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)
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))] ;
88 /* For now, use all of the available space */
89 ao_log_current_pos = 0;
90 ao_log_end_pos = ao_storage_config;
94 while (!ao_log_running)
95 ao_sleep(&ao_log_running);
97 log.type = AO_LOG_FLIGHT;
98 log.tick = ao_flight_tick;
99 log.u.flight.ground_accel = ao_ground_accel;
100 log.u.flight.flight = ao_flight_number;
103 /* Write the whole contents of the ring to the log
106 ao_log_adc_pos = ao_adc_ring_next(ao_adc_head);
108 /* Write samples to EEPROM */
109 while (ao_log_adc_pos != ao_adc_head) {
110 log.type = AO_LOG_SENSOR;
111 log.tick = ao_adc_ring[ao_log_adc_pos].tick;
112 log.u.sensor.accel = ao_adc_ring[ao_log_adc_pos].accel;
113 log.u.sensor.pres = ao_adc_ring[ao_log_adc_pos].pres;
115 if ((ao_log_adc_pos & 0x1f) == 0) {
116 log.type = AO_LOG_TEMP_VOLT;
117 log.tick = ao_adc_ring[ao_log_adc_pos].tick;
118 log.u.temp_volt.temp = ao_adc_ring[ao_log_adc_pos].temp;
119 log.u.temp_volt.v_batt = ao_adc_ring[ao_log_adc_pos].v_batt;
121 log.type = AO_LOG_DEPLOY;
122 log.tick = ao_adc_ring[ao_log_adc_pos].tick;
123 log.u.deploy.drogue = ao_adc_ring[ao_log_adc_pos].sense_d;
124 log.u.deploy.main = ao_adc_ring[ao_log_adc_pos].sense_m;
127 ao_log_adc_pos = ao_adc_ring_next(ao_log_adc_pos);
129 /* Write state change to EEPROM */
130 if (ao_flight_state != ao_log_state) {
131 ao_log_state = ao_flight_state;
132 log.type = AO_LOG_STATE;
133 log.tick = ao_flight_tick;
134 log.u.state.state = ao_log_state;
135 log.u.state.reason = 0;
138 if (ao_log_state == ao_flight_landed)
142 /* Wait for a while */
143 ao_delay(AO_MS_TO_TICKS(100));
145 /* Stop logging when told to */
146 while (!ao_log_running)
147 ao_sleep(&ao_log_running);
152 * When erasing a flight log, make sure the config block
153 * has an up-to-date version of the current flight number
156 struct ao_log_erase {
161 static __xdata struct ao_log_erase erase;
163 #define LOG_MAX_ERASE 16
166 ao_log_erase_pos(uint8_t i)
168 return i * sizeof (struct ao_log_erase) + AO_STORAGE_ERASE_LOG;
172 ao_log_write_erase(uint8_t pos)
175 erase.flight = ao_flight_number;
176 ao_storage_write(ao_log_erase_pos(pos), &erase, sizeof (erase));
180 ao_log_read_erase(uint8_t pos)
182 ao_storage_read(ao_log_erase_pos(pos), &erase, sizeof (erase));
187 ao_log_erase_mark(void)
191 for (i = 0; i < LOG_MAX_ERASE; i++) {
192 ao_log_read_erase(i);
193 if (erase.unused == 0 && erase.flight == ao_flight_number)
195 if (erase.unused == 0xff) {
196 ao_log_write_erase(i);
204 ao_log_erase(uint8_t pos)
208 // ao_log_current_pos = pos * ao_config.flight_log_max;
209 // ao_log_end_pos = ao_log_current_pos + ao_config.flight_log_max;
210 // if (ao_log_end_pos > ao_storage_config)
213 ao_log_current_pos = 0;
214 ao_log_end_pos = ao_storage_config;
216 while (ao_log_current_pos < ao_log_end_pos) {
217 ao_storage_erase(ao_log_current_pos);
218 ao_log_current_pos += ao_storage_block;
223 ao_log_flight(uint8_t slot)
226 if (!ao_storage_read(0,
228 sizeof (struct ao_log_record)))
229 ao_panic(AO_PANIC_LOG);
231 if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
232 return log.u.flight.flight;
237 ao_log_scan(void) __reentrant
241 uint8_t log_avail = 0;
246 ao_flight_number = 0;
248 /* Scan the log space looking for the biggest flight number */
251 log_flight = ao_log_flight(log_slot);
253 if (++log_flight == 0)
255 if (ao_flight_number == 0 ||
256 (int16_t) (log_flight - ao_flight_number) > 0) {
257 ao_flight_number = log_flight;
262 log_slots = log_slot + 1;
264 /* Now look through the log of flight numbers from erase operations and
265 * see if the last one is bigger than what we found above
267 for (log_slot = LOG_MAX_ERASE; log_slot-- > 0;) {
268 ao_log_read_erase(log_slot);
269 if (erase.unused == 0) {
270 if (ao_flight_number == 0 ||
271 (int16_t) (erase.flight - ao_flight_number) > 0)
272 ao_flight_number = erase.flight;
276 if (ao_flight_number == 0)
277 ao_flight_number = 1;
279 /* With a flight number in hand, find a place to write a new log,
280 * use the target flight number to index the available log slots so
281 * that we write logs to each spot about the same number of times.
284 /* Find a log slot for the next flight, if available */
286 ao_log_current_pos = 0;
287 ao_log_end_pos = ao_storage_config;
289 ao_log_current_pos = ao_log_end_pos = 0;
291 ao_wakeup(&ao_flight_number);
299 ao_wakeup(&ao_log_running);
309 static __xdata struct ao_task ao_log_task;
312 ao_log_list(void) __reentrant
319 flight = ao_log_flight(slot);
321 printf ("Flight %d\n", flight);
327 ao_log_delete(void) __reentrant
331 if (ao_cmd_status != ao_cmd_success)
334 /* Look for the flight log matching the requested flight */
336 if (ao_log_flight(slot) == ao_cmd_lex_i) {
337 ao_log_current_pos = 0;
338 ao_log_end_pos = ao_storage_config;
339 while (ao_log_current_pos < ao_log_end_pos) {
341 * Check to see if we've reached the end of
342 * the used memory to avoid re-erasing the same
343 * memory over and over again
345 if (ao_storage_read(ao_log_current_pos,
347 sizeof (struct ao_log_record))) {
348 for (slot = 0; slot < sizeof (struct ao_log_record); slot++)
349 if (((uint8_t *) &log)[slot] != 0xff)
351 if (slot == sizeof (struct ao_log_record))
354 ao_storage_erase(ao_log_current_pos);
355 ao_log_current_pos += ao_storage_block;
362 printf("No such flight: %d\n", ao_cmd_lex_i);
367 __code struct ao_cmds ao_log_cmds[] = {
368 { 'l', ao_log_list, "l List stored flight logs" },
369 { 'd', ao_log_delete, "d <flight-number> Delete stored flight" },
370 { 0, ao_log_delete, NULL },
378 /* For now, just log the flight starting at the begining of eeprom */
379 ao_log_state = ao_flight_invalid;
381 ao_cmd_register(&ao_log_cmds[0]);
383 /* Create a task to log events to eeprom */
384 ao_add_task(&ao_log_task, ao_log, "log");