2 * Copyright © 2012 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; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
22 #include <ao_flight.h>
25 static uint8_t ao_log_data_pos;
27 /* a hack to make sure that ao_log_megas fill the eeprom block in even units */
28 typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_mega))] ;
30 #ifndef AO_SENSOR_INTERVAL_ASCENT
31 #define AO_SENSOR_INTERVAL_ASCENT 1
32 #define AO_SENSOR_INTERVAL_DESCENT 10
33 #define AO_OTHER_INTERVAL 32
39 uint16_t next_sensor, next_other;
46 while (!ao_log_running)
47 ao_sleep(&ao_log_running);
50 ao_log_data.type = AO_LOG_FLIGHT;
51 ao_log_data.tick = ao_sample_tick;
53 ao_log_data.u.flight.ground_accel = ao_ground_accel;
56 ao_log_data.u.flight.ground_accel_along = ao_ground_accel_along;
57 ao_log_data.u.flight.ground_accel_across = ao_ground_accel_across;
58 ao_log_data.u.flight.ground_accel_through = ao_ground_accel_through;
59 ao_log_data.u.flight.ground_roll = ao_ground_roll;
60 ao_log_data.u.flight.ground_pitch = ao_ground_pitch;
61 ao_log_data.u.flight.ground_yaw = ao_ground_yaw;
63 ao_log_data.u.flight.ground_pres = ao_ground_pres;
64 ao_log_data.u.flight.flight = ao_flight_number;
65 ao_log_write(&ao_log_data);
68 /* Write the whole contents of the ring to the log
71 ao_log_data_pos = ao_data_ring_next(ao_data_head);
72 next_other = next_sensor = ao_data_ring[ao_log_data_pos].tick;
73 ao_log_state = ao_flight_startup;
75 /* Write samples to EEPROM */
76 while (ao_log_data_pos != ao_data_head) {
77 ao_log_data.tick = ao_data_ring[ao_log_data_pos].tick;
78 volatile struct ao_data *d = &ao_data_ring[ao_log_data_pos];
79 if ((int16_t) (ao_log_data.tick - next_sensor) >= 0) {
80 ao_log_data.type = AO_LOG_SENSOR;
82 ao_log_data.u.sensor.pres = d->ms5607_raw.pres;
83 ao_log_data.u.sensor.temp = d->ms5607_raw.temp;
86 #ifdef AO_LOG_NORMALIZED
87 ao_log_data.u.sensor.accel_along = ao_data_along(d);
88 ao_log_data.u.sensor.accel_across = ao_data_across(d);
89 ao_log_data.u.sensor.accel_through = ao_data_through(d);
90 ao_log_data.u.sensor.gyro_roll = ao_data_roll(d);
91 ao_log_data.u.sensor.gyro_pitch = ao_data_pitch(d);
92 ao_log_data.u.sensor.gyro_yaw = ao_data_yaw(d);
94 ao_log_data.u.sensor.accel_x = d->mpu6000.accel_x;
95 ao_log_data.u.sensor.accel_y = d->mpu6000.accel_y;
96 ao_log_data.u.sensor.accel_z = d->mpu6000.accel_z;
97 ao_log_data.u.sensor.gyro_x = d->mpu6000.gyro_x;
98 ao_log_data.u.sensor.gyro_y = d->mpu6000.gyro_y;
99 ao_log_data.u.sensor.gyro_z = d->mpu6000.gyro_z;
103 ao_log_data.u.sensor.mag_x = d->hmc5883.x;
104 ao_log_data.u.sensor.mag_z = d->hmc5883.z;
105 ao_log_data.u.sensor.mag_y = d->hmc5883.y;
108 ao_log_data.u.sensor.mag_along = ao_data_mag_along(d);
109 ao_log_data.u.sensor.mag_across = ao_data_mag_across(d);
110 ao_log_data.u.sensor.mag_through = ao_data_mag_through(d);
113 ao_log_data.u.sensor.accel_x = d->mpu9250.accel_x;
114 ao_log_data.u.sensor.accel_y = d->mpu9250.accel_y;
115 ao_log_data.u.sensor.accel_z = d->mpu9250.accel_z;
116 ao_log_data.u.sensor.gyro_x = d->mpu9250.gyro_x;
117 ao_log_data.u.sensor.gyro_y = d->mpu9250.gyro_y;
118 ao_log_data.u.sensor.gyro_z = d->mpu9250.gyro_z;
119 ao_log_data.u.sensor.mag_x = d->mpu9250.mag_x;
120 ao_log_data.u.sensor.mag_z = d->mpu9250.mag_z;
121 ao_log_data.u.sensor.mag_y = d->mpu9250.mag_y;
124 ao_log_data.u.sensor.accel_x = d->bmx160.acc_x;
125 ao_log_data.u.sensor.accel_y = d->bmx160.acc_y;
126 ao_log_data.u.sensor.accel_z = d->bmx160.acc_z;
127 ao_log_data.u.sensor.gyro_x = d->bmx160.gyr_x;
128 ao_log_data.u.sensor.gyro_y = d->bmx160.gyr_y;
129 ao_log_data.u.sensor.gyro_z = d->bmx160.gyr_z;
130 ao_log_data.u.sensor.mag_x = d->bmx160.mag_x;
131 ao_log_data.u.sensor.mag_z = d->bmx160.mag_z;
132 ao_log_data.u.sensor.mag_y = d->bmx160.mag_y;
134 ao_log_data.u.sensor.accel = ao_data_accel(&ao_data_ring[ao_log_data_pos]);
135 ao_log_write(&ao_log_data);
136 if (ao_log_state <= ao_flight_coast)
137 next_sensor = ao_log_data.tick + AO_SENSOR_INTERVAL_ASCENT;
139 next_sensor = ao_log_data.tick + AO_SENSOR_INTERVAL_DESCENT;
141 if ((int16_t) (ao_log_data.tick - next_other) >= 0) {
142 ao_log_data.type = AO_LOG_TEMP_VOLT;
143 ao_log_data.u.volt.v_batt = d->adc.v_batt;
144 ao_log_data.u.volt.v_pbatt = d->adc.v_pbatt;
145 ao_log_data.u.volt.n_sense = AO_ADC_NUM_SENSE;
146 for (i = 0; i < AO_ADC_NUM_SENSE; i++)
147 ao_log_data.u.volt.sense[i] = d->adc.sense[i];
148 ao_log_data.u.volt.pyro = ao_pyro_fired;
149 ao_log_write(&ao_log_data);
150 next_other = ao_log_data.tick + AO_OTHER_INTERVAL;
152 ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
155 /* Write state change to EEPROM */
156 if (ao_flight_state != ao_log_state) {
157 ao_log_state = ao_flight_state;
158 ao_log_data.type = AO_LOG_STATE;
159 ao_log_data.tick = ao_time();
160 ao_log_data.u.state.state = ao_log_state;
161 ao_log_data.u.state.reason = 0;
162 ao_log_write(&ao_log_data);
164 if (ao_log_state == ao_flight_landed)
171 /* Wait for a while */
172 ao_delay(AO_MS_TO_TICKS(100));
174 /* Stop logging when told to */
175 while (!ao_log_running)
176 ao_sleep(&ao_log_running);
179 #endif /* HAS_FLIGHT */