diff options
| -rw-r--r-- | doc/altusmetrum.xsl | 232 | ||||
| -rw-r--r-- | src/core/ao_flight.c | 8 | ||||
| -rw-r--r-- | src/core/ao_flight.h | 4 | ||||
| -rw-r--r-- | src/drivers/ao_mpu6000.c | 104 | ||||
| -rw-r--r-- | src/stm/ao_usb_stm.c | 2 | ||||
| -rw-r--r-- | src/telemega-v0.1/ao_pins.h | 1 | ||||
| -rw-r--r-- | src/telemega-v1.0/ao_pins.h | 3 |
7 files changed, 294 insertions, 60 deletions
diff --git a/doc/altusmetrum.xsl b/doc/altusmetrum.xsl index dfe89438..c71e08a7 100644 --- a/doc/altusmetrum.xsl +++ b/doc/altusmetrum.xsl @@ -836,16 +836,143 @@ NAR #88757, TRA #12200 which mode to enter next. </para> <para> + Here's a short summary of all of the modes and the beeping (or + flashing, in the case of TeleMini v1) that accompanies each + mode. In the description of the beeping pattern, “dit” means a + short beep while "dah" means a long beep (three times as + long). “Brap” means a long dissonant tone. + <table frame='all'> + <title>AltOS Modes</title> + <?dbfo keep-together="always"?> + <tgroup cols='4' align='center' colsep='1' rowsep='1'> + <colspec align='center' colwidth='*' colname='Mode Name'/> + <colspec align='center' colwidth='*' colname='Letter'/> + <colspec align='center' colwidth='*' colname='Beeps'/> + <colspec align='center' colwidth='*' colname='Description'/> + <thead> + <row> + <entry>Mode Name</entry> + <entry>Abbreviation</entry> + <entry>Beeps</entry> + <entry>Description</entry> + </row> + </thead> + <tbody> + <row> + <entry>Startup</entry> + <entry>S</entry> + <entry>dit dit dit</entry> + <entry> + <para> + Calibrating sensors, detecting orientation. + </para> + </entry> + </row> + <row> + <entry>Idle</entry> + <entry>I</entry> + <entry>dit dit</entry> + <entry> + <para> + Ready to accept commands over USB or radio link. + </para> + </entry> + </row> + <row> + <entry>Pad</entry> + <entry>P</entry> + <entry>dit dah dah dit</entry> + <entry> + <para> + Waiting for launch. Not listening for commands. + </para> + </entry> + </row> + <row> + <entry>Boost</entry> + <entry>B</entry> + <entry>dah dit dit dit</entry> + <entry> + <para> + Accelerating upwards. + </para> + </entry> + </row> + <row> + <entry>Fast</entry> + <entry>F</entry> + <entry>dit dit dah dit</entry> + <entry> + <para> + Decellerating, but moving faster than 200m/s. + </para> + </entry> + </row> + <row> + <entry>Coast</entry> + <entry>C</entry> + <entry>dah dit dah dit</entry> + <entry> + <para> + Decellerating, moving slower than 200m/s + </para> + </entry> + </row> + <row> + <entry>Drogue</entry> + <entry>D</entry> + <entry>dah dit dit</entry> + <entry> + <para> + Descending after apogee. Above main height. + </para> + </entry> + </row> + <row> + <entry>Main</entry> + <entry>M</entry> + <entry>dah dah</entry> + <entry> + <para> + Descending. Below main height. + </para> + </entry> + </row> + <row> + <entry>Landed</entry> + <entry>L</entry> + <entry>dit dah dit dit</entry> + <entry> + <para> + Stable