#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;
+__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;
+__pdata enum flight_state ao_log_state;
+__xdata uint16_t ao_flight_number;
-static uint8_t
-ao_log_csum(__xdata uint8_t *b) __reentrant
+void
+ao_log_flush(void)
{
- uint8_t sum = 0x5a;
- uint8_t i;
-
- for (i = 0; i < sizeof (struct ao_log_record); i++)
- sum += *b++;
- return -sum;
+ ao_storage_flush();
}
-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_running) {
- wrote = 1;
- 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);
- return wrote;
+/*
+ * When erasing a flight log, make sure the config block
+ * has an up-to-date version of the current flight number
+ */
+
+struct ao_log_erase {
+ uint8_t unused;
+ uint16_t flight;
+};
+
+static __xdata struct ao_log_erase erase;
+
+#define LOG_MAX_ERASE 16
+
+static uint32_t
+ao_log_erase_pos(uint8_t i)
+{
+ return i * sizeof (struct ao_log_erase) + AO_STORAGE_ERASE_LOG;
}
void
-ao_log_flush(void)
+ao_log_write_erase(uint8_t pos)
{
- ao_ee_flush();
+ erase.unused = 0x00;
+ erase.flight = ao_flight_number;
+ ao_storage_write(ao_log_erase_pos(pos), &erase, sizeof (erase));
+ ao_storage_flush();
}
-__xdata struct ao_log_record log;
-__xdata uint16_t ao_flight_number;
-
-static uint8_t
-ao_log_dump_check_data(void)
+static void
+ao_log_read_erase(uint8_t pos)
{
- if (ao_log_csum((uint8_t *) &log) != 0)
- return 0;
- return 1;
+ ao_storage_read(ao_log_erase_pos(pos), &erase, sizeof (erase));
}
+
static void
-ao_log_scan(void)
+ao_log_erase_mark(void)
{
- if (!ao_ee_read(0, (uint8_t *) &log, sizeof (struct ao_log_record)))
- ao_panic(AO_PANIC_LOG);
- if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT) {
- ao_flight_number = log.u.flight.flight + 1;
- if (ao_flight_number == 0)
- ao_flight_number = 1;
- } else {
- ao_flight_number = 1;
+ uint8_t i;
+
+ for (i = 0; i < LOG_MAX_ERASE; i++) {
+ ao_log_read_erase(i);
+ if (erase.unused == 0 && erase.flight == ao_flight_number)
+ return;
+ if (erase.unused == 0xff) {
+ ao_log_write_erase(i);
+ return;
+ }
}
- ao_wakeup(&ao_flight_number);
+ ao_config_put();
+}
+
+static uint8_t
+ao_log_slots()
+{
+ return (uint8_t) (ao_storage_config / ao_config.flight_log_max);
}
-__xdata uint8_t ao_log_adc_pos;
-__xdata enum flight_state ao_log_state;
+uint32_t
+ao_log_pos(uint8_t slot)
+{
+ return ((slot) * ao_config.flight_log_max);
+}
-/* 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))] ;
+static uint16_t
+ao_log_max_flight(void)
+{
+ uint8_t log_slot;
+ uint8_t log_slots;
+ uint16_t log_flight;
+ uint16_t max_flight = 0;
+
+ /* Scan the log space looking for the biggest flight number */
+ log_slots = ao_log_slots();
+ for (log_slot = 0; log_slot < log_slots; log_slot++) {
+ log_flight = ao_log_flight(log_slot);
+ if (!log_flight)
+ continue;
+ if (max_flight == 0 || (int16_t) (log_flight - max_flight) > 0)
+ max_flight = log_flight;
+ }
+ return max_flight;
+}
void
-ao_log(void)
+ao_log_scan(void) __reentrant
{
- ao_log_scan();
+ uint8_t log_slot;
+ uint8_t log_slots;
+ uint8_t log_want;
- while (!ao_log_running)
- ao_sleep(&ao_log_running);
+ ao_config_get();
- log.type = AO_LOG_FLIGHT;
- log.tick = ao_flight_tick;
- log.u.flight.ground_accel = ao_ground_accel;
- log.u.flight.flight = ao_flight_number;
- ao_log_data(&log);
+ ao_flight_number = ao_log_max_flight();
+ if (ao_flight_number)
+ if (++ao_flight_number == 0)
+ ao_flight_number = 1;
- /* Write the whole contents of the ring to the log
- * when starting up.
