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/*
* Copyright © 2009 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"
static __pdata uint32_t ao_log_current_pos;
static __pdata uint32_t ao_log_start_pos;
static __xdata uint8_t ao_log_running;
static __xdata uint8_t ao_log_mutex;
static uint8_t
ao_log_csum(uint8_t *b)
{
uint8_t sum = 0x5a;
uint8_t i;
for (i = 0; i < sizeof (struct ao_log_record); i++)
sum += *b++;
return -sum;
}
void
ao_log_data(struct ao_log_record *log)
{
/* set checksum */
log->csum = 0;
log->csum = ao_log_csum((uint8_t *) log);
ao_mutex_get(&ao_log_mutex); {
if (ao_log_running) {
ao_ee_write(ao_log_current_pos,
(uint8_t *) log,
sizeof (struct ao_log_record));
ao_log_current_pos += sizeof (struct ao_log_record);
if (ao_log_current_pos >= AO_EE_DATA_SIZE)
ao_log_current_pos = 0;
if (ao_log_current_pos == ao_log_start_pos)
ao_log_running = 0;
}
} ao_mutex_put(&ao_log_mutex);
}
void
ao_log_flush(void)
{
ao_ee_flush();
}
__xdata struct ao_log_record ao_log_dump;
static __xdata uint16_t ao_log_dump_flight;
static __xdata uint32_t ao_log_dump_pos;
static uint8_t
ao_log_dump_check_data(void)
{
if (ao_log_csum((uint8_t *) &ao_log_dump) != 0)
return 0;
return 1;
}
static uint8_t
ao_log_dump_scan(void)
{
if (!ao_ee_read(0, (uint8_t *) &ao_log_dump, sizeof (struct ao_log_record)))
ao_panic(AO_PANIC_LOG);
if (ao_log_dump_check_data() && ao_log_dump.type == AO_LOG_FLIGHT) {
ao_log_dump_flight = ao_log_dump.u.flight.flight;
return 1;
} else {
ao_log_dump_flight = 0;
return 0;
}
}
uint8_t
ao_log_dump_first(void)
{
ao_log_dump_pos = 0;
if (!ao_log_dump_scan())
return 0;
return 1;
}
uint8_t
ao_log_dump_next(void)
{
ao_log_dump_pos += sizeof (struct ao_log_record);
if (ao_log_dump_pos >= AO_EE_DEVICE_SIZE)
return 0;
if (!ao_ee_read(ao_log_dump_pos, (uint8_t *) &ao_log_dump,
sizeof (struct ao_log_record)))
return 0;
return ao_log_dump_check_data();
}
__xdata uint8_t ao_log_adc_pos;
__xdata enum flight_state ao_log_state;
void
ao_log(void)
{
static __xdata struct ao_log_record log;
ao_log_dump_scan();
while (!ao_log_running)
ao_sleep(&ao_log_running);
log.type = AO_LOG_FLIGHT;
log.tick = ao_flight_tick;
log.u.flight.ground_accel = ao_ground_accel;
log.u.flight.flight = ao_log_dump_flight + 1;
ao_log_data(&log);
/* Write the whole contents of the ring to the log
* when starting up.
*/
ao_log_adc_pos = ao_adc_ring_next(ao_adc_head);
for (;;) {
/* Write samples to EEPROM */
while (ao_log_adc_pos != ao_adc_head) {
log.type = AO_LOG_SENSOR;
log.tick = ao_adc_ring[ao_log_adc_pos].tick;
log.u.sensor.accel = ao_adc_ring[ao_log_adc_pos].accel;
log.u.sensor.pres = ao_adc_ring[ao_log_adc_pos].pres;
ao_log_data(&log);
if ((ao_log_adc_pos & 0x1f) == 0) {
log.type = AO_LOG_TEMP_VOLT;
log.tick = ao_adc_ring[ao_log_adc_pos].tick;
log.u.temp_volt.temp = ao_adc_ring[ao_log_adc_pos].temp;
log.u.temp_volt.v_batt = ao_adc_ring[ao_log_adc_pos].v_batt;
ao_log_data(&log);
log.type = AO_LOG_DEPLOY;
log.tick = ao_adc_ring[ao_log_adc_pos].tick;
log.u.deploy.drogue = ao_adc_ring[ao_log_adc_pos].sense_d;
log.u.deploy.main = ao_adc_ring[ao_log_adc_pos].sense_m;
ao_log_data(&log);
}
ao_log_adc_pos = ao_adc_ring_next(ao_log_adc_pos);
}
/* 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_flight_tick;
log.u.state.state = ao_log_state;
log.u.state.reason = 0;
ao_log_data(&log);
if (ao_log_state == ao_flight_landed)
ao_log_stop();
}
/* 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);
}
}
void
ao_log_start(void)
{
/* start logging */
ao_log_running = 1;
ao_wakeup(&ao_log_running);
}
void
ao_log_stop(void)
{
ao_log_running = 0;
ao_log_flush();
}
static void
dump_log(void)
{
uint8_t more;
for (more = ao_log_dump_first(); more; more = ao_log_dump_next()) {
printf("%c %4x %4x %4x\n",
ao_log_dump.type,
ao_log_dump.tick,
ao_log_dump.u.anon.d0,
ao_log_dump.u.anon.d1);
if (ao_log_dump.type == AO_LOG_STATE &&
ao_log_dump.u.state.state == ao_flight_landed)
break;
}
printf("end\n");
}
__code struct ao_cmds ao_log_cmds[] = {
{ 'l', dump_log, "l Dump last flight log" },
{ 0, dump_log, NULL },
};
static __xdata struct ao_task ao_log_task;
void
ao_log_init(void)
{
ao_log_running = 0;
/* For now, just log the flight starting at the begining of eeprom */
ao_log_start_pos = 0;
ao_log_current_pos = ao_log_start_pos;
ao_log_state = ao_flight_invalid;
/* Create a task to log events to eeprom */
ao_add_task(&ao_log_task, ao_log, "log");
ao_cmd_register(&ao_log_cmds[0]);
}
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