X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fcore%2Fao_log_mega.c;fp=src%2Fcore%2Fao_log_mega.c;h=0000000000000000000000000000000000000000;hp=768947d541728159f7e86d16c30d2122ad4a4914;hb=24167015705ae831692b95735968b04a876f935e;hpb=bb9fdef607728cc326a82aa632e59724f272e53b diff --git a/src/core/ao_log_mega.c b/src/core/ao_log_mega.c deleted file mode 100644 index 768947d5..00000000 --- a/src/core/ao_log_mega.c +++ /dev/null @@ -1,199 +0,0 @@ -/* - * Copyright © 2012 Keith Packard - * - * 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. - * - * 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 -#include -#include - -static __xdata uint8_t ao_log_mutex; -static __xdata struct ao_log_mega log; - -__code uint8_t ao_log_format = AO_LOG_FORMAT_TELEMEGA; - -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_mega); i++) - sum += *b++; - return -sum; -} - -uint8_t -ao_log_mega(__xdata struct ao_log_mega *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_mega)); - ao_log_current_pos += sizeof (struct ao_log_mega); - } - } ao_mutex_put(&ao_log_mutex); - return wrote; -} - -static uint8_t -ao_log_dump_check_data(void) -{ - if (ao_log_csum((uint8_t *) &log) != 0) - return 0; - return 1; -} - -#if HAS_ADC -static __data uint8_t ao_log_data_pos; - -/* a hack to make sure that ao_log_megas fill the eeprom block in even units */ -typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_mega))] ; - -#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) -{ - __pdata uint16_t next_sensor, next_other; - uint8_t i; - - ao_storage_setup(); - - ao_log_scan(); - - while (!ao_log_running) - ao_sleep(&ao_log_running); - -#if HAS_FLIGHT - log.type = AO_LOG_FLIGHT; - log.tick = ao_sample_tick; -#if HAS_ACCEL - log.u.flight.ground_accel = ao_ground_accel; -#endif -#if HAS_GYRO - log.u.flight.ground_accel_along = ao_ground_accel_along; - log.u.flight.ground_accel_across = ao_ground_accel_across; - log.u.flight.ground_accel_through = ao_ground_accel_through; - log.u.flight.ground_pitch = ao_ground_pitch; - log.u.flight.ground_yaw = ao_ground_yaw; - log.u.flight.ground_roll = ao_ground_roll; -#endif - log.u.flight.ground_pres = ao_ground_pres; - log.u.flight.flight = ao_flight_number; - ao_log_mega(&log); -#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_other = 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) { - log.tick = ao_data_ring[ao_log_data_pos].tick; - if ((int16_t) (log.tick - next_sensor) >= 0) { - log.type = AO_LOG_SENSOR; -#if HAS_MS5607 - log.u.sensor.pres = ao_data_ring[ao_log_data_pos].ms5607_raw.pres; - log.u.sensor.temp = ao_data_ring[ao_log_data_pos].ms5607_raw.temp; -#endif -#if HAS_MPU6000 - log.u.sensor.accel_x = ao_data_ring[ao_log_data_pos].mpu6000.accel_x; - log.u.sensor.accel_y = ao_data_ring[ao_log_data_pos].mpu6000.accel_y; - log.u.sensor.accel_z = ao_data_ring[ao_log_data_pos].mpu6000.accel_z; - log.u.sensor.gyro_x = ao_data_ring[ao_log_data_pos].mpu6000.gyro_x; - log.u.sensor.gyro_y = ao_data_ring[ao_log_data_pos].mpu6000.gyro_y; - log.u.sensor.gyro_z = ao_data_ring[ao_log_data_pos].mpu6000.gyro_z; -#endif -#if HAS_HMC5883 - log.u.sensor.mag_x = ao_data_ring[ao_log_data_pos].hmc5883.x; - log.u.sensor.mag_y = ao_data_ring[ao_log_data_pos].hmc5883.y; - log.u.sensor.mag_z = ao_data_ring[ao_log_data_pos].hmc5883.z; -#endif - log.u.sensor.accel = ao_data_accel(&ao_data_ring[ao_log_data_pos]); - ao_log_mega(&log); - if (ao_log_state <= ao_flight_coast) - next_sensor = log.tick + AO_SENSOR_INTERVAL_ASCENT; - else - next_sensor = log.tick + AO_SENSOR_INTERVAL_DESCENT; - } - if ((int16_t) (log.tick - next_other) >= 0) { - log.type = AO_LOG_TEMP_VOLT; - log.u.volt.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt; - log.u.volt.v_pbatt = ao_data_ring[ao_log_data_pos].adc.v_pbatt; - log.u.volt.n_sense = AO_ADC_NUM_SENSE; - for (i = 0; i < AO_ADC_NUM_SENSE; i++) - log.u.volt.sense[i] = ao_data_ring[ao_log_data_pos].adc.sense[i]; - log.u.volt.pyro = ao_pyro_fired; - ao_log_mega(&log); - next_other = log.tick + AO_OTHER_INTERVAL; - } - 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; - log.type = AO_LOG_STATE; - log.tick = ao_time(); - log.u.state.state = ao_log_state; - log.u.state.reason = 0; - ao_log_mega(&log); - - 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 - -uint16_t -ao_log_flight(uint8_t slot) -{ - if (!ao_storage_read(ao_log_pos(slot), - &log, - sizeof (struct ao_log_mega))) - return 0; - - if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT) - return log.u.flight.flight; - return 0; -}