From 24167015705ae831692b95735968b04a876f935e Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Fri, 4 Apr 2014 23:34:48 -0700 Subject: altos: Rename 'core' to 'kernel' core remains a bad name to use -- dirvish skips files (and directories, it seems) with that name. Signed-off-by: Keith Packard --- src/kernel/ao_config.h | 53 ++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 53 insertions(+) create mode 100644 src/kernel/ao_config.h (limited to 'src/kernel/ao_config.h') diff --git a/src/kernel/ao_config.h b/src/kernel/ao_config.h new file mode 100644 index 00000000..e101af8e --- /dev/null +++ b/src/kernel/ao_config.h @@ -0,0 +1,53 @@ +/* + * Copyright © 2013 Keith Packard + * + * 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_CONFIG_H_ +#define _AO_CONFIG_H_ + +#ifndef USE_STORAGE_CONFIG +#define USE_STORAGE_CONFIG 1 +#endif + +#ifndef USE_EEPROM_CONFIG +#define USE_EEPROM_CONFIG 0 +#endif + +#if USE_STORAGE_CONFIG + +#include + +#define ao_config_setup() ao_storage_setup() +#define ao_config_erase() ao_storage_erase(ao_storage_config) +#define ao_config_write(pos,bytes, len) ao_storage_write(ao_storage_config+(pos), bytes, len) +#define ao_config_read(pos,bytes, len) ao_storage_read(ao_storage_config+(pos), bytes, len) +#define ao_config_flush() ao_storage_flush() + +#endif + +#if USE_EEPROM_CONFIG + +#include + +#define ao_config_setup() +#define ao_config_erase() +#define ao_config_write(pos,bytes, len) ao_eeprom_write(pos, bytes, len) +#define ao_config_read(pos,bytes, len) ao_eeprom_read(pos, bytes, len) +#define ao_config_flush() + +#endif + +#endif /* _AO_CONFIG_H_ */ -- cgit v1.2.3 From 1894b51daceaf9fb6b49a0625e09a366985d15b6 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sun, 25 May 2014 21:12:29 -0700 Subject: altos: Move ao_config declarations to ao_config.h No sense leaving these in ao.h, and it's nice to make that file smaller Signed-off-by: Keith Packard --- src/kernel/ao.h | 83 +----------------------------------------------- src/kernel/ao_config.h | 85 ++++++++++++++++++++++++++++++++++++++++++++++++++ 2 files changed, 86 insertions(+), 82 deletions(-) (limited to 'src/kernel/ao_config.h') diff --git a/src/kernel/ao.h b/src/kernel/ao.h index 0ffc647a..5ff9b518 100644 --- a/src/kernel/ao.h +++ b/src/kernel/ao.h @@ -740,6 +740,7 @@ ao_igniter_init(void); /* * ao_config.c */ +#include #if AO_PYRO_NUM #include @@ -752,88 +753,6 @@ ao_igniter_init(void); extern __xdata uint8_t ao_force_freq; #endif -#define AO_CONFIG_MAJOR 1 -#define AO_CONFIG_MINOR 17 - -#define AO_AES_LEN 16 - -extern __xdata uint8_t ao_config_aes_seq; - -struct ao_config { - uint8_t major; - uint8_t minor; - uint16_t main_deploy; - int16_t accel_plus_g; /* changed for minor version 2 */ - uint8_t _legacy_radio_channel; - char callsign[AO_MAX_CALLSIGN + 1]; - uint8_t apogee_delay; /* minor version 1 */ - int16_t accel_minus_g; /* minor version 2 */ - uint32_t radio_cal; /* minor version 3 */ - uint32_t flight_log_max; /* minor version 4 */ - uint8_t ignite_mode; /* minor version 5 */ - uint8_t pad_orientation; /* minor version 6 */ - uint32_t radio_setting; /* minor version 7 */ - uint8_t radio_enable; /* minor version 8 */ - uint8_t aes_key[AO_AES_LEN]; /* minor version 9 */ - uint32_t frequency; /* minor version 10 */ - uint16_t apogee_lockout; /* minor version 11 */ -#if AO_PYRO_NUM - struct ao_pyro pyro[AO_PYRO_NUM]; /* minor version 12 */ -#endif - uint16_t aprs_interval; /* minor version 13 */ -#if HAS_RADIO_POWER - uint8_t radio_power; /* minor version 14 */ -#endif -#if HAS_RADIO_AMP - uint8_t radio_amp; /* minor version 14 */ -#endif -#if HAS_GYRO - int16_t accel_zero_along; /* minor version 15 */ - int16_t accel_zero_across; /* minor version 15 */ - int16_t accel_zero_through; /* minor version 15 */ -#endif -#if HAS_BEEP - uint8_t mid_beep; /* minor version 16 */ -#endif -#if HAS_TRACKER - uint16_t tracker_start_horiz; /* minor version 17 */ - uint16_t tracker_start_vert; /* minor version 17 */ -#endif -}; - -#define AO_IGNITE_MODE_DUAL 0 -#define AO_IGNITE_MODE_APOGEE 1 -#define AO_IGNITE_MODE_MAIN 2 - -#define AO_RADIO_ENABLE_CORE 1 -#define AO_RADIO_DISABLE_TELEMETRY 2 -#define AO_RADIO_DISABLE_RDF 4 - -#define AO_PAD_ORIENTATION_ANTENNA_UP 0 -#define AO_PAD_ORIENTATION_ANTENNA_DOWN 1 - -extern __xdata struct ao_config ao_config; - -#define AO_CONFIG_MAX_SIZE 128 - -void -_ao_config_edit_start(void); - -void -_ao_config_edit_finish(void); - -void -ao_config_get(void); - -void -ao_config_put(void); - -void -ao_config_set_radio(void); - -void -ao_config_init(void); - /* * ao_rssi.c */ diff --git a/src/kernel/ao_config.h b/src/kernel/ao_config.h index e101af8e..85673764 100644 --- a/src/kernel/ao_config.h +++ b/src/kernel/ao_config.h @@ -18,6 +18,8 @@ #ifndef _AO_CONFIG_H_ #define _AO_CONFIG_H_ +#include + #ifndef USE_STORAGE_CONFIG #define USE_STORAGE_CONFIG 1 #endif @@ -50,4 +52,87 @@ #endif +#define AO_CONFIG_MAJOR 1 +#define AO_CONFIG_MINOR 17 + +#define AO_AES_LEN 16 + +extern __xdata uint8_t ao_config_aes_seq; + +struct ao_config { + uint8_t major; + uint8_t minor; + uint16_t main_deploy; + int16_t accel_plus_g; /* changed for minor version 2 */ + uint8_t _legacy_radio_channel; + char callsign[AO_MAX_CALLSIGN + 1]; + uint8_t apogee_delay; /* minor version 1 */ + int16_t accel_minus_g; /* minor version 2 */ + uint32_t radio_cal; /* minor version 3 */ + uint32_t flight_log_max; /* minor version 4 */ + uint8_t ignite_mode; /* minor version 5 */ + uint8_t pad_orientation; /* minor version 6 */ + uint32_t radio_setting; /* minor version 7 */ + uint8_t radio_enable; /* minor version 8 */ + uint8_t aes_key[AO_AES_LEN]; /* minor version 9 */ + uint32_t frequency; /* minor version 10 */ + uint16_t apogee_lockout; /* minor version 11 */ +#if AO_PYRO_NUM + struct ao_pyro pyro[AO_PYRO_NUM]; /* minor version 12 */ +#endif + uint16_t aprs_interval; /* minor version 13 */ +#if HAS_RADIO_POWER + uint8_t radio_power; /* minor version 14 */ +#endif +#if HAS_RADIO_AMP + uint8_t radio_amp; /* minor version 14 */ +#endif +#if HAS_GYRO + int16_t accel_zero_along; /* minor version 15 */ + int16_t accel_zero_across; /* minor version 15 */ + int16_t accel_zero_through; /* minor version 15 */ +#endif +#if HAS_BEEP + uint8_t mid_beep; /* minor version 16 */ +#endif +#if HAS_TRACKER + uint16_t tracker_start_horiz; /* minor version 17 */ + uint16_t tracker_start_vert; /* minor version 17 */ +#endif +}; + +#define AO_IGNITE_MODE_DUAL 0 +#define AO_IGNITE_MODE_APOGEE 1 +#define AO_IGNITE_MODE_MAIN 2 + +#define AO_RADIO_ENABLE_CORE 1 +#define AO_RADIO_DISABLE_TELEMETRY 2 +#define AO_RADIO_DISABLE_RDF 4 + +#define AO_PAD_ORIENTATION_ANTENNA_UP 0 +#define AO_PAD_ORIENTATION_ANTENNA_DOWN 1 + +#define AO_CONFIG_MAX_SIZE 128 + +extern __xdata struct ao_config ao_config; +extern __pdata uint8_t ao_config_loaded; + +void +_ao_config_edit_start(void); + +void +_ao_config_edit_finish(void); + +void +ao_config_get(void); + +void +ao_config_put(void); + +void +ao_config_set_radio(void); + +void +ao_config_init(void); + #endif /* _AO_CONFIG_H_ */ -- cgit v1.2.3 From b8a29d65ec605a995de1d1ec8b110d620d2f7a87 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Sat, 7 Jun 2014 10:05:21 -0700 Subject: altos: Allow AO_CONFIG_MAX_SIZE to be configured. Validate it. TeleMega config is 200 bytes. AO_CONFIG_MAX_SIZE was 128. That didn't work out well when logging erased flight information. Allow TeleMega to use a larger value (1k), and then do a compiler hack to make sure the defined value is at least as large as the ao_config structure. Signed-off-by: Keith Packard --- src/kernel/ao_config.h | 5 +++++ 1 file changed, 5 insertions(+) (limited to 'src/kernel/ao_config.h') diff --git a/src/kernel/ao_config.h b/src/kernel/ao_config.h index 85673764..7ad221c6 100644 --- a/src/kernel/ao_config.h +++ b/src/kernel/ao_config.h @@ -112,7 +112,12 @@ struct ao_config { #define AO_PAD_ORIENTATION_ANTENNA_UP 0 #define AO_PAD_ORIENTATION_ANTENNA_DOWN 1 +#ifndef AO_CONFIG_MAX_SIZE #define AO_CONFIG_MAX_SIZE 128 +#endif + +/* Make sure AO_CONFIG_MAX_SIZE is big enough */ +typedef uint8_t config_check_space[(int) (AO_CONFIG_MAX_SIZE - sizeof (struct ao_config))]; extern __xdata struct ao_config ao_config; extern __pdata uint8_t ao_config_loaded; -- cgit v1.2.3 From da9575fce5ff4dfe83522e290973a01c43e4661f Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Tue, 10 Jun 2014 09:42:43 -0700 Subject: altos: Make extra pyro channel firing time configurable This adds a 'I' parameter to set the extra pyro channel firing time (in ticks). This has no effect on the main/drogue channels. Signed-off-by: Keith Packard --- src/kernel/ao_config.c | 26 ++++++++++++++++++++++++++ src/kernel/ao_config.h | 5 ++++- src/kernel/ao_pyro.c | 2 +- 3 files changed, 31 insertions(+), 2 deletions(-) (limited to 'src/kernel/ao_config.h') diff --git a/src/kernel/ao_config.c b/src/kernel/ao_config.c index b4847cdd..72170555 100644 --- a/src/kernel/ao_config.c +++ b/src/kernel/ao_config.c @@ -44,6 +44,7 @@ __xdata uint8_t ao_config_mutex; #define AO_CONFIG_DEFAULT_APOGEE_DELAY 0 #define AO_CONFIG_DEFAULT_IGNITE_MODE AO_IGNITE_MODE_DUAL #define AO_CONFIG_DEFAULT_PAD_ORIENTATION AO_PAD_ORIENTATION_ANTENNA_UP +#define AO_CONFIG_DEFAULT_PYRO_TIME AO_MS_TO_TICKS(50) #if HAS_EEPROM #ifndef USE_INTERNAL_FLASH #error Please define USE_INTERNAL_FLASH @@ -186,6 +187,10 @@ _ao_config_get(void) ao_config.tracker_start_horiz = AO_CONFIG_DEFAULT_TRACKER_START_HORIZ; ao_config.tracker_start_vert = AO_CONFIG_DEFAULT_TRACKER_START_VERT; } +#endif +#if AO_PYRO_NUM + if (minor < 18) + ao_config.pyro_time = AO_CONFIG_DEFAULT_PYRO_TIME; #endif ao_config.minor = AO_CONFIG_MINOR; ao_config_dirty = 1; @@ -713,6 +718,25 @@ ao_config_tracker_set(void) } #endif /* HAS_TRACKER */ +#if AO_PYRO_NUM +void +ao_config_pyro_time_show(void) +{ + printf ("Pyro time: %d\n", ao_config.pyro_time); +} + +void +ao_config_pyro_time_set(void) +{ + ao_cmd_decimal(); + if (ao_cmd_status != ao_cmd_success) + return; + _ao_config_edit_start(); + ao_config.pyro_time = ao_cmd_lex_i; + _ao_config_edit_finish(); +} +#endif + struct ao_config_var { __code char *str; void (*set)(void) __reentrant; @@ -778,6 +802,8 @@ __code struct ao_config_var ao_config_vars[] = { #if AO_PYRO_NUM { "P \0Pyro channels", ao_pyro_set, ao_pyro_show }, + { "I \0Pyro firing time", + ao_config_pyro_time_set, ao_config_pyro_time_show }, #endif #if HAS_APRS { "A \0APRS packet interval (0 disable)", diff --git a/src/kernel/ao_config.h b/src/kernel/ao_config.h index 7ad221c6..77f73fbe 100644 --- a/src/kernel/ao_config.h +++ b/src/kernel/ao_config.h @@ -53,7 +53,7 @@ #endif #define AO_CONFIG_MAJOR 1 -#define AO_CONFIG_MINOR 17 +#define AO_CONFIG_MINOR 18 #define AO_AES_LEN 16 @@ -99,6 +99,9 @@ struct ao_config { uint16_t tracker_start_horiz; /* minor version 17 */ uint16_t tracker_start_vert; /* minor version 17 */ #endif +#if AO_PYRO_NUM + uint16_t pyro_time; /* minor version 18 */ +#endif }; #define AO_IGNITE_MODE_DUAL 0 diff --git a/src/kernel/ao_pyro.c b/src/kernel/ao_pyro.c index 0ee7fbee..85d88d98 100644 --- a/src/kernel/ao_pyro.c +++ b/src/kernel/ao_pyro.c @@ -213,7 +213,7 @@ ao_pyro_pins_fire(uint16_t fire) if (fire & (1 << p)) ao_pyro_pin_set(p, 1); } - ao_delay(AO_MS_TO_TICKS(50)); + ao_delay(ao_config.pyro_time); for (p = 0; p < AO_PYRO_NUM; p++) { if (fire & (1 << p)) { ao_pyro_pin_set(p, 0); -- cgit v1.2.3 From 9d7f4fb6af0fee843191766858e39a481aeda347 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Tue, 10 Jun 2014 09:52:15 -0700 Subject: altos: Simplify tracker logic, removing boost detect This removes the ao_flight_state value from the tracker code and makes it simply log position information when the device has moved within the last 10 log intervals. This also changes the configuration parameters to define what 'motionless' means, and what interval to configure the GPS receiver for, log data and send telemetry. Signed-off-by: Keith Packard --- src/kernel/ao_config.c | 20 +-- src/kernel/ao_config.h | 4 +- src/kernel/ao_log_gps.c | 37 +----- src/kernel/ao_log_gps.h | 9 +- src/kernel/ao_tracker.c | 277 ++++++++++++++---------------------------- src/kernel/ao_tracker.h | 27 +--- src/telegps-v0.3/ao_telegps.c | 1 - src/telegps-v1.0/ao_telegps.c | 1 - 8 files changed, 113 insertions(+), 263 deletions(-) (limited to 'src/kernel/ao_config.h') diff --git a/src/kernel/ao_config.c b/src/kernel/ao_config.c index 72170555..71445335 100644 --- a/src/kernel/ao_config.c +++ b/src/kernel/ao_config.c @@ -184,8 +184,8 @@ _ao_config_get(void) #endif #if HAS_TRACKER if (minor < 17) { - ao_config.tracker_start_horiz = AO_CONFIG_DEFAULT_TRACKER_START_HORIZ; - ao_config.tracker_start_vert = AO_CONFIG_DEFAULT_TRACKER_START_VERT; + ao_config.tracker_motion = AO_TRACKER_MOTION_DEFAULT; + ao_config.tracker_interval = AO_TRACKER_INTERVAL_DEFAULT; } #endif #if AO_PYRO_NUM @@ -695,25 +695,25 @@ void ao_config_tracker_show(void) { printf ("Tracker setting: %d %d\n", - ao_config.tracker_start_horiz, - ao_config.tracker_start_vert); + ao_config.tracker_motion, + ao_config.tracker_interval); } void ao_config_tracker_set(void) { - uint16_t h, v; + uint16_t m, i; ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; - h = ao_cmd_lex_i; + m = ao_cmd_lex_i; ao_cmd_decimal(); if (ao_cmd_status != ao_cmd_success) return; - v = ao_cmd_lex_i; + i = ao_cmd_lex_i; _ao_config_edit_start(); - ao_config.tracker_start_horiz = h; - ao_config.tracker_start_vert = v; + ao_config.tracker_motion = m; + ao_config.tracker_interval = i; _ao_config_edit_finish(); } #endif /* HAS_TRACKER */ @@ -814,7 +814,7 @@ __code struct ao_config_var ao_config_vars[] = { ao_config_beep_set, ao_config_beep_show }, #endif #if HAS_TRACKER - { "t \0Tracker start trigger distances", + { "t \0Tracker configuration", ao_config_tracker_set, ao_config_tracker_show }, #endif { "s\0Show", diff --git a/src/kernel/ao_config.h b/src/kernel/ao_config.h index 77f73fbe..2b5cd352 100644 --- a/src/kernel/ao_config.h +++ b/src/kernel/ao_config.h @@ -96,8 +96,8 @@ struct ao_config { uint8_t mid_beep; /* minor version 16 */ #endif #if HAS_TRACKER - uint16_t tracker_start_horiz; /* minor version 17 */ - uint16_t tracker_start_vert; /* minor version 17 */ + uint16_t tracker_motion; /* minor version 17 */ + uint8_t tracker_interval; /* minor version 17 */ #endif #if AO_PYRO_NUM uint16_t pyro_time; /* minor version 18 */ diff --git a/src/kernel/ao_log_gps.c b/src/kernel/ao_log_gps.c index e9e573a5..8bf529f4 100644 --- a/src/kernel/ao_log_gps.c +++ b/src/kernel/ao_log_gps.c @@ -60,51 +60,17 @@ ao_log_gps(__xdata struct ao_log_gps *log) __reentrant return wrote; } - -static int32_t prev_lat, prev_lon; -static int16_t prev_alt; -static uint8_t has_prev, unmoving; - -#define GPS_SPARSE_UNMOVING_REPORTS 10 -#define GPS_SPARSE_UNMOVING_GROUND 10 -#define GPS_SPARSE_UNMOVING_AIR 10 - -uint8_t -ao_log_gps_should_log(int32_t lat, int32_t lon, int16_t alt) -{ - if (has_prev && ao_log_running) { - uint32_t h = ao_distance(prev_lat, prev_lon, lat, lon); - uint16_t v = alt > prev_alt ? (alt - prev_alt) : (prev_alt - alt); - - if (h < GPS_SPARSE_UNMOVING_GROUND && v < GPS_SPARSE_UNMOVING_AIR) { - if (unmoving < GPS_SPARSE_UNMOVING_REPORTS) - ++unmoving; - } else - unmoving = 0; - } else - unmoving = 0; - - prev_lat = lat; - prev_lon = lon; - prev_alt = alt; - has_prev = 1; - return unmoving >= GPS_SPARSE_UNMOVING_REPORTS; -} - void ao_log_gps_flight(void) { log.type = AO_LOG_FLIGHT; log.tick = ao_time(); log.u.flight.flight = ao_flight_number; - log.u.flight.start_altitude = ao_tracker_start_altitude; - log.u.flight.start_latitude = ao_tracker_start_latitude; - log.u.flight.start_longitude = ao_tracker_start_longitude; ao_log_gps(&log); } void -ao_log_gps_data(uint16_t tick, uint8_t state, struct ao_telemetry_location *gps_data) +ao_log_gps_data(uint16_t tick, struct ao_telemetry_location *gps_data) { log.tick = tick; log.type = AO_LOG_GPS_TIME; @@ -126,7 +92,6 @@ ao_log_gps_data(uint16_t tick, uint8_t state, struct ao_telemetry_location *gps_ log.u.gps.hdop = gps_data->hdop; log.u.gps.vdop = gps_data->vdop; log.u.gps.mode = gps_data->mode; - log.u.gps.state = state; ao_log_gps(&log); } diff --git a/src/kernel/ao_log_gps.h b/src/kernel/ao_log_gps.h index 733db19b..5851f4d1 100644 --- a/src/kernel/ao_log_gps.h +++ b/src/kernel/ao_log_gps.h @@ -18,6 +18,9 @@ #include "ao.h" #include "ao_telemetry.h" +#ifndef _AO_LOG_GPS_H_ +#define _AO_LOG_GPS_H_ + uint8_t ao_log_gps_should_log(int32_t lat, int32_t lon, int16_t alt); @@ -25,8 +28,6 @@ void ao_log_gps_flight(void); void -ao_log_gps_data(uint16_t tick, uint8_t state, struct ao_telemetry_location *gps_data); - -void -ao_log_gps_tracking(uint16_t tick, struct ao_telemetry_satellite *gps_tracking_data); +ao_log_gps_data(uint16_t tick, struct ao_telemetry_location *gps_data); +#endif /* _AO_LOG_GPS_H_ */ diff --git a/src/kernel/ao_tracker.c b/src/kernel/ao_tracker.c index cdf147cd..fb9e75d0 100644 --- a/src/kernel/ao_tracker.c +++ b/src/kernel/ao_tracker.c @@ -23,10 +23,7 @@ #include #include -enum ao_flight_state ao_flight_state; - -static