2 * Copyright © 2017 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation, either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
15 #ifndef _AO_EEPROM_READ_H_
16 #define _AO_EEPROM_READ_H_
20 #include <ao-ms5607.h>
22 #define AO_MAX_CALLSIGN 8
26 /* required functions from the underlying log system */
28 #define AO_LOG_FORMAT_UNKNOWN 0 /* unknown; altosui will have to guess */
29 #define AO_LOG_FORMAT_FULL 1 /* 8 byte typed log records */
30 #define AO_LOG_FORMAT_TINY 2 /* two byte state/baro records */
31 #define AO_LOG_FORMAT_TELEMETRY 3 /* 32 byte ao_telemetry records */
32 #define AO_LOG_FORMAT_TELESCIENCE 4 /* 32 byte typed telescience records */
33 #define AO_LOG_FORMAT_TELEMEGA_OLD 5 /* 32 byte typed telemega records */
34 #define AO_LOG_FORMAT_EASYMINI1 6 /* 16-byte MS5607 baro only, 3.0V supply */
35 #define AO_LOG_FORMAT_TELEMETRUM 7 /* 16-byte typed telemetrum records */
36 #define AO_LOG_FORMAT_TELEMINI2 8 /* 16-byte MS5607 baro only, 3.3V supply, cc1111 SoC */
37 #define AO_LOG_FORMAT_TELEGPS 9 /* 32 byte telegps records */
38 #define AO_LOG_FORMAT_TELEMEGA 10 /* 32 byte typed telemega records with 32 bit gyro cal */
39 #define AO_LOG_FORMAT_DETHERM 11 /* 16-byte MS5607 baro only, no ADC */
40 #define AO_LOG_FORMAT_TELEMINI3 12 /* 16-byte MS5607 baro only, 3.3V supply, stm32f042 SoC */
41 #define AO_LOG_FORMAT_TELEFIRETWO 13 /* 32-byte test stand data */
42 #define AO_LOG_FORMAT_EASYMINI2 14 /* 16-byte MS5607 baro only, 3.3V supply, stm32f042 SoC */
43 #define AO_LOG_FORMAT_TELEMEGA_3 15 /* 32 byte typed telemega records with 32 bit gyro cal and mpu9250 */
44 #define AO_LOG_FORMAT_EASYMEGA_2 16 /* 32 byte typed telemega records with 32 bit gyro cal, mpu9250 rotated 90° and adxl375 */
45 #define AO_LOG_FORMAT_TELESTATIC 17 /* 32 byte typed telestatic records */
46 #define AO_LOG_FORMAT_MICROPEAK2 18 /* 2-byte baro values with header */
47 #define AO_LOG_FORMAT_TELEMEGA_4 19 /* 32 byte typed telemega records with 32 bit gyro cal and Bmx160 */
48 #define AO_LOG_FORMAT_NONE 127 /* No log at all */
51 ao_pyro_none = 0x00000000,
53 ao_pyro_accel_less = 0x00000001,
54 ao_pyro_accel_greater = 0x00000002,
56 ao_pyro_speed_less = 0x00000004,
57 ao_pyro_speed_greater = 0x00000008,
59 ao_pyro_height_less = 0x00000010,
60 ao_pyro_height_greater = 0x00000020,
62 ao_pyro_orient_less = 0x00000040,
63 ao_pyro_orient_greater = 0x00000080,
65 ao_pyro_time_less = 0x00000100,
66 ao_pyro_time_greater = 0x00000200,
68 ao_pyro_ascending = 0x00000400,
69 ao_pyro_descending = 0x00000800,
71 ao_pyro_after_motor = 0x00001000,
73 ao_pyro_delay = 0x00002000,
75 ao_pyro_state_less = 0x00004000,
76 ao_pyro_state_greater_or_equal = 0x00008000,
80 enum ao_pyro_flag flags;
81 int16_t accel_less, accel_greater;
82 int16_t speed_less, speed_greater;
83 int16_t height_less, height_greater;
84 int16_t orient_less, orient_greater;
85 int16_t time_less, time_greater;