altitude for at least ten seconds. + </para> + </entry> + </row> + <row> + <entry>Sensor error</entry> + <entry>X</entry> + <entry>dah dit dit dah</entry> + <entry> + <para> + Error detected during sensor calibration. + </para> + </entry> + </row> + </tbody> + </tgroup> + </table> + </para> + <para> In flight or “pad” mode, the altimeter engages the flight - state machine, goes into transmit-only mode to - send telemetry, and waits for launch to be detected. - Flight mode is indicated by an “di-dah-dah-dit” (“P” for pad) - on the beeper or lights, followed by beeps or flashes - indicating the state of the pyrotechnic igniter continuity. - One beep/flash indicates apogee continuity, two beeps/flashes - indicate main continuity, three beeps/flashes indicate both - apogee and main continuity, and one longer “brap” sound or - rapidly alternating lights indicates no continuity. For a + state machine, goes into transmit-only mode to send telemetry, + and waits for launch to be detected. Flight mode is indicated + by an “di-dah-dah-dit” (“P” for pad) on the beeper or lights, + followed by beeps or flashes indicating the state of the + pyrotechnic igniter continuity. One beep/flash indicates + apogee continuity, two beeps/flashes indicate main continuity, + three beeps/flashes indicate both apogee and main continuity, + and one longer “brap” sound which is made by rapidly + alternating between two tones indicates no continuity. For a dual deploy flight, make sure you're getting three beeps or flashes before launching! For apogee-only or motor eject flights, do what makes sense. @@ -863,6 +990,93 @@ NAR #88757, TRA #12200 ground testing pyro charges. </para> <para> + In “Idle” and “Pad” modes, once the mode indication + beeps/flashes and continuity indication has been sent, if + there is no space available to log the flight in on-board + memory, the flight computer will emit a warbling tone (much + slower than the “no continuity tone”) + </para> + <para> + Here's a summary of all of the “pad” and “idle” mode indications. + <table frame='all'> + <title>Pad/Idle Indications</title> + <?dbfo keep-together="always"?> + <tgroup cols='3' align='center' colsep='1' rowsep='1'> + <colspec align='center' colwidth='*' colname='Name'/> + <colspec align='center' colwidth='*' colname='Beeps'/> + <colspec align='center' colwidth='*' colname='Description'/> + <thead> + <row> + <entry>Name</entry> + <entry>Beeps</entry> + <entry>Description</entry> + </row> + </thead> + <tbody> + <row> + <entry>Neither</entry> + <entry>brap</entry> + <entry> + <para> + No continuity detected on either apogee or main + igniters. + </para> + </entry> + </row> + <row> + <entry>Apogee</entry> + <entry>dit</entry> + <entry> + <para> + Continuity detected only on apogee igniter. + </para> + </entry> + </row> + <row> + <entry>Main</entry> + <entry>dit dit</entry> + <entry> + <para> + Continuity detected only on main