altos: remove stale ao_flight.c and ao_sample.c

The mega-metrum versions are now the official versions

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

2 files changed, 0 insertions, 564 deletions

diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c
deleted file mode 100644
index 494e656d..00000000
--- a/src/core/ao_flight.c
+++ /dev/null
@@ -1,350 +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
-
-#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
-
-/* Main flight thread. */
-
-__pdata enum ao_flight_state	ao_flight_state;	/* current flight state */
-__pdata uint16_t		ao_boost_tick;		/* time of launch detect */
-
-/*
- * track min/max data over a long interval to detect
- * resting
- */
-static __data uint16_t		ao_interval_end;
-static __data int16_t		ao_interval_min_height;
-static __data int16_t		ao_interval_max_height;
-static __data int16_t		ao_coast_avg_accel;
-
-__pdata uint8_t			ao_flight_force_idle;
-
-/* 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)
-
-/* 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(10)
-
-#define abs(a)	((a) < 0 ? -(a) : (a))
-
-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 HAS_ACCEL
-			if (ao_config.accel_plus_g == 0 ||
-			    ao_config.accel_minus_g == 0 ||
-			    ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
-			    ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP)
-			{
-				/* Detected an accel value outside -1.5g to 1.5g
-				 * (or uncalibrated values), so we go into invalid mode
-				 */
-				ao_flight_state = ao_flight_invalid;
-
-				/* Turn on packet system in invalid mode on TeleMetrum */
-				ao_packet_slave_start();
-			} else
-#endif
-				if (!ao_flight_force_idle
-#if HAS_ACCEL
-				    && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
-#endif
-					)
- 			{
-				/* 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
-				 */
-				ao_usb_disable();
-#endif
-
-#if !HAS_ACCEL
-				/* Disable packet mode in pad state on TeleMini */
-				ao_packet_slave_stop();
-#endif
-
-				/* Turn on telemetry system */
-				ao_rdf_set(1);
-				ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD);
-
-				/* signal successful initialization by turning off the LED */
-				ao_led_off(AO_LED_RED);
-			} else {
-				/* Set idle mode */
- 				ao_flight_state = ao_flight_idle;
- 
-#if HAS_ACCEL
-				/* Turn on packet system in idle mode on TeleMetrum */
-				ao_packet_slave_start();
-#endif
-
-				/* 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 boost:
-			 *
-			 * barometer: > 20m vertical motion
-			 *             OR
-			 * accelerometer: > 2g AND velocity > 5m/s
-			 *
-			 * The accelerometer should always detect motion before
-			 * the barometer, but we use both to make sure this
-			 * transition is detected. If the device
-			 * doesn't have an accelerometer, then ignore the
-			 * speed and acceleration as they are quite noisy
-			 * on the pad.
-			 */
-			if (ao_height > AO_M_TO_HEIGHT(20)
-#if HAS_ACCEL
-			    || (ao_accel > AO_MSS_TO_ACCEL(20) &&
-				ao_speed > AO_MS_TO_SPEED(5))
-#endif
-				)
-			{
-				ao_flight_state = ao_flight_boost;
-				ao_boost_tick = ao_sample_tick;
-
-				/* start logging data */
-				ao_log_start();
-
-				/* Increase telemetry rate */
-				ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT);
-
-				/* disable RDF beacon */
-				ao_rdf_set(0);
-
-#if HAS_GPS
-				/* Record current GPS position by waking up GPS log tasks */
-				ao_wakeup(&ao_gps_data);
-				ao_wakeup(&ao_gps_tracking_data);
-#endif
-
-				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-			}
-			break;
-		case ao_flight_boost:
-
-			/* boost to fast:
-			 *
-			 * 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_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) ||
-			    (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX)
-			{
-#if HAS_ACCEL
-				ao_flight_state = ao_flight_fast;
-				ao_coast_avg_accel = ao_accel;
-#else
-				ao_flight_state = ao_flight_coast;
-#endif
-				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-			}
-			break;
-#if HAS_ACCEL
-		case ao_flight_fast:
-			/*
-			 * This is essentially the same as coast,
-			 * but the barometer is being ignored as
-			 * it may be unreliable.
-			 */
-			if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED))
-			{
-				ao_flight_state = ao_flight_coast;
-				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-			} else
-				goto check_re_boost;
-			break;
-#endif
-		case ao_flight_coast:
-
-			/*
-			 * By customer request - allow the user
-			 * to lock out apogee detection for a specified
-			 * number of seconds.
