first cut at EasyMotor v2 .. not compiling yet

diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h
index 8fe8b701c291a54af52c8e4864e824994d259ced..26ff444088f52f2805a3d2b4b496e1a3893ff1ce 100644 (file)
--- a/src/kernel/ao_log.h
+++ b/src/kernel/ao_log.h
@@ -59,6 +59,7 @@ extern enum ao_flight_state ao_log_state;
 #define AO_LOG_FORMAT_TELESTATIC       17      /* 32 byte typed telestatic records */
 #define AO_LOG_FORMAT_MICROPEAK2       18      /* 2-byte baro values with header */
 #define AO_LOG_FORMAT_TELEMEGA_4       19      /* 32 byte typed telemega records with 32 bit gyro cal and Bmx160 */
 #define AO_LOG_FORMAT_TELESTATIC       17      /* 32 byte typed telestatic records */
 #define AO_LOG_FORMAT_MICROPEAK2       18      /* 2-byte baro values with header */
 #define AO_LOG_FORMAT_TELEMEGA_4       19      /* 32 byte typed telemega records with 32 bit gyro cal and Bmx160 */

+#define AO_LOG_FORMAT_EASYMOTOR                20      /* ? byte typed easymotor records with pressure sensor and adxl375 */

 #define AO_LOG_FORMAT_NONE             127     /* No log at all */
 
 /* Return the flight number from the given log slot, 0 if none, -slot on failure */
 #define AO_LOG_FORMAT_NONE             127     /* No log at all */
 
 /* Return the flight number from the given log slot, 0 if none, -slot on failure */


@@ -517,6 +518,10 @@ typedef struct ao_log_firetwo ao_log_type;
 typedef struct ao_log_mini ao_log_type;
 #endif
 
 typedef struct ao_log_mini ao_log_type;
 #endif
 

+#if AO_LOG_FORMAT == AO_LOG_FORMAT_EASYMOTOR
+typedef struct ao_log_motor ao_log_type;
+#endif 
+

 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEGPS
 typedef struct ao_log_gps ao_log_type;
 #endif
 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEGPS
 typedef struct ao_log_gps ao_log_type;
 #endif

diff --git a/src/kernel/ao_log_motor.c b/src/kernel/ao_log_motor.c
new file mode 100644 (file)
index 0000000..6d42c77
--- /dev/null
+++ b/src/kernel/ao_log_motor.c
@@ -0,0 +1,116 @@
+/*
+ * Copyright © 2020 Bdale Garbee <bdale@gag.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_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)
+{
+       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
+       ao_log_data.type = AO_LOG_FLIGHT;
+       ao_log_data.tick = ao_sample_tick;
+#if HAS_ACCEL
+       ao_log_data.u.flight.ground_accel = ao_ground_accel;
+#endif
+       ao_log_data.u.flight.ground_pres = ao_ground_pres;
+       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_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) {
+                       ao_log_data.tick = ao_data_ring[ao_log_data_pos].tick;
+                       if ((int16_t) (ao_log_data.tick - next_sensor) >= 0) {
+                               ao_log_data.type = AO_LOG_SENSOR;
+                               ao_log_data.u.sensor.accel = ao_data_accel(&ao_data_ring[ao_log_data_pos]);
+                               ao_log_write(&ao_log_data);
+                               if (ao_log_state <= ao_flight_coast)
+                                       next_sensor = ao_log_data.tick + AO_SENSOR_INTERVAL_ASCENT;
+                               else
+                                       next_sensor = ao_log_data.tick + AO_SENSOR_INTERVAL_DESCENT;
+                       }
+                       if ((int16_t) (ao_log_data.tick - next_other) >= 0) {
+                               ao_log_data.type = AO_LOG_TEMP_VOLT;
+                               ao_log_data.u.volt.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt;
+                               ao_log_data.u.volt.n_sense = AO_ADC_NUM_SENSE;
+                               for (i = 0; i < AO_ADC_NUM_SENSE; i++)
+                                       ao_log_data.u.volt.sense[i] = ao_data_ring[ao_log_data_pos].adc.sense[i];
+                               ao_log_write(&ao_log_data);
+                               next_other = ao_log_data.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;
+                       ao_log_data.type = AO_LOG_STATE;
+                       ao_log_data.tick = 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 */
+