+ /* Now look through the log of flight numbers from erase operations and
+ * see if the last one is bigger than what we found above
*/
- 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();
+ for (log_slot = LOG_MAX_ERASE; log_slot-- > 0;) {
+ ao_log_read_erase(log_slot);
+ if (erase.unused == 0) {
+ if (ao_flight_number == 0 ||
+ (int16_t) (erase.flight - ao_flight_number) > 0)
+ ao_flight_number = erase.flight;
+ break;
}
+ }
+ if (ao_flight_number == 0)
+ ao_flight_number = 1;
- /* Wait for a while */
- ao_delay(AO_MS_TO_TICKS(100));
+ /* With a flight number in hand, find a place to write a new log,
+ * use the target flight number to index the available log slots so
+ * that we write logs to each spot about the same number of times.
+ */
- /* Stop logging when told to */
- while (!ao_log_running)
- ao_sleep(&ao_log_running);
- }
+ /* Find a log slot for the next flight, if available */
+ ao_log_current_pos = ao_log_end_pos = 0;
+ log_slots = ao_log_slots();
+ log_want = (ao_flight_number - 1) % log_slots;
+ log_slot = log_want;
+ do {
+ if (ao_log_flight(log_slot) == 0) {
+ ao_log_current_pos = ao_log_pos(log_slot);
+ ao_log_end_pos = ao_log_current_pos + ao_config.flight_log_max;
+ break;
+ }
+ if (++log_slot >= log_slots)
+ log_slot = 0;
+ } while (log_slot != log_want);
+
+ ao_wakeup(&ao_flight_number);
}
void
ao_log_flush();
}
+uint8_t
+ao_log_present(void)
+{
+ return ao_log_max_flight() != 0;
+}
+
+uint8_t
+ao_log_full(void)
+{
+ return ao_log_current_pos == ao_log_end_pos;
+}
+
static __xdata struct ao_task ao_log_task;
+void
+ao_log_list(void) __reentrant
+{
+ uint8_t slot;
+ uint8_t slots;
+ uint16_t flight;
+
+ slots = ao_log_slots();
+ for (slot = 0; slot < slots; slot++)
+ {
+ flight = ao_log_flight(slot);
+ if (flight)
+ printf ("flight %d start %x end %x\n",
+ flight,
+ (uint16_t) (ao_log_pos(slot) >> 8),
+ (uint16_t) (ao_log_pos(slot+1) >> 8));
+ }
+ printf ("done\n");
+}
+
+void
+ao_log_delete(void) __reentrant
+{
+ uint8_t slot;
+ uint8_t slots;
+
+ ao_cmd_decimal();
+ if (ao_cmd_status != ao_cmd_success)
+ return;
+
+ slots = ao_log_slots();
+ /* Look for the flight log matching the requested flight */
+ if (ao_cmd_lex_i) {
+ for (slot = 0; slot < slots; slot++) {
+ if (ao_log_flight(slot) == ao_cmd_lex_i) {
+ ao_log_erase_mark();
+ 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
+ */
+ for (i = 0; i < 16; i++) {
+ if (ao_storage_read(ao_log_current_pos + i, &b, 1))
+ if (b != 0xff)
+ break;
+ }
+ if (i == 16)
+ break;
+ ao_storage_erase(ao_log_current_pos);
+ ao_log_current_pos += ao_storage_block;
+ }
+ puts("Erased");
+ return;
+ }
+ }
+ }
+ printf("No such flight: %d\n", ao_cmd_lex_i);
+}
+
+__code struct ao_cmds ao_log_cmds[] = {
+ { ao_log_list, "l\0List flight logs" },
+ { ao_log_delete, "d <flight-number>\0Delete flight" },
+ { 0, NULL },
+};
+
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;
+ ao_cmd_register(&ao_log_cmds[0]);
+
/* Create a task to log events to eeprom */
ao_add_task(&ao_log_task, ao_log, "log");
}
projects / fw / altos / blobdiff