altos: Write a few pre-launch samples for Tm/Tn devices

[fw/altos] / src / ao_log_tiny.c

diff --git a/src/ao_log_tiny.c b/src/ao_log_tiny.c
index 6c2468fc3ea7e6f56b6cb5d89bc118bdb928b8f8..d26e0080ec5715c88897e4cd45402f902c6353ff 100644 (file)
--- a/src/ao_log_tiny.c
+++ b/src/ao_log_tiny.c
@@ -19,8 +19,14 @@
 
 static __data uint16_t ao_log_tiny_interval;
 
-#define AO_LOG_TINY_INTERVAL_ASCENT    AO_MS_TO_TICKS(100)
 #define AO_LOG_TINY_INTERVAL_DEFAULT   AO_MS_TO_TICKS(1000)
+#if USE_FAST_ASCENT_LOG
+#define AO_LOG_TINY_INTERVAL_ASCENT    AO_MS_TO_TICKS(100)
+#define AO_PAD_RING    8
+#else
+#define AO_LOG_TINY_INTERVAL_ASCENT    AO_LOG_TINY_INTERVAL_DEFAULT
+#define AO_PAD_RING    2
+#endif
 
 void
 ao_log_tiny_set_interval(uint16_t ticks)
@@ -28,19 +34,47 @@ ao_log_tiny_set_interval(uint16_t ticks)
        ao_log_tiny_interval = ticks;
 }
 
-static __xdata uint16_t ao_log_tiny_data_temp;
 
 static void ao_log_tiny_data(uint16_t d)
 {
        if (ao_log_current_pos >= ao_log_end_pos && ao_log_running)
                ao_log_stop();
        if (ao_log_running) {
-               ao_log_tiny_data_temp = (d);
-               ao_storage_write(ao_log_current_pos, &ao_log_tiny_data_temp, 2);
+               ao_storage_write(ao_log_current_pos, DATA_TO_XDATA(&d), 2);
                ao_log_current_pos += 2;
        }
 }
 
+static __xdata uint16_t ao_log_pad_ring[AO_PAD_RING];
+static __pdata uint8_t ao_log_pad_ring_pos;
+
+#define ao_pad_ring_next(n)    (((n) + 1) & (AO_PAD_RING - 1))
+
+static void ao_log_tiny_queue(uint16_t d)
+{
+       ao_log_pad_ring[ao_log_pad_ring_pos] = d;
+       ao_log_pad_ring_pos = ao_pad_ring_next(ao_log_pad_ring_pos);
+}
+
+static void ao_log_tiny_start(void)
+{
+       uint8_t         p;
+       uint16_t        d;
+
+       ao_log_tiny_data(ao_flight_number);
+       ao_log_tiny_data(ao_ground_pres);
+       p = ao_log_pad_ring_pos;
+       do {
+               d = ao_log_pad_ring[p];
+               /*
+                * ignore unwritten slots
+                */
+               if (d)
+                       ao_log_tiny_data(d);
+               p = ao_pad_ring_next(p);
+       } while (p != ao_log_pad_ring_pos);
+}
+
 void
 ao_log(void)
 {
@@ -50,44 +84,61 @@ ao_log(void)
        int32_t                 sum;
        int16_t                 count;
        uint8_t                 ao_log_adc;
+       uint8_t                 ao_log_started = 0;
 
        ao_storage_setup();
 
        ao_log_scan();
 
        ao_log_tiny_state = ao_flight_invalid;
-       ao_log_tiny_interval = AO_LOG_TINY_INTERVAL_DEFAULT;
-       while (!ao_log_running)
-               ao_sleep(&ao_log_running);
-
-       ao_log_tiny_data(ao_flight_number);
-       ao_log_tiny_data(ao_ground_pres);
+       ao_log_tiny_interval = AO_LOG_TINY_INTERVAL_ASCENT;
        sum = 0;
        count = 0;
        ao_log_adc = ao_sample_adc;
        last_time = ao_time();
        for (;;) {
+
+               /*
+                * Add in pending sample data
+                */
                ao_sleep(DATA_TO_XDATA(&ao_sample_adc));
                while (ao_log_adc != ao_sample_adc) {
                        sum += ao_adc_ring[ao_log_adc].pres;
                        count++;
                        ao_log_adc = ao_adc_ring_next(ao_log_adc);
                }
-               if (ao_flight_state != ao_log_tiny_state) {
-                       ao_log_tiny_data(ao_flight_state | 0x8000);
-                       ao_log_tiny_state = ao_flight_state;
-                       ao_log_tiny_interval = AO_LOG_TINY_INTERVAL_DEFAULT;
-                       if (ao_log_tiny_state <= ao_flight_coast)
-                               ao_log_tiny_interval = AO_LOG_TINY_INTERVAL_ASCENT;
-                       if (ao_log_tiny_state == ao_flight_landed)
-                               ao_log_stop();
+               if (ao_log_running) {
+                       if (!ao_log_started) {
+                               ao_log_tiny_start();
+                               ao_log_started = 1;
+                       }
+                       if (ao_flight_state != ao_log_tiny_state) {
+                               ao_log_tiny_data(ao_flight_state | 0x8000);
+                               ao_log_tiny_state = ao_flight_state;
+                               ao_log_tiny_interval = AO_LOG_TINY_INTERVAL_DEFAULT;
+#if AO_LOG_TINY_INTERVAL_ASCENT != AO_LOG_TINY_INTERVAL_DEFAULT
+                               if (ao_log_tiny_state <= ao_flight_coast)
+                                       ao_log_tiny_interval = AO_LOG_TINY_INTERVAL_ASCENT;
+#endif
+                               if (ao_log_tiny_state == ao_flight_landed)
+                                       ao_log_stop();
+                       }
                }
+
                /* Stop logging when told to */
-               if (!ao_log_running)
+               if (!ao_log_running && ao_log_started)
                        ao_exit();
+
+               /*
+                * Write out the sample when finished
+                */
                now = ao_time();
                if ((int16_t) (now - (last_time + ao_log_tiny_interval)) >= 0 && count) {
-                       ao_log_tiny_data(sum / count);
+                       count = sum / count;
+                       if (ao_log_started)
+                               ao_log_tiny_data(count);
+                       else
+                               ao_log_tiny_queue(count);
                        sum = 0;
                        count = 0;
                        last_time = now;