Merge branch 'branch-1.4' into debian

1 files changed, 136 insertions, 0 deletions

diff --git a/src/kernel/ao_balloon.c b/src/kernel/ao_balloon.c
new file mode 100644
index 00000000..904a9c08
--- /dev/null
+++ b/src/kernel/ao_balloon.c
@@ -0,0 +1,136 @@
+/*
+ * 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
+
+#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
+
+#if HAS_SENSOR_ERRORS
+/* Any sensor can set this to mark the flight computer as 'broken' */
+__xdata uint8_t			ao_sensor_errors;
+#endif
+
+__pdata uint16_t		ao_motor_number;	/* number of motors burned so far */
+
+/* Main flight thread. */
+
+__pdata enum ao_flight_state	ao_flight_state;	/* current flight state */
+
+__pdata uint8_t			ao_flight_force_idle;
+
+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 (!ao_flight_force_idle)
+ 			{
+				/* 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
+				 */
+				if (!ao_usb_running)
+					ao_usb_disable();
+#endif
+
+				/* Disable packet mode in pad state */
+				ao_packet_slave_stop();
+
+				/* Turn on telemetry system */
+				ao_rdf_set(1);
+				ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_BALLOON);
+
+				/* signal successful initialization by turning off the LED */
+				ao_led_off(AO_LED_RED);
+			} else {
+				/* Set idle mode */
+ 				ao_flight_state = ao_flight_idle;
+ 
+				/* 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 coast:
+			 *
+			 * barometer: > 20m vertical motion
+			 */
+			if (ao_height > AO_M_TO_HEIGHT(20))
+			{
+				ao_flight_state = ao_flight_drogue;
+
+				/* start logging data */
+				ao_log_start();
+
+#if HAS_GPS
+				/* Record current GPS position by waking up GPS log tasks */
+				ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING;
+				ao_wakeup(&ao_gps_new);
+#endif
+
+				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
+			}
+			break;
+		default:
+			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");
+}