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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; either version 2 of the License, or
   7  * (at your option) any later version.
   8  *
   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.
  13  *
  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.
  17  */
  18
  19 #include "ao.h"
  20 #include <ao_log.h>
  21 #include <ao_data.h>
  22 #include <ao_flight.h>
  23
  24 #if HAS_FLIGHT
  25 static uint8_t  ao_log_data_pos;
  26
  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))] ;
  29
  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
  34 #endif
  35
  36 void
  37 ao_log(void)
  38 {
  39         AO_TICK_TYPE            next_sensor, next_other;
  40         uint8_t                 i;
  41
  42         ao_storage_setup();
  43
  44         ao_log_scan();
  45
  46         while (!ao_log_running)
  47                 ao_sleep(&ao_log_running);
  48
  49 #if HAS_FLIGHT
  50         ao_log_data.type = AO_LOG_FLIGHT;
  51         ao_log_data.tick = (uint16_t) ao_sample_tick;
  52 #if HAS_ACCEL
  53         ao_log_data.u.flight.ground_accel = ao_ground_accel;
  54 #endif
  55 #if HAS_GYRO
  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;
  62 #endif
  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);
  66 #endif
  67
  68         /* Write the whole contents of the ring to the log
  69          * when starting up.
  70          */
  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;
  74         for (;;) {
  75                 /* Write samples to EEPROM */
  76                 while (ao_log_data_pos != ao_data_head) {
  77                         AO_TICK_TYPE tick = ao_data_ring[ao_log_data_pos].tick;
  78                         ao_log_data.tick = (uint16_t) tick;
  79                         volatile struct ao_data *d = &ao_data_ring[ao_log_data_pos];
  80                         if ((AO_TICK_SIGNED) (tick - next_sensor) >= 0) {
  81                                 ao_log_data.type = AO_LOG_SENSOR;
  82 #if HAS_MS5607
  83                                 ao_log_data.u.sensor.pres = d->ms5607_raw.pres;
  84                                 ao_log_data.u.sensor.temp = d->ms5607_raw.temp;
  85 #endif
  86
  87 #ifdef AO_LOG_NORMALIZED
  88 # if HAS_IMU
  89                                 ao_log_data.u.sensor.accel_along = ao_data_along(d);
  90                                 ao_log_data.u.sensor.accel_across = ao_data_across(d);
  91                                 ao_log_data.u.sensor.accel_through = ao_data_through(d);
  92                                 ao_log_data.u.sensor.gyro_roll = ao_data_roll(d);
  93                                 ao_log_data.u.sensor.gyro_pitch = ao_data_pitch(d);
  94                                 ao_log_data.u.sensor.gyro_yaw = ao_data_yaw(d);
  95 # endif
  96 # if HAS_MAG
  97                                 ao_log_data.u.sensor.mag_along = ao_data_mag_along(d);
  98                                 ao_log_data.u.sensor.mag_across = ao_data_mag_across(d);
  99                                 ao_log_data.u.sensor.mag_through = ao_data_mag_through(d);
 100 # endif
 101 #else   /* AO_LOG_NORMALIZED */
 102 #if HAS_MPU6000
 103                                 ao_log_data.u.sensor.accel_x = d->mpu6000.accel_x;
 104                                 ao_log_data.u.sensor.accel_y = d->mpu6000.accel_y;
 105                                 ao_log_data.u.sensor.accel_z = d->mpu6000.accel_z;
 106                                 ao_log_data.u.sensor.gyro_x = d->mpu6000.gyro_x;
 107                                 ao_log_data.u.sensor.gyro_y = d->mpu6000.gyro_y;
 108                                 ao_log_data.u.sensor.gyro_z = d->mpu6000.gyro_z;
 109 #endif
 110 #if HAS_HMC5883
 111                                 ao_log_data.u.sensor.mag_x = d->hmc5883.x;
 112                                 ao_log_data.u.sensor.mag_z = d->hmc5883.z;
 113                                 ao_log_data.u.sensor.mag_y = d->hmc5883.y;
 114 #endif
 115 #if HAS_MPU9250
