From 7f49d694e776819e03b2c708e1c4ee23ba311430 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sat, 9 Apr 2011 22:53:12 -0700 Subject: altos/altosui: Log averaged baro sensor data in Tm/Tn Instead of logging the best height guess from the kalman filter, log barometer data. The logged data consists of the average value betwen log points to reduce noise. Signed-off-by: Keith Packard --- altosui/Altos.java | 2 +- altosui/AltosDataPoint.java | 1 + altosui/AltosDataPointReader.java | 1 + altosui/AltosEepromDownload.java | 3 ++- altosui/AltosEepromIterable.java | 9 +++++++-- altosui/AltosGraphUI.java | 2 +- src/ao_log_tiny.c | 35 +++++++++++++++++++++++++---------- 7 files changed, 38 insertions(+), 15 deletions(-) diff --git a/altosui/Altos.java b/altosui/Altos.java index 1f791da5..54aced32 100644 --- a/altosui/Altos.java +++ b/altosui/Altos.java @@ -34,7 +34,7 @@ public class Altos { static final int AO_LOG_GPS_ALT = 'H'; static final int AO_LOG_GPS_SAT = 'V'; static final int AO_LOG_GPS_DATE = 'Y'; - static final int AO_LOG_HEIGHT = 'h'; + static final int AO_LOG_PRESSURE = 'P'; /* Added for header fields in eeprom files */ static final int AO_LOG_CONFIG_VERSION = 1000; diff --git a/altosui/AltosDataPoint.java b/altosui/AltosDataPoint.java index 66313e03..5e077320 100644 --- a/altosui/AltosDataPoint.java +++ b/altosui/AltosDataPoint.java @@ -25,5 +25,6 @@ interface AltosDataPoint { double battery_voltage(); double drogue_voltage(); double main_voltage(); + boolean has_accel(); } diff --git a/altosui/AltosDataPointReader.java b/altosui/AltosDataPointReader.java index 4335421c..fa48013f 100644 --- a/altosui/AltosDataPointReader.java +++ b/altosui/AltosDataPointReader.java @@ -59,6 +59,7 @@ class AltosDataPointReader implements Iterable { public double battery_voltage() { return record.battery_voltage(); } public double drogue_voltage() { return record.drogue_voltage(); } public double main_voltage() { return record.main_voltage(); } + public boolean has_accel() { return has_accel; } }; } diff --git a/altosui/AltosEepromDownload.java b/altosui/AltosEepromDownload.java index fad16460..a42f401c 100644 --- a/altosui/AltosEepromDownload.java +++ b/altosui/AltosEepromDownload.java @@ -162,7 +162,8 @@ public class AltosEepromDownload implements Runnable { } else { if (v != 0xffff) any_valid = true; - r = new AltosEepromRecord(Altos.AO_LOG_HEIGHT, tiny_tick, v, 0); + + r = new AltosEepromRecord(Altos.AO_LOG_PRESSURE, tiny_tick, 0, v); /* * The flight software records ascent data every 100ms, and descent diff --git a/altosui/AltosEepromIterable.java b/altosui/AltosEepromIterable.java index 624e1dd3..16349b88 100644 --- a/altosui/AltosEepromIterable.java +++ b/altosui/AltosEepromIterable.java @@ -134,8 +134,13 @@ public class AltosEepromIterable extends AltosRecordIterable { eeprom.seen |= seen_sensor; has_accel = true; break; - case Altos.AO_LOG_HEIGHT: - state.height = (short) record.a; + case Altos.AO_LOG_PRESSURE: + state.pres = record.b; + state.flight_pres = state.pres; + if (eeprom.n_pad_samples == 0) { + eeprom.n_pad_samples++; + state.ground_pres = state.pres; + } eeprom.seen |= seen_sensor; break; case Altos.AO_LOG_TEMP_VOLT: diff --git a/altosui/AltosGraphUI.java b/altosui/AltosGraphUI.java index e98c302b..4b994b47 100644 --- a/altosui/AltosGraphUI.java +++ b/altosui/AltosGraphUI.java @@ -35,7 +35,7 @@ public class AltosGraphUI extends JFrame AltosGraphTime.Element speed = new AltosGraphTime.TimeSeries("Speed (m/s)", "Vertical Speed", green) { public void gotTimeData(double time, AltosDataPoint d) { - if (d.state() < Altos.ao_flight_drogue) { + if (d.state() < Altos.ao_flight_drogue && d.has_accel()) { series.add(time, d.accel_speed()); } else { series.add(time, d.baro_speed()); diff --git a/src/ao_log_tiny.c b/src/ao_log_tiny.c index f0c0662a..6c2468fc 100644 --- a/src/ao_log_tiny.c +++ b/src/ao_log_tiny.c @@ -44,9 +44,12 @@ static void ao_log_tiny_data(uint16_t d) void ao_log(void) { - uint16_t time; - int16_t delay; + uint16_t last_time; + uint16_t now; enum ao_flight_state ao_log_tiny_state; + int32_t sum; + int16_t count; + uint8_t ao_log_adc; ao_storage_setup(); @@ -57,9 +60,19 @@ ao_log(void) while (!ao_log_running) ao_sleep(&ao_log_running); - time = ao_time(); ao_log_tiny_data(ao_flight_number); + ao_log_tiny_data(ao_ground_pres); + sum = 0; + count = 0; + ao_log_adc = ao_sample_adc; + last_time = ao_time(); for (;;) { + ao_sleep(DATA_TO_XDATA(&ao_sample_adc)); + while (ao_log_adc != ao_sample_adc) { + sum += ao_adc_ring[ao_log_adc].pres; + count++; + ao_log_adc = ao_adc_ring_next(ao_log_adc); + } if (ao_flight_state != ao_log_tiny_state) { ao_log_tiny_data(ao_flight_state | 0x8000); ao_log_tiny_state = ao_flight_state; @@ -69,14 +82,16 @@ ao_log(void) if (ao_log_tiny_state == ao_flight_landed) ao_log_stop(); } - ao_log_tiny_data(ao_height); - time += ao_log_tiny_interval; - delay = time - ao_time(); - if (delay > 0) - ao_delay(delay); /* Stop logging when told to */ - while (!ao_log_running) - ao_sleep(&ao_log_running); + if (!ao_log_running) + ao_exit(); + now = ao_time(); + if ((int16_t) (now - (last_time + ao_log_tiny_interval)) >= 0 && count) { + ao_log_tiny_data(sum / count); + sum = 0; + count = 0; + last_time = now; + } } } -- cgit v1.2.3 From a0fb471ce10642fc4a4bd40e4a81f8d6fe7a7c21 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Wed, 13 Apr 2011 20:27:38 -0700 Subject: altosui: oops - lost state changes when downloading eeprom data. This would cause the reader to just keep reading past the end of the flight. Signed-off-by: Keith Packard --- altosui/AltosEepromDownload.java | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/altosui/AltosEepromDownload.java b/altosui/AltosEepromDownload.java index a42f401c..3dd5b12f 100644 --- a/altosui/AltosEepromDownload.java +++ b/altosui/AltosEepromDownload.java @@ -155,8 +155,9 @@ public class AltosEepromDownload implements Runnable { int s = v ^ 0x8000; if (Altos.ao_flight_startup <= s && s <= Altos.ao_flight_invalid) { - r = new AltosEepromRecord(Altos.AO_LOG_STATE, tiny_tick, s, 0); - if (s == Altos.ao_flight_landed) + state = s; + r = new AltosEepromRecord(Altos.AO_LOG_STATE, tiny_tick, state, 0); + if (state == Altos.ao_flight_landed) done = true; any_valid = true; } else { -- cgit v1.2.3 From c269e263a6accd815ed5d08c0f5a6c3d5b9d3853 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Thu, 14 Apr 2011 09:38:48 -0700 Subject: altos: Write a few pre-launch samples for Tm/Tn devices Record pre-launch samples in a small ring and flush that to flash when launch is detected. This provides a complete record of the flight, rather than simply starting after launch detect. Signed-off-by: Keith Packard --- src/ao_log_tiny.c | 91 +++++++++++++++++++++++++++++++++++++++++++------------ src/ao_pins.h | 1 + 2 files changed, 72 insertions(+), 20 deletions(-) diff --git a/src/ao_log_tiny.c b/src/ao_log_tiny.c index 6c2468fc..d26e0080 100644 --- a/src/ao_log_tiny.c +++ b/src/ao_log_tiny.c @@ -19,8 +19,14 @@ static __data uint16_t ao_log_tiny_interval; -#define AO_LOG_TINY_INTERVAL_ASCENT AO_MS_TO_TICKS(100) #define AO_LOG_TINY_INTERVAL_DEFAULT AO_MS_TO_TICKS(1000) +#if USE_FAST_ASCENT_LOG +#define AO_LOG_TINY_INTERVAL_ASCENT AO_MS_TO_TICKS(100) +#define AO_PAD_RING 