diff options
Diffstat (limited to 'src/micropeak/ao_micropeak.c')
| -rw-r--r-- | src/micropeak/ao_micropeak.c | 151 |
1 files changed, 50 insertions, 101 deletions
diff --git a/src/micropeak/ao_micropeak.c b/src/micropeak/ao_micropeak.c index 525cfa42..f361aa26 100644 --- a/src/micropeak/ao_micropeak.c +++ b/src/micropeak/ao_micropeak.c @@ -16,22 +16,23 @@ */ #include <ao.h> +#include <ao_micropeak.h> #include <ao_ms5607.h> #include <ao_log_micro.h> +#include <ao_async.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; +uint32_t pa; +uint32_t pa_avg; +uint32_t pa_ground; +uint32_t pa_min; +alt_t ground_alt, max_alt; alt_t ao_max_height; +static uint32_t pa_sum; + static void ao_pa_get(void) { @@ -40,22 +41,6 @@ ao_pa_get(void) 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) - -/* Pressure change (in Pa) to detect boost */ -#define BOOST_DETECT 120 /* 10m at sea level, 12m at 2000m */ - -/* Wait after power on before doing anything to give the user time to assemble the rocket */ -#define BOOST_DELAY AO_SEC_TO_TICKS(30) - -/* Pressure change (in Pa) to detect landing */ -#define LAND_DETECT 12 /* 1m at sea level, 1.2m at 2000m */ - static void ao_compute_height(void) { @@ -64,96 +49,56 @@ ao_compute_height(void) ao_max_height = max_alt - ground_alt; } -#if !HAS_EEPROM - -#define PA_GROUND_OFFSET 0 -#define PA_MIN_OFFSET 4 -#define N_SAMPLES_OFFSET 8 -#define STARTING_LOG_OFFSET 10 -#define MAX_LOG_OFFSET 512 - -static uint16_t ao_log_offset = STARTING_LOG_OFFSET; - -void -ao_save_flight(void) +static void +ao_pips(void) { - uint16_t n_samples = (ao_log_offset - STARTING_LOG_OFFSET) / sizeof (uint16_t); - ao_eeprom_write(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground)); - ao_eeprom_write(PA_MIN_OFFSET, &pa_min, sizeof (pa_min)); - ao_eeprom_write(N_SAMPLES_OFFSET, &n_samples, sizeof (n_samples)); + uint8_t i; + for (i = 0; i < 10; i++) { + ao_led_toggle(AO_LED_REPORT); + ao_delay(AO_MS_TO_TICKS(80)); + } + ao_delay(AO_MS_TO_TICKS(200)); } -void -ao_restore_flight(void) -{ - ao_eeprom_read(PA_GROUND_OFFSET, &pa_ground, sizeof (pa_ground)); - ao_eeprom_read(PA_MIN_OFFSET, &pa_min, sizeof (pa_min)); -} +#define NUM_PA_HIST 16 -void -ao_log_micro(void) -{ - uint16_t low_bits = pa; +#define SKIP_PA_HIST(i,j) (((i) + (j)) & (NUM_PA_HIST - 1)) - if (ao_log_offset < MAX_LOG_OFFSET) { - ao_eeprom_write(ao_log_offset, &low_bits, sizeof (low_bits)); - ao_log_offset += sizeof (low_bits); - } -} -#endif +static uint32_t pa_hist[NUM_PA_HIST]; int main(void) { int16_t sample_count; uint16_t time; -#if HAS_EEPROM - uint8_t dump_eeprom = 0; -#endif + uint32_t pa_interval_min, pa_interval_max; + int32_t pa_diff; + uint8_t h, i; + 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(); - /* Give the person a second to get their finger out of the way */ - ao_delay(AO_MS_TO_TICKS(1000)); - ao_report_altitude(); - + /* Init external hardware */ 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 + /* Give the person a second to get their finger out of the way */ + ao_delay(AO_MS_TO_TICKS(1000)); + ao_log_micro_restore(); + ao_compute_height(); + ao_report_altitude(); + ao_pips(); + ao_log_micro_dump(); + ao_delay(BOOST_DELAY); /* 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; + h = 0; for (;;) { time += SAMPLE_SLEEP; if (sample_count == 0) @@ -162,6 +107,8 @@ main(void) ao_pa_get(); if (sample_count == 0) ao_led_off(AO_LED_REPORT); + pa_hist[h] = pa; + h = SKIP_PA_HIST(h,1); pa_avg = pa_avg - (pa_avg >> FILTER_SHIFT) + pa; pa_diff = pa_ground - pa_avg; @@ -182,9 +129,18 @@ main(void) pa_ground >>= FILTER_SHIFT; -#if HAS_EEPROM - ao_log_micro_data(AO_LOG_MICRO_GROUND | pa_ground); -#endif + /* Go back and find the first sample a decent interval above the ground */ + pa_min = pa_ground - LAND_DETECT; + for (i = SKIP_PA_HIST(h,2); i != h; i = SKIP_PA_HIST(i,2)) { + if (pa_hist[i] < pa_min) + break; + } + + /* Log the remaining samples so we get a complete history since leaving the ground */ + for (; i != h; i = SKIP_PA_HIST(i,2)) { + pa = pa_hist[i]; + ao_log_micro_data(); + } /* Now sit around until the pressure is stable again and record the max */ @@ -200,12 +156,8 @@ main(void) ao_pa_get(); if ((sample_count & 3) == 0) ao_led_off(AO_LED_REPORT); -#if HAS_EEPROM - ao_log_micro_data(AO_LOG_MICRO_DATA | pa); -#else if (sample_count & 1) - ao_log_micro(); -#endif + ao_log_micro_data(); pa_avg = pa_avg - (pa_avg >> FILTER_SHIFT) + pa; if (pa_avg < pa_min) pa_min = pa_avg; @@ -228,10 +180,7 @@ main(void) } } pa_min >>= FILTER_SHIFT; -#if HAS_EEPROM - ao_log_micro_data(AO_LOG_MICRO_DONE | pa_min); -#endif - ao_save_flight(); + ao_log_micro_save(); ao_compute_height(); ao_report_altitude(); for (;;) { |