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/*
* 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; 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>
#if HAS_FLIGHT
static __data uint8_t ao_log_data_pos;
/* a hack to make sure that ao_log_megas fill the eeprom block in even units */
typedef uint8_t check_log_size[1-(256 % sizeof(struct ao_log_mega))] ;
#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;
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;
#if HAS_ACCEL
log.u.flight.ground_accel = ao_ground_accel;
#endif
#if HAS_GYRO
log.u.flight.ground_accel_along = ao_ground_accel_along;
log.u.flight.ground_accel_across = ao_ground_accel_across;
log.u.flight.ground_accel_through = ao_ground_accel_through;
log.u.flight.ground_roll = ao_ground_roll;
log.u.flight.ground_pitch = ao_ground_pitch;
log.u.flight.ground_yaw = ao_ground_yaw;
#endif
log.u.flight.ground_pres = ao_ground_pres;
log.u.flight.flight = ao_flight_number;
ao_log_write(&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_MPU6000
log.u.sensor.accel_x = ao_data_ring[ao_log_data_pos].mpu6000.accel_x;
log.u.sensor.accel_y = ao_data_ring[ao_log_data_pos].mpu6000.accel_y;
log.u.sensor.accel_z = ao_data_ring[ao_log_data_pos].mpu6000.accel_z;
log.u.sensor.gyro_x = ao_data_ring[ao_log_data_pos].mpu6000.gyro_x;
log.u.sensor.gyro_y = ao_data_ring[ao_log_data_pos].mpu6000.gyro_y;
log.u.sensor.gyro_z = ao_data_ring[ao_log_data_pos].mpu6000.gyro_z;
#endif
#if HAS_HMC5883
log.u.sensor.mag_x = ao_data_ring[ao_log_data_pos].hmc5883.x;
log.u.sensor.mag_z = ao_data_ring[ao_log_data_pos].hmc5883.z;
log.u.sensor.mag_y = ao_data_ring[ao_log_data_pos].hmc5883.y;
#endif
#if HAS_MPU9250
log.u.sensor.accel_x = ao_data_ring[ao_log_data_pos].mpu9250.accel_x;
log.u.sensor.accel_y = ao_data_ring[ao_log_data_pos].mpu9250.accel_y;
log.u.sensor.accel_z = ao_data_ring[ao_log_data_pos].mpu9250.accel_z;
log.u.sensor.gyro_x = ao_data_ring[ao_log_data_pos].mpu9250.gyro_x;
log.u.sensor.gyro_y = ao_data_ring[ao_log_data_pos].mpu9250.gyro_y;
log.u.sensor.gyro_z = ao_data_ring[ao_log_data_pos].mpu9250.gyro_z;
log.u.sensor.mag_x = ao_data_ring[ao_log_data_pos].mpu9250.mag_x;
log.u.sensor.mag_z = ao_data_ring[ao_log_data_pos].mpu9250.mag_z;
log.u.sensor.mag_y = ao_data_ring[ao_log_data_pos].mpu9250.mag_y;
#endif
log.u.sensor.accel = ao_data_accel(&ao_data_ring[ao_log_data_pos]);
ao_log_write(&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.v_pbatt = ao_data_ring[ao_log_data_pos].adc.v_pbatt;
log.u.volt.n_sense = AO_ADC_NUM_SENSE;
for (i = 0; i < AO_ADC_NUM_SENSE; i++)
log.u.volt.sense[i] = ao_data_ring[ao_log_data_pos].adc.sense[i];
log.u.volt.pyro = ao_pyro_fired;
ao_log_write(&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_write(&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 /* HAS_FLIGHT */
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