Use autotools, move altos to src subdir

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

1 files changed, 0 insertions, 484 deletions

diff --git a/ao_flight.c b/ao_flight.c
deleted file mode 100644
index c0f56830..00000000
--- a/ao_flight.c
+++ /dev/null
@@ -1,484 +0,0 @@
-/*
- * 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"
-#endif
-
-/* Main flight thread. */
-
-__pdata enum ao_flight_state	ao_flight_state;	/* current flight state */
-__pdata uint16_t		ao_flight_tick;		/* time of last data */
-__pdata uint16_t		ao_flight_prev_tick;	/* time of previous data */
-__pdata int16_t			ao_flight_accel;	/* filtered acceleration */
-__pdata int16_t			ao_flight_pres;		/* filtered pressure */
-__pdata int16_t			ao_ground_pres;		/* startup pressure */
-__pdata int16_t			ao_ground_accel;	/* startup acceleration */
-__pdata int16_t			ao_min_pres;		/* minimum recorded pressure */
-__pdata uint16_t		ao_launch_tick;		/* time of launch detect */
-__pdata int16_t			ao_main_pres;		/* pressure to eject main */
-
-/*
- * track min/max data over a long interval to detect
- * resting
- */
-__pdata uint16_t		ao_interval_end;
-__pdata int16_t			ao_interval_cur_min_accel;
-__pdata int16_t			ao_interval_cur_max_accel;
-__pdata int16_t			ao_interval_cur_min_pres;
-__pdata int16_t			ao_interval_cur_max_pres;
-__pdata int16_t			ao_interval_min_accel;
-__pdata int16_t			ao_interval_max_accel;
-__pdata int16_t			ao_interval_min_pres;
-__pdata int16_t			ao_interval_max_pres;
-
-__data uint8_t ao_flight_adc;
-__pdata int16_t ao_raw_accel, ao_raw_accel_prev, ao_raw_pres;
-
-/* 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
- */
-
-#define GRAVITY 9.80665
-/* convert m/s to velocity count */
-#define VEL_MPS_TO_COUNT(mps) ((int32_t) (((mps) / GRAVITY) * ACCEL_G * 100))
-
-#define ACCEL_G		265
-#define ACCEL_ZERO_G	16000
-#define ACCEL_NOSE_UP	(ACCEL_G * 2 /3)
-#define ACCEL_BOOST	ACCEL_G * 2
-#define ACCEL_INT_LAND	(ACCEL_G / 10)
-#define ACCEL_VEL_LAND	VEL_MPS_TO_COUNT(10)
-#define ACCEL_VEL_MACH	VEL_MPS_TO_COUNT(200)
-#define ACCEL_VEL_APOGEE	VEL_MPS_TO_COUNT(2)
-#define ACCEL_VEL_MAIN	VEL_MPS_TO_COUNT(100)
-#define ACCEL_VEL_BOOST	VEL_MPS_TO_COUNT(5)
-
-/*
- * 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
- */
-
-#define BARO_kPa	268
-#define BARO_LAUNCH	(BARO_kPa / 5)	/* .2kPa, or about 20m */
-#define BARO_APOGEE	(BARO_kPa / 10)	/* .1kPa, or about 10m */
-#define BARO_COAST	(BARO_kPa * 5)  /* 5kpa, or about 500m */
-#define BARO_MAIN	(BARO_kPa)	/* 1kPa, or about 100m */
-#define BARO_INT_LAND	(BARO_kPa / 20)	/* .05kPa, or about 5m */
-#define BARO_LAND	(BARO_kPa * 10)	/* 10kPa or about 1000m */
-
-/* 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)
-
-/* This value is scaled in a weird way. It's a running total of accelerometer
- * readings minus the ground accelerometer reading. That means it measures
- * velocity, and quite accurately too. As it gets updated 100 times a second,
- * it's scaled by 100
- */
-__pdata int32_t	ao_flight_vel;
-__pdata int32_t ao_min_vel;
-__pdata int32_t	ao_old_vel;
-__pdata int16_t ao_old_vel_tick;
-__xdata int32_t ao_raw_accel_sum, ao_raw_pres_sum;
-
-/* 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(20)
-
-#define abs(a)	((a) < 0 ? -(a) : (a))
-
-void
-ao_flight(void)
-{
