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/*
* Copyright © 2011 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; 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 <ao_data.h>
#endif
/*
* Current sensor values
*/
#ifndef PRES_TYPE
#define PRES_TYPE int32_t
#define ALT_TYPE int32_t
#define ACCEL_TYPE int16_t
#endif
__pdata uint16_t ao_sample_tick; /* time of last data */
__pdata pres_t ao_sample_pres;
__pdata alt_t ao_sample_alt;
__pdata alt_t ao_sample_height;
#if HAS_ACCEL || HAS_ACCEL_REF
__pdata accel_t ao_sample_accel;
#endif
__data uint8_t ao_sample_data;
/*
* Sensor calibration values
*/
__pdata pres_t ao_ground_pres; /* startup pressure */
__pdata alt_t ao_ground_height; /* MSL of ao_ground_pres */
#if HAS_ACCEL
__pdata accel_t ao_ground_accel; /* startup acceleration */
__pdata accel_t ao_accel_2g; /* factory accel calibration */
__pdata int32_t ao_accel_scale; /* sensor to m/s² conversion */
#endif
static __pdata uint8_t ao_preflight; /* in preflight mode */
static __pdata uint16_t nsamples;
__pdata int32_t ao_sample_pres_sum;
#if HAS_ACCEL
__pdata int32_t ao_sample_accel_sum;
#endif
static void
ao_sample_preflight_add(void)
{
#if HAS_ACCEL
ao_sample_accel_sum += ao_sample_accel;
#endif
ao_sample_pres_sum += ao_sample_pres;
++nsamples;
}
static void
ao_sample_preflight_set(void)
{
#if HAS_ACCEL
ao_ground_accel = ao_sample_accel_sum >> 9;
ao_sample_accel_sum = 0;
#endif
ao_ground_pres = ao_sample_pres_sum >> 9;
ao_ground_height = pres_to_altitude(ao_ground_pres);
nsamples = 0;
ao_sample_pres_sum = 0;
}
static void
ao_sample_preflight(void)
{
/* startup state:
*
* Collect 512 samples of acceleration and pressure
* data and average them to find the resting values
*/
if (nsamples < 512) {
ao_sample_preflight_add();
} else {
#if HAS_ACCEL
ao_accel_2g = ao_config.accel_minus_g - ao_config.accel_plus_g;
ao_accel_scale = to_fix32(GRAVITY * 2 * 16) / ao_accel_2g;
#endif
ao_sample_preflight_set();
ao_preflight = FALSE;
}
}
/*
* While in pad mode, constantly update the ground state by
* re-averaging the data. This tracks changes in orientation, which
* might be caused by adjustments to the rocket on the pad and
* pressure, which might be caused by changes in the weather.
*/
static void
ao_sample_preflight_update(void)
{
if (nsamples < 512)
ao_sample_preflight_add();
else if (nsamples < 1024)
++nsamples;
else
ao_sample_preflight_set();
}
uint8_t
ao_sample(void)
{
ao_wakeup(DATA_TO_XDATA(&ao_sample_data));
ao_sleep((void *) DATA_TO_XDATA(&ao_data_head));
while (ao_sample_data != ao_data_head) {
__xdata struct ao_data *ao_data;
/* Capture a sample */
ao_data = (struct ao_data *) &ao_data_ring[ao_sample_data];
ao_sample_tick = ao_data->tick;
ao_data_pres_cook(ao_data);
ao_sample_pres = ao_data_pres(ao_data);
ao_sample_alt = pres_to_altitude(ao_sample_pres);
ao_sample_height = ao_sample_alt - ao_ground_height;
#if HAS_ACCEL || HAS_ACCEL_REF
ao_sample_accel = ao_data_accel_cook(ao_data);
if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
ao_sample_accel = ao_data_accel_invert(ao_sample_accel);
ao_data_set_accel(ao_data, ao_sample_accel);
#endif
if (ao_preflight)
ao_sample_preflight();
else {
if (ao_flight_state < ao_flight_boost)
ao_sample_preflight_update();
ao_kalman();
}
ao_sample_data = ao_data_ring_next(ao_sample_data);
}
return !ao_preflight;
}
void
ao_sample_init(void)
{
ao_config_get();
nsamples = 0;
ao_sample_pres_sum = 0;
ao_sample_pres = 0;
#if HAS_ACCEL
ao_sample_accel_sum = 0;
ao_sample_accel = 0;
#endif
ao_sample_data = ao_data_head;
ao_preflight = TRUE;
}
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