void
ao_hmc5883_sample(struct ao_hmc5883_sample *sample)
{
uint16_t *d = (uint16_t *) sample;
int i = sizeof (*sample) / 2;
ao_hmc5883_done = 0;
ao_exti_enable(AO_HMC5883_INT_PORT, AO_HMC5883_INT_PIN);
ao_hmc5883_reg_write(HMC5883_MODE, HMC5883_MODE_SINGLE);
ao_alarm(AO_MS_TO_TICKS(10));
ao_arch_block_interrupts();
while (!ao_hmc5883_done)
if (ao_sleep(&ao_hmc5883_done))
++ao_hmc5883_missed_irq;
ao_arch_release_interrupts();
ao_clear_alarm();
ao_hmc5883_read(HMC5883_X_MSB, (uint8_t *) sample, sizeof (struct ao_hmc5883_sample));
#if __BYTE_ORDER == __LITTLE_ENDIAN
/* byte swap */
while (i--) {
uint16_t t = *d;
*d++ = (t >> 8) | (t << 8);
}
#endif
}
void
ao_report(void)
{
ao_report_state = ao_flight_state;
for(;;) {
#if HAS_BATTERY_REPORT
if (ao_flight_state == ao_flight_startup)
ao_report_battery();
else
#endif
ao_report_beep();
if (ao_flight_state == ao_flight_landed) {
ao_report_altitude();
#if HAS_FLIGHT
ao_delay(AO_SEC_TO_TICKS(5));
continue;
#endif
}
#if HAS_IGNITE_REPORT
if (ao_flight_state == ao_flight_idle)
ao_report_continuity();
while (ao_flight_state == ao_flight_pad) {
uint8_t c;
ao_report_continuity();
c = 50;
while (c-- && ao_flight_state == ao_flight_pad)
pause(AO_MS_TO_TICKS(100));
}
#endif
while (ao_report_state == ao_flight_state)
ao_sleep(DATA_TO_XDATA(&ao_flight_state));
ao_report_state = ao_flight_state;
}
}
void
ao_gps_tracking_report(void)
{
static __xdata struct ao_log_record gps_log;
static __xdata struct ao_telemetry_satellite gps_tracking_data;
uint8_t c, n;
for (;;) {
ao_sleep(&ao_gps_tracking_data);
ao_mutex_get(&ao_gps_mutex);
gps_log.tick = ao_gps_tick;
memcpy(&gps_tracking_data, &ao_gps_tracking_data, sizeof (ao_gps_tracking_data));
ao_mutex_put(&ao_gps_mutex);
if (!(n = gps_tracking_data.channels))
continue;
gps_log.type = AO_LOG_GPS_SAT;
for (c = 0; c < n; c++)
if ((gps_log.u.gps_sat.svid = gps_tracking_data.sats[c].svid))
{
gps_log.u.gps_sat.c_n = gps_tracking_data.sats[c].c_n_1;
ao_log_data(&gps_log);
}
}
}
void
ao_usart_drain(struct ao_stm_usart *usart)
{
ao_arch_block_interrupts();
while (!ao_fifo_empty(usart->tx_fifo))
ao_sleep(&usart->tx_fifo);
ao_arch_release_interrupts();
}
void
ao_usart_putchar(struct ao_stm_usart *usart, char c)
{
ao_arch_block_interrupts();
while (ao_fifo_full(usart->tx_fifo))
ao_sleep(&usart->tx_fifo);
ao_fifo_insert(usart->tx_fifo, c);
_ao_usart_tx_start(usart);
ao_arch_release_interrupts();
}
char
ao_usart_getchar(struct ao_stm_usart *usart)
{
int c;
ao_arch_block_interrupts();
while ((c = _ao_usart_pollchar(usart)) == AO_READ_AGAIN)
ao_sleep(&usart->rx_fifo);
ao_arch_release_interrupts();
return (char) c;
}
void
ao_rssi(void)
{
for (;;) {
while ((int16_t) (ao_time() - ao_rssi_time) > AO_SEC_TO_TICKS(3))
ao_sleep(&ao_rssi_time);
ao_led_for(ao_rssi_led, AO_MS_TO_TICKS(100));
ao_delay(ao_rssi_delay);
}
}
static void
ao_report_battery(void)
{
__xdata struct ao_data packet;
for (;;) {
ao_data_get(&packet);
if (packet.adc.v_batt != 0)
break;
ao_sleep(DATA_TO_XDATA(&ao_sample_data));
}
ao_report_number(ao_battery_decivolt(packet.adc.v_batt));
}
void
blink_0(void)
{
uint8_t b = 0;
for (;;) {
b = 1 - b;
if (b)
ao_led_on(AO_LED_GREEN);
else
ao_led_off(AO_LED_GREEN);
ao_sleep(&blink_chan);
}
}
void
blink_1(void)
{
static __xdata struct ao_adc adc;
for (;;) {
ao_sleep(&ao_adc_head);
ao_adc_get(&adc);
if (adc.accel < 15900)
ao_led_on(AO_LED_RED);
else
ao_led_off(AO_LED_RED);
}
}
/*
* A thread to initialize the bluetooth device and
* hang around to blink the LED when connected
*/
void
ao_btm(void)
{
/*
* Wait for the bluetooth device to boot
*/
ao_delay(AO_SEC_TO_TICKS(3));
/*
* The first time we connect, the BTM-180 comes up at 19200 baud.