87 uint8_t state_less, state_greater_or_equal;
90 uint8_t _unused; /* was 'fired' */
97 int16_t accel_plus_g; /* changed for minor version 2 */
98 uint8_t _legacy_radio_channel;
99 char callsign[AO_MAX_CALLSIGN + 1];
100 uint8_t apogee_delay; /* minor version 1 */
101 int16_t accel_minus_g; /* minor version 2 */
102 uint32_t radio_cal; /* minor version 3 */
103 uint32_t flight_log_max; /* minor version 4 */
104 uint8_t ignite_mode; /* minor version 5 */
105 uint8_t pad_orientation; /* minor version 6 */
106 uint32_t radio_setting; /* minor version 7 */
107 uint8_t radio_enable; /* minor version 8 */
108 uint8_t aes_key[AO_AES_LEN]; /* minor version 9 */
109 uint32_t frequency; /* minor version 10 */
110 uint16_t apogee_lockout; /* minor version 11 */
111 struct ao_pyro pyro[AO_PYRO_NUM]; /* minor version 12 */
112 uint16_t aprs_interval; /* minor version 13 */
113 uint8_t radio_power; /* minor version 14 */
114 uint8_t radio_amp; /* minor version 14 */
115 int16_t accel_zero_along; /* minor version 15 */
116 int16_t accel_zero_across; /* minor version 15 */
117 int16_t accel_zero_through; /* minor version 15 */
118 uint8_t mid_beep; /* minor version 16 */
119 uint16_t tracker_motion; /* minor version 17 */
120 uint8_t tracker_interval; /* minor version 17 */
121 uint16_t pyro_time; /* minor version 18 */
122 uint8_t aprs_ssid; /* minor version 19 */
123 uint8_t radio_rate; /* minor version 20 */
124 uint32_t send_frequency; /* minor version 21 */
125 uint8_t aprs_format; /* minor version 22 */
126 uint8_t pad_box; /* minor version 22 */
127 uint8_t pad_idle; /* minor version 23 */
135 * The data log is recorded in the eeprom as a sequence
138 * Each packet starts with a 4-byte header that has the
139 * packet type, the packet checksum and the tick count. Then
140 * they all contain 2 16 bit values which hold packet-specific
143 * For each flight, the first packet
144 * is FLIGHT packet, indicating the serial number of the
145 * device and a unique number marking the number of flights
146 * recorded by this device.
148 * During flight, data from the accelerometer and barometer
149 * are recorded in SENSOR packets, using the raw 16-bit values
150 * read from the A/D converter.
152 * Also during flight, but at a lower rate, the deployment
153 * sensors are recorded in DEPLOY packets. The goal here is to
154 * detect failure in the deployment circuits.
156 * STATE packets hold state transitions as the flight computer
157 * transitions through different stages of the flight.
159 #define AO_LOG_FLIGHT 'F'
160 #define AO_LOG_SENSOR 'A'
161 #define AO_LOG_TEMP_VOLT 'T'
162 #define AO_LOG_DEPLOY 'D'
163 #define AO_LOG_STATE 'S'
164 #define AO_LOG_GPS_TIME 'G'
165 #define AO_LOG_GPS_LAT 'N'
166 #define AO_LOG_GPS_LON 'W'
167 #define AO_LOG_GPS_ALT 'H'
168 #define AO_LOG_GPS_SAT 'V'
169 #define AO_LOG_GPS_DATE 'Y'
170 #define AO_LOG_GPS_POS 'P'
