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   1 /*
   2  * Copyright © 2012 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 #include <ao_log.h>
  20 #include <ao_data.h>
  21 #include <ao_flight.h>
  22
  23 static __xdata uint8_t  ao_log_mutex;
  24 static __xdata struct ao_log_mega log;
  25
  26 __code uint8_t ao_log_format = AO_LOG_FORMAT_TELEMEGA;
  27
  28 static uint8_t
  29 ao_log_csum(__xdata uint8_t *b) __reentrant
  30 {
  31         uint8_t sum = 0x5a;
  32         uint8_t i;
  33
  34         for (i = 0; i < sizeof (struct ao_log_mega); i++)
  35                 sum += *b++;
  36         return -sum;
  37 }
  38
  39 uint8_t
  40 ao_log_mega(__xdata struct ao_log_mega *log) __reentrant
  41 {
  42         uint8_t wrote = 0;
  43         /* set checksum */
  44         log->csum = 0;
  45         log->csum = ao_log_csum((__xdata uint8_t *) log);
  46         ao_mutex_get(&ao_log_mutex); {
  47                 if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
  48                         ao_log_stop();
  49                 if (ao_log_running) {
  50                         wrote = 1;
  51                         ao_storage_write(ao_log_current_pos,
  52                                          log,
  53                                          sizeof (struct ao_log_mega));
  54                         ao_log_current_pos += sizeof (struct ao_log_mega);
  55                 }
  56         } ao_mutex_put(&ao_log_mutex);
  57         return wrote;
  58 }
  59
  60 static uint8_t
  61 ao_log_dump_check_data(void)
  62 {
  63         if (ao_log_csum((uint8_t *) &log) != 0)
  64                 return 0;
  65         return 1;
  66 }
  67
  68 static __data uint8_t   ao_log_data_pos;
  69
  70 /* a hack to make sure that ao_log_megas fill the eeprom block in even units */
  71 typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_mega))] ;
  72
  73 #ifndef AO_SENSOR_INTERVAL_ASCENT
  74 #define AO_SENSOR_INTERVAL_ASCENT       1
  75 #define AO_SENSOR_INTERVAL_DESCENT      10
  76 #define AO_OTHER_INTERVAL               32
  77 #endif
  78
  79 void
  80 ao_log(void)
  81 {
  82         __pdata uint16_t        next_sensor, next_other;
  83         uint8_t                 i;
  84
  85         ao_storage_setup();
  86
  87         ao_log_scan();
  88
  89         while (!ao_log_running)
  90                 ao_sleep(&ao_log_running);
  91
  92 #if HAS_FLIGHT
  93         log.type = AO_LOG_FLIGHT;
  94         log.tick = ao_sample_tick;
  95 #if HAS_ACCEL
  96         log.u.flight.ground_accel = ao_ground_accel;
  97 #endif
  98 #if HAS_GYRO
  99         log.u.flight.ground_accel_along = ao_ground_accel_along;
 100         log.u.flight.ground_accel_across = ao_ground_accel_across;
 101         log.u.flight.ground_accel_through = ao_ground_accel_through;
 102         log.u.flight.ground_pitch = ao_ground_pitch;
 103         log.u.flight.ground_yaw = ao_ground_yaw;
 104         log.u.flight.ground_roll = ao_ground_roll;
 105 #endif
 106         log.u.flight.ground_pres = ao_ground_pres;
 107         log.u.flight.flight = ao_flight_number;
 108         ao_log_mega(&log);
 109 #endif
 110
 111         /* Write the whole contents of the ring to the log
 112          * when starting up.
