altos: Add preliminary TeleStatic v3.0 code

This adds the pin definitions and all of the code except for the
ads131a04 driver.

Signed-off-by: Keith Packard <keithp@keithp.com>

2 files changed, 143 insertions, 0 deletions

diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h
index 9e8f995e..0ab57448 100644
--- a/src/kernel/ao_log.h
+++ b/src/kernel/ao_log.h
@@ -56,6 +56,7 @@ extern enum ao_flight_state ao_log_state;
 #define AO_LOG_FORMAT_EASYMINI2		14	/* 16-byte MS5607 baro only, 3.3V supply, stm32f042 SoC */
 #define AO_LOG_FORMAT_TELEMEGA_3	15	/* 32 byte typed telemega records with 32 bit gyro cal and mpu9250 */
 #define AO_LOG_FORMAT_EASYMEGA_2	16	/* 32 byte typed telemega records with 32 bit gyro cal, mpu9250 rotated 90° and adxl375 */
+#define AO_LOG_FORMAT_TELESTATIC	17	/* 32 byte typed telestatic records */
 #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 */
@@ -338,6 +339,33 @@ struct ao_log_firetwo {
 	} u;	/* 32 */
 };
 
+struct ao_log_telestatic {
+	char			type;			/* 0 */
+	uint8_t			csum;			/* 1 */
+	uint16_t		tick;			/* 2 */
+	union {						/* 4 */
+		/* AO_LOG_FLIGHT */
+		struct {
+			uint16_t	flight;		/* 4 */
+		} flight;	/* 6 */
+		/* AO_LOG_STATE */
+		struct {
+			uint16_t	state;		/* 4 */
+			uint16_t	reason;		/* 6 */
+		} state;	/* 8 */
+		/* AO_LOG_SENSOR */
+		struct {
+			uint32_t	pressure;	/* 4 */
+			uint32_t	pressure2;	/* 8 */
+			uint32_t	thrust;		/* 12 */
+			uint32_t	mass;		/* 16 */
+			uint16_t	t_low;		/* 20 */
+			uint16_t	t_high[4];	/* 22 */
+		} sensor;	/* 30 */
+		uint8_t		align[28];		/* 4 */
+	} u;	/* 32 */
+};
+
 struct ao_log_metrum {
 	char			type;			/* 0 */
 	uint8_t			csum;			/* 1 */
diff --git a/src/kernel/ao_log_telestatic.c b/src/kernel/ao_log_telestatic.c
new file mode 100644
index 00000000..fdf8da43
--- /dev/null
+++ b/src/kernel/ao_log_telestatic.c
@@ -0,0 +1,115 @@
+/*
+ * Copyright © 2017 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>
+
+static struct ao_log_telestatic log;
+
+const uint8_t ao_log_format = AO_LOG_FORMAT_TELESTATIC;
+
+static uint8_t
+ao_log_csum(uint8_t *b) 
+{
+	uint8_t	sum = 0x5a;
+	uint8_t	i;
+
+	for (i = 0; i < sizeof (struct ao_log_telestatic); i++)
+		sum += *b++;
+	return -sum;
+}
+
+static uint8_t
+ao_log_telestatic(void)
+{
+	uint8_t wrote = 0;
+	/* set checksum */
+	log.csum = 0;
+	log.csum = ao_log_csum((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_telestatic));
+			ao_log_current_pos += sizeof (struct ao_log_telestatic);
+		}
+	} ao_mutex_put(&ao_log_mutex);
+	return wrote;
+}
+
+#if HAS_ADC
+static 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_telestatic))] ;
+#endif
+
+void
+ao_log(void)
+{
+	ao_storage_setup();
+
+	do {
+		ao_log_scan();
+	
+		while (!ao_log_running)
+			ao_sleep(&ao_log_running);
+	
+		log.type = AO_LOG_FLIGHT;
+		log.tick = ao_time();
+		log.u.flight.flight = ao_flight_number;
+		ao_log_telestatic();
+
+		/* Write the whole contents of the ring to the log
+	 	* when starting up.
+	 	*/
+		ao_log_data_pos = ao_data_ring_next(ao_data_head);
+		for (;;) {
+			/* Write samples to EEPROM */
+			while (ao_log_data_pos != ao_data_head) {
+				log.tick = ao_data_ring[ao_log_data_pos].tick;
+				log.type = AO_LOG_SENSOR;
+#if HAS_ADS131A0X
+				log.u.sensor.pressure = ao_data_ring[ao_log_data_pos].ads131a0x.ain[0];
+				log.u.sensor.pressure2 = ao_data_ring[ao_log_data_pos].ads131a0x.ain[1];
+				log.u.sensor.thrust = ao_data_ring[ao_log_data_pos].ads131a0x.ain[2];
+				log.u.sensor.mass = ao_data_ring[ao_log_data_pos].ads131a0x.ain[3];
+#endif
+				log.u.sensor.t_low = ao_data_ring[ao_log_data_pos].max6691.sensor[0].t_low;
+				int i;
+				for (i = 0; i < 4; i++)
+					log.u.sensor.t_high[i] = ao_data_ring[ao_log_data_pos].max6691.sensor[i].t_high;
+				ao_log_telestatic();
+				ao_log_data_pos = ao_data_ring_next(ao_log_data_pos);
+			}
+
+			ao_log_flush();
+
+			if (!ao_log_running) break;
+
+			/* Wait for a while */
+			ao_delay(AO_MS_TO_TICKS(100));
+		}
+	} while (ao_log_running);
+}
+