From c674a20432c2cb97e5bc2a3de891f78b9e172fe9 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Tue, 27 May 2014 11:05:02 -0700 Subject: [PATCH] altos: Fake flight code changes in kernel and stm Redirects data input from local sensors to USB sourced data, leaving USB enabled when the computer goes into pad mode. Signed-off-by: Keith Packard --- src/kernel/ao_fake_flight.c | 219 ++++++++++++++++++++++++++++++++++++ src/kernel/ao_fake_flight.h | 53 +++++++++ src/kernel/ao_flight.c | 10 +- src/kernel/ao_pyro.h | 6 +- src/stm/ao_timer.c | 10 +- 5 files changed, 294 insertions(+), 4 deletions(-) create mode 100644 src/kernel/ao_fake_flight.c create mode 100644 src/kernel/ao_fake_flight.h diff --git a/src/kernel/ao_fake_flight.c b/src/kernel/ao_fake_flight.c new file mode 100644 index 00000000..11329bb9 --- /dev/null +++ b/src/kernel/ao_fake_flight.c @@ -0,0 +1,219 @@ +/* + * Copyright © 2014 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. + */ + +#include +#include +#if HAS_MS5607 || HAS_MS5611 +#include +#endif + +uint8_t ao_fake_flight_active; + +static uint8_t ao_fake_has_cur; +static volatile uint8_t ao_fake_has_next; +static uint8_t ao_fake_has_offset; +static uint16_t ao_fake_tick_offset; +static struct ao_data ao_fake_cur, ao_fake_next; + +void +ao_fake_flight_poll(void) +{ + if (ao_fake_has_next && (ao_tick_count - ao_fake_next.tick) >= 0) { + ao_fake_cur = ao_fake_next; + ao_fake_has_next = 0; + ao_wakeup((void *) &ao_fake_has_next); + ao_fake_has_cur = 1; + } + if (!ao_fake_has_cur) + return; + ao_data_ring[ao_data_head] = ao_fake_cur; + ao_data_ring[ao_data_head].tick = ao_tick_count; + ao_data_head = ao_data_ring_next(ao_data_head); + ao_wakeup((void *) &ao_data_head); +} + +static uint8_t +ao_fake_data_read(void) +{ + uint8_t i; + uint8_t *d = (void *) &ao_fake_next; + + if (getchar() == 0) + return FALSE; + for (i = 0; i < sizeof (struct ao_data); i++) + *d++ = getchar(); + if (!ao_fake_has_offset) { + ao_fake_tick_offset = (ao_tick_count + 1000) - ao_fake_next.tick; + ao_fake_next.tick = ao_tick_count; + ao_fake_has_offset = 1; + } else + ao_fake_next.tick += ao_fake_tick_offset; + ao_fake_has_next = 1; + return TRUE; +} + +static void +ao_fake_calib_get(struct ao_fake_calib *calib) +{ +#if HAS_ACCEL + calib->accel_plus_g = ao_config.accel_plus_g; + calib->accel_minus_g = ao_config.accel_minus_g; +#endif +#if HAS_GYRO + calib->accel_zero_along = ao_config.accel_zero_along; + calib->accel_zero_across = ao_config.accel_zero_across; + calib->accel_zero_through = ao_config.accel_zero_through; +#endif +#if HAS_MS5607 || HAS_MS5611 + calib->ms5607_prom = ao_ms5607_prom; +#endif +} + +static void +ao_fake_calib_set(struct ao_fake_calib *calib) +{ +#if HAS_ACCEL + ao_config.accel_plus_g = calib->accel_plus_g; + ao_config.accel_minus_g = calib->accel_minus_g; +#endif +#if HAS_GYRO + ao_config.accel_zero_along = calib->accel_zero_along; + ao_config.accel_zero_across = calib->accel_zero_across; + ao_config.accel_zero_through = calib->accel_zero_through; +#endif +#if HAS_MS5607 || HAS_MS5611 + ao_ms5607_prom = calib->ms5607_prom; +#endif +} + +static uint8_t +ao_fake_calib_read(void) +{ + struct ao_fake_calib ao_calib; + uint8_t *d = (void *) &ao_calib; + uint16_t i; + + /* Read calibration data */ + for (i = 0; i < sizeof (struct ao_fake_calib); i++) + *d++ = getchar(); + if (ao_calib.major != AO_FAKE_CALIB_MAJOR +#if AO_FAKE_CALIB_MINOR != 0 + || ao_calib.minor < AO_FAKE_CALIB_MINOR +#endif + ) { + printf ("Calibration data major version mismatch %d.%d <= %d.%d\n", + ao_calib.major, ao_calib.minor, AO_FAKE_CALIB_MAJOR, AO_FAKE_CALIB_MINOR); + return FALSE; + } + ao_fake_calib_set(&ao_calib); + return TRUE; +} + +static void +ao_fake_flight(void) +{ + int16_t calib_size, data_size; + struct ao_fake_calib save_calib; + uint16_t my_pyro_fired = 0; + enum ao_flight_state my_state = ao_flight_invalid; + int i; + + ao_cmd_hex(); + if (ao_cmd_status != ao_cmd_success) + return; + calib_size = ao_cmd_lex_i; + ao_cmd_hex(); + if (ao_cmd_status != ao_cmd_success) + return; + data_size = ao_cmd_lex_i; + if ((unsigned) calib_size != sizeof (struct ao_fake_calib)) { + printf ("calib size %d larger than actual size %d\n", + calib_size, sizeof (struct