*
* 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.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
#include <ao_distance.h>
#include <ao_tracker.h>
-static __xdata struct ao_log_gps log;
-
-__code uint8_t ao_log_format = AO_LOG_FORMAT_TELEGPS;
-__code uint8_t ao_log_size = sizeof (struct ao_log_gps);
-
-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_gps); i++)
- sum += *b++;
- return -sum;
-}
-
-uint8_t
-ao_log_gps(__xdata struct ao_log_gps *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_gps));
- ao_log_current_pos += sizeof (struct ao_log_gps);
- }
- } ao_mutex_put(&ao_log_mutex);
- return wrote;
-}
-
void
ao_log_gps_flight(void)
{
- log.type = AO_LOG_FLIGHT;
- log.tick = ao_time();
- log.u.flight.flight = ao_flight_number;
- ao_log_gps(&log);
+ ao_log_data.type = AO_LOG_FLIGHT;
+ ao_log_data.tick = (uint16_t) ao_time();
+ ao_log_data.u.flight.flight = ao_flight_number;
+ ao_log_write(&ao_log_data);
}
void
-ao_log_gps_data(uint16_t tick, struct ao_telemetry_location *gps_data)
+ao_log_gps_data(AO_TICK_TYPE tick, struct ao_telemetry_location *gps_data)
{
- log.tick = tick;
- log.type = AO_LOG_GPS_TIME;
- log.u.gps.latitude = gps_data->latitude;
- log.u.gps.longitude = gps_data->longitude;
- log.u.gps.altitude_low = gps_data->altitude_low;
- log.u.gps.altitude_high = gps_data->altitude_high;
-
- log.u.gps.hour = gps_data->hour;
- log.u.gps.minute = gps_data->minute;
- log.u.gps.second = gps_data->second;
- log.u.gps.flags = gps_data->flags;
- log.u.gps.year = gps_data->year;
- log.u.gps.month = gps_data->month;
- log.u.gps.day = gps_data->day;
- log.u.gps.course = gps_data->course;
- log.u.gps.ground_speed = gps_data->ground_speed;
- log.u.gps.climb_rate = gps_data->climb_rate;
- log.u.gps.pdop = gps_data->pdop;
- log.u.gps.hdop = gps_data->hdop;
- log.u.gps.vdop = gps_data->vdop;
- log.u.gps.mode = gps_data->mode;
- ao_log_gps(&log);
+ ao_log_data.tick = (uint16_t) tick;
+ ao_log_data.type = AO_LOG_GPS_TIME;
+ ao_log_data.u.gps.latitude = gps_data->latitude;
+ ao_log_data.u.gps.longitude = gps_data->longitude;
+ ao_log_data.u.gps.altitude_low = gps_data->altitude_low;
+ ao_log_data.u.gps.altitude_high = gps_data->altitude_high;
+
+ ao_log_data.u.gps.hour = gps_data->hour;
+ ao_log_data.u.gps.minute = gps_data->minute;
+ ao_log_data.u.gps.second = gps_data->second;
+ ao_log_data.u.gps.flags = gps_data->flags;
+ ao_log_data.u.gps.year = gps_data->year;
+ ao_log_data.u.gps.month = gps_data->month;
+ ao_log_data.u.gps.day = gps_data->day;
+ ao_log_data.u.gps.course = gps_data->course;
+ ao_log_data.u.gps.ground_speed = gps_data->ground_speed;
+ ao_log_data.u.gps.climb_rate = gps_data->climb_rate;
+ ao_log_data.u.gps.pdop = gps_data->pdop;
+ ao_log_data.u.gps.hdop = gps_data->hdop;
+ ao_log_data.u.gps.vdop = gps_data->vdop;
+ ao_log_data.u.gps.mode = gps_data->mode;
+ ao_log_write(&ao_log_data);
}
void
-ao_log_gps_tracking(uint16_t tick, struct ao_telemetry_satellite *gps_tracking_data)
+ao_log_gps_tracking(AO_TICK_TYPE tick, struct ao_telemetry_satellite *gps_tracking_data)
{
uint8_t c, n, i;
- log.tick = tick;
- log.type = AO_LOG_GPS_SAT;
+ ao_log_data.tick = (uint16_t) tick;
+ ao_log_data.type = AO_LOG_GPS_SAT;
i = 0;
n = gps_tracking_data->channels;
for (c = 0; c < n; c++)
- if ((log.u.gps_sat.sats[i].svid = gps_tracking_data->sats[c].svid))
+ if ((ao_log_data.u.gps_sat.sats[i].svid = gps_tracking_data->sats[c].svid))
{
- log.u.gps_sat.sats[i].c_n = gps_tracking_data->sats[c].c_n_1;
+ ao_log_data.u.gps_sat.sats[i].c_n = gps_tracking_data->sats[c].c_n_1;
i++;
if (i >= 12)
break;
}
- log.u.gps_sat.channels = i;
- ao_log_gps(&log);
+ ao_log_data.u.gps_sat.channels = i;
+ ao_log_write(&ao_log_data);
}
static uint8_t
-ao_log_dump_check_data(void)
-{
- if (ao_log_csum((uint8_t *) &log) != 0)
- return 0;
- return 1;
-}
-
-uint16_t
-ao_log_flight(uint8_t slot)
+ao_log_check_empty(void)
{
- if (!ao_storage_read(ao_log_pos(slot),
- &log,
- sizeof (struct ao_log_gps)))
- return 0;
+ uint8_t *b = (void *) &ao_log_data;
+ unsigned i;
- if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
- return log.u.flight.flight;
- return 0;
+ for (i = 0; i < sizeof (ao_log_type); i++)
+ if (*b++ != AO_STORAGE_ERASED_BYTE)
+ return 0;
+ return 1;
}
-uint8_t
+int8_t
ao_log_check(uint32_t pos)
{
if (!ao_storage_read(pos,
- &log,
+ &ao_log_data,
sizeof (struct ao_log_gps)))
- return 0;
+ return AO_LOG_INVALID;
+
+ if (ao_log_check_empty())
+ return AO_LOG_EMPTY;
+
+ if (!ao_log_check_data())
+ return AO_LOG_INVALID;
- if (ao_log_dump_check_data())
- return 1;
- return 0;
+ return AO_LOG_VALID;
}
projects / fw / altos / blobdiff