 113          */
 114         ao_log_data_pos = ao_data_ring_next(ao_data_head);
 115         next_other = next_sensor = ao_data_ring[ao_log_data_pos].tick;
 116         ao_log_state = ao_flight_startup;
 117         for (;;) {
 118                 /* Write samples to EEPROM */
 119                 while (ao_log_data_pos != ao_data_head) {
 120                         log.tick = ao_data_ring[ao_log_data_pos].tick;
 121                         if ((int16_t) (log.tick - next_sensor) >= 0) {
 122                                 log.type = AO_LOG_SENSOR;
 123 #if HAS_MS5607
 124                                 log.u.sensor.pres = ao_data_ring[ao_log_data_pos].ms5607_raw.pres;
 125                                 log.u.sensor.temp = ao_data_ring[ao_log_data_pos].ms5607_raw.temp;
 126 #endif
 127 #if HAS_MPU6000
 128                                 log.u.sensor.accel_x = ao_data_ring[ao_log_data_pos].mpu6000.accel_x;
 129                                 log.u.sensor.accel_y = ao_data_ring[ao_log_data_pos].mpu6000.accel_y;
 130                                 log.u.sensor.accel_z = ao_data_ring[ao_log_data_pos].mpu6000.accel_z;
 131                                 log.u.sensor.gyro_x = ao_data_ring[ao_log_data_pos].mpu6000.gyro_x;
 132                                 log.u.sensor.gyro_y = ao_data_ring[ao_log_data_pos].mpu6000.gyro_y;
 133                                 log.u.sensor.gyro_z = ao_data_ring[ao_log_data_pos].mpu6000.gyro_z;
 134 #endif
 135 #if HAS_HMC5883
 136                                 log.u.sensor.mag_x = ao_data_ring[ao_log_data_pos].hmc5883.x;
 137                                 log.u.sensor.mag_y = ao_data_ring[ao_log_data_pos].hmc5883.y;
 138                                 log.u.sensor.mag_z = ao_data_ring[ao_log_data_pos].hmc5883.z;
 139 #endif
 140                                 log.u.sensor.accel = ao_data_accel(&ao_data_ring[ao_log_data_pos]);
 141                                 ao_log_mega(&log);
 142                                 if (ao_log_state <= ao_flight_coast)
 143                                         next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT;
 144                                 else
 145                                         next_sensor = log.tick + AO_SENSOR_INTERVAL_DESCENT;
 146                         }
 147                         if ((int16_t) (log.tick - next_other) >= 0) {
 148                                 log.type = AO_LOG_TEMP_VOLT;
 149                                 log.u.volt.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt;
 150                                 log.u.volt.v_pbatt = ao_data_ring[ao_log_data_pos].adc.v_pbatt;
 151                                 log.u.volt.n_sense = AO_ADC_NUM_SENSE;
 152                                 for (i = 0; i < AO_ADC_NUM_SENSE; i++)
 153                                         log.u.volt.sense[i] = ao_data_ring[ao_log_data_pos].adc.sense[i];
 154                                 ao_log_mega(&log);
 155                                 next_other = log.tick + AO_OTHER_INTERVAL;
 156                         }
 157                         ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
 158                 }
 159 #if HAS_FLIGHT
 160                 /* Write state change to EEPROM */
 161                 if (ao_flight_state != ao_log_state) {
 162                         ao_log_state = ao_flight_state;
 163                         log.type = AO_LOG_STATE;
 164                         log.tick = ao_time();
 165                         log.u.state.state = ao_log_state;
 166                         log.u.state.reason = 0;
 167                         ao_log_mega(&log);
 168
 169                         if (ao_log_state == ao_flight_landed)
 170                                 ao_log_stop();
 171                 }
 172 #endif
 173
 174                 ao_log_flush();
 175
 176                 /* Wait for a while */
 177                 ao_delay(AO_MS_TO_TICKS(100));
 178
 179                 /* Stop logging when told to */
 180                 while (!ao_log_running)
 181                         ao_sleep(&ao_log_running);
 182         }
 183 }
 184
 185 uint16_t
 186 ao_log_flight(uint8_t slot)
 187 {
 188         if (!ao_storage_read(ao_log_pos(slot),
 189                              &log,
 190                              sizeof (struct ao_log_mega)))
 191                 return 0;
 192
 193         if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
 194                 return log.u.flight.flight;
 195         return 0;
 196 }