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_flight.c | 472 +++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 472 insertions(+) create mode 100644 src/kernel/ao_flight.c (limited to 'src/kernel/ao_flight.c') diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c new file mode 100644 index 00000000..24099347 --- /dev/null +++ b/src/kernel/ao_flight.c @@ -0,0 +1,472 @@ +/* + * Copyright © 2009 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_FLIGHT_TEST +#include "ao.h" +#include +#endif + +#if HAS_MPU6000 +#include +#endif + +#ifndef HAS_ACCEL +#error Please define HAS_ACCEL +#endif + +#ifndef HAS_GPS +#error Please define HAS_GPS +#endif + +#ifndef HAS_USB +#error Please define HAS_USB +#endif + +#ifndef HAS_TELEMETRY +#define HAS_TELEMETRY HAS_RADIO +#endif + +/* Main flight thread. */ + +__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_SENSOR_ERRORS +/* 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 + */ +static __data uint16_t ao_interval_end; +static __data int16_t ao_interval_min_height; +static __data int16_t ao_interval_max_height; +#if HAS_ACCEL +static __data int16_t ao_coast_avg_accel; +#endif + +__pdata uint8_t ao_flight_force_idle; + +/* We also have a clock, which can be used to sanity check things in + * case of other failures + */ + +#define BOOST_TICKS_MAX AO_SEC_TO_TICKS(15) + +/* 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(10) + +#define abs(a) ((a) < 0 ? -(a) : (a)) + +void +ao_flight(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: + + /* Check to see what mode we should go to. + * - Invalid mode if accel cal appears to be out + * - pad mode if we're upright, + * - idle mode otherwise + */ +#if HAS_ACCEL + if (ao_config.accel_plus_g == 0 || + 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 || + ao_ground_height < -1000 || + ao_ground_height > 7000) + { + /* Detected an accel value outside -1.5g to 1.5g + * (or uncalibrated values), so we go into invalid mode + */ + ao_flight_state = ao_flight_invalid; + +#if HAS_RADIO && PACKET_HAS_SLAVE + /* Turn on packet system in invalid mode on TeleMetrum */ + ao_packet_slave_start(); +#endif + } else +#endif + if (!ao_flight_force_idle +#if HAS_ACCEL + && ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP +#endif + ) + { + /* Set pad mode - we can fly! */ + ao_flight_state = ao_flight_pad; +#if HAS_USB && !HAS_FLIGHT_DEBUG && !HAS_SAMPLE_PROFILE + /* Disable the USB controller in flight mode + * to save power + */ + ao_usb_disable(); +#endif + +#if !HAS_ACCEL && PACKET_HAS_SLAVE + /* Disable packet mode in pad state on TeleMini */ + ao_packet_slave_stop(); +#endif + +#if HAS_TELEMETRY + /* Turn on telemetry system */ + ao_rdf_set(1); + ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_PAD); +#endif +#if AO_LED_RED + /* signal successful initialization by turning off the LED */ + ao_led_off(AO_LED_RED); +#endif + } else { + /* Set idle mode */ + ao_flight_state = ao_flight_idle; +#if HAS_SENSOR_ERRORS + if (ao_sensor_errors) + ao_flight_state = ao_flight_invalid; +#endif + +#if HAS_ACCEL && HAS_RADIO && PACKET_HAS_SLAVE + /* Turn on packet system in idle mode on TeleMetrum */ + ao_packet_slave_start(); +#endif + +#if AO_LED_RED + /* signal