Merge pull request #1 from yorkaerospace/nofs

Nofs

.gitmodules

@@ -1,6 +1,3 @@
 [submodule "kicad/YAR-Kicad-Libs"]
 	path = kicad/YAR-Kicad-Libs
 	url = https://github.com/yorkaerospace/YAR-Kicad-Libs.git
-[submodule "firmware/lib/spiffs"]
-	path = firmware/lib/spiffs
-	url = https://github.com/ProtonNumber/spiffs-pico.git

drivers/.gitignore

@@ -0,0 +1 @@
+log.csv

drivers/readData.sh

@@ -0,0 +1,10 @@
+#!/bin/bash
+
+# Takes data from the bob and yheets it into a file.
+# Usage: readData <tty> <destination>
+
+echo "r" -> $1;
+stdbuf -o0 cat $1 >> $2
+
+sed -i '/?/d' $2
+sed -i '/^$/d' $2

firmware/CMakeLists.txt

@@ -11,23 +11,28 @@ set(sources src/main.c
             src/cmd.c
             src/cmd.h
             src/ansi.h
+            src/states.h
             src/sensors.c
             src/sensors.h
+            src/logger.c
+            src/logger.h
             src/dataBuf.c
             src/dataBuf.h)
 
 add_executable(Bob
   src/main.c
   src/cmd.c
   src/sensors.c
+  src/logger.c
   src/dataBuf.c
 )
 
 add_subdirectory(lib)
 
-target_link_libraries(Bob QMI8658C HP203B QMC5883L pico_stdlib pico_multicore hardware_i2c PICO_SPIFFS)
+target_link_libraries(Bob QMI8658C HP203B QMC5883L pico_stdlib pico_multicore hardware_i2c)
 
 pico_enable_stdio_usb(Bob 1)
 
 pico_add_extra_outputs(Bob)
 
+pico_set_binary_type(Bob copy_to_ram)

firmware/genBin.sh

@@ -12,7 +12,7 @@ cd $SCRIPT_DIR
 git submodule init
 git submodule update
 
-CMAKE_ARGS="-DPICO_BOARD=bob -DPICO_BOARD_HEADER_DIRS=$SCRIPT_DIR/src $@"
+CMAKE_ARGS="-DPICO_BOARD=bob -DCMAKE_EXPORT_COMPILE_COMMANDS=1 -DPICO_BOARD_HEADER_DIRS=$SCRIPT_DIR/src $@"
 
 mkdir -p bin
 

firmware/lib/CMakeLists.txt

@@ -1,4 +1,3 @@
 add_subdirectory(hp203b)
 add_subdirectory(qmc5883l)
 add_subdirectory(qmi8658c)
-add_subdirectory(spiffs)

firmware/src/ansi.h

@@ -6,6 +6,8 @@
 #define MOV_EC(n) "\x1b[0K\x1b[999C\x1b[" #n "D"
 // Moves the cursor to row, column
 #define MOV(r, c) "\x1b[" #r ":" #c "H"
+// Moves the cursor to column c
+#define CHA(c) "\x1b[" #c "G"
 // Clears from the cursor to the end of the line. Inserts a newline.
 #define CLRLN "\x1b[0k\n"
 // Sets text to be rendered neither bold nor faint
@@ -17,4 +19,8 @@
 #define GREEN "\x1b[32;1m"
 #define BLUE  "\x1b[34;1m"
 
+// Save and restore cursor positions
+#define SCP "\x1b[s"
+#define RCP "\x1b[u"
+
 #endif

firmware/src/bob.h

@@ -1,5 +1,5 @@
-/* Header file containing bob-specific constants 
- * This overrides a lot of things that the SDK sets by default 
+/* Header file containing bob-specific constants
+ * This overrides a lot of things that the SDK sets by default
  * You dont have to include this in any code you write; the SDK
  * should include it by default. */
 #ifndef BOB_H

firmware/src/cmd.c

@@ -6,6 +6,7 @@
 
 #include "dataBuf.h"
 #include "ansi.h"
+#include "logger.h"
 
 // How fast should updatey bits be updated?
 #define UPDATE_PERIOD 200
@@ -79,22 +80,56 @@ static void debugPrint(void) {
                latest.mag[0], latest.mag[1], latest.mag[2], goStr[2],
                latest.pres, temp, goStr[3]);
 
