diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/Makefile.proto | 3 | ||||
| -rw-r--r-- | src/ao.h | 7 | ||||
| -rw-r--r-- | src/ao_flight_nano.c | 116 | ||||
| -rw-r--r-- | src/ao_pins.h | 12 | ||||
| -rw-r--r-- | src/ao_report.c | 4 | ||||
| -rw-r--r-- | src/ao_telenano.c | 3 |
6 files changed, 141 insertions, 4 deletions
diff --git a/src/Makefile.proto b/src/Makefile.proto index 8dd21a64..5aad445f 100644 --- a/src/Makefile.proto +++ b/src/Makefile.proto @@ -204,13 +204,12 @@ TMINI_BASE_SRC = \ # Sources for TeleNano TNANO_DRIVER_SRC = \ ao_adc.c \ - ao_ignite.c \ ao_config.c \ ao_storage.c \ ao_intflash.c TNANO_TASK_SRC = \ - ao_flight.c \ + ao_flight_nano.c \ ao_sample.c \ ao_kalman.c \ ao_log.c \ @@ -709,6 +709,13 @@ void ao_flight_init(void); /* + * ao_flight_nano.c + */ + +void +ao_flight_nano_init(void); + +/* * ao_sample.c */ diff --git a/src/ao_flight_nano.c b/src/ao_flight_nano.c new file mode 100644 index 00000000..64c1d8db --- /dev/null +++ b/src/ao_flight_nano.c @@ -0,0 +1,116 @@ +/* + * 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. + */ + +#include "ao.h" + +/* Main flight thread. */ + +__pdata enum ao_flight_state ao_flight_state; /* current flight state */ +__pdata uint16_t ao_launch_tick; /* time of launch detect */ + +/* + * track min/max data over a long interval to detect + * resting + */ +__pdata uint16_t ao_interval_end; +__pdata int16_t ao_interval_min_height; +__pdata int16_t ao_interval_max_height; + +__xdata uint8_t ao_flight_force_idle; + +/* 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(5) + +static void +ao_flight_nano(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: + if (ao_flight_force_idle) { + /* Set idle mode */ + ao_flight_state = ao_flight_idle; + } else { + ao_flight_state = ao_flight_pad; + /* Disable packet mode in pad state */ + ao_packet_slave_stop(); + + /* 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); + + /* wakeup threads due to state change */ + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + break; + case ao_flight_pad: + if (ao_height> AO_M_TO_HEIGHT(20)) { + ao_flight_state = ao_flight_drogue; + ao_launch_tick = ao_sample_tick; + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } + break; + case ao_flight_drogue: + /* drogue/main to land: + * + * barometer: altitude stable + */ + + if (ao_height < ao_interval_min_height) + ao_interval_min_height = ao_height; + if (ao_height > ao_interval_max_height) + ao_interval_max_height = ao_height; + + if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) { + if (ao_interval_max_height - ao_interval_min_height < AO_M_TO_HEIGHT(5)) + { + 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_height; + ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS; + } + break; + } + } +} + +static __xdata struct ao_task flight_task; + +void +ao_flight_nano_init(void) +{ + ao_flight_state = ao_flight_startup; + ao_add_task(&flight_task, ao_flight_nano, "flight"); +} diff --git a/src/ao_pins.h b/src/ao_pins.h index a4a93aab..30f2decc 100644 --- a/src/ao_pins.h +++ b/src/ao_pins.h @@ -40,6 +40,7 @@ #define HAS_EXTERNAL_TEMP 0 #define HAS_ACCEL_REF 0 #define HAS_ACCEL 1 + #define HAS_IGNITE 1 #endif #if defined(TELEMETRUM_V_1_1) @@ -68,6 +69,7 @@ #define M25_CS_MASK 0x02 /* CS0 is P1_1 */ #define M25_MAX_CHIPS 1 #define HAS_ACCEL 1 + #define HAS_IGNITE 1 #endif #if defined(TELEDONGLE_V_0_2) @@ -89,6 +91,7 @@ #define LEDS_AVAILABLE (AO_LED_RED|AO_LED_GREEN) #define SPI_CS_ON_P1 1 #define SPI_CS_ON_P0 0 + #define HAS_IGNITE 0 #endif #if defined(TELEMINI_V_0_1) @@ -111,6 +114,7 @@ #define LEDS_AVAILABLE (AO_LED_RED|AO_LED_GREEN) #define HAS_EXTERNAL_TEMP 0 #define HAS_ACCEL 0 + #define HAS_IGNITE 1 #endif #if defined(TELENANO_V_0_1) @@ -133,6 +137,7 @@ #define LEDS_AVAILABLE (AO_LED_RED|AO_LED_GREEN) #define HAS_EXTERNAL_TEMP 0 #define HAS_ACCEL 0 + #define HAS_IGNITE 0 #endif #if defined(TELEMETRUM_V_0_1) @@ -159,6 +164,7 @@ #define SPI_CS_ON_P1 1 #define SPI_CS_ON_P0 0 #define HAS_ACCEL 1 + #define HAS_IGNITE 1 #endif #if defined(TELEDONGLE_V_0_1) @@ -180,6 +186,7 @@ #define LEDS_AVAILABLE (AO_LED_RED|AO_LED_GREEN) #define SPI_CS_ON_P1 0 #define SPI_CS_ON_P0 1 + #define HAS_IGNITE 0 #endif #if defined(TIDONGLE) @@ -200,6 +207,7 @@ #define LEDS_AVAILABLE (AO_LED_RED) #define SPI_CS_ON_P1 0 #define SPI_CS_ON_P0 1 + #define HAS_IGNITE 0 #endif #if DBG_ON_P1 @@ -280,6 +288,10 @@ #error Please define HAS_DBG #endif +#ifndef HAS_IGNITE +#error Please define HAS_IGNITE +#endif + #ifndef PACKET_HAS_MASTER #error Please define PACKET_HAS_MASTER #endif diff --git a/src/ao_report.c b/src/ao_report.c index 4f7fd657..b9dc5bb4 100644 --- a/src/ao_report.c +++ b/src/ao_report.c @@ -109,6 +109,7 @@ ao_report_altitude(void) } } +#if HAS_IGNITE static uint8_t ao_report_igniter_ready(enum ao_igniter igniter) { @@ -146,6 +147,7 @@ ao_report_continuity(void) __reentrant while (c-- && ao_flight_state == ao_flight_pad) pause(AO_MS_TO_TICKS(100)); } +#endif void ao_report(void) @@ -155,10 +157,12 @@ ao_report(void) if (ao_flight_state == ao_flight_landed) ao_report_altitude(); ao_report_beep(); +#if HAS_IGNITE if (ao_flight_state == ao_flight_idle) ao_report_continuity(); while (ao_flight_state == ao_flight_pad) ao_report_continuity(); +#endif __critical { while (ao_report_state == ao_flight_state) ao_sleep(DATA_TO_XDATA(&ao_flight_state)); diff --git a/src/ao_telenano.c b/src/ao_telenano.c index dbc3b74c..47b7b3c3 100644 --- a/src/ao_telenano.c +++ b/src/ao_telenano.c @@ -39,13 +39,12 @@ main(void) ao_adc_init(); ao_cmd_init(); ao_storage_init(); - ao_flight_init(); + ao_flight_nano_init(); ao_log_init(); ao_report_init(); ao_telemetry_tiny_init(); ao_radio_init(); ao_packet_slave_init(TRUE); - ao_igniter_init(); ao_config_init(); ao_start_scheduler(); } |