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/*
* Copyright © 2009 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"
#endif
#ifndef HAS_ACCEL
#error Please define HAS_ACCEL
#endif
#ifndef HAS_GPS
#error Please define HAS_GPS
#endif
#ifndef HAS_USB
#error Please define HAS_USB
#endif
/* Main flight thread. */
__pdata enum ao_flight_state ao_flight_state; /* current flight state */
__pdata uint8_t ao_flight_force_idle;
void
ao_flight(void)
{
ao_sample_init();
ao_flight_state = ao_flight_startup;
for (;;) {
/*
* Process ADC samples, just looping
* until the sensors are calibrated.
*/
if (!ao_sample())
continue;
switch (ao_flight_state) {
case ao_flight_startup:
/* Check to see what mode we should go to.
* - Invalid mode if accel cal appears to be out
* - pad mode if we're upright,
* - idle mode otherwise
*/
#if HAS_ACCEL
if (ao_config.accel_plus_g == 0 ||
ao_config.accel_minus_g == 0 ||
ao_ground_accel < ao_config.accel_plus_g - ACCEL_NOSE_UP ||
ao_ground_accel > ao_config.accel_minus_g + ACCEL_NOSE_UP)
{
/* Detected an accel value outside -1.5g to 1.5g
* (or uncalibrated values), so we go into invalid mode
*/
ao_flight_state = ao_flight_invalid;
/* Turn on packet system in invalid mode on TeleMetrum */
ao_packet_slave_start();
} else
#endif
if (!ao_flight_force_idle
#if HAS_ACCEL
&& ao_ground_accel < ao_config.accel_plus_g + ACCEL_NOSE_UP
#endif
)
{
/* Set pad mode - we can fly! */
ao_flight_state = ao_flight_pad;
#if HAS_USB
/* Disable the USB controller in flight mode
* to save power
*/
ao_usb_disable();
#endif
#if !HAS_ACCEL
/* Disable packet mode in pad state on TeleMini */
ao_packet_slave_stop();
#endif
/* Turn on telemetry system */
ao_rdf_set(1);
ao_telemetry_set_interval(AO_TELEMETRY_INTERVAL_BALLOON);
/* signal successful initialization by turning off the LED */
ao_led_off(AO_LED_RED);
} else {
/* Set idle mode */
ao_flight_state = ao_flight_idle;
#if HAS_ACCEL
/* Turn on packet system in idle mode on TeleMetrum */
ao_packet_slave_start();
#endif
/* signal successful initialization by turning off the LED */
ao_led_off(AO_LED_RED);
}
/* wakeup threads due to state change */
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
break;
case ao_flight_pad:
/* pad to coast:
*
* barometer: > 20m vertical motion
*/
if (ao_height > AO_M_TO_HEIGHT(20))
{
ao_flight_state = ao_flight_drogue;
/* start logging data */
ao_log_start();
#if HAS_GPS
/* Record current GPS position by waking up GPS log tasks */
ao_wakeup(&ao_gps_data);
ao_wakeup(&ao_gps_tracking_data);
#endif
ao_wakeup(DATA_TO_XDATA(&ao_flight_state));
}
break;
case ao_flight_drogue:
break;
}
}
}
static __xdata struct ao_task flight_task;
void
ao_flight_init(void)
{
ao_flight_state = ao_flight_startup;
ao_add_task(&flight_task, ao_flight, "flight");
}
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