 116                                 ao_log_data.u.sensor.accel_x = d->mpu9250.accel_x;
 117                                 ao_log_data.u.sensor.accel_y = d->mpu9250.accel_y;
 118                                 ao_log_data.u.sensor.accel_z = d->mpu9250.accel_z;
 119                                 ao_log_data.u.sensor.gyro_x = d->mpu9250.gyro_x;
 120                                 ao_log_data.u.sensor.gyro_y = d->mpu9250.gyro_y;
 121                                 ao_log_data.u.sensor.gyro_z = d->mpu9250.gyro_z;
 122                                 ao_log_data.u.sensor.mag_x = d->mpu9250.mag_x;
 123                                 ao_log_data.u.sensor.mag_z = d->mpu9250.mag_z;
 124                                 ao_log_data.u.sensor.mag_y = d->mpu9250.mag_y;
 125 #endif
 126 #if HAS_BMX160
 127                                 ao_log_data.u.sensor.accel_x = d->bmx160.acc_x;
 128                                 ao_log_data.u.sensor.accel_y = d->bmx160.acc_y;
 129                                 ao_log_data.u.sensor.accel_z = d->bmx160.acc_z;
 130                                 ao_log_data.u.sensor.gyro_x = d->bmx160.gyr_x;
 131                                 ao_log_data.u.sensor.gyro_y = d->bmx160.gyr_y;
 132                                 ao_log_data.u.sensor.gyro_z = d->bmx160.gyr_z;
 133                                 ao_log_data.u.sensor.mag_x = d->bmx160.mag_x;
 134                                 ao_log_data.u.sensor.mag_z = d->bmx160.mag_z;
 135                                 ao_log_data.u.sensor.mag_y = d->bmx160.mag_y;
 136 #endif
 137 #endif /* !AO_LOG_NORMALIZED */
 138                                 ao_log_data.u.sensor.accel = ao_data_accel(&ao_data_ring[ao_log_data_pos]);
 139                                 ao_log_write(&ao_log_data);
 140                                 if (ao_log_state <= ao_flight_coast)
 141                                         next_sensor = tick + AO_SENSOR_INTERVAL_ASCENT;
 142                                 else
 143                                         next_sensor = tick + AO_SENSOR_INTERVAL_DESCENT;
 144                         }
 145                         if ((AO_TICK_SIGNED) (tick - next_other) >= 0) {
 146                                 ao_log_data.type = AO_LOG_TEMP_VOLT;
 147                                 ao_log_data.u.volt.v_batt = d->adc.v_batt;
 148                                 ao_log_data.u.volt.v_pbatt = d->adc.v_pbatt;
 149                                 ao_log_data.u.volt.n_sense = AO_ADC_NUM_SENSE;
 150                                 for (i = 0; i < AO_ADC_NUM_SENSE; i++)
 151                                         ao_log_data.u.volt.sense[i] = d->adc.sense[i];
 152                                 ao_log_data.u.volt.pyro = ao_pyro_fired;
 153                                 ao_log_write(&ao_log_data);
 154                                 next_other = tick + AO_OTHER_INTERVAL;
 155                         }
 156                         ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
 157                 }
 158 #if HAS_FLIGHT
 159                 /* Write state change to EEPROM */
 160                 if (ao_flight_state != ao_log_state) {
 161                         ao_log_state = ao_flight_state;
 162                         ao_log_data.type = AO_LOG_STATE;
 163                         ao_log_data.tick = (uint16_t) ao_time();
 164                         ao_log_data.u.state.state = ao_log_state;
 165                         ao_log_data.u.state.reason = 0;
 166                         ao_log_write(&ao_log_data);
 167
 168                         if (ao_log_state == ao_flight_landed)
 169                                 ao_log_stop();
 170                 }
 171 #endif
 172
 173                 ao_log_flush();
 174
 175                 /* Wait for a while */
 176                 ao_delay(AO_MS_TO_TICKS(100));
 177
 178                 /* Stop logging when told to */
 179                 while (!ao_log_running)
 180                         ao_sleep(&ao_log_running);
 181         }
 182 }
 183 #endif /* HAS_FLIGHT */
 184