2 * Copyright © 2009 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; version 2 of the License.
8 * This program is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * General Public License for more details.
13 * You should have received a copy of the GNU General Public License along
14 * with this program; if not, write to the Free Software Foundation, Inc.,
15 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
20 static __pdata uint32_t ao_log_current_pos;
21 static __pdata uint32_t ao_log_end_pos;
22 static __pdata uint32_t ao_log_start_pos;
23 static __xdata uint8_t ao_log_running;
24 static __xdata uint8_t ao_log_mutex;
27 ao_log_csum(__xdata uint8_t *b) __reentrant
32 for (i = 0; i < sizeof (struct ao_log_record); i++)
38 ao_log_data(__xdata struct ao_log_record *log) __reentrant
43 log->csum = ao_log_csum((__xdata uint8_t *) log);
44 ao_mutex_get(&ao_log_mutex); {
45 if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
49 ao_storage_write(ao_log_current_pos,
51 sizeof (struct ao_log_record));
52 ao_log_current_pos += sizeof (struct ao_log_record);
54 } ao_mutex_put(&ao_log_mutex);
64 static void ao_log_scan(void);
66 __xdata struct ao_log_record log;
67 __xdata uint16_t ao_flight_number;
70 ao_log_dump_check_data(void)
72 if (ao_log_csum((uint8_t *) &log) != 0)
77 __xdata uint8_t ao_log_adc_pos;
78 __xdata enum flight_state ao_log_state;
80 /* a hack to make sure that ao_log_records fill the eeprom block in even units */
81 typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_record))] ;
90 while (!ao_log_running)
91 ao_sleep(&ao_log_running);
93 log.type = AO_LOG_FLIGHT;
94 log.tick = ao_flight_tick;
96 log.u.flight.ground_accel = ao_ground_accel;
98 log.u.flight.flight = ao_flight_number;
101 /* Write the whole contents of the ring to the log
104 ao_log_adc_pos = ao_adc_ring_next(ao_flight_adc);
106 /* Write samples to EEPROM */
107 while (ao_log_adc_pos != ao_flight_adc) {
108 log.type = AO_LOG_SENSOR;
109 log.tick = ao_adc_ring[ao_log_adc_pos].tick;
110 log.u.sensor.accel = ao_adc_ring[ao_log_adc_pos].accel;
111 log.u.sensor.pres = ao_adc_ring[ao_log_adc_pos].pres;
113 if ((ao_log_adc_pos & 0x1f) == 0) {
114 log.type = AO_LOG_TEMP_VOLT;
115 log.tick = ao_adc_ring[ao_log_adc_pos].tick;
116 log.u.temp_volt.temp = ao_adc_ring[ao_log_adc_pos].temp;
117 log.u.temp_volt.v_batt = ao_adc_ring[ao_log_adc_pos].v_batt;
119 log.type = AO_LOG_DEPLOY;
120 log.tick = ao_adc_ring[ao_log_adc_pos].tick;
121 log.u.deploy.drogue = ao_adc_ring[ao_log_adc_pos].sense_d;
122 log.u.deploy.main = ao_adc_ring[ao_log_adc_pos].sense_m;
125 ao_log_adc_pos = ao_adc_ring_next(ao_log_adc_pos);
127 /* Write state change to EEPROM */
128 if (ao_flight_state != ao_log_state) {
129 ao_log_state = ao_flight_state;
130 log.type = AO_LOG_STATE;
131 log.tick = ao_flight_tick;
132 log.u.state.state = ao_log_state;
133 log.u.state.reason = 0;
136 if (ao_log_state == ao_flight_landed)
140 /* Wait for a while */
141 ao_delay(AO_MS_TO_TICKS(100));
143 /* Stop logging when told to */
144 while (!ao_log_running)
145 ao_sleep(&ao_log_running);
150 * When erasing a flight log, make sure the config block
151 * has an up-to-date version of the current flight number
154 struct ao_log_erase {
159 static __xdata struct ao_log_erase erase;
161 #define LOG_MAX_ERASE 16
164 ao_log_erase_pos(uint8_t i)
166 return i * sizeof (struct ao_log_erase) + AO_STORAGE_ERASE_LOG;
170 ao_log_write_erase(uint8_t pos)
173 erase.flight = ao_flight_number;
174 ao_storage_write(ao_log_erase_pos(pos), &erase, sizeof (erase));
179 ao_log_read_erase(uint8_t pos)
181 ao_storage_read(ao_log_erase_pos(pos), &erase, sizeof (erase));
186 ao_log_erase_mark(void)
190 for (i = 0; i < LOG_MAX_ERASE; i++) {
191 ao_log_read_erase(i);
192 if (erase.unused == 0 && erase.flight == ao_flight_number)