* After that, it will remember and come up at 57600 baud. So, see
* if it is already running at 57600 baud, and if that doesn't work
* then tell it to switch to 57600 from 19200 baud.
*/
while (!ao_btm_try_speed(AO_SERIAL_SPEED_57600)) {
ao_delay(AO_SEC_TO_TICKS(1));
if (ao_btm_try_speed(AO_SERIAL_SPEED_19200))
ao_btm_cmd("ATL4\r");
ao_delay(AO_SEC_TO_TICKS(1));
}
/* Disable echo */
ao_btm_cmd("ATE0\r");
/* Enable flow control */
ao_btm_cmd("ATC1\r");
/* Set the reported name to something we can find on the host */
ao_btm_set_name();
/* Turn off status reporting */
ao_btm_cmd("ATQ1\r");
ao_btm_stdio = ao_add_stdio(_ao_serial_btm_pollchar,
ao_serial_btm_putchar,
NULL);
ao_btm_echo(0);
for (;;) {
while (!ao_btm_connected)
ao_sleep(&ao_btm_connected);
while (ao_btm_connected) {
ao_led_for(AO_BT_LED, AO_MS_TO_TICKS(20));
ao_delay(AO_SEC_TO_TICKS(3));
}
}
}
static int
ao_btm_getchar(void)
{
int c;
ao_arch_block_interrupts();
while ((c = _ao_serial_btm_pollchar()) == AO_READ_AGAIN) {
ao_alarm(AO_MS_TO_TICKS(10));
c = ao_sleep(&ao_serial_btm_rx_fifo);
ao_clear_alarm();
if (c) {
c = AO_READ_AGAIN;
break;
}
}
ao_arch_release_interrupts();
return c;
}
static void
ao_launch_run(void)
{
for (;;) {
while (!ao_launch_ignite)
ao_sleep(&ao_launch_ignite);
ao_ignition[ao_igniter_drogue].firing = 1;
ao_ignition[ao_igniter_main].firing = 1;
AO_IGNITER_DIR |= AO_IGNITER_DROGUE_BIT | AO_IGNITER_MAIN_BIT;
AO_IGNITER_DROGUE = 1;
while (ao_launch_ignite) {
ao_launch_ignite = 0;
ao_delay(AO_MS_TO_TICKS(500));
}
AO_IGNITER_DROGUE = 0;
ao_ignition[ao_igniter_drogue].firing = 0;
ao_ignition[ao_igniter_main].firing = 0;
}
}
void
ao_gps_report(void)
{
static __xdata struct ao_log_record gps_log;
static __xdata struct ao_telemetry_location gps_data;
uint8_t date_reported = 0;
for (;;) {
ao_sleep(&ao_gps_data);
ao_mutex_get(&ao_gps_mutex);
memcpy(&gps_data, &ao_gps_data, sizeof (ao_gps_data));
ao_mutex_put(&ao_gps_mutex);
if (!(gps_data.flags & AO_GPS_VALID))
continue;
gps_log.tick = ao_gps_tick;
gps_log.type = AO_LOG_GPS_TIME;
gps_log.u.gps_time.hour = gps_data.hour;
gps_log.u.gps_time.minute = gps_data.minute;
gps_log.u.gps_time.second = gps_data.second;
gps_log.u.gps_time.flags = gps_data.flags;
ao_log_data(&gps_log);
gps_log.type = AO_LOG_GPS_LAT;
gps_log.u.gps_latitude = gps_data.latitude;
ao_log_data(&gps_log);
gps_log.type = AO_LOG_GPS_LON;
gps_log.u.gps_longitude = gps_data.longitude;
ao_log_data(&gps_log);
gps_log.type = AO_LOG_GPS_ALT;
gps_log.u.gps_altitude.altitude = gps_data.altitude;
gps_log.u.gps_altitude.unused = 0xffff;
ao_log_data(&gps_log);
if (!date_reported && (gps_data.flags & AO_GPS_DATE_VALID)) {
gps_log.type = AO_LOG_GPS_DATE;
gps_log.u.gps_date.year = gps_data.year;
gps_log.u.gps_date.month = gps_data.month;
gps_log.u.gps_date.day = gps_data.day;
gps_log.u.gps_date.extra = 0;
date_reported = ao_log_data(&gps_log);
}
}
}
static void
ao_fake_flight(void)