-			 */
-			if (ao_config.apogee_lockout) {
-				if ((ao_sample_tick - ao_boost_tick) <
-				    AO_SEC_TO_TICKS(ao_config.apogee_lockout))
-					break;
-			}
-
-			/* apogee detect: coast to drogue deploy:
-			 *
-			 * speed: < 0
-			 *
-			 * Also make sure the model altitude is tracking
-			 * the measured altitude reasonably closely; otherwise
-			 * we're probably transsonic.
-			 */
-			if (ao_speed < 0
-#if !HAS_ACCEL
-			    && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100)
-#endif
-				)
-			{
-				/* ignite the drogue charge */
-				ao_ignite(ao_igniter_drogue);
-
-				/* slow down the telemetry system */
-				ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER);
-
-				/* Turn the RDF beacon back on */
-				ao_rdf_set(1);
-
-				/* and enter drogue state */
-				ao_flight_state = ao_flight_drogue;
-				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-			}
-#if HAS_ACCEL
-			else {
-			check_re_boost:
-				ao_coast_avg_accel = ao_coast_avg_accel - (ao_coast_avg_accel >> 6) + (ao_accel >> 6);
-				if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) {
-					ao_boost_tick = ao_sample_tick;
-					ao_flight_state = ao_flight_boost;
-					ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-				}
-			}
-#endif
-
-			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_height <= ao_config.main_deploy)
-			{
-				ao_ignite(ao_igniter_main);
-
-				/*
-				 * Start recording min/max height
-				 * to figure out when the rocket has landed
-				 */
-
-				/* initialize interval values */
-				ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
-
-				ao_interval_min_height = ao_interval_max_height = ao_avg_height;
-
-				ao_flight_state = ao_flight_main;
-				ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
-			}
-			break;
-
-			/* fall through... */
-		case ao_flight_main:
-
-			/* main to land:
-			 *
-			 * barometer: altitude stable
-			 */
-
-			if (ao_avg_height < ao_interval_min_height)
-				ao_interval_min_height = ao_avg_height;
-			if (ao_avg_height > ao_interval_max_height)
-				ao_interval_max_height = ao_avg_height;
-
-			if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) {
-				if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4))
-				{
-					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));
-				}
-				ao_interval_min_height = ao_interval_max_height = ao_avg_height;
-				ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS;
-			}
-			break;
-		case ao_flight_landed:
-			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");
-}
diff --git a/src/core/ao_sample.c b/src/core/ao_sample.c
deleted file mode 100644
index 2bf9632f..00000000
--- a/src/core/ao_sample.c
+++ /dev/null
@@ -1,214 +0,0 @@
-/*
- * 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"
-#endif
-
-/*
- * Current sensor values
- */
-
-__pdata uint16_t	ao_sample_tick;		/* time of last data */
-__pdata int16_t		ao_sample_pres;
-__pdata int16_t		ao_sample_alt;
-__pdata int16_t		ao_sample_height;
-#if HAS_ACCEL
-__pdata int16_t		ao_sample_accel;
-#endif
-
-__data uint8_t		ao_sample_adc;
-
-/*
- * Sensor calibration values
- */
-
-__pdata int16_t		ao_ground_pres;		/* startup pressure */
-__pdata int16_t		ao_ground_height;	/* MSL of ao_ground_pres */
-
-#if HAS_ACCEL
-__pdata int16_t		ao_ground_accel;	/* startup acceleration */
-__pdata int16_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 = ao_pres_to_altitude(ao_ground_pres);
-		ao_preflight = FALSE;
-	}
-}
-
-uint8_t
-ao_sample(void)
-{
-	ao_wakeup(DATA_TO_XDATA(&ao_sample_adc));
-	ao_sleep(DATA_TO_XDATA(&ao_adc_head));
-	while (ao_sample_adc != ao_adc_head) {
-		__xdata struct ao_adc *ao_adc;
-
-		/* Capture a sample */
-		ao_adc = &ao_adc_ring[ao_sample_adc];
-		ao_sample_tick = ao_adc->tick;
-		ao_sample_pres = ao_adc->pres;
-		ao_sample_alt = ao_pres_to_altitude(ao_sample_pres);
-		ao_sample_height = ao_sample_alt - ao_ground_height;
-#if HAS_ACCEL
-		ao_sample_accel = ao_adc->accel;
-#if HAS_ACCEL_REF
-		/*
-		 * Ok, the math here is a bit tricky.
