+++ /dev/null
-/*
- * Copyright © 2009 Keith Packard <keithp@keithp.com>
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
- *
- * This program is distributed in the hope that it will be useful, but
- * WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License along
- * with this program; if not, write to the Free Software Foundation, Inc.,
- * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
- */
-
-#include "ao.h"
-
-static __pdata uint32_t ao_log_current_pos;
-static __pdata uint32_t ao_log_start_pos;
-static __xdata uint8_t ao_log_running;
-static __xdata uint8_t ao_log_mutex;
-
-static uint8_t
-ao_log_csum(uint8_t *b)
-{
- uint8_t sum = 0x5a;
- uint8_t i;
-
- for (i = 0; i < sizeof (struct ao_log_record); i++)
- sum += *b++;
- return -sum;
-}
-
-void
-ao_log_data(struct ao_log_record *log)
-{
- /* set checksum */
- log->csum = 0;
- log->csum = ao_log_csum((uint8_t *) log);
- ao_mutex_get(&ao_log_mutex); {
- if (ao_log_running) {
- ao_ee_write(ao_log_current_pos,
- (uint8_t *) log,
- sizeof (struct ao_log_record));
- ao_log_current_pos += sizeof (struct ao_log_record);
- if (ao_log_current_pos >= AO_EE_DATA_SIZE)
- ao_log_current_pos = 0;
- if (ao_log_current_pos == ao_log_start_pos)
- ao_log_running = 0;
- }
- } ao_mutex_put(&ao_log_mutex);
-}
-
-void
-ao_log_flush(void)
-{
- ao_ee_flush();
-}
-
-__xdata struct ao_log_record ao_log_dump;
-static __xdata uint16_t ao_log_dump_flight;
-static __xdata uint32_t ao_log_dump_pos;
-
-static uint8_t
-ao_log_dump_check_data(void)
-{
- if (ao_log_csum((uint8_t *) &ao_log_dump) != 0)
- return 0;
- return 1;
-}
-
-static uint8_t
-ao_log_dump_scan(void)
-{
- if (!ao_ee_read(0, (uint8_t *) &ao_log_dump, sizeof (struct ao_log_record)))
- ao_panic(AO_PANIC_LOG);
- if (ao_log_dump_check_data() && ao_log_dump.type == AO_LOG_FLIGHT) {
- ao_log_dump_flight = ao_log_dump.u.flight.flight;
- return 1;
- } else {
- ao_log_dump_flight = 0;
- return 0;
- }
-}
-
-uint8_t
-ao_log_dump_first(void)
-{
- ao_log_dump_pos = 0;
- if (!ao_log_dump_scan())
- return 0;
- return 1;
-}
-
-uint8_t
-ao_log_dump_next(void)
-{
- ao_log_dump_pos += sizeof (struct ao_log_record);
- if (ao_log_dump_pos >= AO_EE_DEVICE_SIZE)
- return 0;
- if (!ao_ee_read(ao_log_dump_pos, (uint8_t *) &ao_log_dump,
- sizeof (struct ao_log_record)))
- return 0;
- return ao_log_dump_check_data();
-}
-
-__xdata uint8_t ao_log_adc_pos;
-__xdata enum flight_state ao_log_state;
-
-void
-ao_log(void)
-{
- static __xdata struct ao_log_record log;
-
- ao_log_dump_scan();
-
- while (!ao_log_running)
- ao_sleep(&ao_log_running);
-
- log.type = AO_LOG_FLIGHT;
- log.tick = ao_flight_tick;
- log.u.flight.ground_accel = ao_ground_accel;
- log.u.flight.flight = ao_log_dump_flight + 1;
- ao_log_data(&log);
-
- /* Write the whole contents of the ring to the log
- * when starting up.
- */
- ao_log_adc_pos = ao_adc_ring_next(ao_adc_head);
- for (;;) {
- /* Write samples to EEPROM */
- while (ao_log_adc_pos != ao_adc_head) {
- log.type = AO_LOG_SENSOR;
- log.tick = ao_adc_ring[ao_log_adc_pos].tick;
- log.u.sensor.accel = ao_adc_ring[ao_log_adc_pos].accel;
- log.u.sensor.pres = ao_adc_ring[ao_log_adc_pos].pres;
- ao_log_data(&log);
- if ((ao_log_adc_pos & 0x1f) == 0) {
- log.type = AO_LOG_TEMP_VOLT;
- log.tick = ao_adc_ring[ao_log_adc_pos].tick;
- log.u.temp_volt.temp = ao_adc_ring[ao_log_adc_pos].temp;
- log.u.temp_volt.v_batt = ao_adc_ring[ao_log_adc_pos].v_batt;
- ao_log_data(&log);
- log.type = AO_LOG_DEPLOY;
- log.tick = ao_adc_ring[ao_log_adc_pos].tick;
- log.u.deploy.drogue = ao_adc_ring[ao_log_adc_pos].sense_d;
- log.u.deploy.main = ao_adc_ring[ao_log_adc_pos].sense_m;
- ao_log_data(&log);
- }
- ao_log_adc_pos = ao_adc_ring_next(ao_log_adc_pos);
- }
- /* Write state change to EEPROM */
- if (ao_flight_state != ao_log_state) {
- ao_log_state = ao_flight_state;
- log.type = AO_LOG_STATE;
- log.tick = ao_flight_tick;
- log.u.state.state = ao_log_state;
- log.u.state.reason = 0;
- ao_log_data(&log);
-
- if (ao_log_state == ao_flight_landed)
- ao_log_stop();
- }
-
- /* Wait for a while */
- ao_delay(AO_MS_TO_TICKS(100));
-
- /* Stop logging when told to */
- while (!ao_log_running)
- ao_sleep(&ao_log_running);
- }
-}
-
-void
-ao_log_start(void)
-{
- /* start logging */
- ao_log_running = 1;
- ao_wakeup(&ao_log_running);
-}
-
-void
-ao_log_stop(void)
-{
- ao_log_running = 0;
- ao_log_flush();
-}
-
-static void
-dump_log(void)
-{
- uint8_t more;
-
- for (more = ao_log_dump_first(); more; more = ao_log_dump_next()) {
- printf("%c %4x %4x %4x\n",
- ao_log_dump.type,
- ao_log_dump.tick,
- ao_log_dump.u.anon.d0,
- ao_log_dump.u.anon.d1);
- if (ao_log_dump.type == AO_LOG_STATE &&
- ao_log_dump.u.state.state == ao_flight_landed)
- break;
- }
- printf("end\n");
-}
-
-__code struct ao_cmds ao_log_cmds[] = {
- { 'l', dump_log, "l Dump last flight log" },
- { 0, dump_log, NULL },
-};
-
-static __xdata struct ao_task ao_log_task;
-
-void
-ao_log_init(void)
-{
- ao_log_running = 0;
-
- /* For now, just log the flight starting at the begining of eeprom */
- ao_log_start_pos = 0;
- ao_log_current_pos = ao_log_start_pos;
- ao_log_state = ao_flight_invalid;
-
- /* Create a task to log events to eeprom */
- ao_add_task(&ao_log_task, ao_log, "log");
- ao_cmd_register(&ao_log_cmds[0]);
-}
projects / fw / altos / blobdiff