Merge branch 'branch-1.4' into debian

1 files changed, 226 insertions, 0 deletions

diff --git a/src/kernel/ao_tracker.c b/src/kernel/ao_tracker.c
new file mode 100644
index 00000000..9febc7f0
--- /dev/null
+++ b/src/kernel/ao_tracker.c
@@ -0,0 +1,226 @@
+/*
+ * Copyright © 2014 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_flight.h>
+#include <ao_log.h>
+#include <ao_log_gps.h>
+#include <ao_distance.h>
+#include <ao_tracker.h>
+#include <ao_exti.h>
+
+static uint8_t		ao_tracker_force_telem;
+
+#if HAS_USB_CONNECT
+static inline uint8_t
+ao_usb_connected(void)
+{
+	return ao_gpio_get(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN, AO_USB_CONNECT) != 0;
+}
+#else
+#define ao_usb_connected()	1
+#endif
+
+struct gps_position {
+	int32_t	latitude;
+	int32_t	longitude;
+	int16_t	altitude;
+};
+
+#define GPS_RING	16
+
+struct gps_position	gps_position[GPS_RING];
+
+#define ao_gps_ring_next(n)	(((n) + 1) & (GPS_RING - 1))
+#define ao_gps_ring_prev(n)	(((n) - 1) & (GPS_RING - 1))
+
+static uint8_t	gps_head;
+
+static uint8_t	tracker_mutex;
+static uint8_t	log_started;
+static struct ao_telemetry_location gps_data;
+static uint8_t	tracker_running;
+static uint16_t tracker_interval;
+
+static void
+ao_tracker(void)
+{
+	uint8_t	new;
+	int32_t	ground_distance;
+	int16_t height;
+	uint16_t gps_tick;
+	uint8_t new_tracker_running;
+
+#if HAS_ADC
+	ao_timer_set_adc_interval(100);
+#endif
+
+#if !HAS_USB_CONNECT
+	ao_tracker_force_telem = 1;
+#endif
+	ao_log_scan();
+
+	ao_rdf_set(1);
+
+	tracker_interval = ao_config.tracker_interval;
+	ao_gps_set_rate(tracker_interval);
+
+	for (;;) {
+
+		/** Wait for new GPS data
+		 */
+		while (!(new = ao_gps_new))
+			ao_sleep(&ao_gps_new);
+		ao_mutex_get(&ao_gps_mutex);
+		gps_data = ao_gps_data;
+		gps_tick = ao_gps_tick;
+		ao_gps_new = 0;
+		ao_mutex_put(&ao_gps_mutex);
+
+		new_tracker_running = ao_tracker_force_telem || !ao_usb_connected();
+
+		if (ao_config.tracker_interval != tracker_interval) {
+			tracker_interval = ao_config.tracker_interval;
+			ao_gps_set_rate(tracker_interval);
+
+			/* force telemetry interval to be reset */
+			tracker_running = 0;
+		}
+
+		if (new_tracker_running && !tracker_running)
+			ao_telemetry_set_interval(AO_SEC_TO_TICKS(tracker_interval));
+		else if (!new_tracker_running && tracker_running)
+			ao_telemetry_set_interval(0);
+
+		tracker_running = new_tracker_running;
+
+		if (new_tracker_running && !ao_log_running)
+			ao_log_start();
+		else if (!new_tracker_running && ao_log_running)
+			ao_log_stop();
+
+		if (!ao_log_running)
+			continue;
+
+		if (new & AO_GPS_NEW_DATA) {
+			if ((gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) ==
+			    (AO_GPS_VALID|AO_GPS_COURSE_VALID))
+			{
+				uint8_t	ring;
+				uint8_t	moving = 0;
+
+				for (ring = ao_gps_ring_next(gps_head); ring != gps_head; ring = ao_gps_ring_next(ring)) {
+					ground_distance = ao_distance(gps_data.latitude, gps_data.longitude,
+								      gps_position[ring].latitude,
+								      gps_position[ring].longitude);
+					height = gps_position[ring].altitude - gps_data.altitude;
+					if (height < 0)
+						height = -height;
+
+					if (ao_tracker_force_telem)
+						printf("head %d ring %d ground_distance %d height %d\n", gps_head, ring, ground_distance, height);
+					if (ground_distance > ao_config.tracker_motion ||
+					    height > (ao_config.tracker_motion << 1))
+					{
+						moving = 1;
+						break;
+					}
+				}
+				if (ao_tracker_force_telem) {
+					printf ("moving %d started %d\n", moving, log_started);
+					flush();
+				}
+				if (moving) {
+					ao_mutex_get(&tracker_mutex);
+					if (!log_started) {
+						ao_log_gps_flight();
+						log_started = 1;
+					}
+					ao_log_gps_data(gps_tick, &gps_data);
+					gps_position[gps_head].latitude = gps_data.latitude;
+					gps_position[gps_head].longitude = gps_data.longitude;
+					gps_position[gps_head].altitude = gps_data.altitude;
+					gps_head = ao_gps_ring_next(gps_head);
+					ao_mutex_put(&tracker_mutex);
+				}
+			}
+		}
+	}
+}
+
+static uint8_t erasing_current;
+
+void
+ao_tracker_erase_start(uint16_t flight)
+{
+	erasing_current = flight == ao_flight_number;
+	if (erasing_current) {
+		ao_mutex_get(&tracker_mutex);
+		ao_log_stop();
+		if (++ao_flight_number == 0)
+			ao_flight_number = 1;
+	}
+}
+
+void
+ao_tracker_erase_end(void)
+{
+	if (erasing_current) {
+		ao_log_scan();
+		log_started = 0;
+		ao_mutex_put(&tracker_mutex);
+	}
+}
+
+static struct ao_task ao_tracker_task;
+
+static void
+ao_tracker_set_telem(void)
+{
+	uint8_t	telem;
+	ao_cmd_hex();
+	telem = ao_cmd_lex_i;
+	if (ao_cmd_status == ao_cmd_success)
+		ao_tracker_force_telem = telem;
+	ao_cmd_status = ao_cmd_success;
+	printf ("flight: %d\n", ao_flight_number);
+	printf ("force_telem: %d\n", ao_tracker_force_telem);
+	printf ("tracker_running: %d\n", tracker_running);
+	printf ("log_started: %d\n", log_started);
+	printf ("latitude: %ld\n", (long) gps_data.latitude);
+	printf ("longitude: %ld\n", (long) gps_data.longitude);
+	printf ("altitude: %d\n", gps_data.altitude);
+	printf ("log_running: %d\n", ao_log_running);
+	printf ("log_start_pos: %ld\n", (long) ao_log_start_pos);
+	printf ("log_cur_pos: %ld\n", (long) ao_log_current_pos);
+	printf ("log_end_pos: %ld\n", (long) ao_log_end_pos);
+}
+
+static const struct ao_cmds ao_tracker_cmds[] = {
+	{ ao_tracker_set_telem,	"t <d>\0Set telem on USB" },
+	{ 0, NULL },
+};
+
+void
+ao_tracker_init(void)
+{
+#if HAS_USB_CONNECT
+	ao_enable_input(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN, 0);
+#endif
+	ao_cmd_register(&ao_tracker_cmds[0]);
+	ao_add_task(&ao_tracker_task, ao_tracker, "tracker");
+}