ao_fake_calib)); + ao_cmd_status = ao_cmd_syntax_error; + return; + } + if (data_size != sizeof (struct ao_data)) { + printf ("data size %d doesn't match actual size %d\n", + data_size, sizeof (struct ao_data)); + ao_cmd_status = ao_cmd_syntax_error; + return; + } + ao_fake_calib_get(&save_calib); + if (!ao_fake_calib_read()) + return; + + ao_fake_has_next = 0; + ao_fake_has_cur = 0; + ao_fake_flight_active = 1; + ao_sample_init(); +#if PACKET_HAS_SLAVE + ao_packet_slave_stop(); +#endif +#if AO_LED_RED + /* Turn on the LED to indicate startup */ + ao_led_on(AO_LED_RED); +#endif + ao_flight_state = ao_flight_startup; + for (;;) { + if (my_state != ao_flight_state) { + printf("state %d\n", ao_flight_state); + my_state = ao_flight_state; + flush(); + } + if (my_pyro_fired != ao_pyro_fired) { + int pyro; + + for (pyro = 0; pyro < AO_PYRO_NUM; pyro++) { + uint16_t bit = (1 << pyro); + if (!(my_pyro_fired & bit) && (ao_pyro_fired & bit)) + printf ("fire %d\n", pyro); + } + my_pyro_fired = ao_pyro_fired; + } + while (ao_fake_has_next) + ao_sleep((void *) &ao_fake_has_next); + if (!ao_fake_data_read()) + break; + } + + /* Wait 20 seconds to see if we enter landed state */ + for (i = 0; i < 200; i++) + { + if (ao_flight_state == ao_flight_landed) + break; + ao_delay(AO_MS_TO_TICKS(100)); + } +#if AO_LED_RED + /* Turn on the LED to indicate startup */ + ao_led_on(AO_LED_RED); +#endif + ao_fake_flight_active = 0; + ao_flight_state = ao_flight_startup; + ao_sample_init(); + ao_fake_calib_set(&save_calib); +} + +static const struct ao_cmds ao_fake_flight_cmds[] = { + { ao_fake_flight, "F \0Start fake flight" }, + { 0, NULL } +}; + +void +ao_fake_flight_init(void) +{ + ao_cmd_register(&ao_fake_flight_cmds[0]); +} diff --git a/src/kernel/ao_fake_flight.h b/src/kernel/ao_fake_flight.h new file mode 100644 index 00000000..172fc589 --- /dev/null +++ b/src/kernel/ao_fake_flight.h @@ -0,0 +1,53 @@ +/* + * Copyright © 2014 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_FAKE_FLIGHT_H_ +#define _AO_FAKE_FLIGHT_H_ +#if HAS_MS5607 || HAS_MS5611 +#include +#endif + +extern uint8_t ao_fake_flight_active; + +#define AO_FAKE_CALIB_MAJOR 1 +#define AO_FAKE_CALIB_MINOR 0 + +struct ao_fake_calib { + uint16_t major; + uint16_t minor; +#if HAS_ACCEL + int16_t accel_plus_g; + int16_t accel_minus_g; +#endif +#if HAS_GYRO + int16_t accel_zero_along; + int16_t accel_zero_across; + int16_t accel_zero_through; + uint16_t pad30; +#endif +#if HAS_MS5607 || HAS_MS5611 + struct ao_ms5607_prom ms5607_prom; +#endif +}; + +void +ao_fake_flight_poll(void); + +void +ao_fake_flight_init(void); + +#endif /* _AO_FAKE_FLIGHT_H_ */ diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c index 24099347..2b433ee9 100644 --- a/src/kernel/ao_flight.c +++ b/src/kernel/ao_flight.c @@ -36,6 +36,10 @@ #error Please define HAS_USB #endif +#if HAS_FAKE_FLIGHT +#include +#endif + #ifndef HAS_TELEMETRY #define HAS_TELEMETRY HAS_RADIO #endif @@ -130,7 +134,10 @@ ao_flight(void) /* Disable the USB controller in flight mode * to save power */ - ao_usb_disable(); +#if HAS_FAKE_FLIGHT + if (!ao_fake_flight_active) +#endif + ao_usb_disable(); #endif #if !HAS_ACCEL && PACKET_HAS_SLAVE @@ -170,7 +177,6 @@ ao_flight(void) break; case ao_flight_pad: - /* pad to boost: * * barometer: > 20m vertical motion diff --git a/src/kernel/ao_pyro.h b/src/kernel/ao_pyro.h index 0c5642d6..34c99078 100644 --- a/src/kernel/ao_pyro.h +++ b/src/kernel/ao_pyro.h @@ -45,7 +45,11 @@ enum ao_pyro_flag { ao_pyro_state_less = 0x00004000, ao_pyro_state_greater_or_equal = 0x00008000, -}; +} +#ifdef __GNUC__ + __attribute__ ((packed)) +#endif + ; struct ao_pyro { enum ao_pyro_flag flags; diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c index d93531fc..8db62e76 100644 --- a/src/stm/ao_timer.c +++ b/src/stm/ao_timer.c @@ -17,6 +17,9 @@ #include "ao.h" #include +#if HAS_FAKE_FLIGHT +#include +#endif #ifndef HAS_TICK #define HAS_TICK 1 @@ -47,7 +50,12 @@ void stm_systick_isr(void) #if AO_DATA_ALL if (++ao_data_count == ao_data_interval) { ao_data_count = 0; - ao_adc_poll(); +#if HAS_FAKE_FLIGHT + if (ao_fake_flight_active) + ao_fake_flight_poll(); + else +#endif + ao_adc_poll(); #if (AO_DATA_ALL & ~(AO_DATA_ADC)) ao_wakeup((void *) &ao_data_count); #endif -- 2.30.2