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   1 /*
   2  * Copyright © 2012 Keith Packard <keithp@keithp.com>
   3  *
   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; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 #ifndef _AO_LOG_H_
  19 #define _AO_LOG_H_
  20
  21 #include <ao_flight.h>
  22
  23 /*
  24  * ao_log.c
  25  */
  26
  27 /* We record flight numbers in the first record of
  28  * the log. Tasks may wait for this to be initialized
  29  * by sleeping on this variable.
  30  */
  31 extern __xdata uint16_t ao_flight_number;
  32
  33 extern __pdata uint32_t ao_log_current_pos;
  34 extern __pdata uint32_t ao_log_end_pos;
  35 extern __pdata uint32_t ao_log_start_pos;
  36 extern __xdata uint8_t  ao_log_running;
  37 extern __pdata enum ao_flight_state ao_log_state;
  38
  39 /* required functions from the underlying log system */
  40
  41 #define AO_LOG_FORMAT_UNKNOWN           0       /* unknown; altosui will have to guess */
  42 #define AO_LOG_FORMAT_FULL              1       /* 8 byte typed log records */
  43 #define AO_LOG_FORMAT_TINY              2       /* two byte state/baro records */
  44 #define AO_LOG_FORMAT_TELEMETRY         3       /* 32 byte ao_telemetry records */
  45 #define AO_LOG_FORMAT_TELESCIENCE       4       /* 32 byte typed telescience records */
  46 #define AO_LOG_FORMAT_TELEMEGA          5       /* 32 byte typed telemega records */
  47 #define AO_LOG_FORMAT_NONE              127     /* No log at all */
  48
  49 extern __code uint8_t ao_log_format;
  50
  51 /* Return the flight number from the given log slot, 0 if none */
  52 uint16_t
  53 ao_log_flight(uint8_t slot);
  54
  55 /* Flush the log */
  56 void
  57 ao_log_flush(void);
  58
  59 /* Logging thread main routine */
  60 void
  61 ao_log(void);
  62
  63 /* functions provided in ao_log.c */
  64
  65 /* Figure out the current flight number */
  66 void
  67 ao_log_scan(void) __reentrant;
  68
  69 /* Return the position of the start of the given log slot */
  70 uint32_t
  71 ao_log_pos(uint8_t slot);
  72
  73 /* Start logging to eeprom */
  74 void
  75 ao_log_start(void);
  76
  77 /* Stop logging */
  78 void
  79 ao_log_stop(void);
  80
  81 /* Initialize the logging system */
  82 void
  83 ao_log_init(void);
  84
  85 /* Write out the current flight number to the erase log */
  86 void
  87 ao_log_write_erase(uint8_t pos);
  88
  89 /* Returns true if there are any logs stored in eeprom */
  90 uint8_t
  91 ao_log_present(void);
  92
  93 /* Returns true if there is no more storage space available */
  94 uint8_t
  95 ao_log_full(void);
  96
  97 /*
  98  * ao_log_big.c
  99  */
 100
 101 /*
 102  * The data log is recorded in the eeprom as a sequence
 103  * of data packets.
 104  *
 105  * Each packet starts with a 4-byte header that has the
 106  * packet type, the packet checksum and the tick count. Then
 107  * they all contain 2 16 bit values which hold packet-specific
 108  * data.
 109  *
 110  * For each flight, the first packet
 111  * is FLIGHT packet, indicating the serial number of the
 112  * device and a unique number marking the number of flights
 113  * recorded by this device.
 114  *
 115  * During flight, data from the accelerometer and barometer
 116  * are recorded in SENSOR packets, using the raw 16-bit values
 117  * read from the A/D converter.
 118  *
 119  * Also during flight, but at a lower rate, the deployment
 120  * sensors are recorded in DEPLOY packets. The goal here is to
 121  * detect failure in the deployment circuits.
 122  *
 123  * STATE packets hold state transitions as the flight computer
 124  * transitions through different stages of the flight.
