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   1 /*
   2  * Copyright © 2011 Keith Packard <keithp@keithp.com>
   3  *
   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.
   7  *
   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.
  12  *
  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.
  16  */
  17
  18 #include "ao.h"
  19
  20 static __xdata uint8_t  ao_log_mutex;
  21 static __xdata struct ao_log_record log;
  22
  23 __code uint8_t ao_log_format = AO_LOG_FORMAT_FULL;
  24
  25 static uint8_t
  26 ao_log_csum(__xdata uint8_t *b) __reentrant
  27 {
  28         uint8_t sum = 0x5a;
  29         uint8_t i;
  30
  31         for (i = 0; i < sizeof (struct ao_log_record); i++)
  32                 sum += *b++;
  33         return -sum;
  34 }
  35
  36 uint8_t
  37 ao_log_data(__xdata struct ao_log_record *log) __reentrant
  38 {
  39         uint8_t wrote = 0;
  40         /* set checksum */
  41         log->csum = 0;
  42         log->csum = ao_log_csum((__xdata uint8_t *) log);
  43         ao_mutex_get(&ao_log_mutex); {
  44                 if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
  45                         ao_log_stop();
  46                 if (ao_log_running) {
  47                         wrote = 1;
  48                         ao_storage_write(ao_log_current_pos,
  49                                          log,
  50                                          sizeof (struct ao_log_record));
  51                         ao_log_current_pos += sizeof (struct ao_log_record);
  52                 }
  53         } ao_mutex_put(&ao_log_mutex);
  54         return wrote;
  55 }
  56
  57 static uint8_t
  58 ao_log_dump_check_data(void)
  59 {
  60         if (ao_log_csum((uint8_t *) &log) != 0)
  61                 return 0;
  62         return 1;
  63 }
  64
  65 static __data uint8_t   ao_log_data_pos;
  66
  67 /* a hack to make sure that ao_log_records fill the eeprom block in even units */
  68 typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_record))] ;
  69
  70 #ifndef AO_SENSOR_INTERVAL_ASCENT
  71 #define AO_SENSOR_INTERVAL_ASCENT       1
  72 #define AO_SENSOR_INTERVAL_DESCENT      10
  73 #define AO_OTHER_INTERVAL               32
  74 #endif
  75
  76 void
  77 ao_log(void)
  78 {
  79         __pdata uint16_t        next_sensor, next_other;
  80
  81         ao_storage_setup();
  82
  83         ao_log_scan();
  84
  85         while (!ao_log_running)
  86                 ao_sleep(&ao_log_running);
  87
  88         log.type = AO_LOG_FLIGHT;
  89         log.tick = ao_sample_tick;
  90 #if HAS_ACCEL
  91         log.u.flight.ground_accel = ao_ground_accel;
  92 #endif
  93         log.u.flight.flight = ao_flight_number;
  94         ao_log_data(&log);
  95
  96         /* Write the whole contents of the ring to the log
  97          * when starting up.
  98          */
  99         ao_log_data_pos = ao_data_ring_next(ao_sample_data);
 100         next_other = next_sensor = ao_data_ring[ao_log_data_pos].tick;
 101         ao_log_state = ao_flight_startup;
 102         for (;;) {
 103                 /* Write samples to EEPROM */
 104                 while (ao_log_data_pos != ao_sample_data) {
 105                         log.tick = ao_data_ring[ao_log_data_pos].tick;
 106                         if ((int16_t) (log.tick - next_sensor) >= 0) {
 107                                 log.type = AO_LOG_SENSOR;
 108                                 log.u.sensor.accel = ao_data_ring[ao_log_data_pos].adc.accel;
 109                                 log.u.sensor.pres = ao_data_ring[ao_log_data_pos].adc.pres;
 110                                 ao_log_data(&log);
 111                                 if (ao_log_state <= ao_flight_coast)
 112                                         next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
 113                                 else
 114                                         next_sensor = log.tick + AO_SENSOR_INTERVAL_DESCENT;
 115                         }
 116                         if ((int16_t) (log.tick - next_other) >= 0) {
 117                                 log.type = AO_LOG_TEMP_VOLT;
 118                                 log.u.temp_volt.temp = ao_data_ring[ao_log_data_pos].adc.temp;
 119                                 log.u.temp_volt.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt;
 120                                 ao_log_data(&log);
 121                                 log.type = AO_LOG_DEPLOY;
 122                                 log.u.deploy.drogue = ao_data_ring[ao_log_data_pos].adc.sense_d;
 123                                 log.u.deploy.main = ao_data_ring[ao_log_data_pos].adc.sense_m;
 124                                 ao_log_data(&log);
 125                                 next_other = log.tick + AO_OTHER_INTERVAL;
 126                         }
 127                         ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
 128                 }
 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_sample_tick;
 134                         log.u.state.state = ao_log_state;
 135                         log.u.state.reason = 0;
 136                         ao_log_data(&log);
 137
 138                         if (ao_log_state == ao_flight_landed)
 139                                 ao_log_stop();
 140                 }
 141
 142                 /* Wait for a while */
 143                 ao_delay(AO_MS_TO_TICKS(100));
 144
 145                 /* Stop logging when told to */
 146                 while (!ao_log_running)
 147                         ao_sleep(&ao_log_running);
 148         }
 149 }
 150
 151 uint16_t
 152 ao_log_flight(uint8_t slot)
 153 {
 154         if (!ao_storage_read(ao_log_pos(slot),
 155                              &log,
 156                              sizeof (struct ao_log_record)))
 157                 return 0;
 158
 159         if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
 160                 return log.u.flight.flight;
 161         return 0;
 162 }