altos/easytimer-v2: Add logging bits

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

diff --git a/src/kernel/ao_log_timer.c b/src/kernel/ao_log_timer.c
new file mode 100644 (file)
index 0000000..42b9b85
--- /dev/null
+++ b/src/kernel/ao_log_timer.c
@@ -0,0 +1,134 @@
+/*
+ * Copyright © 2024 Keith Packard <keithp@keithp.com>
+ *
+ * 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; 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
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "ao.h"
+#include <ao_log.h>
+#include <ao_data.h>
+#include <ao_flight.h>
+
+#if HAS_FLIGHT
+static uint8_t ao_log_data_pos;
+
+/* a hack to make sure that ao_log_timers fill the eeprom block in even units */
+typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_timer))] ;
+
+#ifndef AO_SENSOR_INTERVAL_ASCENT
+#define AO_SENSOR_INTERVAL_ASCENT      1
+#define AO_SENSOR_INTERVAL_DESCENT     10
+#define AO_OTHER_INTERVAL              32
+#endif
+
+void
+ao_log(void)
+{
+       AO_TICK_TYPE            next_sensor;
+       uint8_t                 i;
+
+       ao_storage_setup();
+
+       ao_log_scan();
+
+       while (!ao_log_running)
+               ao_sleep(&ao_log_running);
+
+#if HAS_FLIGHT
+       ao_log_data.type = AO_LOG_FLIGHT;
+       ao_log_data.tick = (uint16_t) ao_sample_tick;
+#if HAS_ACCEL
+       ao_log_data.u.flight.ground_accel = ao_ground_accel;
+#endif
+#if HAS_GYRO
+       ao_log_data.u.flight.ground_accel_along = ao_ground_accel_along;
+       ao_log_data.u.flight.ground_accel_across = ao_ground_accel_across;
+       ao_log_data.u.flight.ground_accel_through = ao_ground_accel_through;
+       ao_log_data.u.flight.ground_roll = ao_ground_roll;
+       ao_log_data.u.flight.ground_pitch = ao_ground_pitch;
+       ao_log_data.u.flight.ground_yaw = ao_ground_yaw;
+#endif
+       ao_log_data.u.flight.flight = ao_flight_number;
+       ao_log_write(&ao_log_data);
+#endif
+
+       /* Write the whole contents of the ring to the log
+        * when starting up.
+        */
+       ao_log_data_pos = ao_data_ring_next(ao_data_head);
+       next_sensor = ao_data_ring[ao_log_data_pos].tick;
+       ao_log_state = ao_flight_startup;
+       for (;;) {
+               /* Write samples to EEPROM */
+               while (ao_log_data_pos != ao_data_head) {
+                       AO_TICK_TYPE tick = ao_data_ring[ao_log_data_pos].tick;
+                       ao_log_data.tick = (uint16_t) tick;
+                       volatile struct ao_data *d = &ao_data_ring[ao_log_data_pos];
+                       if ((AO_TICK_SIGNED) (tick - next_sensor) >= 0) {
+                               ao_log_data.type = AO_LOG_SENSOR;
+
+#if HAS_IMU
+                               ao_log_data.u.sensor.accel_along = ao_data_along(d);
+                               ao_log_data.u.sensor.accel_across = ao_data_across(d);
+                               ao_log_data.u.sensor.accel_through = ao_data_through(d);
+                               ao_log_data.u.sensor.gyro_roll = ao_data_roll(d);
+                               ao_log_data.u.sensor.gyro_pitch = ao_data_pitch(d);
+                               ao_log_data.u.sensor.gyro_yaw = ao_data_yaw(d);
+#endif
+#if HAS_MAG
+                               ao_log_data.u.sensor.mag_along = ao_data_mag_along(d);
+                               ao_log_data.u.sensor.mag_across = ao_data_mag_across(d);
+                               ao_log_data.u.sensor.mag_through = ao_data_mag_through(d);
+#endif
+                               ao_log_data.u.sensor.v_batt = d->adc.v_batt;
+                               for (i = 0; i < AO_ADC_NUM_SENSE; i++)
+                                       ao_log_data.u.sensor.sense[i] = d->adc.sense[i];
+                               ao_log_data.u.sensor.pyro = ao_pyro_fired;
+
+                               ao_log_write(&ao_log_data);
+                               if (ao_log_state <= ao_flight_coast)
+                                       next_sensor = tick + AO_SENSOR_INTERVAL_ASCENT;
+                               else
+                                       next_sensor = tick + AO_SENSOR_INTERVAL_DESCENT;
+                       }
+                       ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
+               }
+#if HAS_FLIGHT
+               /* Write state change to EEPROM */
+               if (ao_flight_state != ao_log_state) {
+                       ao_log_state = ao_flight_state;
+                       ao_log_data.type = AO_LOG_STATE;
+                       ao_log_data.tick = (uint16_t) ao_time();
+                       ao_log_data.u.state.state = ao_log_state;
+                       ao_log_data.u.state.reason = 0;
+                       ao_log_write(&ao_log_data);
+
+                       if (ao_log_state == ao_flight_landed)
+                               ao_log_stop();
+               }
+#endif
+
+               ao_log_flush();
+
+               /* 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);
+       }
+}
+#endif /* HAS_FLIGHT */
+