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/*
* Copyright © 2014 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.
*/
#include <ao.h>
#include <ao_flight.h>
#include <ao_log.h>
#include <ao_log_gps.h>
#include <ao_distance.h>
#include <ao_tracker.h>
#include <ao_exti.h>
static uint8_t ao_tracker_force_telem;
#if HAS_USB_CONNECT
static inline uint8_t
ao_usb_connected(void)
{
return ao_gpio_get(AO_USB_CONNECT_PORT, AO_USB_CONNECT_PIN) != 0;
}
#else
#define ao_usb_connected() 1
#endif
struct gps_position {
int32_t latitude;
int32_t longitude;
gps_alt_t altitude;
};
#define GPS_RING 16
struct gps_position gps_position[GPS_RING];
#define ao_gps_ring_next(n) (((n) + 1) & (GPS_RING - 1))
#define ao_gps_ring_prev(n) (((n) - 1) & (GPS_RING - 1))
static uint8_t gps_head;
static uint8_t tracker_mutex;
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;
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);
#endif
#if !HAS_USB_CONNECT
ao_tracker_force_telem = 1;
#endif
log_started = ao_log_scan();
ao_rdf_set(1);
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);
ao_mutex_get(&ao_gps_mutex);
gps_data = ao_gps_data;
gps_tick = ao_gps_tick;
ao_gps_new = 0;
ao_mutex_put(&ao_gps_mutex);
new_tracker_running = ao_tracker_force_telem || !ao_usb_connected();
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 (new_tracker_running && !ao_log_running)
ao_log_start();
else if (!new_tracker_running && ao_log_running)
ao_log_stop();
if (!ao_log_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))
{
uint8_t ring;
uint8_t moving = 0;
gps_alt_t altitude = AO_TELEMETRY_LOCATION_ALTITUDE(&gps_data);
for (ring = ao_gps_ring_next(gps_head); ring != gps_head; ring = ao_gps_ring_next(ring)) {
ground_distance = ao_distance(gps_data.latitude, gps_data.longitude,
gps_position[ring].latitude,
gps_position[ring].longitude);
height = gps_position[ring].altitude - altitude;
if (height < 0)
height = -height;
if (ao_tracker_force_telem > 1)
printf("head %d ring %d ground_distance %d height %d\n", gps_head, ring, ground_distance, height);
if (ground_distance > ao_config.tracker_motion ||
height > (ao_config.tracker_motion << 1))
{
moving = 1;
break;
}
}
if (ao_tracker_force_telem > 1) {
printf ("moving %d started %d\n", moving, log_started);
flush();
}
if (moving) {
ao_mutex_get(&tracker_mutex);
if (!log_started) {
ao_log_gps_flight();
log_started = 1;
}
ao_log_gps_data(gps_tick, &gps_data);
gps_position[gps_head].latitude = gps_data.latitude;
gps_position[gps_head].longitude = gps_data.longitude;
gps_position[gps_head].altitude = altitude;
gps_head = ao_gps_ring_next(gps_head);
ao_mutex_put(&tracker_mutex);
}
}
}
}
}
#ifdef AO_LED_GPS_LOCK
static struct ao_task ao_gps_lock_task;
static void
ao_gps_lock(void)
{
for (;;) {
if ((gps_data.flags & (AO_GPS_VALID|AO_GPS_COURSE_VALID)) ==
(AO_GPS_VALID|AO_GPS_COURSE_VALID))
{
ao_led_for(AO_LED_GPS_LOCK, AO_MS_TO_TICKS(20));
}
ao_delay(AO_SEC_TO_TICKS(3));
}
}
#endif
static uint8_t erasing_current;
void
ao_tracker_erase_start(uint16_t flight)
{
erasing_current = flight == ao_flight_number;
if (erasing_current) {
ao_mutex_get(&tracker_mutex);
ao_log_stop();
if (++ao_flight_number == 0)
ao_flight_number = 1;
}
}
void
ao_tracker_erase_end(void)
{
if (erasing_current) {
log_started = ao_log_scan();
ao_mutex_put(&tracker_mutex);
}
}
static struct ao_task ao_tracker_task;
static void
ao_tracker_set_telem(void)
{
uint16_t r = ao_cmd_hex();
if (ao_cmd_status == ao_cmd_success)
ao_tracker_force_telem = r;
ao_cmd_status = ao_cmd_success;
printf ("flight: %d\n", ao_flight_number);
printf ("force_telem: %d\n", ao_tracker_force_telem);
printf ("tracker_running: %d\n", tracker_running);
printf ("log_started: %d\n", log_started);
printf ("latitude: %ld\n", (long) gps_data.latitude);
printf ("longitude: %ld\n", (long) gps_data.longitude);
printf ("altitude: %ld\n", AO_TELEMETRY_LOCATION_ALTITUDE(&gps_data));
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[] = {
{ ao_tracker_set_telem, "t <d>\0Set telem on USB (0 off, 1 on, 2 dbg)" },
{ 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");
#ifdef AO_LED_GPS_LOCK
ao_add_task(&ao_gps_lock_task, ao_gps_lock, "gps lock");
#endif
}
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