X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fao_log.c;h=80d7243d8c632a1c6062fbe63b43f9249629081f;hp=132512e6ea682f53032dc9a6d56966ae4b35183b;hb=5203ddaac692bfd82a01368da9fb66c25e9e14c1;hpb=e4ba9bf4291bf17c777c8c3ef7c71e4a30b9947a diff --git a/src/ao_log.c b/src/ao_log.c index 132512e6..80d7243d 100644 --- a/src/ao_log.c +++ b/src/ao_log.c @@ -17,43 +17,12 @@ #include "ao.h" -static __pdata uint32_t ao_log_current_pos; -static __pdata uint32_t ao_log_end_pos; -static __pdata uint32_t ao_log_start_pos; -static __xdata uint8_t ao_log_running; -static __xdata uint8_t ao_log_mutex; - -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_record); i++) - sum += *b++; - return -sum; -} - -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_current_pos >= ao_log_end_pos) - ao_log_running = 0; - if (ao_log_running) { - wrote = 1; - ao_storage_write(ao_log_current_pos, - log, - sizeof (struct ao_log_record)); - ao_log_current_pos += sizeof (struct ao_log_record); - } - } ao_mutex_put(&ao_log_mutex); - return wrote; -} +__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; void ao_log_flush(void) @@ -61,93 +30,6 @@ ao_log_flush(void) ao_storage_flush(); } -static void ao_log_scan(void); - -__xdata struct ao_log_record log; -__xdata uint16_t ao_flight_number; - -static uint8_t -ao_log_dump_check_data(void) -{ - if (ao_log_csum((uint8_t *) &log) != 0) - return 0; - return 1; -} - -__xdata uint8_t ao_log_adc_pos; -__xdata enum flight_state ao_log_state; - -/* 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))] ; - -void -ao_log(void) -{ - ao_storage_setup(); - - /* For now, use all of the available space */ - ao_log_current_pos = 0; - ao_log_end_pos = ao_storage_config; - - ao_log_scan(); - - while (!ao_log_running) - ao_sleep(&ao_log_running); - - 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); - - /* Write the whole contents of the ring to the log - * when starting up. - */ - 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(); - } - - /* 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); - } -} - /* * When erasing a flight log, make sure the config block * has an up-to-date version of the current flight number @@ -168,12 +50,13 @@ ao_log_erase_pos(uint8_t i) return i * sizeof (struct ao_log_erase) + AO_STORAGE_ERASE_LOG; } -static void +void ao_log_write_erase(uint8_t pos) { erase.unused = 0x00; erase.flight = ao_flight_number; ao_storage_write(ao_log_erase_pos(pos), &erase, sizeof (erase)); + ao_storage_flush(); } static void @@ -200,64 +83,51 @@ ao_log_erase_mark(void) ao_config_put(); } -static void -ao_log_erase(uint8_t pos) +static uint8_t +ao_log_slots() { - ao_config_get(); - (void) pos; -// ao_log_current_pos = pos * ao_config.flight_log_max; -// ao_log_end_pos = ao_log_current_pos + ao_config.flight_log_max; -// if (ao_log_end_pos > ao_storage_config) -// return; - - ao_log_current_pos = 0; - ao_log_end_pos = ao_storage_config; - - while (ao_log_current_pos < ao_log_end_pos) { - ao_storage_erase(ao_log_current_pos); - ao_log_current_pos += ao_storage_block; - } + return (uint8_t) (ao_storage_config / ao_config.flight_log_max); } -static uint16_t -ao_log_flight(uint8_t slot) +uint32_t +ao_log_pos(uint8_t slot) { - (void) slot; - if (!ao_storage_read(0, - &log, - sizeof (struct ao_log_record))) - ao_panic(AO_PANIC_LOG); - - if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT) - return log.u.flight.flight; - return 0; + return ((slot) * ao_config.flight_log_max); } -static void -ao_log_scan(void) +static uint16_t +ao_log_max_flight(void) { uint8_t log_slot; - uint8_t log_avail = 0; + uint8_t log_slots; uint16_t log_flight; + uint16_t max_flight = 0; - ao_config_get(); - - ao_flight_number = 0; - - /* Scan the log space looking for an empty one, and find the biggest flight number */ - log_slot = 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) - log_flight = 1; - if (ao_flight_number == 0 || - (int16_t) (log_flight - ao_flight_number) > 0) { - ao_flight_number = log_flight; - } - } else - log_avail |= 1 << 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_scan(void) __reentrant +{ + uint8_t log_slot; + uint8_t log_slots; + uint8_t log_want; + + ao_config_get(); + + ao_flight_number = ao_log_max_flight(); + if (ao_flight_number) + if (++ao_flight_number == 0) + ao_flight_number = 1; /* Now look through the log of flight numbers from erase operations and * see if the last one is bigger than what we found above @@ -279,25 +149,20 @@ ao_log_scan(void) * that we write logs to each spot about the same number of times. */ - /* If there are no log slots available, then - * do not log the next flight - */ - if (!log_avail) { - ao_log_current_pos = 0; - ao_log_end_pos = 0; - } else { - log_slot = ao_flight_number % log_slot; - while (!((log_avail & (1 << log_slot)))) { - if ((1 << log_slot) > log_avail) - log_slot = 0; - else - log_slot++; + /* 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; } -// ao_log_current_pos = log_slot * ao_config.flight_log_max; -// ao_log_end_pos = ao_log_current_pos + ao_config.flight_log_max; - ao_log_current_pos = 0; - ao_log_end_pos = ao_storage_config; - } + if (++log_slot >= log_slots) + log_slot = 0; + } while (log_slot != log_want); ao_wakeup(&ao_flight_number); } @@ -317,64 +182,89 @@ ao_log_stop(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; - slot = 0; + slots = ao_log_slots(); + for (slot = 0; slot < slots; slot++) { flight = ao_log_flight(slot); if (flight) - printf ("Flight %d\n", 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; - slot = 0; + + slots = ao_log_slots(); /* Look for the flight log matching the requested flight */ - { - if (ao_log_flight(slot) == ao_cmd_lex_i) { - ao_log_current_pos = 0; - ao_log_end_pos = ao_storage_config; - while (ao_log_current_pos < ao_log_end_pos) { - /* - * Check to see if we've reached the end of - * the used memory to avoid re-erasing the same - * memory over and over again - */ - if (ao_storage_read(ao_log_current_pos, - &log, - sizeof (struct ao_log_record))) { - for (slot = 0; slot < sizeof (struct ao_log_record); slot++) - if (((uint8_t *) &log)[slot] != 0xff) - break; - if (slot == sizeof (struct ao_log_record)) + 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; } - ao_storage_erase(ao_log_current_pos); - ao_log_current_pos += ao_storage_block; + puts("Erased"); + return; } - puts("Erased\n"); - return; } } printf("No such flight: %d\n", ao_cmd_lex_i); } __code struct ao_cmds ao_log_cmds[] = { - { 'l', ao_log_list, "l List stored flight logs" }, - { 'd', ao_log_delete, "d Delete stored flight" }, - { 0, ao_log_delete, NULL }, + { ao_log_list, "l\0List flight logs" }, + { ao_log_delete, "d \0Delete flight" }, + { 0, NULL }, }; void