Merge branch 'master' into mm-ms5611

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

1 files changed, 207 insertions, 0 deletions

diff --git a/src/micropeak/ao_micropeak.c b/src/micropeak/ao_micropeak.c
new file mode 100644
index 00000000..6ceec3b5
--- /dev/null
+++ b/src/micropeak/ao_micropeak.c
@@ -0,0 +1,207 @@
+/*
+ * Copyright © 2012 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_ms5607.h>
+#include <ao_log_micro.h>
+
+static struct ao_ms5607_sample	sample;
+static struct ao_ms5607_value	value;
+
+static uint32_t	pa;
+static uint32_t	pa_sum;
+static uint32_t	pa_avg;
+static int32_t	pa_diff;
+static uint32_t	pa_ground;
+static uint32_t	pa_min;
+static uint32_t	pa_interval_min, pa_interval_max;
+static alt_t	ground_alt, max_alt;
+alt_t		ao_max_height;
+
+static void
+ao_pa_get(void)
+{
+	ao_ms5607_sample(&sample);
+	ao_ms5607_convert(&sample, &value);
+	pa = value.pres;
+}
+
+#define FILTER_SHIFT		3
+#define SAMPLE_SLEEP		AO_MS_TO_TICKS(96)
+
+/* 16 sample, or about two seconds worth */
+#define GROUND_AVG_SHIFT	4
+#define GROUND_AVG		(1 << GROUND_AVG_SHIFT)
+
+static void
+ao_compute_height(void)
+{
+	ground_alt = ao_pa_to_altitude(pa_ground);
+	max_alt = ao_pa_to_altitude(pa_min);
+	ao_max_height = max_alt - ground_alt;
+}
+
+#if !HAS_EEPROM
+void
+ao_save_flight(void)
+{
+	ao_eeprom_write(0, &pa_ground, sizeof (pa_ground));
+	ao_eeprom_write(sizeof (pa_ground), &pa_min, sizeof (pa_min));
+}
+
+void
+ao_restore_flight(void)
+{
+	ao_eeprom_read(0, &pa_ground, sizeof (pa_ground));
+	ao_eeprom_read(sizeof (pa_ground), &pa_min, sizeof (pa_min));
+}
+#endif
+
+int
+main(void)
+{
+	int16_t		sample_count;
+	uint16_t	time;
+#if HAS_EEPROM
+	uint8_t	dump_eeprom = 0;
+#endif
+	ao_led_init(LEDS_AVAILABLE);
+	ao_timer_init();
+
+#if HAS_EEPROM
+
+	/* Set MOSI and CLK as inputs with pull-ups */
+	DDRB &= ~(1 << 0) | (1 << 2);
+	PORTB |= (1 << 0) | (1 << 2);
+
+	/* Check to see if either MOSI or CLK are pulled low by the
+	 * user shorting them to ground. If so, dump the eeprom out
+	 * via the LED. Wait for the shorting wire to go away before
+	 * continuing.
+	 */
+	while ((PINB & ((1 << 0) | (1 << 2))) != ((1 << 0) | (1 << 2)))
+		dump_eeprom = 1;
+	PORTB &= ~(1 << 0) | (1 << 2);
+
+	ao_i2c_init();
+#endif
+	ao_restore_flight();
+	ao_compute_height();
+	ao_report_altitude();
+	
+	ao_spi_init();
+	ao_ms5607_init();
+	ao_ms5607_setup();
+
+#if HAS_EEPROM
+	ao_storage_init();
+
+	/* Check to see if there's a flight recorded in memory */
+	if (dump_eeprom && ao_log_micro_scan())
+		ao_log_micro_dump();
+#endif	
+
+	/* Wait for motion, averaging values to get ground pressure */
+	time = ao_time();
+	ao_pa_get();
+	pa_avg = pa_ground = pa << FILTER_SHIFT;
+	sample_count = 0;
+	for (;;) {
+		time += SAMPLE_SLEEP;
+		ao_delay_until(time);
+		if (sample_count == 0)
+			ao_led_on(AO_LED_BLUE);
+		ao_pa_get();
+		if (sample_count == 0)
+			ao_led_off(AO_LED_BLUE);
+		pa_avg = pa_avg - (pa_avg >> FILTER_SHIFT) + pa;
+		pa_diff = pa_ground - pa_avg;
+		if (pa_diff < 0)
+			pa_diff = -pa_diff;
+
+		/* about 2 meters at sea level, more if you're higher */
+		if (pa_diff > (24 << FILTER_SHIFT))
+			break;
+
+		if (sample_count < GROUND_AVG * 2) {
+			ao_led_off(AO_LED_BLUE);
+			if (sample_count < GROUND_AVG)
+				pa_sum += pa;
+			++sample_count;
+		} else {
+			pa_ground = pa_sum >> (GROUND_AVG_SHIFT - FILTER_SHIFT);
+			pa_sum = 0;
+			sample_count = 0;
+		}
+	}
+
+	pa_ground >>= FILTER_SHIFT;
+
+#if HAS_EEPROM
+	ao_log_micro_data(AO_LOG_MICRO_GROUND | pa_ground);
+#endif
+
+	/* Now sit around until the pressure is stable again and record the max */
+
+	sample_count = 0;
+	pa_min = pa_avg;
+	pa_interval_min = pa_avg;
+	pa_interval_max = pa_avg;
+	for (;;) {
+		time += SAMPLE_SLEEP;
+		ao_delay_until(time);
+		if ((sample_count & 3) == 0)
+			ao_led_on(AO_LED_BLUE);
+		ao_pa_get();
+		if ((sample_count & 3) == 0)
+			ao_led_off(AO_LED_BLUE);
+#if HAS_EEPROM
+		ao_log_micro_data(AO_LOG_MICRO_DATA | pa);
+#endif
+		pa_avg = pa_avg - (pa_avg >> FILTER_SHIFT) + pa;
+		if (pa_avg < pa_min)
+			pa_min = pa_avg;
+
+		if (sample_count == (GROUND_AVG - 1)) {
+			pa_diff = pa_interval_max - pa_interval_min;
+			/* About 1m at sea level */
+			if (pa_diff < (12 << FILTER_SHIFT))
+				break;
+			sample_count = 0;
+			pa_interval_min = pa_avg;
+			pa_interval_max = pa_avg;
+		} else {
+			if (pa_avg < pa_interval_min)
+				pa_interval_min = pa_avg;
+			if (pa_avg > pa_interval_max)
+				pa_interval_max = pa_avg;
+			++sample_count;
+		}
+	}
+	pa_min >>= FILTER_SHIFT;
+#if HAS_EEPROM
+	ao_log_micro_data(AO_LOG_MICRO_DONE | pa_min);
+#endif
+	ao_save_flight();
+	ao_compute_height();
+	ao_report_altitude();
+	for (;;) {
+		cli();
+		set_sleep_mode(SLEEP_MODE_PWR_DOWN);
+		sleep_mode();
+	}
+}