{
int16_t calib_size, data_size;
struct ao_fake_calib save_calib;
uint16_t my_pyro_fired = 0;
enum ao_flight_state my_state = ao_flight_invalid;
int i;
ao_cmd_hex();
if (ao_cmd_status != ao_cmd_success)
return;
calib_size = ao_cmd_lex_i;
ao_cmd_hex();
if (ao_cmd_status != ao_cmd_success)
return;
data_size = ao_cmd_lex_i;
if ((unsigned) calib_size != sizeof (struct ao_fake_calib)) {
printf ("calib size %d larger than actual size %d\n",
calib_size, sizeof (struct ao_fake_calib));
ao_cmd_status = ao_cmd_syntax_error;
return;
}
if (data_size != sizeof (struct ao_data)) {
printf ("data size %d doesn't match actual size %d\n",
data_size, sizeof (struct ao_data));
ao_cmd_status = ao_cmd_syntax_error;
return;
}
ao_fake_calib_get(&save_calib);
if (!ao_fake_calib_read())
return;
ao_fake_has_next = 0;
ao_fake_has_cur = 0;
ao_fake_flight_active = 1;
ao_sample_init();
#if PACKET_HAS_SLAVE
ao_packet_slave_stop();
#endif
#if AO_LED_RED
/* Turn on the LED to indicate startup */
ao_led_on(AO_LED_RED);
#endif
ao_flight_state = ao_flight_startup;
for (;;) {
if (my_state != ao_flight_state) {
printf("state %d\n", ao_flight_state);
my_state = ao_flight_state;
flush();
}
if (my_pyro_fired != ao_pyro_fired) {
int pyro;
for (pyro = 0; pyro < AO_PYRO_NUM; pyro++) {
uint16_t bit = (1 << pyro);
if (!(my_pyro_fired & bit) && (ao_pyro_fired & bit))
printf ("fire %d\n", pyro);
}
my_pyro_fired = ao_pyro_fired;
}
while (ao_fake_has_next)
ao_sleep((void *) &ao_fake_has_next);
if (!ao_fake_data_read())
break;
}
/* Wait 20 seconds to see if we enter landed state */
for (i = 0; i < 200; i++)
{
if (ao_flight_state == ao_flight_landed)
break;
ao_delay(AO_MS_TO_TICKS(100));
}
#if AO_LED_RED
/* Turn on the LED to indicate startup */
ao_led_on(AO_LED_RED);
#endif
ao_fake_flight_active = 0;
ao_flight_state = ao_flight_startup;
ao_sample_init();
ao_fake_calib_set(&save_calib);
}
void
ao_log(void)
{
uint16_t last_time;
uint16_t now;
enum ao_flight_state ao_log_tiny_state;
int32_t sum;
int16_t count;
uint8_t ao_log_data;
uint8_t ao_log_started = 0;
ao_storage_setup();
ao_log_scan();
ao_log_tiny_state = ao_flight_invalid;
ao_log_tiny_interval = AO_LOG_TINY_INTERVAL_ASCENT;
sum = 0;
count = 0;
ao_log_data = ao_sample_data;
last_time = ao_time();
for (;;) {
/*
* Add in pending sample data
*/
ao_sleep(DATA_TO_XDATA(&ao_sample_data));
while (ao_log_data != ao_sample_data) {
sum += ao_data_pres(&ao_data_ring[ao_log_data]);
count++;
ao_log_data = ao_data_ring_next(ao_log_data);
}
if (ao_log_running) {
if (!ao_log_started) {
ao_log_tiny_start();
ao_log_started = 1;
}
if (ao_flight_state != ao_log_tiny_state) {
ao_log_tiny_data(ao_flight_state | 0x8000);
ao_log_tiny_state = ao_flight_state;
ao_log_tiny_interval = AO_LOG_TINY_INTERVAL_DEFAULT;
#if AO_LOG_TINY_INTERVAL_ASCENT != AO_LOG_TINY_INTERVAL_DEFAULT
if (ao_log_tiny_state <= ao_flight_coast)
ao_log_tiny_interval = AO_LOG_TINY_INTERVAL_ASCENT;
