altos: Rename 'core' to 'kernel'

[fw/altos] / src / kernel / ao_log_tiny.c

diff --git a/src/kernel/ao_log_tiny.c b/src/kernel/ao_log_tiny.c
new file mode 100644 (file)
index 0000000..67767dc
--- /dev/null
+++ b/src/kernel/ao_log_tiny.c
@@ -0,0 +1,161 @@
+/*
+ * Copyright © 2011 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"
+
+static __data uint16_t ao_log_tiny_interval;
+
+#define AO_LOG_TINY_INTERVAL_DEFAULT   AO_MS_TO_TICKS(1000)
+#if USE_FAST_ASCENT_LOG
+#define AO_LOG_TINY_INTERVAL_ASCENT    AO_MS_TO_TICKS(100)
+#define AO_PAD_RING    8
+#else
+#define AO_LOG_TINY_INTERVAL_ASCENT    AO_LOG_TINY_INTERVAL_DEFAULT
+#define AO_PAD_RING    2
+#endif
+
+__code uint8_t ao_log_format = AO_LOG_FORMAT_TINY;
+
+void
+ao_log_tiny_set_interval(uint16_t ticks)
+{
+       ao_log_tiny_interval = ticks;
+}
+
+
+static void ao_log_tiny_data(uint16_t d)
+{
+       if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
+               ao_log_stop();
+       if (ao_log_running) {
+               ao_storage_write(ao_log_current_pos, DATA_TO_XDATA(&d), 2);
+               ao_log_current_pos += 2;
+       }
+}
+
+static __xdata uint16_t ao_log_pad_ring[AO_PAD_RING];
+static __pdata uint8_t ao_log_pad_ring_pos;
+
+#define ao_pad_ring_next(n)    (((n) + 1) & (AO_PAD_RING - 1))
+
+static void ao_log_tiny_queue(uint16_t d)
+{
+       ao_log_pad_ring[ao_log_pad_ring_pos] = d;
+       ao_log_pad_ring_pos = ao_pad_ring_next(ao_log_pad_ring_pos);
+}
+
+static void ao_log_tiny_start(void)
+{
+       uint8_t         p;
+       uint16_t        d;
+
+       ao_log_tiny_data(ao_flight_number);
+       ao_log_tiny_data(ao_ground_pres);
+       p = ao_log_pad_ring_pos;
+       do {
+               d = ao_log_pad_ring[p];
+               /*
+                * ignore unwritten slots
+                */
+               if (d)
+                       ao_log_tiny_data(d);
+               p = ao_pad_ring_next(p);
+       } while (p != ao_log_pad_ring_pos);
+}
+
+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;
+               }
+       }
+}
+
+uint16_t
+ao_log_flight(uint8_t slot)
+{
+       static __xdata uint16_t flight;
+
+       (void) slot;
+       ao_storage_read(0, &flight, 2);
+       if (flight == 0xffff)
+               flight = 0;
+       return flight;
+}