-	__pdata static uint16_t	nsamples = 0;
-
-	ao_flight_adc = ao_adc_head;
-	ao_raw_accel_prev = 0;
-	ao_raw_accel = 0;
-	ao_raw_pres = 0;
-	ao_flight_tick = 0;
-	for (;;) {
-		ao_sleep(&ao_adc_ring);
-		while (ao_flight_adc != ao_adc_head) {
-			__pdata uint8_t ticks;
-			__pdata int16_t ao_vel_change;
-			ao_flight_prev_tick = ao_flight_tick;
-
-			/* Capture a sample */
-			ao_raw_accel = ao_adc_ring[ao_flight_adc].accel;
-			ao_raw_pres = ao_adc_ring[ao_flight_adc].pres;
-			ao_flight_tick = ao_adc_ring[ao_flight_adc].tick;
-
-			ao_flight_accel -= ao_flight_accel >> 4;
-			ao_flight_accel += ao_raw_accel >> 4;
-			ao_flight_pres -= ao_flight_pres >> 4;
-			ao_flight_pres += ao_raw_pres >> 4;
-			/* Update velocity
-			 *
-			 * The accelerometer is mounted so that
-			 * acceleration yields negative values
-			 * while deceleration yields positive values,
-			 * so subtract instead of add.
-			 */
-			ticks = ao_flight_tick - ao_flight_prev_tick;
-			ao_vel_change = (((ao_raw_accel >> 1) + (ao_raw_accel_prev >> 1)) - ao_ground_accel);
-			ao_raw_accel_prev = ao_raw_accel;
-
-			/* one is a common interval */
-			if (ticks == 1)
-				ao_flight_vel -= (int32_t) ao_vel_change;
-			else
-				ao_flight_vel -= (int32_t) ao_vel_change * (int32_t) ticks;
-
-			ao_flight_adc = ao_adc_ring_next(ao_flight_adc);
-		}
-
-		if (ao_flight_pres < ao_min_pres)
-			ao_min_pres = ao_flight_pres;
-		if (ao_flight_vel >= 0) {
-			if (ao_flight_vel < ao_min_vel)
-			    ao_min_vel = ao_flight_vel;
-		} else {
-			if (-ao_flight_vel < ao_min_vel)
-			    ao_min_vel = -ao_flight_vel;
-		}
-
-		switch (ao_flight_state) {
-		case ao_flight_startup:
-
-			/* startup state:
-			 *
-			 * Collect 1000 samples of acceleration and pressure
-			 * data and average them to find the resting values
-			 */
-			if (nsamples < 1000) {
-				ao_raw_accel_sum += ao_raw_accel;
-				ao_raw_pres_sum += ao_raw_pres;
-				++nsamples;
-				continue;
-			}
-			ao_ground_accel = (ao_raw_accel_sum / nsamples);
-			ao_ground_pres = (ao_raw_pres_sum / nsamples);
-			ao_min_pres = ao_ground_pres;
-			ao_config_get();
-			ao_main_pres = ao_altitude_to_pres(ao_pres_to_altitude(ao_ground_pres) + ao_config.main_deploy);
-			ao_flight_vel = 0;
-			ao_min_vel = 0;
-			ao_old_vel = ao_flight_vel;
-			ao_old_vel_tick = ao_flight_tick;
-
-			/* Go to launchpad state if the nose is pointing up */
-			ao_config_get();
-			if (ao_flight_accel < ao_config.accel_zero_g - ACCEL_NOSE_UP) {
-
-				/* Disable the USB controller in flight mode
-				 * to save power
-				 */
-				ao_usb_disable();
-
-				/* Turn on telemetry system
-				 */
-				ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
-
-				ao_flight_state = ao_flight_launchpad;
-				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-			} else {
-				ao_flight_state = ao_flight_idle;
-
-				/* Turn on the Green LED in idle mode
-				 */
-				ao_led_on(AO_LED_GREEN);
-				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-			}
-			/* signal successful initialization by turning off the LED */
-			ao_led_off(AO_LED_RED);
-			break;
-		case ao_flight_launchpad:
-
-			/* Trim velocity
-			 *
-			 * Once a second, remove any velocity from
-			 * a second ago
-			 */
-			if ((int16_t) (ao_flight_tick - ao_old_vel_tick) >= AO_SEC_TO_TICKS(1)) {
