diff options
Diffstat (limited to 'src/core')
| -rw-r--r-- | src/core/ao_log.h | 38 | ||||
| -rw-r--r-- | src/core/ao_log_mini.c | 163 |
2 files changed, 201 insertions, 0 deletions
diff --git a/src/core/ao_log.h b/src/core/ao_log.h index a68a40dd..95b37649 100644 --- a/src/core/ao_log.h +++ b/src/core/ao_log.h @@ -44,6 +44,7 @@ extern __pdata enum ao_flight_state ao_log_state; #define AO_LOG_FORMAT_TELEMETRY 3 /* 32 byte ao_telemetry records */ #define AO_LOG_FORMAT_TELESCIENCE 4 /* 32 byte typed telescience records */ #define AO_LOG_FORMAT_TELEMEGA 5 /* 32 byte typed telemega records */ +#define AO_LOG_FORMAT_MINI 6 /* 16-byte MS5607 baro only */ #define AO_LOG_FORMAT_NONE 127 /* No log at all */ extern __code uint8_t ao_log_format; @@ -261,6 +262,40 @@ struct ao_log_mega { } u; }; +struct ao_log_mini { + char type; /* 0 */ + uint8_t csum; /* 1 */ + uint16_t tick; /* 2 */ + union { /* 4 */ + /* AO_LOG_FLIGHT */ + struct { + uint16_t flight; /* 4 */ + uint16_t r6; + uint32_t ground_pres; /* 8 */ + } flight; + /* AO_LOG_STATE */ + struct { + uint16_t state; /* 4 */ + uint16_t reason; /* 6 */ + } state; + /* AO_LOG_SENSOR */ + struct { + uint8_t pres[3]; /* 4 */ + uint8_t temp[3]; /* 7 */ + int16_t sense_a; /* 10 */ + int16_t sense_m; /* 12 */ + int16_t v_batt; /* 14 */ + } sensor; /* 16 */ + } u; /* 16 */ +}; /* 16 */ + +static inline void +ao_log_pack24(uint8_t *dst, uint32_t value) { + dst[0] = value; + dst[1] = value >> 8; + dst[2] = value >> 16; +} + /* Write a record to the eeprom log */ uint8_t ao_log_data(__xdata struct ao_log_record *log) __reentrant; @@ -268,6 +303,9 @@ ao_log_data(__xdata struct ao_log_record *log) __reentrant; uint8_t ao_log_mega(__xdata struct ao_log_mega *log) __reentrant; +uint8_t +ao_log_mini(__xdata struct ao_log_mini *log) __reentrant; + void ao_log_flush(void); diff --git a/src/core/ao_log_mini.c b/src/core/ao_log_mini.c new file mode 100644 index 00000000..1273b0e3 --- /dev/null +++ b/src/core/ao_log_mini.c @@ -0,0 +1,163 @@ +/* + * 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 uint8_t ao_log_mutex; +static __xdata struct ao_log_mini log; + +__code uint8_t ao_log_format = AO_LOG_FORMAT_MINI; + +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_mini); i++) + sum += *b++; + return -sum; +} + +uint8_t +ao_log_mini(__xdata struct ao_log_mini *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_mini)); + ao_log_current_pos += sizeof (struct ao_log_mini); + } + } 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; +} + +static __data uint8_t ao_log_data_pos; + +/* a hack to make sure that ao_log_minis fill the eeprom block in even units */ +typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_mini))] ; + +#ifndef AO_SENSOR_INTERVAL_ASCENT +#define AO_SENSOR_INTERVAL_ASCENT 1 +#define AO_SENSOR_INTERVAL_DESCENT 10 +#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; + log.u.flight.flight = ao_flight_number; + log.u.flight.ground_pres = ao_ground_pres; + ao_log_mini(&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; + ao_log_pack24(log.u.sensor.pres, + ao_data_ring[ao_log_data_pos].ms5607_raw.pres); + ao_log_pack24(log.u.sensor.temp, + ao_data_ring[ao_log_data_pos].ms5607_raw.temp); + log.u.sensor.sense_a = ao_data_ring[ao_log_data_pos].adc.sense_a; + log.u.sensor.sense_m = ao_data_ring[ao_log_data_pos].adc.sense_m; + log.u.sensor.v_batt = ao_data_ring[ao_log_data_pos].adc.v_batt; + ao_log_mini(&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; + } + 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_mini(&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); + } +} + +uint16_t +ao_log_flight(uint8_t slot) +{ + if (!ao_storage_read(ao_log_pos(slot), + &log, + sizeof (struct ao_log_mini))) + return 0; + + if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT) + return log.u.flight.flight; + return 0; +} |