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/*
* Copyright © 2011 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 __xdata uint8_t ao_log_mutex;
static __xdata struct ao_log_record log;
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_record); i++)
sum += *b++;
return -sum;
}
uint8_t
ao_log_data(__xdata struct ao_log_record *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_record));
ao_log_current_pos += sizeof (struct ao_log_record);
}
} 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 __xdata uint8_t ao_log_adc_pos;
/* a hack to make sure that ao_log_records fill the eeprom block in even units */
typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_record))] ;
#define AO_SENSOR_INTERVAL_ASCENT 1
#define AO_SENSOR_INTERVAL_DESCENT 10
#define AO_OTHER_INTERVAL 32
void
ao_log(void)
{
uint16_t next_sensor, next_other;
ao_storage_setup();
ao_log_scan();
while (!ao_log_running)
ao_sleep(&ao_log_running);
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.flight = ao_flight_number;
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_sample_adc);
next_other = next_sensor = ao_adc_ring[ao_log_adc_pos].tick;
ao_log_state = ao_flight_startup;
for (;;) {
/* Write samples to EEPROM */
while (ao_log_adc_pos != ao_sample_adc) {
log.tick = ao_adc_ring[ao_log_adc_pos].tick;
if ((int16_t) (log.tick - next_sensor) >= 0) {
log.type = AO_LOG_SENSOR;
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_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.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.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);
next_other = log.tick + AO_OTHER_INTERVAL;
}
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_sample_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);
}
}
uint16_t
ao_log_flight(uint8_t slot)
{
if (!ao_storage_read(ao_log_pos(slot),
&log,
sizeof (struct ao_log_record)))
return 0;
if (ao_log_dump_check_data() && log.type == AO_LOG_FLIGHT)
return log.u.flight.flight;
return 0;
}
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