igniter. + </para> + </entry> + </row> + <row> + <entry>Both</entry> + <entry>dit dit dit</entry> + <entry> + <para> + Continuity detected on both igniters. + </para> + </entry> + </row> + <row> + <entry>Storage Full</entry> + <entry>warble</entry> + <entry> + <para> + On-board data logging storage is full. This will + not prevent the flight computer from safely + controlling the flight or transmitting telemetry + signals, but no record of the flight will be + stored in on-board flash. + </para> + </entry> + </row> + </tbody> + </tgroup> + </table> + </para> + <para> + Once landed, the flight computer will signal that by emitting + the “Landed” sound described above, after which it will beep + out the apogee height (in meters). Each digit is represented + by a sequence of short “dit” beeps, with a pause between + digits. A zero digit is represented with one long “dah” + beep. The flight computer will continue to report landed mode + and beep out the maximum height until turned off. + </para> + <para> One “neat trick” of particular value when TeleMetrum or TeleMega are used with very large air-frames, is that you can power the board up while the rocket is horizontal, such that it comes up in idle mode. Then you can diff --git a/src/core/ao_flight.c b/src/core/ao_flight.c index 4a53bdc6..463ff4a2 100644 --- a/src/core/ao_flight.c +++ b/src/core/ao_flight.c @@ -46,6 +46,11 @@ __pdata enum ao_flight_state ao_flight_state; /* current flight state */ __pdata uint16_t ao_boost_tick; /* time of launch detect */ __pdata uint16_t ao_motor_number; /* number of motors burned so far */ +#if HAS_IMU +/* Any sensor can set this to mark the flight computer as 'broken' */ +__xdata uint8_t ao_sensor_errors; +#endif + /* * track min/max data over a long interval to detect * resting @@ -99,6 +104,9 @@ ao_flight(void) 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 || +#if HAS_IMU + ao_sensor_errors || +#endif ao_ground_height < -1000 || ao_ground_height > 7000) { diff --git a/src/core/ao_flight.h b/src/core/ao_flight.h index ac3e9cfb..c7c02ccf 100644 --- a/src/core/ao_flight.h +++ b/src/core/ao_flight.h @@ -41,6 +41,10 @@ extern __pdata enum ao_flight_state ao_flight_state; extern __pdata uint16_t ao_boost_tick; extern __pdata uint16_t ao_motor_number; +#if HAS_IMU +extern __xdata uint8_t ao_sensor_errors; +#endif + extern __pdata uint16_t ao_launch_time; extern __pdata uint8_t ao_flight_force_idle; diff --git a/src/drivers/ao_mpu6000.c b/src/drivers/ao_mpu6000.c index 5e75b78a..f8ce7346 100644 --- a/src/drivers/ao_mpu6000.c +++ b/src/drivers/ao_mpu6000.c @@ -137,10 +137,10 @@ ao_mpu6000_accel_check(int16_t normal, int16_t test, char *which) { int16_t diff = test - normal; - if (diff < MPU6000_ST_ACCEL(16) / 2) { + if (diff < MPU6000_ST_ACCEL(16) / 4) { return 1; } - if (diff > MPU6000_ST_ACCEL(16) * 2) { + if (diff > MPU6000_ST_ACCEL(16) * 4) { return 1; } return 0; @@ -153,10 +153,10 @@ ao_mpu6000_gyro_check(int16_t