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   1 /*
   2  * Copyright © 2012 Keith Packard <keithp@keithp.com>
   3  *
   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.
   7  *
   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.
  12  *
  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.
  16  */
  17
  18 #include "ao.h"
  19 #include <ao_log.h>
  20 #include <ao_data.h>
  21 #include <ao_flight.h>
  22
  23 static __xdata uint8_t  ao_log_mutex;
  24 static __xdata struct ao_log_mega log;
  25
  26 static uint8_t
  27 ao_log_csum(__xdata uint8_t *b) __reentrant
  28 {
  29         uint8_t sum = 0x5a;
  30         uint8_t i;
  31
  32         for (i = 0; i < sizeof (struct ao_log_mega); i++)
  33                 sum += *b++;
  34         return -sum;
  35 }
  36
  37 uint8_t
  38 ao_log_mega(__xdata struct ao_log_mega *log) __reentrant
  39 {
  40         uint8_t wrote = 0;
  41         /* set checksum */
  42         log->csum = 0;
  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)
  46                         ao_log_stop();
  47                 if (ao_log_running) {
  48                         wrote = 1;
  49                         ao_storage_write(ao_log_current_pos,
  50                                          log,
  51                                          sizeof (struct ao_log_mega));
  52                         ao_log_current_pos += sizeof (struct ao_log_mega);
  53                 }
  54         } ao_mutex_put(&ao_log_mutex);
  55         return wrote;
  56 }
  57
  58 static uint8_t
  59 ao_log_dump_check_data(void)
  60 {
  61         if (ao_log_csum((uint8_t *) &log) != 0)
  62                 return 0;
  63         return 1;
  64 }
  65
  66 static __data uint8_t   ao_log_data_pos;
  67
  68 /* a hack to make sure that ao_log_megas fill the eeprom block in even units */
  69 typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_mega))] ;
  70
  71 #ifndef AO_SENSOR_INTERVAL_ASCENT
  72 #define AO_SENSOR_INTERVAL_ASCENT       1
  73 #define AO_SENSOR_INTERVAL_DESCENT      10
  74 #define AO_OTHER_INTERVAL               32
  75 #endif
  76
  77 void
  78 ao_log(void)
  79 {
  80         __pdata uint16_t        next_sensor, next_other;
  81         uint8_t                 i;
  82
  83         ao_storage_setup();
  84
  85         ao_log_scan();
  86
  87         while (!ao_log_running)
  88                 ao_sleep(&ao_log_running);
  89
  90 #if HAS_FLIGHT
  91         log.type = AO_LOG_FLIGHT;
  92         log.tick = ao_sample_tick;
  93 #if HAS_ACCEL
  94         log.u.flight.ground_accel = ao_ground_accel;
  95 #endif
  96         log.u.flight.ground_pres = ao_ground_pres;
  97         log.u.flight.flight = ao_flight_number;
  98         ao_log_mega(&log);
  99 #endif
 100
 101         /* Write the whole contents of the ring to the log
 102          * when starting up.
 103          */
 104         ao_log_data_pos = ao_data_ring_next(ao_data_head);
 105         next_other = next_sensor = ao_data_ring[ao_log_data_pos].tick;
 106         ao_log_state = ao_flight_startup;
 107         for (;;) {
 108                 /* Write samples to EEPROM */
 109                 while (ao_log_data_pos != ao_data_head) {
 110                         log.tick = ao_data_ring[ao_log_data_pos].tick;
 111                         if ((int16_t) (log.tick - next_sensor) >= 0) {
 112                                 log.type = AO_LOG_SENSOR;
 113                                 log.u.sensor.pres = ao_data_ring[ao_log_data_pos].ms5607.pres;
 114                                 log.u.sensor.temp = ao_data_ring[ao_log_data_pos].ms5607.temp;
 115                                 log.u.sensor.accel_x = ao_data_ring[ao_log_data_pos].mpu6000.accel_x;
 116                                 log.u.sensor.accel_y = ao_data_ring[ao_log_data_pos].mpu6000.accel_y;
 117                                 log.u.sensor.accel_z = ao_data_ring[ao_log_data_pos].mpu6000.accel_z;
 118                                 log.u.sensor.gyro_x = ao_data_ring[ao_log_data_pos].mpu6000.gyro_x;
 119                                 log.u.sensor.gyro_y = ao_data_ring[ao_log_data_pos].mpu6000.gyro_y;
 120                                 log.u.sensor.gyro_z = ao_data_ring[ao_log_data_pos].mpu6000.gyro_z;
 121                                 ao_log_mega(&log);
 122                                 if (ao_log_state <= ao_flight_coast)
 123                                         next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
 124                                 else
 125                                         next_sensor = log.tick + AO_SENSOR_INTERVAL_DESCENT;
 126                         }
 127                         if ((int16_t) (log.tick - next_other) >= 0) {
 128                                 log.type = AO_LOG_TEMP_VOLT;
 129                                 log.u.volt.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt;
 130                                 log.u.volt.v_pbatt = ao_data_ring[ao_log_data_pos].adc.v_pbatt;
 131                                 log.u.volt.n_sense = AO_ADC_NUM_SENSE;
 132                                 for (i = 0; i < AO_ADC_NUM_SENSE; i++)
 133                                         log.u.volt.sense[i] = ao_data_ring[ao_log_data_pos].adc.sense[i];
 134                                 ao_log_mega(&log);
 135                                 next_other = log.tick + AO_OTHER_INTERVAL;
 136                         }
 137                         ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
 138                 }
 139 #if HAS_FLIGHT
 140                 /* Write state change to EEPROM */
 141                 if (ao_flight_state != ao_log_state) {
 142                         ao_log_state = ao_flight_state;
 143                         log.type = AO_LOG_STATE;
 144                         log.tick = ao_time();
 145                         log.u.state.state = ao_log_state;
 146                         log.u.state.reason = 0;
 147                         ao_log_mega(&log);
 148
 149                         if (ao_log_state == ao_flight_landed)
 150                                 ao_log_stop();
 151                 }
 152 #endif
 153
 154                 /* Wait for a while */
 155                 ao_delay(AO_MS_TO_TICKS(100));
 156
 157                 /* Stop logging when told to */
 158                 while (!ao_log_running)
 159                         ao_sleep(&ao_log_running);
 160         }
 161 }
 162
 163 uint16_t
 164 ao_log_flight(uint8_t slot)
 165 {
 166         if (!ao_storage_read(ao_log_pos(slot),
 167                              &log,
 168                              sizeof (struct ao_log_mega)))
 169                 return 0;
 170
 171         if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
 172                 return log.u.flight.flight;
 173         return 0;
 174 }