#define AO_LOG_FORMAT_EASYMOTOR 20 /* 16 byte typed easymotor records with pressure sensor and adxl375 */
#define AO_LOG_FORMAT_TELEMEGA_5 21 /* 32 byte typed telemega records with 32 bit gyro cal, mpu6000 and mmc5983 */
#define AO_LOG_FORMAT_TELEMEGA_6 22 /* 32 byte typed telemega records with 32 bit gyro cal, bmi088 and mmc5983 */
+#define AO_LOG_FORMAT_EASYTIMER_2 23 /* 32 byte typed easytimer records with 32 bit gyro cal, bmi088 and mmc5983 */
#define AO_LOG_FORMAT_NONE 127 /* No log at all */
/* Return the flight number from the given log slot, 0 if none, -slot on failure */
} u;
};
+struct ao_log_timer {
+ char type; /* 0 */
+ uint8_t csum; /* 1 */
+ uint16_t tick; /* 2 */
+ union { /* 4 */
+ /* AO_LOG_FLIGHT */
+ struct {
+ uint16_t flight; /* 4 */
+ int16_t ground_accel; /* 6 */
+ int16_t ground_accel_along; /* 8 */
+ int16_t ground_accel_across; /* 10 */
+ int16_t ground_accel_through; /* 12 */
+ int16_t pad_14; /* 14 */
+ int32_t ground_roll; /* 16 */
+ int32_t ground_pitch; /* 20 */
+ int32_t ground_yaw; /* 24 */
+ } flight; /* 32 */
+ /* AO_LOG_STATE */
+ struct {
+ uint16_t state; /* 4 */
+ uint16_t reason; /* 6 */
+ } state;
+ /* AO_LOG_SENSOR */
+ struct {
+ int16_t accel_along; /* 4 */
+ int16_t accel_across; /* 6 */
+ int16_t accel_through; /* 8 */
+ int16_t gyro_roll; /* 10 */
+ int16_t gyro_pitch; /* 12 */
+ int16_t gyro_yaw; /* 14 */
+ int16_t mag_along; /* 16 */
+ int16_t mag_across; /* 18 */
+ int16_t mag_through; /* 20 */
+ int16_t v_batt; /* 22 */
+ int16_t v_pbatt; /* 24 */
+ int16_t sense[2]; /* 26 */
+ uint16_t pyro; /* 30 */
+ } sensor; /* 32 */
+ } u;
+};
+
#if AO_LOG_FORMAT == AO_LOG_FOMAT_TELEMEGA_OLD || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_3 || AO_LOG_FORMAT == AO_LOG_FORMAT_EASYMEGA_2 || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_4 || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_5 || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_6
typedef struct ao_log_mega ao_log_type;
#endif
#define AO_LOG_UNCOMMON 1
#endif
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_EASYTIMER_2
+typedef struct ao_log_timer ao_log_type;
+#endif
+
#ifndef AO_LOG_UNCOMMON
extern ao_log_type ao_log_data;
--- /dev/null
+/*
+ * Copyright © 2024 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; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * 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>
+
+#if HAS_FLIGHT
+static uint8_t ao_log_data_pos;
+
+/* a hack to make sure that ao_log_timers fill the eeprom block in even units */
+typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_timer))] ;
+
+#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)
+{
+ AO_TICK_TYPE next_sensor;
+ uint8_t i;
+
+ ao_storage_setup();
+
+ ao_log_scan();
+
+ while (!ao_log_running)
+ ao_sleep(&ao_log_running);
+
+#if HAS_FLIGHT
+ ao_log_data.type = AO_LOG_FLIGHT;
+ ao_log_data.tick = (uint16_t) ao_sample_tick;
+#if HAS_ACCEL
+ ao_log_data.u.flight.ground_accel = ao_ground_accel;
+#endif
+#if HAS_GYRO
+ ao_log_data.u.flight.ground_accel_along = ao_ground_accel_along;
+ ao_log_data.u.flight.ground_accel_across = ao_ground_accel_across;
+ ao_log_data.u.flight.ground_accel_through = ao_ground_accel_through;
+ ao_log_data.u.flight.ground_roll = ao_ground_roll;
+ ao_log_data.u.flight.ground_pitch = ao_ground_pitch;
+ ao_log_data.u.flight.ground_yaw = ao_ground_yaw;
+#endif
+ ao_log_data.u.flight.flight = ao_flight_number;
+ ao_log_write(&ao_log_data);
+#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_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) {
+ AO_TICK_TYPE tick = ao_data_ring[ao_log_data_pos].tick;
+ ao_log_data.tick = (uint16_t) tick;
+ volatile struct ao_data *d = &ao_data_ring[ao_log_data_pos];
+ if ((AO_TICK_SIGNED) (tick - next_sensor) >= 0) {
+ ao_log_data.type = AO_LOG_SENSOR;
+
+#if HAS_IMU
+ ao_log_data.u.sensor.accel_along = ao_data_along(d);
+ ao_log_data.u.sensor.accel_across = ao_data_across(d);
+ ao_log_data.u.sensor.accel_through = ao_data_through(d);
+ ao_log_data.u.sensor.gyro_roll = ao_data_roll(d);
+ ao_log_data.u.sensor.gyro_pitch = ao_data_pitch(d);
+ ao_log_data.u.sensor.gyro_yaw = ao_data_yaw(d);
+#endif
+#if HAS_MAG
+ ao_log_data.u.sensor.mag_along = ao_data_mag_along(d);
+ ao_log_data.u.sensor.mag_across = ao_data_mag_across(d);
+ ao_log_data.u.sensor.mag_through = ao_data_mag_through(d);
+#endif
+ ao_log_data.u.sensor.v_batt = d->adc.v_batt;
+ for (i = 0; i < AO_ADC_NUM_SENSE; i++)
+ ao_log_data.u.sensor.sense[i] = d->adc.sense[i];
+ ao_log_data.u.sensor.pyro = ao_pyro_fired;
+
+ ao_log_write(&ao_log_data);
+ if (ao_log_state <= ao_flight_coast)
+ next_sensor = tick + AO_SENSOR_INTERVAL_ASCENT;
+ else
+ next_sensor = tick + AO_SENSOR_INTERVAL_DESCENT;
+ }
+ 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;
+ ao_log_data.type = AO_LOG_STATE;
+ ao_log_data.tick = (uint16_t) ao_time();
+ ao_log_data.u.state.state = ao_log_state;
+ ao_log_data.u.state.reason = 0;
+ ao_log_write(&ao_log_data);
+
+ 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 /* HAS_FLIGHT */
+
projects / fw / altos / commitdiff