-		 *
-		 * ao_sample_accel:  ADC output for acceleration
-		 * ao_accel_ref:  ADC output for the 5V reference.
-		 * ao_cook_accel: Corrected acceleration value
-		 * Vcc:           3.3V supply to the CC1111
-		 * Vac:           5V supply to the accelerometer
-		 * accel:         input voltage to accelerometer ADC pin
-		 * ref:           input voltage to 5V reference ADC pin
-		 *
-		 *
-		 * Measured acceleration is ratiometric to Vcc:
-		 *
-		 *     ao_sample_accel   accel
-		 *     ------------ = -----
-		 *        32767        Vcc
-		 *
-		 * Measured 5v reference is also ratiometric to Vcc:
-		 *
-		 *     ao_accel_ref    ref
-		 *     ------------ = -----
-		 *        32767        Vcc
-		 *
-		 *
-		 *	ao_accel_ref = 32767 * (ref / Vcc)
-		 *
-		 * Acceleration is measured ratiometric to the 5V supply,
-		 * so what we want is:
-		 *
-		 *	ao_cook_accel    accel
-		 *      ------------- =  -----
-		 *          32767         ref
-		 *
-		 *
-		 *	                accel    Vcc
-		 *                    = ----- *  ---
-		 *                       Vcc     ref
-		 *
-		 *                      ao_sample_accel       32767
-		 *                    = ------------ *  ------------
-		 *                         32767        ao_accel_ref
-		 *
-		 * Multiply through by 32767:
-		 *
-		 *                      ao_sample_accel * 32767
-		 *	ao_cook_accel = --------------------
-		 *                          ao_accel_ref
-		 *
-		 * Now, the tricky part. Getting this to compile efficiently
-		 * and keeping all of the values in-range.
-		 *
-		 * First off, we need to use a shift of 16 instead of * 32767 as SDCC
-		 * does the obvious optimizations for byte-granularity shifts:
-		 *
-		 *	ao_cook_accel = (ao_sample_accel << 16) / ao_accel_ref
-		 *
-		 * Next, lets check our input ranges:
-		 *
-		 * 	0 <= ao_sample_accel <= 0x7fff		(singled ended ADC conversion)
-		 *	0x7000 <= ao_accel_ref <= 0x7fff	(the 5V ref value is close to 0x7fff)
-		 *
-		 * Plugging in our input ranges, we get an output range of 0 - 0x12490,
-		 * which is 17 bits. That won't work. If we take the accel ref and shift
-		 * by a bit, we'll change its range:
-		 *
-		 *	0xe000 <= ao_accel_ref<<1 <= 0xfffe
-		 *
-		 *	ao_cook_accel = (ao_sample_accel << 16) / (ao_accel_ref << 1)
-		 *
-		 * Now the output range is 0 - 0x9248, which nicely fits in 16 bits. It
-		 * is, however, one bit too large for our signed computations. So, we
-		 * take the result and shift that by a bit:
-		 *
-		 *	ao_cook_accel = ((ao_sample_accel << 16) / (ao_accel_ref << 1)) >> 1
-		 *
-		 * This finally creates an output range of 0 - 0x4924. As the ADC only
-		 * provides 11 bits of data, we haven't actually lost any precision,
-		 * just dropped a bit of noise off the low end.
-		 */
-		ao_sample_accel = (uint16_t) ((((uint32_t) ao_sample_accel << 16) / (ao_accel_ref[ao_sample_adc] << 1))) >> 1;
-		if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
-			ao_sample_accel = 0x7fff - ao_sample_accel;
-		ao_adc->accel = ao_sample_accel;
-#else
-		if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP) {
-			ao_sample_accel = 0x7fff - ao_sample_accel;
-			ao_adc->accel = ao_sample_accel;
-		}
-#endif
-#endif
-
-		if (ao_preflight)
-			ao_sample_preflight();
-		else
-			ao_kalman();
-		ao_sample_adc = ao_adc_ring_next(ao_sample_adc);
-	}
-	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_adc = ao_adc_head;
-	ao_preflight = TRUE;
-}