#endif
if (ao_log_tiny_state == ao_flight_landed)
ao_log_stop();
}
}
/* Stop logging when told to */
if (!ao_log_running && ao_log_started)
ao_exit();
/*
* Write out the sample when finished
*/
now = ao_time();
if ((int16_t) (now - (last_time + ao_log_tiny_interval)) >= 0 && count) {
count = sum / count;
if (ao_log_started)
ao_log_tiny_data(count);
else
ao_log_tiny_queue(count);
sum = 0;
count = 0;
last_time = now;
}
}
}
void
ao_log(void)
{
__pdata uint16_t next_sensor, next_other;
uint8_t i;
ao_storage_setup();
ao_log_scan();
while (!ao_log_running)
ao_sleep(&ao_log_running);
#if HAS_FLIGHT
log.type = AO_LOG_FLIGHT;
log.tick = ao_sample_tick;
#if HAS_ACCEL
log.u.flight.ground_accel = ao_ground_accel;
#endif
#if HAS_GYRO
log.u.flight.ground_accel_along = ao_ground_accel_along;
log.u.flight.ground_accel_across = ao_ground_accel_across;
log.u.flight.ground_accel_through = ao_ground_accel_through;
log.u.flight.ground_roll = ao_ground_roll;
log.u.flight.ground_pitch = ao_ground_pitch;
log.u.flight.ground_yaw = ao_ground_yaw;
#endif
log.u.flight.ground_pres = ao_ground_pres;
log.u.flight.flight = ao_flight_number;
ao_log_mega(&log);
#endif
/* Write the whole contents of the ring to the log
* when starting up.
*/
ao_log_data_pos = ao_data_ring_next(ao_data_head);
next_other = next_sensor = ao_data_ring[ao_log_data_pos].tick;
ao_log_state = ao_flight_startup;
for (;;) {
/* Write samples to EEPROM */
while (ao_log_data_pos != ao_data_head) {
log.tick = ao_data_ring[ao_log_data_pos].tick;
if ((int16_t) (log.tick - next_sensor) >= 0) {
log.type = AO_LOG_SENSOR;
#if HAS_MS5607
log.u.sensor.pres = ao_data_ring[ao_log_data_pos].ms5607_raw.pres;
log.u.sensor.temp = ao_data_ring[ao_log_data_pos].ms5607_raw.temp;
#endif
#if HAS_MPU6000
log.u.sensor.accel_x = ao_data_ring[ao_log_data_pos].mpu6000.accel_x;
log.u.sensor.accel_y = ao_data_ring[ao_log_data_pos].mpu6000.accel_y;
log.u.sensor.accel_z = ao_data_ring[ao_log_data_pos].mpu6000.accel_z;
log.u.sensor.gyro_x = ao_data_ring[ao_log_data_pos].mpu6000.gyro_x;
log.u.sensor.gyro_y = ao_data_ring[ao_log_data_pos].mpu6000.gyro_y;
log.u.sensor.gyro_z = ao_data_ring[ao_log_data_pos].mpu6000.gyro_z;
#endif
#if HAS_HMC5883
log.u.sensor.mag_x = ao_data_ring[ao_log_data_pos].hmc5883.x;
log.u.sensor.mag_y = ao_data_ring[ao_log_data_pos].hmc5883.y;
log.u.sensor.mag_z = ao_data_ring[ao_log_data_pos].hmc5883.z;
#endif
log.u.sensor.accel = ao_data_accel(&ao_data_ring[ao_log_data_pos]);
ao_log_mega(&log);
if (ao_log_state <= ao_flight_coast)
next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
else
next_sensor = log.tick + AO_SENSOR_INTERVAL_DESCENT;
}
if ((int16_t) (log.tick - next_other) >= 0) {
log.type = AO_LOG_TEMP_VOLT;
log.u.volt.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt;
log.u.volt.v_pbatt = ao_data_ring[ao_log_data_pos].adc.v_pbatt;
log.u.volt.n_sense = AO_ADC_NUM_SENSE;