normal, int16_t test, char *which) if (diff < 0) diff = -diff; - if (diff < MPU6000_ST_GYRO(2000) / 2) { + if (diff < MPU6000_ST_GYRO(2000) / 4) { return 1; } - if (diff > MPU6000_ST_GYRO(2000) * 2) { + if (diff > MPU6000_ST_GYRO(2000) * 4) { return 1; } return 0; @@ -177,11 +177,14 @@ _ao_mpu6000_wait_alive(void) ao_panic(AO_PANIC_SELF_TEST_MPU6000); } +#define ST_TRIES 10 + static void _ao_mpu6000_setup(void) { struct ao_mpu6000_sample normal_mode, test_mode; - int errors =0; + int errors; + int st_tries; if (ao_mpu6000_configured) return; @@ -236,23 +239,6 @@ _ao_mpu6000_setup(void) (MPU6000_CONFIG_EXT_SYNC_SET_DISABLED << MPU6000_CONFIG_EXT_SYNC_SET) | (MPU6000_CONFIG_DLPF_CFG_260_256 << MPU6000_CONFIG_DLPF_CFG)); - /* Configure accelerometer to +/-16G in self-test mode */ - _ao_mpu6000_reg_write(MPU6000_ACCEL_CONFIG, - (1 << MPU600_ACCEL_CONFIG_XA_ST) | - (1 << MPU600_ACCEL_CONFIG_YA_ST) | - (1 << MPU600_ACCEL_CONFIG_ZA_ST) | - (MPU600_ACCEL_CONFIG_AFS_SEL_16G << MPU600_ACCEL_CONFIG_AFS_SEL)); - - /* Configure gyro to +/- 2000°/s in self-test mode */ - _ao_mpu6000_reg_write(MPU6000_GYRO_CONFIG, - (1 << MPU600_GYRO_CONFIG_XG_ST) | - (1 << MPU600_GYRO_CONFIG_YG_ST) | - (1 << MPU600_GYRO_CONFIG_ZG_ST) | - (MPU600_GYRO_CONFIG_FS_SEL_2000 << MPU600_GYRO_CONFIG_FS_SEL)); - - ao_delay(AO_MS_TO_TICKS(200)); - _ao_mpu6000_sample(&test_mode); - #if TRIDGE // read the product ID rev c has 1/2 the sensitivity of rev d _mpu6000_product_id = _register_read(MPUREG_PRODUCT_ID); @@ -268,36 +254,58 @@ _ao_mpu6000_setup(void) register_write(MPUREG_ACCEL_CONFIG,2<<3); } hal.scheduler->delay(1); - #endif - /* Configure accelerometer to +/-16G */ - _ao_mpu6000_reg_write(MPU6000_ACCEL_CONFIG, - (0 << MPU600_ACCEL_CONFIG_XA_ST) | - (0 << MPU600_ACCEL_CONFIG_YA_ST) | - (0 << MPU600_ACCEL_CONFIG_ZA_ST) | - (MPU600_ACCEL_CONFIG_AFS_SEL_16G << MPU600_ACCEL_CONFIG_AFS_SEL)); - - /* Configure gyro to +/- 2000°/s */ - _ao_mpu6000_reg_write(MPU6000_GYRO_CONFIG, - (0 << MPU600_GYRO_CONFIG_XG_ST) | - (0 << MPU600_GYRO_CONFIG_YG_ST) | - (0 << MPU600_GYRO_CONFIG_ZG_ST) | - (MPU600_GYRO_CONFIG_FS_SEL_2000 << MPU600_GYRO_CONFIG_FS_SEL)); - - ao_delay(AO_MS_TO_TICKS(10)); - _ao_mpu6000_sample(&normal_mode); + for (st_tries = 0; st_tries < ST_TRIES; st_tries++) { + errors = 0; + + /* Configure accelerometer to +/-16G in self-test mode */ + _ao_mpu6000_reg_write(MPU6000_ACCEL_CONFIG, + (1 << MPU600_ACCEL_CONFIG_XA_ST) | + (1 << MPU600_ACCEL_CONFIG_YA_ST) | + (1 << MPU600_ACCEL_CONFIG_ZA_ST) | + (MPU600_ACCEL_CONFIG_AFS_SEL_16G << MPU600_ACCEL_CONFIG_AFS_SEL)); + + /* Configure gyro to +/- 2000°/s in self-test mode */ + _ao_mpu6000_reg_write(MPU6000_GYRO_CONFIG, + (1 << MPU600_GYRO_CONFIG_XG_ST) | + (1 << MPU600_GYRO_CONFIG_YG_ST) | + (1 << MPU600_GYRO_CONFIG_ZG_ST) | + (MPU600_GYRO_CONFIG_FS_SEL_2000 << MPU600_GYRO_CONFIG_FS_SEL)); + + ao_delay(AO_MS_TO_TICKS(200)); + _ao_mpu6000_sample(&test_mode); + + /* Configure accelerometer