-				ao_old_vel_tick = ao_flight_tick;
-				ao_flight_vel -= ao_old_vel;
-				ao_old_vel = ao_flight_vel;
-			}
-			/* pad to boost:
-			 *
-			 * accelerometer: > 2g AND velocity > 5m/s
-			 *             OR
-			 * barometer: > 20m vertical motion
-			 *
-			 * The accelerometer should always detect motion before
-			 * the barometer, but we use both to make sure this
-			 * transition is detected
-			 */
-			if ((ao_flight_accel < ao_ground_accel - ACCEL_BOOST &&
-			     ao_flight_vel > ACCEL_VEL_BOOST) ||
-			    ao_flight_pres < ao_ground_pres - BARO_LAUNCH)
-			{
-				ao_flight_state = ao_flight_boost;
-				ao_launch_tick = ao_flight_tick;
-
-				/* start logging data */
-				ao_log_start();
-
-				/* Increase telemetry rate */
-				ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
-
-				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-				break;
-			}
-			break;
-		case ao_flight_boost:
-
-			/* boost to coast:
-			 *
-			 * 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_flight_accel > ao_ground_accel + (ACCEL_G >> 2) ||
-			    (int16_t) (ao_flight_tick - ao_launch_tick) > BOOST_TICKS_MAX)
-			{
-				ao_flight_state = ao_flight_coast;
-				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-				break;
-			}
-			break;
-		case ao_flight_coast:
-
-			/* coast to apogee detect:
-			 *
-			 * accelerometer: integrated velocity < 200 m/s
-			 *               OR
-			 * barometer: fall at least 500m from max altitude
-			 *
-			 * This extra state is required to avoid mis-detecting
-			 * apogee due to mach transitions.
-			 *
-			 * XXX this is essentially a single-detector test
-			 * as the 500m altitude change would likely result
-			 * in a loss of the rocket. More data on precisely
-			 * how big a pressure change the mach transition
-			 * generates would be useful here.
-			 */
-			if (ao_flight_vel < ACCEL_VEL_MACH ||
-			    ao_flight_pres > ao_min_pres + BARO_COAST)
-			{
-				/* set min velocity to current velocity for
-				 * apogee detect
-				 */
-				ao_min_vel = abs(ao_flight_vel);
-				ao_flight_state = ao_flight_apogee;
-				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-			}
-			break;
-		case ao_flight_apogee:
-
-			/* apogee detect to drogue deploy:
-			 *
-			 * accelerometer: abs(velocity) > min_velocity + 2m/s
-			 *               OR
-			 * barometer: fall at least 10m
-			 *
-			 * If the barometer saturates because the flight
-			 * goes over its measuring range (about 53k'),
-			 * requiring a 10m fall will avoid prematurely
-			 * detecting apogee; the accelerometer will take
-			 * over in that case and the integrated velocity
-			 * measurement should suffice to find apogee
-			 */
-			if (/* abs(ao_flight_vel) > ao_min_vel + ACCEL_VEL_APOGEE || */
-			    ao_flight_pres > ao_min_pres + BARO_APOGEE)
-			{
-				/* ignite the drogue charge */
-				ao_ignite(ao_igniter_drogue);
-
-				/* slow down the telemetry system */
-				ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
-
-				/* slow down the ADC sample rate */
-				ao_timer_set_adc_interval(10);
-
-				/*
-				 * Start recording min/max accel and pres for a while
-				 * to figure out when the rocket has landed
-				 */
-				/* Set the 'last' limits to max range to prevent
-				 * early resting detection
-				 */
-				ao_interval_min_accel = 0;
