/* * Copyright © 2012 Keith Packard * * 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. */ #ifndef _AO_LOG_H_ #define _AO_LOG_H_ #include /* * ao_log.c */ /* We record flight numbers in the first record of * the log. Tasks may wait for this to be initialized * by sleeping on this variable. */ extern int16_t ao_flight_number; extern uint8_t ao_log_mutex; extern uint32_t ao_log_current_pos; extern uint32_t ao_log_end_pos; extern uint32_t ao_log_start_pos; extern uint8_t ao_log_running; extern enum ao_flight_state ao_log_state; /* required functions from the underlying log system */ #define AO_LOG_FORMAT_UNKNOWN 0 /* unknown; altosui will have to guess */ #define AO_LOG_FORMAT_FULL 1 /* 8 byte typed log records */ #define AO_LOG_FORMAT_TINY 2 /* two byte state/baro records */ #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_OLD 5 /* 32 byte typed telemega records */ #define AO_LOG_FORMAT_EASYMINI1 6 /* 16-byte MS5607 baro only, 3.0V supply */ #define AO_LOG_FORMAT_TELEMETRUM 7 /* 16-byte typed telemetrum records */ #define AO_LOG_FORMAT_TELEMINI2 8 /* 16-byte MS5607 baro only, 3.3V supply, cc1111 SoC */ #define AO_LOG_FORMAT_TELEGPS 9 /* 32 byte telegps records */ #define AO_LOG_FORMAT_TELEMEGA 10 /* 32 byte typed telemega records with 32 bit gyro cal */ #define AO_LOG_FORMAT_DETHERM 11 /* 16-byte MS5607 baro only, no ADC */ #define AO_LOG_FORMAT_TELEMINI3 12 /* 16-byte MS5607 baro only, 3.3V supply, stm32f042 SoC */ #define AO_LOG_FORMAT_TELEFIRETWO 13 /* 32-byte test stand data */ #define AO_LOG_FORMAT_EASYMINI2 14 /* 16-byte MS5607 baro only, 3.3V supply, stm32f042 SoC */ #define AO_LOG_FORMAT_TELEMEGA_3 15 /* 32 byte typed telemega records with 32 bit gyro cal and mpu9250 */ #define AO_LOG_FORMAT_EASYMEGA_2 16 /* 32 byte typed telemega records with 32 bit gyro cal, mpu9250 rotated 90° and adxl375 */ #define AO_LOG_FORMAT_TELESTATIC 17 /* 32 byte typed telestatic records */ #define AO_LOG_FORMAT_MICROPEAK2 18 /* 2-byte baro values with header */ #define AO_LOG_FORMAT_NONE 127 /* No log at all */ /* Return the flight number from the given log slot, 0 if none, -slot on failure */ int16_t ao_log_flight(uint8_t slot); /* Checksum the loaded log record */ uint8_t ao_log_check_data(void); /* Check to see if the loaded log record is empty */ uint8_t ao_log_check_clear(void); /* Check if there is valid log data at the specified location */ #define AO_LOG_VALID 1 #define AO_LOG_EMPTY 0 #define AO_LOG_INVALID -1 int8_t ao_log_check(uint32_t pos); /* Flush the log */ void ao_log_flush(void); /* Logging thread main routine */ void ao_log(void); /* functions provided in ao_log.c */ /* Figure out the current flight number */ uint8_t ao_log_scan(void); /* Return the position of the start of the given log slot */ uint32_t ao_log_pos(uint8_t slot); /* Start logging to eeprom */ void ao_log_start(void); /* Stop logging */ void ao_log_stop(void); /* Initialize the logging system */ void ao_log_init(void); /* Write out the current flight number to the erase log */ void ao_log_write_erase(uint8_t pos); /* Returns true if there are any