194 if (erase.unused == 0xff) {
195 ao_log_write_erase(i);
205 return (uint8_t) (ao_storage_config / ao_config.flight_log_max);
209 ao_log_pos(uint8_t slot)
211 return ((slot) * ao_config.flight_log_max);
215 ao_log_flight(uint8_t slot)
217 if (!ao_storage_read(ao_log_pos(slot),
219 sizeof (struct ao_log_record)))
222 if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
223 return log.u.flight.flight;
228 ao_log_max_flight(void)
233 uint16_t max_flight = 0;
235 /* Scan the log space looking for the biggest flight number */
236 log_slots = ao_log_slots();
237 for (log_slot = 0; log_slot < log_slots; log_slot++) {
238 log_flight = ao_log_flight(log_slot);
241 if (max_flight == 0 || (int16_t) (log_flight - max_flight) > 0)
242 max_flight = log_flight;
248 ao_log_scan(void) __reentrant
256 ao_flight_number = ao_log_max_flight();
257 if (ao_flight_number)
258 if (++ao_flight_number == 0)
259 ao_flight_number = 1;
261 /* Now look through the log of flight numbers from erase operations and
262 * see if the last one is bigger than what we found above
264 for (log_slot = LOG_MAX_ERASE; log_slot-- > 0;) {
265 ao_log_read_erase(log_slot);
266 if (erase.unused == 0) {
267 if (ao_flight_number == 0 ||
268 (int16_t) (erase.flight - ao_flight_number) > 0)
269 ao_flight_number = erase.flight;
273 if (ao_flight_number == 0)
274 ao_flight_number = 1;
276 /* With a flight number in hand, find a place to write a new log,
277 * use the target flight number to index the available log slots so
278 * that we write logs to each spot about the same number of times.
281 /* Find a log slot for the next flight, if available */
282 ao_log_current_pos = ao_log_end_pos = 0;
283 log_slots = ao_log_slots();
284 log_want = (ao_flight_number - 1) % log_slots;
287 if (ao_log_flight(log_slot) == 0) {
288 ao_log_current_pos = ao_log_pos(log_slot);
289 ao_log_end_pos = ao_log_current_pos + ao_config.flight_log_max;
292 if (++log_slot >= log_slots)
294 } while (log_slot != log_want);
296 ao_wakeup(&ao_flight_number);
304 ao_wakeup(&ao_log_running);
317 return ao_log_max_flight() != 0;
323 return ao_log_current_pos == ao_log_end_pos;
326 static __xdata struct ao_task ao_log_task;
329 ao_log_list(void) __reentrant
335 slots = ao_log_slots();
336 for (slot = 0; slot < slots; slot++)
338 flight = ao_log_flight(slot);
340 printf ("flight %d start %x end %x\n",
342 (uint16_t) (ao_log_pos(slot) >> 8),
343 (uint16_t) (ao_log_pos(slot+1) >> 8));
349 ao_log_delete(void) __reentrant
355 if (ao_cmd_status != ao_cmd_success)
358 slots = ao_log_slots();
359 /* Look for the flight log matching the requested flight */
361 for (slot = 0; slot < slots; slot++) {
362 if (ao_log_flight(slot) == ao_cmd_lex_i) {
364 ao_log_current_pos = ao_log_pos(slot);
365 ao_log_end_pos = ao_log_current_pos + ao_config.flight_log_max;
366 while (ao_log_current_pos < ao_log_end_pos) {
368 * Check to see if we've reached the end of
369 * the used memory to avoid re-erasing the same
370 * memory over and over again
372 if (ao_storage_read(ao_log_current_pos,
374 sizeof (struct ao_log_record))) {
375 for (slot = 0; slot < sizeof (struct ao_log_record); slot++)
376 if (((uint8_t *) &log)[slot] != 0xff)
378 if (slot == sizeof (struct ao_log_record))
381 ao_storage_erase(ao_log_current_pos);
382 ao_log_current_pos += ao_storage_block;
389 printf("No such flight: %d\n", ao_cmd_lex_i);
394 __code struct ao_cmds ao_log_cmds[] = {
395 { ao_log_list, "l\0List stored flight logs" },
396 { ao_log_delete, "d <flight-number>\0Delete stored flight" },
405 /* For now, just log the flight starting at the begining of eeprom */
406 ao_log_state = ao_flight_invalid;
408 ao_cmd_register(&ao_log_cmds[0]);
410 /* Create a task to log events to eeprom */
411 ao_add_task(&ao_log_task, ao_log, "log");