uint8_t ao_tracker_force_telem; -static uint8_t ao_tracker_force_launch; +static uint8_t ao_tracker_force_telem; #if HAS_USB_CONNECT static inline uint8_t @@ -38,157 +35,22 @@ ao_usb_connected(void) #define ao_usb_connected() 1 #endif -#define STARTUP_AVERAGE 5 - -int32_t ao_tracker_start_latitude; -int32_t ao_tracker_start_longitude; -int16_t ao_tracker_start_altitude; - -struct ao_tracker_data ao_tracker_data[AO_TRACKER_RING]; -uint8_t ao_tracker_head; -static uint8_t ao_tracker_log_pos; - -static uint16_t telem_rate; -static uint8_t gps_rate; -static uint8_t telem_enabled; - -static int64_t lat_sum, lon_sum; -static int32_t alt_sum; -static int nsamples; - -static void -ao_tracker_state_update(struct ao_tracker_data *tracker) -{ - uint16_t new_telem_rate; - uint8_t new_gps_rate; - uint8_t new_telem_enabled; - uint32_t ground_distance; - int16_t height; - uint16_t speed; - - new_gps_rate = gps_rate; - new_telem_rate = telem_rate; - - new_telem_enabled = ao_tracker_force_telem || !ao_usb_connected(); - - /* Don't change anything if GPS isn't locked */ - if ((tracker->new & AO_GPS_NEW_DATA) && - (tracker->gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) == - (AO_GPS_VALID|AO_GPS_COURSE_VALID)) - { - switch (ao_flight_state) { - case ao_flight_startup: - new_telem_rate = AO_SEC_TO_TICKS(1); - new_gps_rate = 1; - - /* startup to pad when GPS locks */ - - lat_sum += tracker->gps_data.latitude; - lon_sum += tracker->gps_data.longitude; - alt_sum += tracker->gps_data.altitude; - - ++nsamples; - - if (nsamples >= STARTUP_AVERAGE) { - ao_flight_state = ao_flight_pad; - ao_wakeup(&ao_flight_state); - ao_tracker_start_latitude = lat_sum / nsamples; - ao_tracker_start_longitude = lon_sum / nsamples; - ao_tracker_start_altitude = alt_sum / nsamples; - } - break; - case ao_flight_pad: - new_telem_rate = AO_SEC_TO_TICKS(1); - new_gps_rate = 1; - - ground_distance = ao_distance(tracker->gps_data.latitude, - tracker->gps_data.longitude, - ao_tracker_start_latitude, - ao_tracker_start_longitude); - height = tracker->gps_data.altitude - ao_tracker_start_altitude; - if (height < 0) - height = -height; - - if (ground_distance >= ao_config.tracker_start_horiz || - height >= ao_config.tracker_start_vert || - ao_tracker_force_launch) - { - ao_flight_state = ao_flight_drogue; - ao_wakeup(&ao_flight_state); - ao_tracker_log_pos = ao_tracker_ring_next(ao_tracker_head); - ao_log_start(); - ao_log_gps_flight(); - } - break; - case ao_flight_drogue: - /* Modulate data rates based on speed (in cm/s) */ - if (tracker->gps_data.climb_rate < 0) - speed = -tracker->gps_data.climb_rate; - else - speed = tracker->gps_data.climb_rate; - speed += tracker->gps_data.ground_speed; - - if (speed < AO_TRACKER_NOT_MOVING) { - new_telem_rate = AO_SEC_TO_TICKS(10); - new_gps_rate = 10; - } else { - new_telem_rate = AO_SEC_TO_TICKS(1); - new_gps_rate = 1; - } - break; - default: - break; - } - } - - if (new_telem_rate != telem_rate || new_telem_enabled != telem_enabled) { - if (new_telem_enabled) - ao_telemetry_set_interval(new_telem_rate); - else - ao_telemetry_set_interval(0); - telem_rate = new_telem_rate; - telem_enabled = new_telem_enabled; - } - - if (new_gps_rate != gps_rate) { - ao_gps_set_rate(new_gps_rate); - gps_rate = new_gps_rate; - } -} - -#if HAS_LOG -static uint8_t ao_tracker_should_log; - -static void -ao_tracker_log(void) -{ - struct ao_tracker_data *tracker; - - if (ao_log_running) { - while (ao_tracker_log_pos != ao_tracker_head) { - tracker = &ao_tracker_data[ao_tracker_log_pos]; - if (tracker->new & AO_GPS_NEW_DATA) { - ao_tracker_should_log = ao_log_gps_should_log(tracker->gps_data.latitude, - tracker->gps_data.longitude, - tracker->gps_data.altitude); - if (ao_tracker_should_log) - ao_log_gps_data(tracker->tick, tracker->state, &tracker->gps_data); - } - if (tracker->new & AO_GPS_NEW_TRACKING) { - if (ao_tracker_should_log) - ao_log_gps_tracking(tracker->tick, &tracker->gps_tracking_data); - } - ao_tracker_log_pos = ao_tracker_ring_next(ao_tracker_log_pos); - } - } -} -#endif +static int32_t last_log_latitude, last_log_longitude; +static int16_t last_log_altitude; +static uint8_t unmoving; +static uint8_t log_started; +static struct ao_telemetry_location gps_data; +static uint8_t tracker_running; +static uint16_t tracker_interval; static void ao_tracker(void) { - uint8_t new; - struct ao_tracker_data *tracker; + uint8_t new; + int32_t ground_distance; + int16_t height; + uint16_t gps_tick; + uint8_t new_tracker_running; #if HAS_ADC ao_timer_set_adc_interval(100); @@ -197,45 +59,83 @@ ao_tracker(void) #if !HAS_USB_CONNECT ao_tracker_force_telem = 1; #endif - - nsamples = 0; - lat_sum = 0; - lon_sum = 0; - alt_sum = 0; - ao_log_scan(); + ao_log_start(); ao_rdf_set(1); - ao_telemetry_set_interval(0); - telem_rate = AO_SEC_TO_TICKS(1); - telem_enabled = 0; - gps_rate = 1; - ao_flight_state = ao_flight_startup; + tracker_interval = ao_config.tracker_interval; + ao_gps_set_rate(tracker_interval); + for (;;) { + + /** Wait for new GPS data + */ while (!(new = ao_gps_new)) ao_sleep(&ao_gps_new); - - /* Stick GPS data into the ring */ ao_mutex_get(&ao_gps_mutex); - tracker = &ao_tracker_data[ao_tracker_head]; - tracker->tick = ao_gps_tick; - tracker->new = new; - tracker->state = ao_flight_state; - tracker->gps_data = ao_gps_data; - tracker->gps_tracking_data = ao_gps_tracking_data; - ao_tracker_head = ao_tracker_ring_next(ao_tracker_head); - + gps_data = ao_gps_data; + gps_tick = ao_gps_tick; ao_gps_new = 0; ao_mutex_put(&ao_gps_mutex); - /* Update state based on current GPS data */ - ao_tracker_state_update(tracker); + new_tracker_running = ao_tracker_force_telem || !ao_usb_connected(); -#if HAS_LOG - /* Log all gps data */ - ao_tracker_log(); -#endif + if (ao_config.tracker_interval != tracker_interval) { + tracker_interval = ao_config.tracker_interval; + ao_gps_set_rate(tracker_interval); + + /* force telemetry interval to be reset */ + tracker_running = 0; + } + + if (new_tracker_running && !tracker_running) { + ao_telemetry_set_interval(AO_SEC_TO_TICKS(tracker_interval)); + } else if (!new_tracker_running && tracker_running) { + ao_telemetry_set_interval(0); + } + + tracker_running = new_tracker_running; + + if (!tracker_running) + continue; + + if (new & AO_GPS_NEW_DATA) { + if ((gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) == + (AO_GPS_VALID|AO_GPS_COURSE_VALID)) + { + if (log_started) { + ground_distance = ao_distance(gps_data.latitude, gps_data.longitude, + last_log_latitude, last_log_longitude); + height = last_log_altitude - gps_data.altitude; + if (height < 0) + height = -height; + if (ground_distance <= ao_config.tracker_motion && + height <= ao_config.tracker_motion) + { + if (unmoving < AO_TRACKER_MOTION_COUNT) + unmoving++; + } else + unmoving = 0; + } + } else { + if (!log_started) + continue; + if (unmoving < AO_TRACKER_MOTION_COUNT) + unmoving++; + } + + if (unmoving < AO_TRACKER_MOTION_COUNT) { + if (!log_started) { + ao_log_gps_flight(); + log_started = 1; + } + ao_log_gps_data(gps_tick, &gps_data); + last_log_latitude = gps_data.latitude; + last_log_longitude = gps_data.longitude; + last_log_altitude = gps_data.altitude; + } + } } } @@ -244,18 +144,23 @@ static struct ao_task ao_tracker_task; static void ao_tracker_set_telem(void) { - uint8_t telem, launch; + uint8_t telem; ao_cmd_hex(); telem = ao_cmd_lex_i; - ao_cmd_hex(); - launch = ao_cmd_lex_i; - if (ao_cmd_status == ao_cmd_success) { + if (ao_cmd_status == ao_cmd_success) ao_tracker_force_telem = telem; - ao_tracker_force_launch = launch; - } ao_cmd_status = ao_cmd_success; - printf ("flight %d force telem %d force launch %d\n", - ao_flight_number, ao_tracker_force_telem, ao_tracker_force_launch); + printf ("flight: %d\n", ao_flight_number); + printf ("force_telem: %d\n", ao_tracker_force_telem); + printf ("log_started: %d\n", log_started); + printf ("unmoving: %d\n", unmoving); + printf ("latitude: %ld\n", (long) gps_data.latitude); + printf ("longitude: %ld\n", (long) gps_data.longitude); + printf ("altitude: %d\n", gps_data.altitude); + printf ("log_running: %d\n", ao_log_running); + printf ("log_start_pos: %ld\n", (long) ao_log_start_pos); + printf ("log_cur_pos: %ld\n", (long) ao_log_current_pos); + printf ("log_end_pos: %ld\n", (long) ao_log_end_pos); } static const struct ao_cmds ao_tracker_cmds[] = { diff --git a/src/kernel/ao_tracker.h b/src/kernel/ao_tracker.h index 63bdaf2f..a0fd2f49 100644 --- a/src/kernel/ao_tracker.h +++ b/src/kernel/ao_tracker.h @@ -18,31 +18,12 @@ #ifndef _AO_TRACKER_H_ #define _AO_TRACKER_H_ -#define AO_CONFIG_DEFAULT_TRACKER_START_HORIZ 1000 -#define AO_CONFIG_DEFAULT_TRACKER_START_VERT 100 +/* Any motion more than this will result in a log entry */ -/* Speeds for the various modes, 2m/s seems reasonable for 'not moving' */ -#define AO_TRACKER_NOT_MOVING 200 +#define AO_TRACKER_MOTION_DEFAULT 10 +#define AO_TRACKER_INTERVAL_DEFAULT 1 -extern int32_t ao_tracker_start_latitude; -extern int32_t ao_tracker_start_longitude; -extern int16_t ao_tracker_start_altitude; - -#define AO_TRACKER_RING 4 - -struct ao_tracker_data { - uint16_t tick; - uint8_t new; - uint8_t state; - struct ao_telemetry_location gps_data; - struct ao_telemetry_satellite gps_tracking_data; -}; - -extern struct ao_tracker_data ao_tracker_data[AO_TRACKER_RING]; -extern uint8_t ao_tracker_head; - -#define ao_tracker_ring_next(n) (((n) + 1) & (AO_TRACKER_RING-1)) -#define ao_tracker_ring_prev(n) (((n) - 1) & (AO_TRACKER_RING-1)) +#define AO_TRACKER_MOTION_COUNT 10 void ao_tracker_init(void); diff --git a/src/telegps-v0.3/ao_telegps.c b/src/telegps-v0.3/ao_telegps.c index bc7eeea8..dd699ecf 100644 --- a/src/telegps-v0.3/ao_telegps.c +++ b/src/telegps-v0.3/ao_telegps.c @@ -52,7 +52,6 @@ main(void) ao_tracker_init(); ao_telemetry_init(); - ao_telemetry_set_interval(AO_SEC_TO_TICKS(1)); #if HAS_SAMPLE_PROFILE ao_sample_profile_init(); diff --git a/src/telegps-v1.0/ao_telegps.c b/src/telegps-v1.0/ao_telegps.c index 1185a5dd..7a71699b 100644 --- a/src/telegps-v1.0/ao_telegps.c +++ b/src/telegps-v1.0/ao_telegps.c @@ -55,7 +55,6 @@ main(void) ao_tracker_init(); ao_telemetry_init(); - ao_telemetry_set_interval(AO_SEC_TO_TICKS(1)); #if HAS_SAMPLE_PROFILE ao_sample_profile_init(); -- cgit v1.2.3