2 * Copyright © 2012 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; version 2 of the License.
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.
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.
21 #include <ao_flight.h>
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.
31 extern __xdata uint16_t ao_flight_number;
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;
39 /* required functions from the underlying log system */
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_MINI 6 /* 16-byte MS5607 baro only */
48 #define AO_LOG_FORMAT_NONE 127 /* No log at all */
50 extern __code uint8_t ao_log_format;
52 /* Return the flight number from the given log slot, 0 if none */
54 ao_log_flight(uint8_t slot);
60 /* Logging thread main routine */
64 /* functions provided in ao_log.c */
66 /* Figure out the current flight number */
68 ao_log_scan(void) __reentrant;
70 /* Return the position of the start of the given log slot */
72 ao_log_pos(uint8_t slot);
74 /* Start logging to eeprom */
82 /* Initialize the logging system */
86 /* Write out the current flight number to the erase log */
88 ao_log_write_erase(uint8_t pos);
90 /* Returns true if there are any logs stored in eeprom */
94 /* Returns true if there is no more storage space available */
103 * The data log is recorded in the eeprom as a sequence
106 * Each packet starts with a 4-byte header that has the
107 * packet type, the packet checksum and the tick count. Then
108 * they all contain 2 16 bit values which hold packet-specific
111 * For each flight, the first packet
112 * is FLIGHT packet, indicating the serial number of the
113 * device and a unique number marking the number of flights
114 * recorded by this device.
116 * During flight, data from the accelerometer and barometer
117 * are recorded in SENSOR packets, using the raw 16-bit values
118 * read from the A/D converter.
120 * Also during flight, but at a lower rate, the deployment
121 * sensors are recorded in DEPLOY packets. The goal here is to
122 * detect failure in the deployment circuits.
124 * STATE packets hold state transitions as the flight computer
125 * transitions through different stages of the flight.
127 #define AO_LOG_FLIGHT 'F'
128 #define AO_LOG_SENSOR 'A'
129 #define AO_LOG_TEMP_VOLT 'T'
130 #define AO_LOG_DEPLOY 'D'
131 #define AO_LOG_STATE 'S'
132 #define AO_LOG_GPS_TIME 'G'
133 #define AO_LOG_GPS_LAT 'N'
134 #define AO_LOG_GPS_LON 'W'
135 #define AO_LOG_GPS_ALT 'H'
136 #define AO_LOG_GPS_SAT 'V'
137 #define AO_LOG_GPS_DATE 'Y'
139 #define AO_LOG_POS_NONE (~0UL)
141 struct ao_log_record {
143 uint8_t csum; /* 1 */
144 uint16_t tick; /* 2 */
147 int16_t ground_accel; /* 4 */
148 uint16_t flight; /* 6 */
151 int16_t accel; /* 4 */
152 int16_t pres; /* 6 */
172 int32_t gps_latitude;
173 int32_t gps_longitude;
198 uint8_t csum; /* 1 */
199 uint16_t tick; /* 2 */
203 uint16_t flight; /* 4 */
204 int16_t ground_accel; /* 6 */
205 uint32_t ground_pres; /* 8 */
206 int16_t ground_accel_along; /* 16 */
207 int16_t ground_accel_across; /* 12 */
208 int16_t ground_accel_through; /* 14 */
209 int16_t ground_roll; /* 18 */
210 int16_t ground_pitch; /* 20 */
211 int16_t ground_yaw; /* 22 */
220 uint32_t pres; /* 4 */
221 uint32_t temp; /* 8 */
222 int16_t accel_x; /* 12 */
223 int16_t accel_y; /* 14 */
224 int16_t accel_z; /* 16 */
225 int16_t gyro_x; /* 18 */
226 int16_t gyro_y; /* 20 */
227 int16_t gyro_z; /* 22 */
228 int16_t mag_x; /* 24 */
229 int16_t mag_y; /* 26 */
230 int16_t mag_z; /* 28 */
231 int16_t accel; /* 30 */
233 /* AO_LOG_TEMP_VOLT */
235 int16_t v_batt; /* 4 */
236 int16_t v_pbatt; /* 6 */
237 int16_t n_sense; /* 8 */
238 int16_t sense[10]; /* 10 */
239 uint16_t pyro; /* 30 */
241 /* AO_LOG_GPS_TIME */
243 int32_t latitude; /* 4 */
244 int32_t longitude; /* 8 */
245 int16_t altitude; /* 12 */
246 uint8_t hour; /* 14 */
247 uint8_t minute; /* 15 */
248 uint8_t second; /* 16 */
249 uint8_t flags; /* 17 */
250 uint8_t year; /* 18 */
251 uint8_t month; /* 19 */
252 uint8_t day; /* 20 */
253 uint8_t pad; /* 21 */
257 uint16_t channels; /* 4 */
268 uint8_t csum; /* 1 */
269 uint16_t tick; /* 2 */
273 uint16_t flight; /* 4 */
275 uint32_t ground_pres; /* 8 */
279 uint16_t state; /* 4 */
280 uint16_t reason; /* 6 */
284 uint8_t pres[3]; /* 4 */
285 uint8_t temp[3]; /* 7 */
286 int16_t sense_a; /* 10 */
287 int16_t sense_m; /* 12 */
288 int16_t v_batt; /* 14 */
293 #define ao_log_pack24(dst,value) do { \
294 (dst)[0] = (value); \
295 (dst)[1] = (value) >> 8; \
296 (dst)[2] = (value) >> 16; \
299 /* Write a record to the eeprom log */
301 ao_log_data(__xdata struct ao_log_record *log) __reentrant;
304 ao_log_mega(__xdata struct ao_log_mega *log) __reentrant;
307 ao_log_mini(__xdata struct ao_log_mini *log) __reentrant;
312 #endif /* _AO_LOG_H_ */