#include "ao.h"
-static __pdata uint32_t ao_log_current_pos;
-static __pdata uint32_t ao_log_end_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(__xdata uint8_t *b) __reentrant
-{
- uint8_t sum = 0x5a;
- uint8_t i;
-
- for (i = 0; i < sizeof (struct ao_log_record); i++)
- sum += *b++;
- return -sum;
-}
-
-uint8_t
-ao_log_data(__xdata struct ao_log_record *log) __reentrant
-{
- uint8_t wrote = 0;
- /* set checksum */
- log->csum = 0;
- log->csum = ao_log_csum((__xdata uint8_t *) log);
- ao_mutex_get(&ao_log_mutex); {
- if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
- ao_log_stop();
- if (ao_log_running) {
- wrote = 1;
- ao_storage_write(ao_log_current_pos,
- log,
- sizeof (struct ao_log_record));
- ao_log_current_pos += sizeof (struct ao_log_record);
- }
- } ao_mutex_put(&ao_log_mutex);
- return wrote;
-}
+__pdata uint32_t ao_log_current_pos;
+__pdata uint32_t ao_log_end_pos;
+__pdata uint32_t ao_log_start_pos;
+__xdata uint8_t ao_log_running;
+__xdata enum flight_state ao_log_state;
+__xdata uint16_t ao_flight_number;
void
ao_log_flush(void)
ao_storage_flush();
}
-static void ao_log_scan(void);
-
-__xdata struct ao_log_record log;
-__xdata uint16_t ao_flight_number;
-
-static uint8_t
-ao_log_dump_check_data(void)
-{
- if (ao_log_csum((uint8_t *) &log) != 0)
- return 0;
- return 1;
-}
-
-__xdata uint8_t ao_log_adc_pos;
-__xdata enum flight_state ao_log_state;
-
-/* a hack to make sure that ao_log_records fill the eeprom block in even units */
-typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_record))] ;
-
-void
-ao_log(void)
-{
- ao_storage_setup();
-
- ao_log_scan();
-
- while (!ao_log_running)
- ao_sleep(&ao_log_running);
-
- log.type = AO_LOG_FLIGHT;
- log.tick = ao_flight_tick;
-#if HAS_ACCEL
- log.u.flight.ground_accel = ao_ground_accel;
-#endif
- log.u.flight.flight = ao_flight_number;
- 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_flight_adc);
- for (;;) {
- /* Write samples to EEPROM */
- while (ao_log_adc_pos != ao_flight_adc) {
- 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);
- }
-}
-
/*
* When erasing a flight log, make sure the config block
* has an up-to-date version of the current flight number
return (uint8_t) (ao_storage_config / ao_config.flight_log_max);
}
-static uint32_t
+uint32_t
ao_log_pos(uint8_t slot)
{
return ((slot) * ao_config.flight_log_max);
}
-static uint16_t
-ao_log_flight(uint8_t slot)
-{
- if (!ao_storage_read(ao_log_pos(slot),
- &log,
- sizeof (struct ao_log_record)))
- return 0;
-
- if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
- return log.u.flight.flight;
- return 0;
-}
-
static uint16_t
ao_log_max_flight(void)
{
return max_flight;
}
-static void
+void
ao_log_scan(void) __reentrant
{
uint8_t log_slot;
ao_log_current_pos = ao_log_pos(slot);
ao_log_end_pos = ao_log_current_pos + ao_config.flight_log_max;
while (ao_log_current_pos < ao_log_end_pos) {
+ uint8_t i;
+ static __xdata uint8_t b;
+
/*
* Check to see if we've reached the end of
* the used memory to avoid re-erasing the same
* memory over and over again
*/
- if (ao_storage_read(ao_log_current_pos,
- &log,
- sizeof (struct ao_log_record))) {
- for (slot = 0; slot < sizeof (struct ao_log_record); slot++)
- if (((uint8_t *) &log)[slot] != 0xff)
+ for (i = 0; i < 16; i++) {
+ if (ao_storage_read(ao_log_current_pos + i, &b, 1))
+ if (b != 0xff)
break;
- if (slot == sizeof (struct ao_log_record))
- break;
}
+ if (i == 16)
+ break;
ao_storage_erase(ao_log_current_pos);
ao_log_current_pos += ao_storage_block;
}
printf("No such flight: %d\n", ao_cmd_lex_i);
}
-
-
__code struct ao_cmds ao_log_cmds[] = {
{ ao_log_list, "l\0List stored flight logs" },
{ ao_log_delete, "d <flight-number>\0Delete stored flight" },
projects / fw / altos / blobdiff