for (i = 0; i < AO_ADC_NUM_SENSE; i++)
log.u.volt.sense[i] = ao_data_ring[ao_log_data_pos].adc.sense[i];
log.u.volt.pyro = ao_pyro_fired;
ao_log_mega(&log);
next_other = log.tick + AO_OTHER_INTERVAL;
}
ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
}
#if HAS_FLIGHT
/* Write state change to EEPROM */
if (ao_flight_state != ao_log_state) {
ao_log_state = ao_flight_state;
log.type = AO_LOG_STATE;
log.tick = ao_time();
log.u.state.state = ao_log_state;
log.u.state.reason = 0;
ao_log_mega(&log);
if (ao_log_state == ao_flight_landed)
ao_log_stop();
}
#endif
ao_log_flush();
/* Wait for a while */
ao_delay(AO_MS_TO_TICKS(100));
/* Stop logging when told to */
while (!ao_log_running)
ao_sleep(&ao_log_running);
}
}
void
ao_log(void)
{
__pdata uint16_t next_sensor, next_other;
ao_storage_setup();
ao_log_scan();
while (!ao_log_running)
ao_sleep(&ao_log_running);
#if HAS_FLIGHT
log.type = AO_LOG_FLIGHT;
log.tick = ao_sample_tick;
#if HAS_ACCEL
log.u.flight.ground_accel = ao_ground_accel;
#endif
log.u.flight.ground_pres = ao_ground_pres;
log.u.flight.flight = ao_flight_number;
ao_log_metrum(&log);
#endif
/* Write the whole contents of the ring to the log
* when starting up.
*/
ao_log_data_pos = ao_data_ring_next(ao_data_head);
next_other = next_sensor = ao_data_ring[ao_log_data_pos].tick;
ao_log_state = ao_flight_startup;
for (;;) {
/* Write samples to EEPROM */
while (ao_log_data_pos != ao_data_head) {
log.tick = ao_data_ring[ao_log_data_pos].tick;
if ((int16_t) (log.tick - next_sensor) >= 0) {
log.type = AO_LOG_SENSOR;
#if HAS_MS5607
log.u.sensor.pres = ao_data_ring[ao_log_data_pos].ms5607_raw.pres;
log.u.sensor.temp = ao_data_ring[ao_log_data_pos].ms5607_raw.temp;
#endif
#if HAS_ACCEL
log.u.sensor.accel = ao_data_accel(&ao_data_ring[ao_log_data_pos]);
#endif
ao_log_metrum(&log);
if (ao_log_state <= ao_flight_coast)
next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
else
next_sensor = log.tick + AO_SENSOR_INTERVAL_DESCENT;
}
if ((int16_t) (log.tick - next_other) >= 0) {
log.type = AO_LOG_TEMP_VOLT;
log.u.volt.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt;
log.u.volt.sense_a = ao_data_ring[ao_log_data_pos].adc.sense_a;
log.u.volt.sense_m = ao_data_ring[ao_log_data_pos].adc.sense_m;
ao_log_metrum(&log);
next_other = log.tick + AO_OTHER_INTERVAL;
}
ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
}
#if HAS_FLIGHT
/* Write state change to EEPROM */
if (ao_flight_state != ao_log_state) {
ao_log_state = ao_flight_state;
log.type = AO_LOG_STATE;
log.tick = ao_time();
log.u.state.state = ao_log_state;
log.u.state.reason = 0;
ao_log_metrum(&log);
if (ao_log_state == ao_flight_landed)
ao_log_stop();
}
#endif
ao_log_flush();
/* Wait for a while */
ao_delay(AO_MS_TO_TICKS(100));
/* Stop logging when told to */
while (!ao_log_running)
ao_sleep(&ao_log_running);
}
}
void
ao_delay(uint16_t ticks)
{
ao_alarm(ticks);
ao_sleep(&ao_forever);
}