successful initialization by turning off the LED */ + ao_led_off(AO_LED_RED); +#endif + } + /* wakeup threads due to state change */ + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + + break; + case ao_flight_pad: + + /* pad to boost: + * + * barometer: > 20m vertical motion + * OR + * accelerometer: > 2g AND velocity > 5m/s + * + * The accelerometer should always detect motion before + * the barometer, but we use both to make sure this + * transition is detected. If the device + * doesn't have an accelerometer, then ignore the + * speed and acceleration as they are quite noisy + * on the pad. + */ + if (ao_height > AO_M_TO_HEIGHT(20) +#if HAS_ACCEL + || (ao_accel > AO_MSS_TO_ACCEL(20) && + ao_speed > AO_MS_TO_SPEED(5)) +#endif + ) + { + ao_flight_state = ao_flight_boost; + ao_boost_tick = ao_sample_tick; + + /* start logging data */ + ao_log_start(); + +#if HAS_TELEMETRY + /* Increase telemetry rate */ + ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_FLIGHT); + + /* disable RDF beacon */ + ao_rdf_set(0); +#endif + +#if HAS_GPS + /* Record current GPS position by waking up GPS log tasks */ + ao_gps_new = AO_GPS_NEW_DATA | AO_GPS_NEW_TRACKING; + ao_wakeup(&ao_gps_new); +#endif + + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } + break; + case ao_flight_boost: + + /* boost to fast: + * + * accelerometer: start to fall at > 1/4 G + * OR + * time: boost for more than 15 seconds + * + * Detects motor burn out by the switch from acceleration to + * deceleration, or by waiting until the maximum burn duration + * (15 seconds) has past. + */ + if ((ao_accel < AO_MSS_TO_ACCEL(-2.5) && ao_height > AO_M_TO_HEIGHT(100)) || + (int16_t) (ao_sample_tick - ao_boost_tick) > BOOST_TICKS_MAX) + { +#if HAS_ACCEL + ao_flight_state = ao_flight_fast; + ao_coast_avg_accel = ao_accel; +#else + ao_flight_state = ao_flight_coast; +#endif + ++ao_motor_number; + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } + break; +#if HAS_ACCEL + case ao_flight_fast: + /* + * This is essentially the same as coast, + * but the barometer is being ignored as + * it may be unreliable. + */ + if (ao_speed < AO_MS_TO_SPEED(AO_MAX_BARO_SPEED)) + { + ao_flight_state = ao_flight_coast; + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } else + goto check_re_boost; + break; +#endif + case ao_flight_coast: + + /* + * By customer request - allow the user + * to lock out apogee detection for a specified + * number of seconds. + */ + if (ao_config.apogee_lockout) { + if ((ao_sample_tick - ao_boost_tick) < + AO_SEC_TO_TICKS(ao_config.apogee_lockout)) + break; + } + + /* apogee detect: coast to drogue deploy: + * + * speed: < 0 + * + * Also make sure the model altitude is tracking + * the measured altitude reasonably closely; otherwise + * we're probably transsonic. + */ + if (ao_speed < 0 +#if !HAS_ACCEL + && (ao_sample_alt >= AO_MAX_BARO_HEIGHT || ao_error_h_sq_avg < 100) +#endif + ) + { +#if HAS_IGNITE + /* ignite the drogue charge */ + ao_ignite(ao_igniter_drogue); +#endif + +#if HAS_TELEMETRY + /* slow down the telemetry system */ + ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_RECOVER); + + /* Turn the RDF beacon back on */ + ao_rdf_set(1); +#endif + + /* and enter