+        if (getchar_timeout_us(0) != PICO_ERROR_TIMEOUT) {
+            break;
+        }
         sleep_ms(UPDATE_PERIOD);
+
     }
 
     clearTTY();
     showCursor(true);
 }
 
+static void manualLogger(void) {
+    int n = 0;
+    printf("Press any key to stop logging. \n");
+    while(getchar_timeout_us(0) == PICO_ERROR_TIMEOUT) {
+        n = n + writeAll();
+        //printf( NORM "Structs written: %d\n", n);
+    }
+    printf("\nExiting Logging!\n");
+}
+
+static void clearPrompt(void) {
+    printf(NORM
+           "Are you sure you wish to clear the flash? "
+           "["GREEN "Y" WHITE "/" RED "N" WHITE "]\n"
+           NORM);
+    switch(getchar_timeout_us(30000000)){
+    case PICO_ERROR_TIMEOUT:
+        printf("Timed out due to lack of response, please try again\n");
+        break;
+    case 'y':
+        printf("Clearing flash. (This may take a while) \n");
+        clearData();
+        printf("Done!\n");
+        break;
+    }
+}
+
+
 /* Polls stdin and interprets what it gets. */
 void pollUsb(void) {
     static const char helpText[] =
         "Bob Rev 3 running build: %s %s\n"
         "Press:\n"
         "b to enter bootsel mode\n"
-        "c to clear this tty\n"
+        "c to clear the contents of the flash\n"
         "d to show the debug prompt\n"
-        "h to display this help text\n";
+        "h to display this help text\n"
+        "l to start manual logging\n"
+        "r to read files\n";
 
     switch(getchar_timeout_us(0)) {
     case PICO_ERROR_TIMEOUT:         // If there is no char, just break.
@@ -104,14 +139,20 @@ void pollUsb(void) {
         reset_usb_boot(0,0);
         break;
     case 'c':
-        clearTTY();
+        clearPrompt();
         break;
     case 'd':
         debugPrint();
         break;
     case 'h':
         printf(helpText, __TIME__, __DATE__);
         break;
+    case 'l':
+        manualLogger();
+        break;
+    case 'r':
+        dumpLogs();
+        break;
     default:
         printf("?\n");
         break;

firmware/src/dataBuf.c

@@ -11,13 +11,12 @@
 
 #include "dataBuf.h"
 
-
 // Simple circular buffer.
 static volatile data_t dataBuf[BUF_SIZE];
 static volatile uint16_t tail = 0;
 static volatile uint16_t head = 0;
 
-auto_init_mutex(mtx);
+auto_init_mutex(bufMtx);
 
 /* Increments an index with looping */
 static inline uint16_t incIndex(uint16_t i) {
@@ -36,7 +35,7 @@ static inline uint16_t incIndex(uint16_t i) {
  *  1 if data has been overwritten */
 int8_t dataPush(data_t d){
     int8_t res;
-    if(mutex_enter_timeout_ms(&mtx, BUF_TIMEOUT)) {
+    if(mutex_enter_timeout_ms(&bufMtx, BUF_TIMEOUT)) {
         head = incIndex(head);
         dataBuf[head] = d;
         // Increment tail if we've overwritten data
@@ -46,7 +45,7 @@ int8_t dataPush(data_t d){
         } else {
             res = 0;
         }
-        mutex_exit(&mtx);
+        mutex_exit(&bufMtx);
         return res;
     } else {
         return -1;
@@ -56,8 +55,8 @@ int8_t dataPush(data_t d){
 /* Returns the amount of data in the buffer */
 uint16_t dataSize(void) {
     return head >= tail ?
-           head - tail :
-           BUF_SIZE - (tail - head);
+           head - tail - 1:
+           BUF_SIZE - (tail - head) - 1;
 }
 
 /* Pops a piece of data from the end of the buffer
@@ -66,28 +65,31 @@ uint16_t dataSize(void) {
  *  0 if successful
  * -1 if no data is in the buffer */
 int8_t dataPop(data_t * ptr) {
-    mutex_enter_blocking(&mtx);
-    if(head == tail + 1) {
+    printf("Entering mutex\n");
+    mutex_enter_blocking(&bufMtx);
+    printf("%d, %d \n", head, tail);
+    if(head == incIndex(tail)) {
+        mutex_exit(&bufMtx);
         return -1;
     } else {
         *ptr = dataBuf[tail];
         tail = incIndex(tail);
-        mutex_exit(&mtx);
+        mutex_exit(&bufMtx);
         return 0;
     }
 }
 
 /* Gets the data at the head of the buffer
  * Blocks indefinitely. */
 void dataHead(data_t * ptr) {
-    mutex_enter_blocking(&mtx);
+    mutex_enter_blocking(&bufMtx);
     *ptr = dataBuf[head];
-    mutex_exit(&mtx);
+    mutex_exit(&bufMtx);
 }
 
 /* Gets the data that was offset samples ago */
 void dataRel(data_t * ptr, size_t offset) {
-    mutex_enter_blocking(&mtx);
+    mutex_enter_blocking(&bufMtx);
     *ptr = dataBuf[(head - offset) % BUF_SIZE];
-    mutex_exit(&mtx);
+    mutex_exit(&bufMtx);
 }

firmware/src/dataBuf.h

@@ -11,7 +11,7 @@
 #include "sensors.h"
 
 // A 10 second buffer should be ~30 kB
-#define BUF_SIZE 10 * 100
+#define BUF_SIZE (10 * 100)
 #define BUF_TIMEOUT 1
 
 /* Pushes a piece of data into the buffer.