logs stored in eeprom */ uint8_t ao_log_present(void); /* Returns true if there is no more storage space available */ uint8_t ao_log_full(void); /* * ao_log_big.c */ /* * The data log is recorded in the eeprom as a sequence * of data packets. * * Each packet starts with a 4-byte header that has the * packet type, the packet checksum and the tick count. Then * they all contain 2 16 bit values which hold packet-specific * data. * * For each flight, the first packet * is FLIGHT packet, indicating the serial number of the * device and a unique number marking the number of flights * recorded by this device. * * During flight, data from the accelerometer and barometer * are recorded in SENSOR packets, using the raw 16-bit values * read from the A/D converter. * * Also during flight, but at a lower rate, the deployment * sensors are recorded in DEPLOY packets. The goal here is to * detect failure in the deployment circuits. * * STATE packets hold state transitions as the flight computer * transitions through different stages of the flight. */ #define AO_LOG_FLIGHT 'F' #define AO_LOG_SENSOR 'A' #define AO_LOG_TEMP_VOLT 'T' #define AO_LOG_DEPLOY 'D' #define AO_LOG_STATE 'S' #define AO_LOG_GPS_TIME 'G' #define AO_LOG_GPS_LAT 'N' #define AO_LOG_GPS_LON 'W' #define AO_LOG_GPS_ALT 'H' #define AO_LOG_GPS_SAT 'V' #define AO_LOG_GPS_DATE 'Y' #define AO_LOG_GPS_POS 'P' #define AO_LOG_POS_NONE (~0UL) struct ao_log_record { char type; /* 0 */ uint8_t csum; /* 1 */ uint16_t tick; /* 2 */ union { struct { int16_t ground_accel; /* 4 */ uint16_t flight; /* 6 */ } flight; struct { int16_t accel; /* 4 */ int16_t pres; /* 6 */ } sensor; struct { int16_t temp; int16_t v_batt; } temp_volt; struct { int16_t drogue; int16_t main; } deploy; struct { uint16_t state; uint16_t reason; } state; struct { uint8_t hour; uint8_t minute; uint8_t second; uint8_t flags; } gps_time; int32_t gps_latitude; int32_t gps_longitude; struct { uint16_t altitude_low; int16_t altitude_high; } gps_altitude; struct { uint16_t svid; uint8_t unused; uint8_t c_n; } gps_sat; struct { uint8_t year; uint8_t month; uint8_t day; uint8_t extra; } gps_date; struct { uint16_t d0; uint16_t d1; } anon; } u; }; struct ao_log_mega { char type; /* 0 */ uint8_t csum; /* 1 */ uint16_t tick; /* 2 */ union { /* 4 */ /* AO_LOG_FLIGHT */ struct { uint16_t flight; /* 4 */ int16_t ground_accel; /* 6 */ uint32_t ground_pres; /* 8 */ int16_t ground_accel_along; /* 12 */ int16_t ground_accel_across; /* 14 */ int16_t ground_accel_through; /* 16 */ int16_t pad_18; /* 18 */ int32_t ground_roll; /* 20 */ int32_t ground_pitch; /* 24 */ int32_t ground_yaw; /* 28 */ } flight; /* 32 */ struct { uint16_t flight; /* 4 */ int16_t ground_accel; /* 6 */ uint32_t ground_pres; /* 8 */ int16_t ground_accel_along; /* 12 */ int16_t ground_accel_across; /* 14 */ int16_t ground_accel_through; /* 16 */ int16_t ground_roll; /* 18 */ int16_t ground_pitch; /* 20 */ int16_t ground_yaw; /* 22 */ } flight_old; /* 24 */ /* AO_LOG_STATE */ struct { uint16_t state; uint16_t reason; } state; /* AO_LOG_SENSOR */ struct { uint32_t pres; /* 4 */ uint32_t temp; /* 8 */ int16_t accel_x; /* 12 */ int16_t accel_y; /* 14 */ int16_t accel_z; /* 16 */ int16_t gyro_x; /* 18 */ int16_t gyro_y; /* 20 */ int16_t gyro_z; /* 22 */ int16_t mag_x; /* 24 */ int16_t mag_z; /* 26 */ int16_t mag_y; /* 28 */ int16_t accel; /* 30 */ } sensor; /* 32 */ /* AO_LOG_TEMP_VOLT */ struct { int16_t v_batt; /* 4 */ int16_t v_pbatt; /* 6 */ int16_t n_sense; /* 8 */ int16_t sense[10]; /* 10 */ uint16_t pyro; /* 30 */ } volt; /* 32 */ /* AO_LOG_GPS_TIME */ struct { int32_t latitude; /* 4 */ int32_t longitude; /* 8 */ uint16_t altitude_low; /* 12 */ uint8_t hour; /* 14 */ uint8_t minute; /* 15 */ uint8_t second; /* 16 */ uint8_t flags; /* 17 */ uint8_t year; /* 18 */ uint8_t month; /* 19 */ uint8_t day; /* 20 */ uint8_t course; /* 21 */ uint16_t ground_speed; /* 22 */ int16_t climb_rate; /* 24 */ uint8_t pdop; /* 26 */ uint8_t hdop; /* 27 */ uint8_t vdop; /* 28 */ uint8_t mode; /* 29 */ int16_t altitude_high; /* 30 */ } gps; /* 32 */ /* AO_LOG_GPS_SAT */ struct { uint16_t channels; /* 4 */ struct { uint8_t svid; uint8_t c_n; } sats[12]; /* 6 */ } gps_sat; /* 30 */ } u; }; #define AO_LOG_MEGA_GPS_ALTITUDE(l) ((int32_t) ((l)->u.gps.altitude_high << 16) | ((l)->u.gps.altitude_low)) #define AO_LOG_MEGA_SET_GPS_ALTITUDE(l,a) (((l)->u.gps.mode |= AO_GPS_MODE_ALTITUDE_24), \ ((l)->u.gps.altitude_high = (a) >> 16), \ (l)->u.gps.altitude_low = (a)) struct ao_log_firetwo { char type; /* 0 */ uint8_t csum; /* 1 */ uint16_t tick; /* 2 */ union { /* 4 */ /* AO_LOG_FLIGHT */ struct { uint16_t flight; /* 4 */ } flight; /* 6 */ /* AO_LOG_STATE */ struct { uint16_t state; /* 4 */ uint16_t reason; /* 6 */ } state; /* 8 */ /* AO_LOG_SENSOR */ struct { uint16_t pressure; /* 4 */ uint16_t thrust; /* 6 */ uint16_t thermistor[4]; /* 8 */ } sensor; /* 24 */ uint8_t align[28]; /* 4 */ } u; /* 32 */ }; struct ao_log_telestatic { char type; /* 0 */ uint8_t csum; /* 1 */ uint16_t tick; /* 2 */ union { /* 4 */ /* AO_LOG_FLIGHT */ struct { uint16_t flight; /* 4 */ } flight; /* 6 */ /* AO_LOG_STATE */ struct { uint16_t state; /* 4 */ uint16_t reason; /* 6 */ } state; /* 8 */ /* AO_LOG_SENSOR */ struct { uint32_t pressure; /* 4 */ uint32_t pressure2; /* 8 */ uint32_t thrust; /* 12 */ uint32_t mass; /* 16 */ uint16_t t_low; /* 20 */ uint16_t t_high[4]; /* 22 */ } sensor; /* 30 */ uint8_t align[28]; /* 4 */ } u; /* 32 */ }; struct ao_log_metrum { char type; /* 0 */ uint8_t csum; /* 1 */ uint16_t tick; /* 2 */ union { /* 4 */ /* AO_LOG_FLIGHT */ struct { uint16_t flight; /* 4 */ int16_t ground_accel; /* 6 */ uint32_t ground_pres; /* 8 */ uint32_t ground_temp; /* 12 */ } flight; /* 16 */ /* AO_LOG_STATE */ struct { uint16_t state; /* 4 */ uint16_t reason; /* 6 */ } state; /* 8 */ /* AO_LOG_SENSOR */ struct { uint32_t pres; /* 4 */ uint32_t temp; /* 8 */ int16_t accel; /* 12 */ } sensor; /* 14 */ /* AO_LOG_TEMP_VOLT */ struct { int16_t v_batt; /* 4 */ int16_t sense_a; /* 6 */ int16_t sense_m; /* 8 */ } volt; /* 10 */ /* AO_LOG_GPS_POS */ struct { int32_t latitude; /* 4 */ int32_t longitude; /* 8 */ uint16_t altitude_low; /* 12 */ int16_t