drogue state */ + ao_flight_state = ao_flight_drogue; + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } +#if HAS_ACCEL + else { + check_re_boost: + ao_coast_avg_accel = ao_coast_avg_accel - (ao_coast_avg_accel >> 6) + (ao_accel >> 6); + if (ao_coast_avg_accel > AO_MSS_TO_ACCEL(20)) { + ao_boost_tick = ao_sample_tick; + ao_flight_state = ao_flight_boost; + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } + } +#endif + + break; + case ao_flight_drogue: + + /* drogue to main deploy: + * + * barometer: reach main deploy altitude + * + * Would like to use the accelerometer for this test, but + * the orientation of the flight computer is unknown after + * drogue deploy, so we ignore it. Could also detect + * high descent rate using the pressure sensor to + * recognize drogue deploy failure and eject the main + * at that point. Perhaps also use the drogue sense lines + * to notice continutity? + */ + if (ao_height <= ao_config.main_deploy) + { +#if HAS_IGNITE + ao_ignite(ao_igniter_main); +#endif + + /* + * Start recording min/max height + * to figure out when the rocket has landed + */ + + /* initialize interval values */ + ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS; + + ao_interval_min_height = ao_interval_max_height = ao_avg_height; + + ao_flight_state = ao_flight_main; + ao_wakeup(DATA_TO_XDATA(&ao_flight_state)); + } + break; + + /* fall through... */ + case ao_flight_main: + + /* main to land: + * + * barometer: altitude stable + */ + + if (ao_avg_height < ao_interval_min_height) + ao_interval_min_height = ao_avg_height; + if (ao_avg_height > ao_interval_max_height) + ao_interval_max_height = ao_avg_height; + + if ((int16_t) (ao_sample_tick - ao_interval_end) >= 0) { + if (ao_interval_max_height - ao_interval_min_height <= AO_M_TO_HEIGHT(4)) + { + 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_avg_height; + ao_interval_end = ao_sample_tick + AO_INTERVAL_TICKS; + } + break; +#if HAS_FLIGHT_DEBUG + case ao_flight_test: +#if HAS_GYRO + printf ("angle %4d pitch %7d yaw %7d roll %7d\n", + ao_sample_orient, + ((ao_sample_pitch << 9) - ao_ground_pitch) >> 9, + ((ao_sample_yaw << 9) - ao_ground_yaw) >> 9, + ((ao_sample_roll << 9) - ao_ground_roll) >> 9); +#endif + flush(); + break; +#endif /* HAS_FLIGHT_DEBUG */ + default: + break; + } + } +} + +#if HAS_FLIGHT_DEBUG +static inline int int_part(int16_t i) { return i >> 4; } +static inline int frac_part(int16_t i) { return ((i & 0xf) * 100 + 8) / 16; } + +static void +ao_flight_dump(void) +{ +#if HAS_ACCEL + int16_t accel; + + accel = ((ao_config.accel_plus_g - ao_sample_accel) * ao_accel_scale) >> 16; +#endif + + printf ("sample:\n"); + printf (" tick %d\n", ao_sample_tick); + printf (" raw pres %d\n", ao_sample_pres); +#if HAS_ACCEL + printf (" raw accel %d\n", ao_sample_accel); +#endif + printf (" ground pres %d\n", ao_ground_pres); + printf (" ground alt %d\n", ao_ground_height); +#if HAS_ACCEL + printf (" raw accel %d\n", ao_sample_accel); + printf (" groundaccel %d\n", ao_ground_accel); + printf (" accel_2g %d\n", ao_accel_2g); +#endif + + printf (" alt %d\n", ao_sample_alt); + printf (" height %d\n", ao_sample_height); +#if HAS_ACCEL + printf (" accel %d.