 125  */
 126 #define AO_LOG_FLIGHT           'F'
 127 #define AO_LOG_SENSOR           'A'
 128 #define AO_LOG_TEMP_VOLT        'T'
 129 #define AO_LOG_DEPLOY           'D'
 130 #define AO_LOG_STATE            'S'
 131 #define AO_LOG_GPS_TIME         'G'
 132 #define AO_LOG_GPS_LAT          'N'
 133 #define AO_LOG_GPS_LON          'W'
 134 #define AO_LOG_GPS_ALT          'H'
 135 #define AO_LOG_GPS_SAT          'V'
 136 #define AO_LOG_GPS_DATE         'Y'
 137
 138 #define AO_LOG_POS_NONE         (~0UL)
 139
 140 struct ao_log_record {
 141         char                    type;                           /* 0 */
 142         uint8_t                 csum;                           /* 1 */
 143         uint16_t                tick;                           /* 2 */
 144         union {
 145                 struct {
 146                         int16_t         ground_accel;           /* 4 */
 147                         uint16_t        flight;                 /* 6 */
 148                 } flight;
 149                 struct {
 150                         int16_t         accel;                  /* 4 */
 151                         int16_t         pres;                   /* 6 */
 152                 } sensor;
 153                 struct {
 154                         int16_t         temp;
 155                         int16_t         v_batt;
 156                 } temp_volt;
 157                 struct {
 158                         int16_t         drogue;
 159                         int16_t         main;
 160                 } deploy;
 161                 struct {
 162                         uint16_t        state;
 163                         uint16_t        reason;
 164                 } state;
 165                 struct {
 166                         uint8_t         hour;
 167                         uint8_t         minute;
 168                         uint8_t         second;
 169                         uint8_t         flags;
 170                 } gps_time;
 171                 int32_t         gps_latitude;
 172                 int32_t         gps_longitude;
 173                 struct {
 174                         int16_t         altitude;
 175                         uint16_t        unused;
 176                 } gps_altitude;
 177                 struct {
 178                         uint16_t        svid;
 179                         uint8_t         unused;
 180                         uint8_t         c_n;
 181                 } gps_sat;
 182                 struct {
 183                         uint8_t         year;
 184                         uint8_t         month;
 185                         uint8_t         day;
 186                         uint8_t         extra;
 187                 } gps_date;
 188                 struct {
 189                         uint16_t        d0;
 190                         uint16_t        d1;
 191                 } anon;
 192         } u;
 193 };
 194
 195 struct ao_log_mega {
 196         char                    type;                   /* 0 */
 197         uint8_t                 csum;                   /* 1 */
 198         uint16_t                tick;                   /* 2 */
 199         union {                                         /* 4 */
 200                 /* AO_LOG_FLIGHT */
 201                 struct {
 202                         uint16_t        flight;                 /* 4 */
 203                         int16_t         ground_accel;           /* 6 */
 204                         uint32_t        ground_pres;            /* 8 */
 205                         int16_t         ground_accel_along;     /* 16 */
 206                         int16_t         ground_accel_across;    /* 12 */
 207                         int16_t         ground_accel_through;   /* 14 */
 208                         int16_t         ground_roll;            /* 18 */
 209                         int16_t         ground_pitch;           /* 20 */
 210                         int16_t         ground_yaw;             /* 22 */
 211                 } flight;                                       /* 24 */
 212                 /* AO_LOG_STATE */
 213                 struct {
 214                         uint16_t        state;
 215                         uint16_t        reason;
 216                 } state;
 217                 /* AO_LOG_SENSOR */
 218                 struct {
 219                         uint32_t        pres;           /* 4 */
 220                         uint32_t        temp;           /* 8 */
 221                         int16_t         accel_x;        /* 12 */
 222                         int16_t         accel_y;        /* 14 */
 223                         int16_t         accel_z;        /* 16 */
 224                         int16_t         gyro_x;         /* 18 */
 225                         int16_t         gyro_y;         /* 20 */
 226                         int16_t         gyro_z;         /* 22 */
 227                         int16_t         mag_x;          /* 24 */
 228                         int16_t         mag_y;          /* 26 */
 229                         int16_t         mag_z;          /* 28 */
 230                         int16_t         accel;          /* 30 */
 231                 } sensor;       /* 32 */
 232                 /* AO_LOG_TEMP_VOLT */
 233                 struct {
 234                         int16_t         v_batt;         /* 4 */
 235                         int16_t         v_pbatt;        /* 6 */
 236                         int16_t         n_sense;        /* 8 */
 237                         int16_t         sense[10];      /* 10 */
 238                 } volt;                                 /* 30 */
 239                 /* AO_LOG_GPS_TIME */
 240                 struct {
 241                         int32_t         latitude;       /* 4 */
 242                         int32_t         longitude;      /* 8 */
 243                         int16_t         altitude;       /* 12 */
 244                         uint8_t         hour;           /* 14 */
 245                         uint8_t         minute;         /* 15 */
 246                         uint8_t         second;         /* 16 */
 247                         uint8_t         flags;          /* 17 */
 248                         uint8_t         year;           /* 18 */
 249                         uint8_t         month;          /* 19 */
 250                         uint8_t         day;            /* 20 */
 251                         uint8_t         pad;            /* 21 */
 252                 } gps;  /* 22 */
 253                 /* AO_LOG_GPS_SAT */
 254                 struct {
 255                         uint16_t        channels;       /* 4 */
 256                         struct {
 257                                 uint8_t svid;
 258                                 uint8_t c_n;
 259                         } sats[12];                     /* 6 */
 260                 } gps_sat;                              /* 30 */
 261         } u;
 262 };
 263
 264 /* Write a record to the eeprom log */
 265 uint8_t
 266 ao_log_data(__xdata struct ao_log_record *log) __reentrant;
 267
 268 uint8_t
 269 ao_log_mega(__xdata struct ao_log_mega *log) __reentrant;
 270
 271 void
 272 ao_log_flush(void);
 273
 274 #endif /* _AO_LOG_H_ */