Merge branch 'branch-1.4' into debian

1 files changed, 175 insertions, 0 deletions

diff --git a/src/kernel/ao_log_metrum.c b/src/kernel/ao_log_metrum.c
new file mode 100644
index 00000000..08e7b8c4
--- /dev/null
+++ b/src/kernel/ao_log_metrum.c
@@ -0,0 +1,175 @@
+/*
+ * Copyright © 2012 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; 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 <ao_log.h>
+#include <ao_data.h>
+#include <ao_flight.h>
+
+static __xdata struct ao_log_metrum log;
+
+__code uint8_t ao_log_format = AO_LOG_FORMAT_TELEMETRUM;
+
+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_metrum); i++)
+		sum += *b++;
+	return -sum;
+}
+
+uint8_t
+ao_log_metrum(__xdata struct ao_log_metrum *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_metrum));
+			ao_log_current_pos += sizeof (struct ao_log_metrum);
+		}
+	} 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_metrums fill the eeprom block in even units */
+typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_metrum))] ;
+
+#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;
+
+	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
+	log.u.flight.ground_pres = ao_ground_pres;
+	log.u.flight.flight = ao_flight_number;
+	ao_log_metrum(&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_ACCEL
+				log.u.sensor.accel = ao_data_accel(&ao_data_ring[ao_log_data_pos]);
+#endif
+				ao_log_metrum(&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.sense_a = ao_data_ring[ao_log_data_pos].adc.sense_a;
+				log.u.volt.sense_m = ao_data_ring[ao_log_data_pos].adc.sense_m;
+				ao_log_metrum(&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_metrum(&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_metrum)))
+		return 0;
+
+	if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
+		return log.u.flight.flight;
+	return 0;
+}