8 +#else +#define AO_LOG_TINY_INTERVAL_ASCENT AO_LOG_TINY_INTERVAL_DEFAULT +#define AO_PAD_RING 2 +#endif void ao_log_tiny_set_interval(uint16_t ticks) @@ -28,19 +34,47 @@ ao_log_tiny_set_interval(uint16_t ticks) ao_log_tiny_interval = ticks; } -static __xdata uint16_t ao_log_tiny_data_temp; static void ao_log_tiny_data(uint16_t d) { if (ao_log_current_pos >= ao_log_end_pos && ao_log_running) ao_log_stop(); if (ao_log_running) { - ao_log_tiny_data_temp = (d); - ao_storage_write(ao_log_current_pos, &ao_log_tiny_data_temp, 2); + ao_storage_write(ao_log_current_pos, DATA_TO_XDATA(&d), 2); ao_log_current_pos += 2; } } +static __xdata uint16_t ao_log_pad_ring[AO_PAD_RING]; +static __pdata uint8_t ao_log_pad_ring_pos; + +#define ao_pad_ring_next(n) (((n) + 1) & (AO_PAD_RING - 1)) + +static void ao_log_tiny_queue(uint16_t d) +{ + ao_log_pad_ring[ao_log_pad_ring_pos] = d; + ao_log_pad_ring_pos = ao_pad_ring_next(ao_log_pad_ring_pos); +} + +static void ao_log_tiny_start(void) +{ + uint8_t p; + uint16_t d; + + ao_log_tiny_data(ao_flight_number); + ao_log_tiny_data(ao_ground_pres); + p = ao_log_pad_ring_pos; + do { + d = ao_log_pad_ring[p]; + /* + * ignore unwritten slots + */ + if (d) + ao_log_tiny_data(d); + p = ao_pad_ring_next(p); + } while (p != ao_log_pad_ring_pos); +} + void ao_log(void) { @@ -50,44 +84,61 @@ ao_log(void) int32_t sum; int16_t count; uint8_t ao_log_adc; + uint8_t ao_log_started = 0; ao_storage_setup(); ao_log_scan(); ao_log_tiny_state = ao_flight_invalid; - ao_log_tiny_interval = AO_LOG_TINY_INTERVAL_DEFAULT; - while (!ao_log_running) - ao_sleep(&ao_log_running); - - ao_log_tiny_data(ao_flight_number); - ao_log_tiny_data(ao_ground_pres); + ao_log_tiny_interval = AO_LOG_TINY_INTERVAL_ASCENT; sum = 0; count = 0; ao_log_adc = ao_sample_adc; last_time = ao_time(); for (;;) { + + /* + * Add in pending sample data + */ ao_sleep(DATA_TO_XDATA(&ao_sample_adc)); while (ao_log_adc != ao_sample_adc) { sum += ao_adc_ring[ao_log_adc].pres; count++; ao_log_adc = ao_adc_ring_next(ao_log_adc); } - if (ao_flight_state != ao_log_tiny_state) { - ao_log_tiny_data(ao_flight_state | 0x8000); - ao_log_tiny_state = ao_flight_state; - ao_log_tiny_interval = AO_LOG_TINY_INTERVAL_DEFAULT; - if (ao_log_tiny_state <= ao_flight_coast) - ao_log_tiny_interval = AO_LOG_TINY_INTERVAL_ASCENT; - if (ao_log_tiny_state == ao_flight_landed) - ao_log_stop(); + if (ao_log_running) { + if (!ao_log_started) { + ao_log_tiny_start(); + ao_log_started = 1; + } + if (ao_flight_state != ao_log_tiny_state) { + ao_log_tiny_data(ao_flight_state | 0x8000); + ao_log_tiny_state = ao_flight_state; + ao_log_tiny_interval = AO_LOG_TINY_INTERVAL_DEFAULT; +#if AO_LOG_TINY_INTERVAL_ASCENT != AO_LOG_TINY_INTERVAL_DEFAULT + if (ao_log_tiny_state <= ao_flight_coast) + ao_log_tiny_interval = AO_LOG_TINY_INTERVAL_ASCENT; +#endif + if (ao_log_tiny_state == ao_flight_landed) + ao_log_stop(); + } } + /* Stop logging when told to */ - if (!ao_log_running) + if (!ao_log_running && ao_log_started) ao_exit(); + + /* + * Write out the sample when finished + */ now = ao_time(); if ((int16_t) (now - (last_time + ao_log_tiny_interval)) >= 0 && count) { - ao_log_tiny_data(sum / count); + count = sum / count; + if (ao_log_started) + ao_log_tiny_data(count); + else + ao_log_tiny_queue(count); sum = 0; count = 0; last_time = now; diff --git a/src/ao_pins.h b/src/ao_pins.h index 30f2decc..2161c5d2 100644 --- a/src/ao_pins.h +++ b/src/ao_pins.h @@ -108,6 +108,7 @@ #define IGNITE_ON_P0 1 #define PACKET_HAS_MASTER 0 #define PACKET_HAS_SLAVE 1 + #define USE_FAST_ASCENT_LOG 1 #define AO_LED_GREEN 1 #define AO_LED_RED 2 -- cgit v1.2.3