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/*
* 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
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