-				ao_interval_max_accel = 0x7fff;
-				ao_interval_min_pres = 0;
-				ao_interval_max_pres = 0x7fff;
-
-				/* initialize interval values */
-				ao_interval_end = ao_flight_tick + AO_INTERVAL_TICKS;
-
-				ao_interval_cur_min_pres = ao_interval_cur_max_pres = ao_flight_pres;
-				ao_interval_cur_min_accel = ao_interval_cur_max_accel = ao_flight_accel;
-
-				/* and enter drogue state */
-				ao_flight_state = ao_flight_drogue;
-				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-			}
-
-			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_flight_pres >= ao_main_pres)
-			{
-				ao_ignite(ao_igniter_main);
-				ao_flight_state = ao_flight_main;
-				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-			}
-
-			/* fall through... */
-		case ao_flight_main:
-
-			/* drogue/main to land:
-			 *
-			 * accelerometer: value stable
-			 *                           AND
-			 * barometer: altitude stable and within 1000m of the launch altitude
-			 */
-
-			if (ao_flight_pres < ao_interval_cur_min_pres)
-				ao_interval_cur_min_pres = ao_flight_pres;
-			if (ao_flight_pres > ao_interval_cur_max_pres)
-				ao_interval_cur_max_pres = ao_flight_pres;
-			if (ao_flight_accel < ao_interval_cur_min_accel)
-				ao_interval_cur_min_accel = ao_flight_accel;
-			if (ao_flight_accel > ao_interval_cur_max_accel)
-				ao_interval_cur_max_accel = ao_flight_accel;
-
-			if ((int16_t) (ao_flight_tick - ao_interval_end) >= 0) {
-				ao_interval_max_pres = ao_interval_cur_max_pres;
-				ao_interval_min_pres = ao_interval_cur_min_pres;
-				ao_interval_max_accel = ao_interval_cur_max_accel;
-				ao_interval_min_accel = ao_interval_cur_min_accel;
-				ao_interval_end = ao_flight_tick + AO_INTERVAL_TICKS;
-				ao_interval_cur_min_pres = ao_interval_cur_max_pres = ao_flight_pres;
-				ao_interval_cur_min_accel = ao_interval_cur_max_accel = ao_flight_accel;
-			}
-
-			if ((uint16_t) (ao_interval_max_accel - ao_interval_min_accel) < (uint16_t) ACCEL_INT_LAND &&
-			    ao_flight_pres > ao_ground_pres - BARO_LAND &&
-			    (uint16_t) (ao_interval_max_pres - ao_interval_min_pres) < (uint16_t) BARO_INT_LAND)
-			{
-				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));
-			}
-			break;
-		case ao_flight_landed:
-			break;
-		}
-	}
-}
-
-#define AO_ACCEL_COUNT_TO_MSS(count)	((count) / 27)
-#define AO_VEL_COUNT_TO_MS(count)	((int16_t) ((count) / 2700))
-
-static void
-ao_flight_status(void)
-{
-	printf("STATE: %7s accel: %d speed: %d altitude: %d main: %d\n",
-	       ao_state_names[ao_flight_state],
-	       AO_ACCEL_COUNT_TO_MSS(ACCEL_ZERO_G - ao_flight_accel),
-	       AO_VEL_COUNT_TO_MS(ao_flight_vel),
-	       ao_pres_to_altitude(ao_flight_pres),
-	       ao_pres_to_altitude(ao_main_pres));
-}
-
-static __xdata struct ao_task	flight_task;
-
-__code struct ao_cmds ao_flight_cmds[] = {
-	{ 'f', ao_flight_status,	"f                                  Display current flight state" },
-	{ 0, ao_flight_status, NULL }
-};
-
-void
-ao_flight_init(void)
-{
-	ao_flight_state = ao_flight_startup;
-	ao_interval_min_accel = 0;
-	ao_interval_max_accel = 0x7fff;
-	ao_interval_min_pres = 0;
-	ao_interval_max_pres = 0x7fff;
-	ao_interval_end = AO_INTERVAL_TICKS;
-
-	ao_add_task(&flight_task, ao_flight, "flight");
-	ao_cmd_register(&ao_flight_cmds[0]);
-}