diff options
| -rw-r--r-- | src/core/ao_data.h | 191 | ||||
| -rw-r--r-- | src/core/ao_flight_mm.c | 362 | ||||
| -rw-r--r-- | src/core/ao_log_mega.c | 174 | ||||
| -rw-r--r-- | src/core/ao_sample_mm.c | 135 |
4 files changed, 862 insertions, 0 deletions
diff --git a/src/core/ao_data.h b/src/core/ao_data.h new file mode 100644 index 00000000..d28730a8 --- /dev/null +++ b/src/core/ao_data.h @@ -0,0 +1,191 @@ +/* + * 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. + */ + +#ifndef _AO_DATA_H_ +#define _AO_DATA_H_ + +#if HAS_MS5607 +#include <ao_ms5607.h> +#endif + +#if HAS_MPU6000 +#include <ao_mpu6000.h> +#endif + +struct ao_data { + uint16_t tick; +#if HAS_ADC + struct ao_adc adc; +#endif +#if HAS_ACCEL_REF + uint16_t accel_ref; +#endif +#if HAS_MS5607 + struct ao_ms5607_sample ms5607; +#endif +#if HAS_MPU6000 + struct ao_mpu6000_sample mpu6000; +#endif +}; + +#define ao_data_ring_next(n) (((n) + 1) & (AO_DATA_RING - 1)) +#define ao_data_ring_prev(n) (((n) - 1) & (AO_DATA_RING - 1)) + +extern volatile __xdata struct ao_data ao_data_ring[AO_DATA_RING]; +extern volatile __data uint8_t ao_data_head; + +#if HAS_MS5607 + +typedef int32_t pres_t; +typedef int32_t alt_t; + +static inline pres_t ao_data_pres(struct ao_data *packet) +{ + struct ao_ms5607_value value; + + ao_ms5607_convert(&packet->ms5607, &value); + return value.pres; +} + +#define pres_to_altitude(p) ao_pa_to_altitude(p) + +#else + +typedef int16_t pres_t; +typedef int16_t alt_t; + +#define ao_data_pres(packet) ((packet)->adc.pres) +#define pres_to_altitude(p) ao_pres_to_altitude(p) + +#endif + +/* + * Need a few macros to pull data from the sensors: + * + * ao_data_accel_sample - pull raw sensor and convert to normalized values + * ao_data_accel - pull normalized value (lives in the same memory) + * ao_data_set_accel - store normalized value back in the sensor location + * ao_data_accel_invert - flip rocket ends for positive acceleration + */ + +#if HAS_MPU6000 + +typedef int16_t accel_t; + +/* MPU6000 is hooked up so that positive y is positive acceleration */ +#define ao_data_accel(packet) ((packet)->mpu6000.accel_y) +#define ao_data_accel_sample(packet) (-ao_data_accel(packet)) +#define ao_data_set_accel(packet, accel) ((packet)->mpu6000.accel_y = (accel)) +#define ao_data_accel_invert(a) (-(a)) + +#else + +typedef int16_t accel_t; +#define ao_data_accel(packet) ((packet)->adc.accel) +#define ao_data_set_accel(packet, accel) ((packet)->adc.accel = (accel)) +#define ao_data_accel_invert(a) (0x7fff -(a)) + +/* + * 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. + */ +#if HAS_ACCEL_REF +#define ao_data_accel_sample(packet) \ + ((uint16_t) ((((uint32_t) (packet)->adc.accel << 16) / ((packet)->accel_ref << 1))) >> 1) +#else +#define ao_data_accel(packet) ((packet)->adc.accel) +#endif /* HAS_ACCEL_REF */ + +#endif /* else some other pressure sensor */ + +#endif /* _AO_DATA_H_ */ diff --git a/src/core/ao_flight_mm.c b/src/core/ao_flight_mm.c new file mode 100644 index 00000000..27087e55 --- /dev/null +++ b/src/core/ao_flight_mm.c @@ -0,0 +1,362 @@ +/* + * 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" +#include <ao_log.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; + +#if HAS_RADIO + /* Turn on packet system in invalid mode on TeleMetrum */ + ao_packet_slave_start(); +#endif + } 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 + +#if HAS_RADIO + /* Turn on telemetry system */ + ao_rdf_set(1); + ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD); +#endif + /* 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 && HAS_RADIO + /* 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(); + +#if HAS_RADIO + /* Increase telemetry rate */ + ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT); + + /* disable RDF beacon */ + ao_rdf_set(0); +#endif + +#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 + ) + { +#if HAS_IGNITE + /* ignite the drogue charge */ + ao_ignite(ao_igniter_drogue); +#endif + +#if HAS_RADIO + /* slow down the telemetry system */ + ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER); + + /* Turn the RDF beacon back on */ + ao_rdf_set(1); +#endif + + /* 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) + { +#if HAS_IGNITE + ao_ignite(ao_igniter_main); +#endif + + /* + * 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_log_mega.c b/src/core/ao_log_mega.c new file mode 100644 index 00000000..1763b9eb --- /dev/null +++ b/src/core/ao_log_mega.c @@ -0,0 +1,174 @@ +/* + * 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_log.h> +#include <ao_data.h> +#include <ao_flight.h> + +static __xdata uint8_t ao_log_mutex; +static __xdata struct ao_log_mega log; + +static uint8_t +ao_log_csum(__xdata uint8_t *b) __reentrant +{ + uint8_t sum = 0x5a; + uint8_t i; + + for (i = 0; i < sizeof (struct ao_log_mega); i++) + sum += *b++; + return -sum; +} + +uint8_t +ao_log_mega(__xdata struct ao_log_mega *log) __reentrant +{ + uint8_t wrote = 0; + /* set checksum */ + log->csum = 0; + log->csum = ao_log_csum((__xdata uint8_t *) log); + ao_mutex_get(&ao_log_mutex); { + if (ao_log_current_pos >= ao_log_end_pos && ao_log_running) + ao_log_stop(); + if (ao_log_running) { + wrote = 1; + ao_storage_write(ao_log_current_pos, + log, + sizeof (struct ao_log_mega)); + ao_log_current_pos += sizeof (struct ao_log_mega); + } + } ao_mutex_put(&ao_log_mutex); + return wrote; +} + +static uint8_t +ao_log_dump_check_data(void) +{ + if (ao_log_csum((uint8_t *) &log) != 0) + return 0; + return 1; +} + +static __data uint8_t ao_log_data_pos; + +/* a hack to make sure that ao_log_megas fill the eeprom block in even units */ +typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_mega))] ; + +#ifndef AO_SENSOR_INTERVAL_ASCENT +#define AO_SENSOR_INTERVAL_ASCENT 1 +#define AO_SENSOR_INTERVAL_DESCENT 10 +#define AO_OTHER_INTERVAL 32 +#endif + +void +ao_log(void) +{ + __pdata uint16_t next_sensor, next_other; + uint8_t i; + + ao_storage_setup(); + + ao_log_scan(); + + while (!ao_log_running) + ao_sleep(&ao_log_running); + +#if HAS_FLIGHT + log.type = AO_LOG_FLIGHT; + log.tick = ao_sample_tick; +#if HAS_ACCEL + log.u.flight.ground_accel = ao_ground_accel; +#endif + log.u.flight.ground_pres = ao_ground_pres; + log.u.flight.flight = ao_flight_number; + ao_log_mega(&log); +#endif + + /* Write the whole contents of the ring to the log + * when starting up. + */ + ao_log_data_pos = ao_data_ring_next(ao_data_head); + next_other = next_sensor = ao_data_ring[ao_log_data_pos].tick; + ao_log_state = ao_flight_startup; + for (;;) { + /* Write samples to EEPROM */ + while (ao_log_data_pos != ao_data_head) { + log.tick = ao_data_ring[ao_log_data_pos].tick; + if ((int16_t) (log.tick - next_sensor) >= 0) { + log.type = AO_LOG_SENSOR; + log.u.sensor.pres = ao_data_ring[ao_log_data_pos].ms5607.pres; + log.u.sensor.temp = ao_data_ring[ao_log_data_pos].ms5607.temp; + log.u.sensor.accel_x = ao_data_ring[ao_log_data_pos].mpu6000.accel_x; + log.u.sensor.accel_y = ao_data_ring[ao_log_data_pos].mpu6000.accel_y; + log.u.sensor.accel_z = ao_data_ring[ao_log_data_pos].mpu6000.accel_z; + log.u.sensor.gyro_x = ao_data_ring[ao_log_data_pos].mpu6000.gyro_x; + log.u.sensor.gyro_y = ao_data_ring[ao_log_data_pos].mpu6000.gyro_y; + log.u.sensor.gyro_z = ao_data_ring[ao_log_data_pos].mpu6000.gyro_z; + ao_log_mega(&log); + if (ao_log_state <= ao_flight_coast) + next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT; + else + next_sensor = log.tick + AO_SENSOR_INTERVAL_DESCENT; + } + if ((int16_t) (log.tick - next_other) >= 0) { + log.type = AO_LOG_TEMP_VOLT; + log.u.volt.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt; + log.u.volt.v_pbatt = ao_data_ring[ao_log_data_pos].adc.v_pbatt; + log.u.volt.n_sense = AO_ADC_NUM_SENSE; + for (i = 0; i < AO_ADC_NUM_SENSE; i++) + log.u.volt.sense[i] = ao_data_ring[ao_log_data_pos].adc.sense[i]; + ao_log_mega(&log); + next_other = log.tick + AO_OTHER_INTERVAL; + } + ao_log_data_pos = ao_data_ring_next(ao_log_data_pos); + } +#if HAS_FLIGHT + /* Write state change to EEPROM */ + if (ao_flight_state != ao_log_state) { + ao_log_state = ao_flight_state; + log.type = AO_LOG_STATE; + log.tick = ao_time(); + log.u.state.state = ao_log_state; + log.u.state.reason = 0; + ao_log_mega(&log); + + if (ao_log_state == ao_flight_landed) + ao_log_stop(); + } +#endif + + /* Wait for a while */ + ao_delay(AO_MS_TO_TICKS(100)); + + /* Stop logging when told to */ + while (!ao_log_running) + ao_sleep(&ao_log_running); + } +} + +uint16_t +ao_log_flight(uint8_t slot) +{ + if (!ao_storage_read(ao_log_pos(slot), + &log, + sizeof (struct ao_log_mega))) + return 0; + + if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT) + return log.u.flight.flight; + return 0; +} diff --git a/src/core/ao_sample_mm.c b/src/core/ao_sample_mm.c new file mode 100644 index 00000000..8cfadc40 --- /dev/null +++ b/src/core/ao_sample_mm.c @@ -0,0 +1,135 @@ +/* + * 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_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_sample(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; +} |