%02d\n", int_part(accel), frac_part(accel)); +#endif + + + printf ("kalman:\n"); + printf (" height %d\n", ao_height); + printf (" speed %d.%02d\n", int_part(ao_speed), frac_part(ao_speed)); + printf (" accel %d.%02d\n", int_part(ao_accel), frac_part(ao_accel)); + printf (" max_height %d\n", ao_max_height); + printf (" avg_height %d\n", ao_avg_height); + printf (" error_h %d\n", ao_error_h); + printf (" error_avg %d\n", ao_error_h_sq_avg); +} + +static void +ao_gyro_test(void) +{ + ao_flight_state = ao_flight_test; + ao_getchar(); + ao_flight_state = ao_flight_idle; +} + +uint8_t ao_orient_test; + +static void +ao_orient_test_select(void) +{ + ao_orient_test = !ao_orient_test; +} + +__code struct ao_cmds ao_flight_cmds[] = { + { ao_flight_dump, "F\0Dump flight status" }, + { ao_gyro_test, "G\0Test gyro code" }, + { ao_orient_test_select,"O\0Test orientation code" }, + { 0, NULL }, +}; +#endif + +static __xdata struct ao_task flight_task; + +void +ao_flight_init(void) +{ + ao_flight_state = ao_flight_startup; +#if HAS_FLIGHT_DEBUG + ao_cmd_register(&ao_flight_cmds[0]); +#endif + ao_add_task(&flight_task, ao_flight, "flight"); +} -- cgit v1.2.3 From c674a20432c2cb97e5bc2a3de891f78b9e172fe9 Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Tue, 27 May 2014 11:05:02 -0700 Subject: altos: Fake flight code changes in kernel and stm Redirects data input from local sensors to USB sourced data, leaving USB enabled when the computer goes into pad mode. Signed-off-by: Keith Packard --- src/kernel/ao_fake_flight.c | 219 ++++++++++++++++++++++++++++++++++++++++++++ src/kernel/ao_fake_flight.h | 53 +++++++++++ src/kernel/ao_flight.c | 10 +- src/kernel/ao_pyro.h | 6 +- src/stm/ao_timer.c | 10 +- 5 files changed, 294 insertions(+), 4 deletions(-) create mode 100644 src/kernel/ao_fake_flight.c create mode 100644 src/kernel/ao_fake_flight.h (limited to 'src/kernel/ao_flight.c') diff --git a/src/kernel/ao_fake_flight.c b/src/kernel/ao_fake_flight.c new file mode 100644 index 00000000..11329bb9 --- /dev/null +++ b/src/kernel/ao_fake_flight.c @@ -0,0 +1,219 @@ +/* + * Copyright © 2014 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. + */ + +#include +#include +#if HAS_MS5607 || HAS_MS5611 +#include +#endif + +uint8_t ao_fake_flight_active; + +static uint8_t ao_fake_has_cur; +static volatile uint8_t ao_fake_has_next; +static uint8_t ao_fake_has_offset; +static uint16_t ao_fake_tick_offset; +static struct ao_data ao_fake_cur, ao_fake_next; + +void +ao_fake_flight_poll(void) +{ + if (ao_fake_has_next && (ao_tick_count - ao_fake_next.tick) >= 0) { + ao_fake_cur = ao_fake_next; + ao_fake_has_next = 0; + ao_wakeup((void *) &ao_fake_has_next); + ao_fake_has_cur = 1; + } + if (!ao_fake_has_cur) + return; + ao_data_ring[ao_data_head] = ao_fake_cur; + ao_data_ring[ao_data_head].tick = ao_tick_count; + ao_data_head = ao_data_ring_next(ao_data_head); + ao_wakeup((void *) &ao_data_head); +} + +static uint8_t +ao_fake_data_read(void) +{ + uint8_t i; + uint8_t *d = (void *) &ao_fake_next; + + if (getchar() == 0) + return FALSE; + for (i = 0; i < sizeof (struct ao_data); i++) + *d++ = getchar(); + if (!ao_fake_has_offset) { + ao_fake_tick_offset = (ao_tick_count + 1000) - ao_fake_next.tick; + ao_fake_next.tick = ao_tick_count; + ao_fake_has_offset = 1; + } else + ao_fake_next.tick += ao_fake_tick_offset; + ao_fake_has_next = 1; + return TRUE; +} + +static void +ao_fake_calib_get(struct ao_fake_calib *calib) +{ +#if HAS_ACCEL + calib->accel_plus_g = ao_config.accel_plus_g; + calib->accel_minus_g = ao_config.accel_minus_g; +#endif +#if HAS_GYRO + calib->accel_zero_along = ao_config.accel_zero_along; + calib->accel_zero_across = ao_config.accel_zero_across; + calib->accel_zero_through = ao_config.accel_zero_through; +#endif +#if HAS_MS5607 || HAS_MS5611 + calib->ms5607_prom = ao_ms5607_prom; +#endif +} + +static void +ao_fake_calib_set(struct ao_fake_calib *calib) +{ +#if HAS_ACCEL + ao_config.accel_plus_g = calib->accel_plus_g; + ao_config.accel_minus_g = calib->accel_minus_g; +#endif +#if HAS_GYRO + ao_config.accel_zero_along = calib->accel_zero_along; + ao_config.accel_zero_across = calib->accel_zero_across; + ao_config.accel_zero_through = calib->accel_zero_through; +#endif +#if HAS_MS5607 || HAS_MS5611 + ao_ms5607_prom = calib->ms5607_prom; +#endif +} + +static uint8_t +ao_fake_calib_read(void) +{ + struct ao_fake_calib ao_calib; + uint8_t *d = (void *) &ao_calib; + uint16_t i; + + /* Read calibration data */ + for (i = 0; i < sizeof (struct ao_fake_calib); i++) + *d++ = getchar(); + if (ao_calib.major != AO_FAKE_CALIB_MAJOR +#if AO_FAKE_CALIB_MINOR != 0 + || ao_calib.minor < AO_FAKE_CALIB_MINOR +#endif + ) { + printf ("Calibration data major version mismatch %d.%d <= %d.%d\n", + ao_calib.major, ao_calib.minor, AO_FAKE_CALIB_MAJOR, AO_FAKE_CALIB_MINOR); + return FALSE; + } + ao_fake_calib_set(&ao_calib); + return TRUE; +} + +static void +ao_fake_flight(void) +{ + int16_t calib_size, data_size; + struct ao_fake_calib save_calib; + uint16_t my_pyro_fired = 0; + enum ao_flight_state my_state = ao_flight_invalid; + int i; + + ao_cmd_hex(); + if (ao_cmd_status != ao_cmd_success) + return; + calib_size = ao_cmd_lex_i; + ao_cmd_hex(); + if (ao_cmd_status != ao_cmd_success) + return; + data_size = ao_cmd_lex_i; + if ((unsigned) calib_size != sizeof (struct ao_fake_calib)) { + printf ("calib size %d larger than actual size %d\n", + calib_size, sizeof (struct ao_fake_calib)); + ao_cmd_status = ao_cmd_syntax_error; + return; + } + if (data_size != sizeof (struct ao_data)) { + printf ("data size %d doesn't match actual size %d\n", + data_size, sizeof (struct ao_data)); + ao_cmd_status = ao_cmd_syntax_error; + return; + } + ao_fake_calib_get(&save_calib); + if (!ao_fake_calib_read()) + return; + + ao_fake_has_next = 0; + ao_fake_has_cur = 0; + ao_fake_flight_active = 1; + ao_sample_init(); +#if PACKET_HAS_SLAVE + ao_packet_slave_stop(); +#endif +#if AO_LED_RED + /* Turn on the LED to indicate startup */ + ao_led_on(AO_LED_RED); +#endif + ao_flight_state = ao_flight_startup; + for (;;) { + if (my_state != ao_flight_state) { + printf("state %d\n", ao_flight_state); + my_state = ao_flight_state; + flush(); + } + if (my_pyro_fired != ao_pyro_fired) { + int pyro; + + for (pyro = 0; pyro < AO_PYRO_NUM; pyro++) { + uint16_t bit = (1 << pyro); + if (!