/* * 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 #include #include #include #include #include enum ao_flight_state ao_flight_state; static uint8_t ao_tracker_force_telem; static uint8_t ao_tracker_force_launch; #if HAS_USB_CONNECT static inline uint8_t ao_usb_connected(void) { return ao_gpio_get(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN, AO_USB_CONNECT) != 0; } #else #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 int16_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: /* startup to pad when GPS locks */ lat_sum += tracker->gps_data.latitude; lon_sum += tracker->gps_data.longitude; alt_sum += tracker->gps_data.altitude; 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: 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 void ao_tracker(void) { uint8_t new; struct ao_tracker_data *tracker; #if HAS_ADC ao_timer_set_adc_interval(100); #endif #if !HAS_USB_CONNECT ao_tracker_force_telem = 1; #endif ao_log_scan(); 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; for (;;) { 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); ao_gps_new = 0; ao_mutex_put(&ao_gps_mutex); /* Update state based on current GPS data */ ao_tracker_state_update(tracker); #if HAS_LOG /* Log all gps data */ ao_tracker_log(); #endif } } static struct ao_task ao_tracker_task; static void ao_tracker_set_telem(void) { ao_cmd_hex(); if (ao_cmd_status == ao_cmd_success) { ao_tracker_force_telem = (ao_cmd_lex_i & 1) != 0; ao_tracker_force_launch = (ao_cmd_lex_i & 2) != 0; } printf ("flight %d force telem %d force launch %d\n", ao_flight_number, ao_tracker_force_telem, ao_tracker_force_launch); } static const struct ao_cmds ao_tracker_cmds[] = { { ao_tracker_set_telem, "t \0Set telem on USB" }, { 0, NULL }, }; void ao_tracker_init(void) { #if HAS_USB_CONNECT ao_enable_input(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN, 0); #endif ao_cmd_register(&ao_tracker_cmds[0]); ao_add_task(&ao_tracker_task, ao_tracker, "tracker"); }