172 #define AO_LOG_POS_NONE (~0UL)
174 /* Common header in all log formats */
175 struct ao_log_header {
177 uint8_t csum; /* 1 */
178 uint16_t tick; /* 2 */
181 struct ao_log_record {
183 uint8_t csum; /* 1 */
184 uint16_t tick; /* 2 */
187 int16_t ground_accel; /* 4 */
188 uint16_t flight; /* 6 */
191 int16_t accel; /* 4 */
192 int16_t pres; /* 6 */
212 int32_t gps_latitude;
213 int32_t gps_longitude;
215 uint16_t altitude_low;
216 int16_t altitude_high;
238 uint8_t csum; /* 1 */
239 uint16_t tick; /* 2 */
243 uint16_t flight; /* 4 */
244 int16_t ground_accel; /* 6 */
245 uint32_t ground_pres; /* 8 */
246 int16_t ground_accel_along; /* 12 */
247 int16_t ground_accel_across; /* 14 */
248 int16_t ground_accel_through; /* 16 */
249 int16_t pad_18; /* 18 */
250 int32_t ground_roll; /* 20 */
251 int32_t ground_pitch; /* 24 */
252 int32_t ground_yaw; /* 28 */
255 uint16_t flight; /* 4 */
256 int16_t ground_accel; /* 6 */
257 uint32_t ground_pres; /* 8 */
258 int16_t ground_accel_along; /* 12 */
259 int16_t ground_accel_across; /* 14 */
260 int16_t ground_accel_through; /* 16 */
261 int16_t ground_roll; /* 18 */
262 int16_t ground_pitch; /* 20 */
263 int16_t ground_yaw; /* 22 */
264 } flight_old; /* 24 */
272 uint32_t pres; /* 4 */
273 uint32_t temp; /* 8 */
274 int16_t accel_x; /* 12 */
275 int16_t accel_y; /* 14 */
276 int16_t accel_z; /* 16 */
277 int16_t gyro_x; /* 18 */
278 int16_t gyro_y; /* 20 */
279 int16_t gyro_z; /* 22 */
280 int16_t mag_x; /* 24 */
281 int16_t mag_z; /* 26 */
282 int16_t mag_y; /* 28 */
283 int16_t accel; /* 30 */
285 /* AO_LOG_TEMP_VOLT */
287 int16_t v_batt; /* 4 */
288 int16_t v_pbatt; /* 6 */
289 int16_t n_sense; /* 8 */
290 int16_t sense[10]; /* 10 */
291 uint16_t pyro; /* 30 */
293 /* AO_LOG_GPS_TIME */
295 int32_t latitude; /* 4 */
296 int32_t longitude; /* 8 */
297 uint16_t altitude_low; /* 12 */
298 uint8_t hour; /* 14 */
299 uint8_t minute; /* 15 */
300 uint8_t second; /* 16 */
301 uint8_t flags; /* 17 */
302 uint8_t year; /* 18 */
303 uint8_t month; /* 19 */
304 uint8_t day; /* 20 */
305 uint8_t course; /* 21 */
306 uint16_t ground_speed; /* 22 */
307 int16_t climb_rate; /* 24 */
308 uint8_t pdop; /* 26 */
309 uint8_t hdop; /* 27 */
310 uint8_t vdop; /* 28 */
311 uint8_t mode; /* 29 */
312 int16_t altitude_high; /* 30 */
316 uint16_t channels; /* 4 */
325 #define AO_LOG_MEGA_GPS_ALTITUDE(l) ((int32_t) ((l)->u.gps.altitude_high << 16) | ((l)->u.gps.altitude_low))
326 #define AO_LOG_MEGA_SET_GPS_ALTITUDE(l,a) (((l)->u.gps.mode |= AO_GPS_MODE_ALTITUDE_24), \
327 ((l)->u.gps.altitude_high = (a) >> 16), \
328 (l)->u.gps.altitude_low = (a))
330 struct ao_log_firetwo {
332 uint8_t csum; /* 1 */
333 uint16_t tick; /* 2 */
337 uint16_t flight; /* 4 */
341 uint16_t state; /* 4 */
342 uint16_t reason; /* 6 */
346 uint16_t pressure; /* 4 */
347 uint16_t thrust; /* 6 */
348 uint16_t thermistor[4]; /* 8 */
350 uint8_t align[28]; /* 4 */