(my_pyro_fired & bit) && (ao_pyro_fired & bit)) + printf ("fire %d\n", pyro); + } + my_pyro_fired = ao_pyro_fired; + } + while (ao_fake_has_next) + ao_sleep((void *) &ao_fake_has_next); + if (!ao_fake_data_read()) + break; + } + + /* Wait 20 seconds to see if we enter landed state */ + for (i = 0; i < 200; i++) + { + if (ao_flight_state == ao_flight_landed) + break; + ao_delay(AO_MS_TO_TICKS(100)); + } +#if AO_LED_RED + /* Turn on the LED to indicate startup */ + ao_led_on(AO_LED_RED); +#endif + ao_fake_flight_active = 0; + ao_flight_state = ao_flight_startup; + ao_sample_init(); + ao_fake_calib_set(&save_calib); +} + +static const struct ao_cmds ao_fake_flight_cmds[] = { + { ao_fake_flight, "F \0Start fake flight" }, + { 0, NULL } +}; + +void +ao_fake_flight_init(void) +{ + ao_cmd_register(&ao_fake_flight_cmds[0]); +} diff --git a/src/kernel/ao_fake_flight.h b/src/kernel/ao_fake_flight.h new file mode 100644 index 00000000..172fc589 --- /dev/null +++ b/src/kernel/ao_fake_flight.h @@ -0,0 +1,53 @@ +/* + * Copyright © 2014 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_FAKE_FLIGHT_H_ +#define _AO_FAKE_FLIGHT_H_ +#if HAS_MS5607 || HAS_MS5611 +#include +#endif + +extern uint8_t ao_fake_flight_active; + +#define AO_FAKE_CALIB_MAJOR 1 +#define AO_FAKE_CALIB_MINOR 0 + +struct ao_fake_calib { + uint16_t major; + uint16_t minor; +#if HAS_ACCEL + int16_t accel_plus_g; + int16_t accel_minus_g; +#endif +#if HAS_GYRO + int16_t accel_zero_along; + int16_t accel_zero_across; + int16_t accel_zero_through; + uint16_t pad30; +#endif +#if HAS_MS5607 || HAS_MS5611 + struct ao_ms5607_prom ms5607_prom; +#endif +}; + +void +ao_fake_flight_poll(void); + +void +ao_fake_flight_init(void); + +#endif /* _AO_FAKE_FLIGHT_H_ */ diff --git a/src/kernel/ao_flight.c b/src/kernel/ao_flight.c index 24099347..2b433ee9 100644 --- a/src/kernel/ao_flight.c +++ b/src/kernel/ao_flight.c @@ -36,6 +36,10 @@ #error Please define HAS_USB #endif +#if HAS_FAKE_FLIGHT +#include +#endif + #ifndef HAS_TELEMETRY #define HAS_TELEMETRY HAS_RADIO #endif @@ -130,7 +134,10 @@ ao_flight(void) /* Disable the USB controller in flight mode * to save power */ - ao_usb_disable(); +#if HAS_FAKE_FLIGHT + if (!ao_fake_flight_active) +#endif + ao_usb_disable(); #endif #if !HAS_ACCEL && PACKET_HAS_SLAVE @@ -170,7 +177,6 @@ ao_flight(void) break; case ao_flight_pad: - /* pad to boost: * * barometer: > 20m vertical motion diff --git a/src/kernel/ao_pyro.h b/src/kernel/ao_pyro.h index 0c5642d6..34c99078 100644 --- a/src/kernel/ao_pyro.h +++ b/src/kernel/ao_pyro.h @@ -45,7 +45,11 @@ enum ao_pyro_flag { ao_pyro_state_less = 0x00004000, ao_pyro_state_greater_or_equal = 0x00008000, -}; +} +#ifdef __GNUC__ + __attribute__ ((packed)) +#endif + ; struct ao_pyro { enum ao_pyro_flag flags; diff --git a/src/stm/ao_timer.c b/src/stm/ao_timer.c index d93531fc..8db62e76 100644 --- a/src/stm/ao_timer.c +++ b/src/stm/ao_timer.c @@ -17,6 +17,9 @@ #include "ao.h" #include +#if HAS_FAKE_FLIGHT +#include +#endif #ifndef HAS_TICK #define HAS_TICK 1 @@ -47,7 +50,12 @@ void stm_systick_isr(void) #if AO_DATA_ALL if (++ao_data_count == ao_data_interval) { ao_data_count = 0; - ao_adc_poll(); +#if HAS_FAKE_FLIGHT + if (ao_fake_flight_active) + ao_fake_flight_poll(); + else +#endif + ao_adc_poll(); #if (AO_DATA_ALL & ~(AO_DATA_ADC)) ao_wakeup((void *) &ao_data_count); #endif -- cgit v1.2.3