altos: Share common logging code. Deal with corrupt initial flight records

[fw/altos] / src / kernel / ao_log.c

diff --git a/src/kernel/ao_log.c b/src/kernel/ao_log.c
index 0589b4b00513b4fb8b80b03d22b7275dfc510a2b..08af5b583028b04903bf8ede5dd62e9c677f9e64 100644 (file)
--- a/src/kernel/ao_log.c
+++ b/src/kernel/ao_log.c
@@ -29,7 +29,7 @@ __pdata uint32_t ao_log_end_pos;
 __pdata uint32_t ao_log_start_pos;
 __xdata uint8_t        ao_log_running;
 __pdata enum ao_flight_state ao_log_state;
-__xdata uint16_t ao_flight_number;
+__xdata int16_t ao_flight_number;
 
 void
 ao_log_flush(void)
@@ -111,6 +111,85 @@ ao_log_erase_mark(void)
        ao_config_put();
 }
 
+#ifndef AO_LOG_UNCOMMON
+/*
+ * Common logging functions which depend on the type of the log data
+ * structure.
+ */
+
+__xdata ao_log_type log;
+
+static uint8_t
+ao_log_csum(__xdata uint8_t *b) __reentrant
+{
+       uint8_t sum = 0x5a;
+       uint8_t i;
+
+       for (i = 0; i < sizeof (ao_log_type); i++)
+               sum += *b++;
+       return -sum;
+}
+
+uint8_t
+ao_log_write(__xdata ao_log_type *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 (ao_log_type));
+                       ao_log_current_pos += sizeof (ao_log_type);
+               }
+       } ao_mutex_put(&ao_log_mutex);
+       return wrote;
+}
+
+uint8_t
+ao_log_check_data(void)
+{
+       if (ao_log_csum((uint8_t *) &log) != 0)
+               return 0;
+       return 1;
+}
+
+uint8_t
+ao_log_check_clear(void)
+{
+       uint8_t *b = (uint8_t *) &log;
+       uint8_t i;
+
+       for (i = 0; i < sizeof (ao_log_type); i++) {
+               if (*b++ != 0xff)
+                       return 0;
+       }
+       return 1;
+}
+
+int16_t
+ao_log_flight(uint8_t slot)
+{
+       if (!ao_storage_read(ao_log_pos(slot),
+                            &log,
+                            sizeof (ao_log_type)))
+               return -(int16_t) (slot + 1);
+
+       if (ao_log_check_clear())
+               return 0;
+
+       if (ao_log_check_data() || log.type != AO_LOG_FLIGHT)
+               return -(int16_t) (slot + 1);
+
+       return log.u.flight.flight;
+}
+#endif
+
 static uint8_t
 ao_log_slots()
 {
@@ -123,21 +202,21 @@ ao_log_pos(uint8_t slot)
        return ((slot) * ao_config.flight_log_max);
 }
 
-static uint16_t
+static int16_t
 ao_log_max_flight(void)
 {
        uint8_t         log_slot;
        uint8_t         log_slots;
-       uint16_t        log_flight;
-       uint16_t        max_flight = 0;
+       int16_t         log_flight;
+       int16_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)
+               if (log_flight <= 0)
                        continue;
-               if (max_flight == 0 || (int16_t) (log_flight - max_flight) > 0)
+               if (max_flight == 0 || log_flight > max_flight)
                        max_flight = log_flight;
        }
        return max_flight;
@@ -228,24 +307,24 @@ ao_log_scan(void) __reentrant
 
        if (ao_flight_number) {
                uint32_t        full = ao_log_current_pos;
-               uint32_t        empty = ao_log_end_pos - ao_log_size;
+               uint32_t        empty = ao_log_end_pos - AO_LOG_SIZE;
 
                /* If there's already a flight started, then find the
                 * end of it
                 */
                for (;;) {
                        ao_log_current_pos = (full + empty) >> 1;
-                       ao_log_current_pos -= ao_log_current_pos % ao_log_size;
+                       ao_log_current_pos -= ao_log_current_pos % AO_LOG_SIZE;
 
                        if (ao_log_current_pos == full) {
-                               if (ao_log_check(ao_log_current_pos))
-                                       ao_log_current_pos += ao_log_size;
+                               if (ao_log_check(ao_log_current_pos) != AO_LOG_EMPTY)
+                                       ao_log_current_pos += AO_LOG_SIZE;
                                break;
                        }
                        if (ao_log_current_pos == empty)
                                break;
 
-                       if (ao_log_check(ao_log_current_pos)) {
+                       if (ao_log_check(ao_log_current_pos) != AO_LOG_EMPTY) {
                                full = ao_log_current_pos;
                        } else {
                                empty = ao_log_current_pos;
@@ -259,10 +338,11 @@ ao_log_scan(void) __reentrant
        ao_wakeup(&ao_flight_number);
        return ret;
 #else
-
-       if (ao_flight_number)
-               if (++ao_flight_number == 0)
+       if (ao_flight_number) {
+               ++ao_flight_number;
+               if (ao_flight_number <= 0)
                        ao_flight_number = 1;
+       }
 
        ao_log_find_max_erase_flight();
 
@@ -330,7 +410,7 @@ ao_log_list(void) __reentrant
 {
        uint8_t slot;
        uint8_t slots;
-       uint16_t flight;
+       int16_t flight;
 
        slots = ao_log_slots();
        for (slot = 0; slot < slots; slot++)
@@ -350,18 +430,25 @@ ao_log_delete(void) __reentrant
 {
        uint8_t slot;
        uint8_t slots;
+       int16_t cmd_flight = 1;
 
+       ao_cmd_white();
+       if (ao_cmd_lex_c == '-') {
+               cmd_flight = -1;
+               ao_cmd_lex();
+       }
        ao_cmd_decimal();
        if (ao_cmd_status != ao_cmd_success)
                return;
+       cmd_flight *= (int16_t) ao_cmd_lex_i;
 
        slots = ao_log_slots();
        /* Look for the flight log matching the requested flight */
-       if (ao_cmd_lex_i) {
+       if (cmd_flight) {
                for (slot = 0; slot < slots; slot++) {
-                       if (ao_log_flight(slot) == ao_cmd_lex_i) {
+                       if (ao_log_flight(slot) == cmd_flight) {
 #if HAS_TRACKER
-                               ao_tracker_erase_start(ao_cmd_lex_i);
+                               ao_tracker_erase_start(cmd_flight);
 #endif
                                ao_log_erase(slot);
 #if HAS_TRACKER
@@ -372,7 +459,7 @@ ao_log_delete(void) __reentrant
                        }
                }
        }
-       printf("No such flight: %d\n", ao_cmd_lex_i);
+       printf("No such flight: %d\n", cmd_flight);
 }
 
 __code struct ao_cmds ao_log_cmds[] = {