to +/-16G */ + _ao_mpu6000_reg_write(MPU6000_ACCEL_CONFIG, + (0 << MPU600_ACCEL_CONFIG_XA_ST) | + (0 << MPU600_ACCEL_CONFIG_YA_ST) | + (0 << MPU600_ACCEL_CONFIG_ZA_ST) | + (MPU600_ACCEL_CONFIG_AFS_SEL_16G << MPU600_ACCEL_CONFIG_AFS_SEL)); + + /* Configure gyro to +/- 2000°/s */ + _ao_mpu6000_reg_write(MPU6000_GYRO_CONFIG, + (0 << MPU600_GYRO_CONFIG_XG_ST) | + (0 << MPU600_GYRO_CONFIG_YG_ST) | + (0 << MPU600_GYRO_CONFIG_ZG_ST) | + (MPU600_GYRO_CONFIG_FS_SEL_2000 << MPU600_GYRO_CONFIG_FS_SEL)); + + ao_delay(AO_MS_TO_TICKS(200)); + _ao_mpu6000_sample(&normal_mode); - errors += ao_mpu6000_accel_check(normal_mode.accel_x, test_mode.accel_x, "x"); - errors += ao_mpu6000_accel_check(normal_mode.accel_y, test_mode.accel_y, "y"); - errors += ao_mpu6000_accel_check(normal_mode.accel_z, test_mode.accel_z, "z"); - - errors += ao_mpu6000_gyro_check(normal_mode.gyro_x, test_mode.gyro_x, "x"); - errors += ao_mpu6000_gyro_check(normal_mode.gyro_y, test_mode.gyro_y, "y"); - errors += ao_mpu6000_gyro_check(normal_mode.gyro_z, test_mode.gyro_z, "z"); + errors += ao_mpu6000_accel_check(normal_mode.accel_x, test_mode.accel_x, "x"); + errors += ao_mpu6000_accel_check(normal_mode.accel_y, test_mode.accel_y, "y"); + errors += ao_mpu6000_accel_check(normal_mode.accel_z, test_mode.accel_z, "z"); + + errors += ao_mpu6000_gyro_check(normal_mode.gyro_x, test_mode.gyro_x, "x"); + errors += ao_mpu6000_gyro_check(normal_mode.gyro_y, test_mode.gyro_y, "y"); + errors += ao_mpu6000_gyro_check(normal_mode.gyro_z, test_mode.gyro_z, "z"); + if (!errors) + break; + } - if (errors) - ao_panic(AO_PANIC_SELF_TEST_MPU6000); + if (st_tries == ST_TRIES) + ao_sensor_errors = 1; /* Filter to about 100Hz, which also sets the gyro rate to 1000Hz */ _ao_mpu6000_reg_write(MPU6000_CONFIG, diff --git a/src/stm/ao_usb_stm.c b/src/stm/ao_usb_stm.c index b00390ec..28a9f9f3 100644 --- a/src/stm/ao_usb_stm.c +++ b/src/stm/ao_usb_stm.c @@ -965,7 +965,7 @@ ao_usb_disable(void) stm_usb.cntr = (1 << STM_USB_CNTR_PDWN) | (1 << STM_USB_CNTR_FRES); /* Disable the interface */ - stm_rcc.apb1enr &+ ~(1 << STM_RCC_APB1ENR_USBEN); + stm_rcc.apb1enr &= ~(1 << STM_RCC_APB1ENR_USBEN); ao_arch_release_interrupts(); } diff --git a/src/telemega-v0.1/ao_pins.h b/src/telemega-v0.1/ao_pins.h index 7ba3a1a7..daeb9f17 100644 --- a/src/telemega-v0.1/ao_pins.h +++ b/src/telemega-v0.1/ao_pins.h @@ -316,6 +316,7 @@ struct ao_adc { #define AO_MPU6000_INT_PORT (&stm_gpioc) #define AO_MPU6000_INT_PIN 13 #define AO_MPU6000_I2C_INDEX STM_I2C_INDEX(1) +#define HAS_IMU 1 /* * mma655x diff --git a/src/telemega-v1.0/ao_pins.h b/src/telemega-v1.0/ao_pins.h index 7ff676ea..95644dae 100644 --- a/src/telemega-v1.0/ao_pins.h +++ b/src/telemega-v1.0/ao_pins.h @@ -318,8 +318,7 @@ struct ao_adc { #define AO_MPU6000_SPI_BUS AO_SPI_1_PE13_PE14_PE15 #define AO_MPU6000_SPI_CS_PORT (&stm_gpiod) #define AO_MPU6000_SPI_CS_PIN 2 - -#define HAS_HIGHG_ACCEL 1 +#define HAS_IMU 1 /* * mma655x |