354 struct ao_log_telestatic {
356 uint8_t csum; /* 1 */
357 uint16_t tick; /* 2 */
361 uint16_t flight; /* 4 */
365 uint16_t state; /* 4 */
366 uint16_t reason; /* 6 */
370 uint32_t pressure; /* 4 */
371 uint32_t pressure2; /* 8 */
372 uint32_t thrust; /* 12 */
373 uint32_t mass; /* 16 */
374 uint16_t t_low; /* 20 */
375 uint16_t t_high[4]; /* 22 */
377 uint8_t align[28]; /* 4 */
381 struct ao_log_metrum {
383 uint8_t csum; /* 1 */
384 uint16_t tick; /* 2 */
388 uint16_t flight; /* 4 */
389 int16_t ground_accel; /* 6 */
390 uint32_t ground_pres; /* 8 */
391 uint32_t ground_temp; /* 12 */
395 uint16_t state; /* 4 */
396 uint16_t reason; /* 6 */
400 uint32_t pres; /* 4 */
401 uint32_t temp; /* 8 */
402 int16_t accel; /* 12 */
404 /* AO_LOG_TEMP_VOLT */
406 int16_t v_batt; /* 4 */
407 int16_t sense_a; /* 6 */
408 int16_t sense_m; /* 8 */
412 int32_t latitude; /* 4 */
413 int32_t longitude; /* 8 */
414 uint16_t altitude_low; /* 12 */
415 int16_t altitude_high; /* 14 */
417 /* AO_LOG_GPS_TIME */
419 uint8_t hour; /* 4 */
420 uint8_t minute; /* 5 */
421 uint8_t second; /* 6 */
422 uint8_t flags; /* 7 */
423 uint8_t year; /* 8 */
424 uint8_t month; /* 9 */
425 uint8_t day; /* 10 */
426 uint8_t pdop; /* 11 */
428 /* AO_LOG_GPS_SAT (up to three packets) */
430 uint8_t channels; /* 4 */
431 uint8_t more; /* 5 */
437 uint8_t raw[12]; /* 4 */
443 uint8_t csum; /* 1 */
444 uint16_t tick; /* 2 */
448 uint16_t flight; /* 4 */
450 uint32_t ground_pres; /* 8 */
454 uint16_t state; /* 4 */
455 uint16_t reason; /* 6 */
459 uint8_t pres[3]; /* 4 */
460 uint8_t temp[3]; /* 7 */
461 int16_t sense_a; /* 10 */
462 int16_t sense_m; /* 12 */
463 int16_t v_batt; /* 14 */
468 #define ao_log_pack24(dst,value) do { \
469 (dst)[0] = (value); \
470 (dst)[1] = (value) >> 8; \
471 (dst)[2] = (value) >> 16; \
476 uint8_t csum; /* 1 */
477 uint16_t tick; /* 2 */
481 uint16_t flight; /* 4 */
482 int16_t start_altitude; /* 6 */
483 int32_t start_latitude; /* 8 */
484 int32_t start_longitude; /* 12 */
486 /* AO_LOG_GPS_TIME */
488 int32_t latitude; /* 4 */
489 int32_t longitude; /* 8 */
490 uint16_t altitude_low; /* 12 */
491 uint8_t hour; /* 14 */
492 uint8_t minute; /* 15 */
493 uint8_t second; /* 16 */
494 uint8_t flags; /* 17 */
495 uint8_t year; /* 18 */
496 uint8_t month; /* 19 */
497 uint8_t day; /* 20 */
498 uint8_t course; /* 21 */
499 uint16_t ground_speed; /* 22 */
500 int16_t climb_rate; /* 24 */
501 uint8_t pdop; /* 26 */
502 uint8_t hdop; /* 27 */
503 uint8_t vdop; /* 28 */
504 uint8_t mode; /* 29 */
505 int16_t altitude_high; /* 30 */
509 uint16_t channels; /* 4 */
519 struct ao_config config;
520 struct ao_ms5607_prom ms5607_prom;
522 uint16_t serial_number;
527 struct ao_eeprom *ao_eeprom_read(FILE *file);
529 struct ao_eeprom *ao_eeprom_read_old(FILE *file);
531 void ao_eeprom_free_data(struct ao_eeprom *ao_eeprom);
533 #endif /* _AO_EEPROM_READ_H_ */