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;
95 log.u.flight.ground_accel = ao_ground_accel;
96 log.u.flight.flight = ao_flight_number;
99 /* Write the whole contents of the ring to the log
102 ao_log_adc_pos = ao_adc_ring_next(ao_flight_adc);
104 /* Write samples to EEPROM */
105 while (ao_log_adc_pos != ao_flight_adc) {
106 log.type = AO_LOG_SENSOR;
107 log.tick = ao_adc_ring[ao_log_adc_pos].tick;
108 log.u.sensor.accel = ao_adc_ring[ao_log_adc_pos].accel;
109 log.u.sensor.pres = ao_adc_ring[ao_log_adc_pos].pres;
111 if ((ao_log_adc_pos & 0x1f) == 0) {
112 log.type = AO_LOG_TEMP_VOLT;
113 log.tick = ao_adc_ring[ao_log_adc_pos].tick;
114 log.u.temp_volt.temp = ao_adc_ring[ao_log_adc_pos].temp;
115 log.u.temp_volt.v_batt = ao_adc_ring[ao_log_adc_pos].v_batt;
117 log.type = AO_LOG_DEPLOY;
118 log.tick = ao_adc_ring[ao_log_adc_pos].tick;
119 log.u.deploy.drogue = ao_adc_ring[ao_log_adc_pos].sense_d;
120 log.u.deploy.main = ao_adc_ring[ao_log_adc_pos].sense_m;
123 ao_log_adc_pos = ao_adc_ring_next(ao_log_adc_pos);
125 /* Write state change to EEPROM */
126 if (ao_flight_state != ao_log_state) {
127 ao_log_state = ao_flight_state;
128 log.type = AO_LOG_STATE;
129 log.tick = ao_flight_tick;
130 log.u.state.state = ao_log_state;
131 log.u.state.reason = 0;
134 if (ao_log_state == ao_flight_landed)
138 /* Wait for a while */
139 ao_delay(AO_MS_TO_TICKS(100));
141 /* Stop logging when told to */
142 while (!ao_log_running)
143 ao_sleep(&ao_log_running);
148 * When erasing a flight log, make sure the config block
149 * has an up-to-date version of the current flight number
152 struct ao_log_erase {
157 static __xdata struct ao_log_erase erase;
159 #define LOG_MAX_ERASE 16
162 ao_log_erase_pos(uint8_t i)
164 return i * sizeof (struct ao_log_erase) + AO_STORAGE_ERASE_LOG;
168 ao_log_write_erase(uint8_t pos)
171 erase.flight = ao_flight_number;
172 ao_storage_write(ao_log_erase_pos(pos), &erase, sizeof (erase));
177 ao_log_read_erase(uint8_t pos)
179 ao_storage_read(ao_log_erase_pos(pos), &erase, sizeof (erase));
184 ao_log_erase_mark(void)
188 for (i = 0; i < LOG_MAX_ERASE; i++) {
189 ao_log_read_erase(i);
190 if (erase.unused == 0 && erase.flight == ao_flight_number)
192 if (erase.unused == 0xff) {
193 ao_log_write_erase(i);
203 return (uint8_t) (ao_storage_config / ao_config.flight_log_max);
207 ao_log_pos(uint8_t slot)
209 return ((slot) * ao_config.flight_log_max);
213 ao_log_flight(uint8_t slot)
215 if (!ao_storage_read(ao_log_pos(slot),
217 sizeof (struct ao_log_record)))
220 if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
221 return log.u.flight.flight;
226 ao_log_max_flight(void)
231 uint16_t max_flight = 0;
233 /* Scan the log space looking for the biggest flight number */
234 log_slots = ao_log_slots();
235 for (log_slot = 0; log_slot < log_slots; log_slot++) {
236 log_flight = ao_log_flight(log_slot);
239 if (max_flight == 0 || (int16_t) (log_flight - max_flight) > 0)
240 max_flight = log_flight;
246 ao_log_scan(void) __reentrant
254 ao_flight_number = ao_log_max_flight();
255 if (ao_flight_number)
256 if (++ao_flight_number == 0)
257 ao_flight_number = 1;
259 /* Now look through the log of flight numbers from erase operations and
260 * see if the last one is bigger than what we found above
262 for (log_slot = LOG_MAX_ERASE; log_slot-- > 0;) {
263 ao_log_read_erase(log_slot);
264 if (erase.unused == 0) {
265 if (ao_flight_number == 0 ||
266 (int16_t) (erase.flight - ao_flight_number) > 0)
267 ao_flight_number = erase.flight;
271 if (ao_flight_number == 0)
272 ao_flight_number = 1;
274 /* With a flight number in hand, find a place to write a new log,
275 * use the target flight number to index the available log slots so
276 * that we write logs to each spot about the same number of times.
279 /* Find a log slot for the next flight, if available */
280 ao_log_current_pos = ao_log_end_pos = 0;
281 log_slots = ao_log_slots();
282 log_want = (ao_flight_number - 1) % log_slots;
285 if (ao_log_flight(log_slot) == 0) {
286 ao_log_current_pos = ao_log_pos(log_slot);
287 ao_log_end_pos = ao_log_current_pos + ao_config.flight_log_max;
290 if (++log_slot >= log_slots)
292 } while (log_slot != log_want);
294 ao_wakeup(&ao_flight_number);
302 ao_wakeup(&ao_log_running);
315 return ao_log_max_flight() != 0;
321 return ao_log_current_pos == ao_log_end_pos;
324 static __xdata struct ao_task ao_log_task;
327 ao_log_list(void) __reentrant
333 slots = ao_log_slots();
334 for (slot = 0; slot < slots; slot++)
336 flight = ao_log_flight(slot);
338 printf ("flight %d start %x end %x\n",
340 (uint16_t) (ao_log_pos(slot) >> 8),
341 (uint16_t) (ao_log_pos(slot+1) >> 8));
347 ao_log_delete(void) __reentrant
353 if (ao_cmd_status != ao_cmd_success)
356 slots = ao_log_slots();
357 /* Look for the flight log matching the requested flight */
359 for (slot = 0; slot < slots; slot++) {
360 if (ao_log_flight(slot) == ao_cmd_lex_i) {
362 ao_log_current_pos = ao_log_pos(slot);
363 ao_log_end_pos = ao_log_current_pos + ao_config.flight_log_max;
364 while (ao_log_current_pos < ao_log_end_pos) {
366 * Check to see if we've reached the end of
367 * the used memory to avoid re-erasing the same
368 * memory over and over again
370 if (ao_storage_read(ao_log_current_pos,
372 sizeof (struct ao_log_record))) {
373 for (slot = 0; slot < sizeof (struct ao_log_record); slot++)
374 if (((uint8_t *) &log)[slot] != 0xff)
376 if (slot == sizeof (struct ao_log_record))
379 ao_storage_erase(ao_log_current_pos);
380 ao_log_current_pos += ao_storage_block;
387 printf("No such flight: %d\n", ao_cmd_lex_i);
392 __code struct ao_cmds ao_log_cmds[] = {
393 { ao_log_list, "l\0List stored flight logs" },
394 { ao_log_delete, "d <flight-number>\0Delete stored flight" },
403 /* For now, just log the flight starting at the begining of eeprom */
404 ao_log_state = ao_flight_invalid;
406 ao_cmd_register(&ao_log_cmds[0]);
408 /* Create a task to log events to eeprom */
409 ao_add_task(&ao_log_task, ao_log, "log");