altitude_high; /* 14 */ } gps; /* 16 */ /* AO_LOG_GPS_TIME */ struct { uint8_t hour; /* 4 */ uint8_t minute; /* 5 */ uint8_t second; /* 6 */ uint8_t flags; /* 7 */ uint8_t year; /* 8 */ uint8_t month; /* 9 */ uint8_t day; /* 10 */ uint8_t pdop; /* 11 */ } gps_time; /* 12 */ /* AO_LOG_GPS_SAT (up to three packets) */ struct { uint8_t channels; /* 4 */ uint8_t more; /* 5 */ struct { uint8_t svid; uint8_t c_n; } sats[4]; /* 6 */ } gps_sat; /* 14 */ uint8_t raw[12]; /* 4 */ } u; /* 16 */ }; 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 */ #define ao_log_pack24(dst,value) do { \ (dst)[0] = (value); \ (dst)[1] = (value) >> 8; \ (dst)[2] = (value) >> 16; \ } while (0) struct ao_log_gps { char type; /* 0 */ uint8_t csum; /* 1 */ uint16_t tick; /* 2 */ union { /* 4 */ /* AO_LOG_FLIGHT */ struct { uint16_t flight; /* 4 */ int16_t start_altitude; /* 6 */ int32_t start_latitude; /* 8 */ int32_t start_longitude; /* 12 */ } flight; /* 16 */ /* AO_LOG_GPS_TIME */ struct { int32_t latitude; /* 4 */ int32_t longitude; /* 8 */ uint16_t altitude_low; /* 12 */ uint8_t hour; /* 14 */ uint8_t minute; /* 15 */ uint8_t second; /* 16 */ uint8_t flags; /* 17 */ uint8_t year; /* 18 */ uint8_t month; /* 19 */ uint8_t day; /* 20 */ uint8_t course; /* 21 */ uint16_t ground_speed; /* 22 */ int16_t climb_rate; /* 24 */ uint8_t pdop; /* 26 */ uint8_t hdop; /* 27 */ uint8_t vdop; /* 28 */ uint8_t mode; /* 29 */ int16_t altitude_high; /* 30 */ } gps; /* 31 */ /* AO_LOG_GPS_SAT */ struct { uint16_t channels; /* 4 */ struct { uint8_t svid; uint8_t c_n; } sats[12]; /* 6 */ } gps_sat; /* 30 */ } u; }; #if AO_LOG_FORMAT == AO_LOG_FOMAT_TELEMEGA_OLD || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_3 || AO_LOG_FORMAT == AO_LOG_FORMAT_EASYMEGA_2 typedef struct ao_log_mega ao_log_type; #endif #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMETRUM typedef struct ao_log_metrum ao_log_type; #endif #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEFIRETWO typedef struct ao_log_firetwo ao_log_type; #endif #if AO_LOG_FORMAT == AO_LOG_FORMAT_EASYMINI1 || AO_LOG_FORMAT == AO_LOG_FORMAT_EASYMINI2 || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMINI2 || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMINI3 typedef struct ao_log_mini ao_log_type; #endif #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEGPS typedef struct ao_log_gps ao_log_type; #endif #if AO_LOG_FORMAT == AO_LOG_FORMAT_FULL typedef struct ao_log_record ao_log_type; #endif #if AO_LOG_FORMAT == AO_LOG_FORMAT_TINY #define AO_LOG_UNCOMMON 1 #endif #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMETRY #define AO_LOG_UNCOMMON 1 #endif #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELESCIENCE #define AO_LOG_UNCOMMON 1 #endif #if AO_LOG_FORMAT == AO_LOG_FORMAT_MICROPEAK2 #define AO_LOG_UNCOMMON 1 #endif #ifndef AO_LOG_UNCOMMON extern ao_log_type ao_log_data; #define AO_LOG_SIZE sizeof(ao_log_type) /* Write a record to the eeprom log */ uint8_t ao_log_write(ao_log_type *log); #endif void ao_log_flush(void); void ao_gps_report_metrum_init(void); #endif /* _AO_LOG_H_ */