+++ /dev/null
-/*
- * 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; 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.
- */
-
-#include "ao.h"
-#include <ao_log.h>
-#include <ao_data.h>
-#include <ao_flight.h>
-
-static __xdata uint8_t ao_log_mutex;
-static __xdata struct ao_log_mega log;
-
-__code uint8_t ao_log_format = AO_LOG_FORMAT_TELEMEGA;
-
-static uint8_t
-ao_log_csum(__xdata uint8_t *b) __reentrant
-{
- uint8_t sum = 0x5a;
- uint8_t i;
-
- for (i = 0; i < sizeof (struct ao_log_mega); i++)
- sum += *b++;
- return -sum;
-}
-
-uint8_t
-ao_log_mega(__xdata struct ao_log_mega *log) __reentrant
-{
- uint8_t wrote = 0;
- /* set checksum */
- log->csum = 0;
- log->csum = ao_log_csum((__xdata uint8_t *) log);
- ao_mutex_get(&ao_log_mutex); {
- if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
- ao_log_stop();
- if (ao_log_running) {
- wrote = 1;
- ao_storage_write(ao_log_current_pos,
- log,
- sizeof (struct ao_log_mega));
- ao_log_current_pos += sizeof (struct ao_log_mega);
- }
- } ao_mutex_put(&ao_log_mutex);
- return wrote;
-}
-
-static uint8_t
-ao_log_dump_check_data(void)
-{
- if (ao_log_csum((uint8_t *) &log) != 0)
- return 0;
- return 1;
-}
-
-#if HAS_ADC
-static __data uint8_t ao_log_data_pos;
-
-/* a hack to make sure that ao_log_megas fill the eeprom block in even units */
-typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_mega))] ;
-
-#ifndef AO_SENSOR_INTERVAL_ASCENT
-#define AO_SENSOR_INTERVAL_ASCENT 1
-#define AO_SENSOR_INTERVAL_DESCENT 10
-#define AO_OTHER_INTERVAL 32
-#endif
-
-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_pitch = ao_ground_pitch;
- log.u.flight.ground_yaw = ao_ground_yaw;
- log.u.flight.ground_roll = ao_ground_roll;
-#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);
- }
-}
-#endif
-
-uint16_t
-ao_log_flight(uint8_t slot)
-{
- if (!ao_storage_read(ao_log_pos(slot),
- &log,
- sizeof (struct ao_log_mega)))
- return 0;
-
- if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
- return log.u.flight.flight;
- return 0;
-}
projects / fw / altos / blobdiff