altos: Rename *_mm.c back to *.c

Was just a temporary hack to keep cc1111 products building during MM development.

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

1 files changed, 138 insertions, 0 deletions

diff --git a/src/core/ao_sample.c b/src/core/ao_sample.c
new file mode 100644
index 00000000..ac11eef0
--- /dev/null
+++ b/src/core/ao_sample.c
@@ -0,0 +1,138 @@
+/*
+ * 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_data_pres_cook(ao_data);
+		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_cook(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;
+}