.sensor.temp = ao_data_ring[ao_log_data_pos].ms5607.temp;
+ log.u.sensor.accel_x = ao_data_ring[ao_log_data_pos].mpu6000.accel_x;
+ log.u.sensor.accel_y = ao_data_ring[ao_log_data_pos].mpu6000.accel_y;
+ log.u.sensor.accel_z = ao_data_ring[ao_log_data_pos].mpu6000.accel_z;
+ log.u.sensor.gyro_x = ao_data_ring[ao_log_data_pos].mpu6000.gyro_x;
+ log.u.sensor.gyro_y = ao_data_ring[ao_log_data_pos].mpu6000.gyro_y;
+ log.u.sensor.gyro_z = ao_data_ring[ao_log_data_pos].mpu6000.gyro_z;
+ ao_log_mega(&log);
+ if (ao_log_state <= ao_flight_coast)
+ next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
+ else
+ next_sensor = log.tick + AO_SENSOR_INTERVAL_DESCENT;
+ }
+ if ((int16_t) (log.tick - next_other) >= 0) {
+ log.type = AO_LOG_TEMP_VOLT;
+ log.u.volt.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt;
+ log.u.volt.v_pbatt = ao_data_ring[ao_log_data_pos].adc.v_pbatt;
+ log.u.volt.n_sense = AO_ADC_NUM_SENSE;
+ for (i = 0; i < AO_ADC_NUM_SENSE; i++)
+ log.u.volt.sense[i] = ao_data_ring[ao_log_data_pos].adc.sense[i];
+ ao_log_mega(&log);
+ next_other = log.tick + AO_OTHER_INTERVAL;
+ }
+ ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
+ }
+#if HAS_FLIGHT
+ /* Write state change to EEPROM */
+ if (ao_flight_state != ao_log_state) {
+ ao_log_state = ao_flight_state;
+ log.type = AO_LOG_STATE;
+ log.tick = ao_time();
+ log.u.state.state = ao_log_state;
+ log.u.state.reason = 0;
+ ao_log_mega(&log);
+
+ if (ao_log_state == ao_flight_landed)
+ ao_log_stop();
+ }
+#endif
+
+ /* Wait for a while */
+ ao_delay(AO_MS_TO_TICKS(100));
+
+ /* Stop logging when told to */
+ while (!ao_log_running)
+ ao_sleep(&ao_log_running);
+ }
+}
+
+uint16_t
+ao_log_flight(uint8_t slot)
+{
+ if (!ao_storage_read(ao_log_pos(slot),
+ &log,
+ sizeof (struct ao_log_mega)))
+ return 0;
+
+ if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
+ return log.u.flight.flight;
+ return 0;
+}
--- /dev/null
+/*
+ * Copyright © 2011 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"
+#include <ao_data.h>
+#endif
+
+/*
+ * Current sensor values
+ */
+
+#ifndef PRES_TYPE
+#define PRES_TYPE int32_t
+#define ALT_TYPE int32_t
+#define ACCEL_TYPE int16_t
+#endif
+
+__pdata uint16_t ao_sample_tick; /* time of last data */
+__pdata pres_t ao_sample_pres;
+__pdata alt_t ao_sample_alt;
+__pdata alt_t ao_sample_height;
+#if HAS_ACCEL
+__pdata accel_t ao_sample_accel;
+#endif
+
+__data uint8_t ao_sample_data;
+
+/*
+ * Sensor calibration values
+ */
+
+__pdata pres_t ao_ground_pres; /* startup pressure */
+__pdata alt_t ao_ground_height; /* MSL of ao_ground_pres */
+
+#if HAS_ACCEL
+__pdata accel_t ao_ground_accel; /* startup acceleration */
+__pdata accel_t ao_accel_2g; /* factory accel calibration */
+__pdata int32_t ao_accel_scale; /* sensor to m/s² conversion */
+#endif
+
+static __pdata uint8_t ao_preflight; /* in preflight mode */
+
+static __pdata uint16_t nsamples;
+__pdata int32_t ao_sample_pres_sum;
+#if HAS_ACCEL
+__pdata int32_t ao_sample_accel_sum;
+#endif
+
+static void
+ao_sample_preflight(void)
+{
+ /* startup state:
+ *
+ * Collect 512 samples of acceleration and pressure
+ * data and average them to find the resting values
+ */
+ if (nsamples < 512) {
+#if HAS_ACCEL
+ ao_sample_accel_sum += ao_sample_accel;
+#endif
+ ao_sample_pres_sum += ao_sample_pres;
+ ++nsamples;
+ } else {
+ ao_config_get();
+#if HAS_ACCEL
+ ao_ground_accel = ao_sample_accel_sum >> 9;
+ ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g;
+ ao_accel_scale = to_fix32(GRAVITY * 2 * 16) / ao_accel_2g;
+#endif
+ ao_ground_pres = ao_sample_pres_sum >> 9;
+ ao_ground_height = pres_to_altitude(ao_ground_pres);
+ ao_preflight = FALSE;
+ }
+}
+
+
+uint8_t
+ao_sample(void)
+{
+ ao_config_get();
+ ao_wakeup(DATA_TO_XDATA(&ao_sample_data));
+ ao_sleep((void *) DATA_TO_XDATA(&ao_data_head));
+ while (ao_sample_data != ao_data_head) {
+ __xdata struct ao_data *ao_data;
+
+ /* Capture a sample */
+ ao_data = (struct ao_data *) &ao_data_ring[ao_sample_data];
+ ao_sample_tick = ao_data->tick;
+ ao_sample_pres = ao_data_pres(ao_data);
+ ao_sample_alt = pres_to_altitude(ao_sample_pres);
+ ao_sample_height = ao_sample_alt - ao_ground_height;
+#if HAS_ACCEL
+ ao_sample_accel = ao_data_accel_sample(ao_data);
+ if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
+ ao_sample_accel = ao_data_accel_invert(ao_sample_accel);
+ ao_data_set_accel(ao_data, ao_sample_accel);
+#endif
+
+ if (ao_preflight)
+ ao_sample_preflight();
+ else
+ ao_kalman();
+ ao_sample_data = ao_data_ring_next(ao_sample_data);
+ }
+ return !ao_preflight;
+}
+
+void
+ao_sample_init(void)
+{
+ nsamples = 0;
+ ao_sample_pres_sum = 0;
+ ao_sample_pres = 0;
+#if HAS_ACCEL
+ ao_sample_accel_sum = 0;
+ ao_sample_accel = 0;
+#endif
+ ao_sample_data = ao_data_head;
+ ao_preflight = TRUE;
+}
projects / fw / altos / commitdiff