/*
 * Copyright © 2012 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; either version 2 of the License, or
 * (at your option) any later version.
 *
 * 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_MICROPEAK_H_
#define _AO_MICROPEAK_H_

#define SAMPLE_SLEEP		AO_MS_TO_TICKS(96)

/* 64 sample, or about six seconds worth */
#define GROUND_AVG_SHIFT	6
#define GROUND_AVG		(1 << GROUND_AVG_SHIFT)

/* Pressure change (in Pa) to detect boost */
#ifndef BOOST_DETECT
#define BOOST_DETECT		360	/* 30m at sea level, 36m at 2000m */
#endif

#ifndef LOG_INTERVAL
#define LOG_INTERVAL		 2	/* 192 ms */
#endif

#define AO_LOG_ID_MICROPEAK	0
#define AO_LOG_ID_MICROKITE	1

#ifndef AO_LOG_ID
#define AO_LOG_ID		AO_LOG_ID_MICROPEAK
#endif

/* Wait after power on before doing anything to give the user time to assemble the rocket */
#ifndef BOOST_DELAY
#define BOOST_DELAY		AO_SEC_TO_TICKS(60)
#endif

/* Pressure change (in Pa) to detect landing */
#define LAND_DETECT		24	/* 2m at sea level, 2.4m at 2000m */

/* Current sensor pressure value */
extern uint32_t	pa;

/* Average pressure value on ground */
extern uint32_t	pa_ground;

/* Minimum recorded filtered pressure value */
extern uint32_t	pa_min;

/* Pressure values converted to altitudes */
extern alt_t	ground_alt, max_alt;

/* max_alt - ground_alt */
extern alt_t	ao_max_height;

void
ao_pa_get(void);

void
ao_microflight(void);

#define ACCEL_LOCK_PA		-20
#define ACCEL_LOCK_TIME		10

extern uint32_t	ao_k_pa;		/* 24.8 fixed point */
extern int32_t	ao_k_pa_speed;		/* 16.16 fixed point */
extern int32_t	ao_k_pa_accel;		/* 16.16 fixed point */

extern uint32_t	ao_pa;			/* integer portion */
extern int16_t	ao_pa_speed;		/* integer portion */
extern int16_t	ao_pa_accel;		/* integer portion */

void
ao_microkalman_init(void);

void
ao_microkalman_predict(void);

void
ao_microkalman_correct(void);
	
#endif