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; 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.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
22 #include <ao_flight.h>
28 /* We record flight numbers in the first record of
29 * the log. Tasks may wait for this to be initialized
30 * by sleeping on this variable.
32 extern __xdata int16_t ao_flight_number;
33 extern __xdata uint8_t ao_log_mutex;
34 extern __pdata uint32_t ao_log_current_pos;
35 extern __pdata uint32_t ao_log_end_pos;
36 extern __pdata uint32_t ao_log_start_pos;
37 extern __xdata uint8_t ao_log_running;
38 extern __pdata enum ao_flight_state ao_log_state;
40 /* required functions from the underlying log system */
42 #define AO_LOG_FORMAT_UNKNOWN 0 /* unknown; altosui will have to guess */
43 #define AO_LOG_FORMAT_FULL 1 /* 8 byte typed log records */
44 #define AO_LOG_FORMAT_TINY 2 /* two byte state/baro records */
45 #define AO_LOG_FORMAT_TELEMETRY 3 /* 32 byte ao_telemetry records */
46 #define AO_LOG_FORMAT_TELESCIENCE 4 /* 32 byte typed telescience records */
47 #define AO_LOG_FORMAT_TELEMEGA_OLD 5 /* 32 byte typed telemega records */
48 #define AO_LOG_FORMAT_EASYMINI1 6 /* 16-byte MS5607 baro only, 3.0V supply */
49 #define AO_LOG_FORMAT_TELEMETRUM 7 /* 16-byte typed telemetrum records */
50 #define AO_LOG_FORMAT_TELEMINI2 8 /* 16-byte MS5607 baro only, 3.3V supply, cc1111 SoC */
51 #define AO_LOG_FORMAT_TELEGPS 9 /* 32 byte telegps records */
52 #define AO_LOG_FORMAT_TELEMEGA 10 /* 32 byte typed telemega records with 32 bit gyro cal */
53 #define AO_LOG_FORMAT_DETHERM 11 /* 16-byte MS5607 baro only, no ADC */
54 #define AO_LOG_FORMAT_TELEMINI3 12 /* 16-byte MS5607 baro only, 3.3V supply, stm32f042 SoC */
55 #define AO_LOG_FORMAT_TELEFIRETWO 13 /* 32-byte test stand data */
56 #define AO_LOG_FORMAT_EASYMINI2 14 /* 16-byte MS5607 baro only, 3.3V supply, stm32f042 SoC */
57 #define AO_LOG_FORMAT_NONE 127 /* No log at all */
59 /* Return the flight number from the given log slot, 0 if none, -slot on failure */
62 ao_log_flight(uint8_t slot);
64 /* Checksum the loaded log record */
66 ao_log_check_data(void);
68 /* Check to see if the loaded log record is empty */
70 ao_log_check_clear(void);
72 /* Check if there is valid log data at the specified location */
73 #define AO_LOG_VALID 1
74 #define AO_LOG_EMPTY 0
75 #define AO_LOG_INVALID -1
78 ao_log_check(uint32_t pos);
84 /* Logging thread main routine */
88 /* functions provided in ao_log.c */
90 /* Figure out the current flight number */
92 ao_log_scan(void) __reentrant;
94 /* Return the position of the start of the given log slot */
96 ao_log_pos(uint8_t slot);
98 /* Start logging to eeprom */
106 /* Initialize the logging system */
110 /* Write out the current flight number to the erase log */
112 ao_log_write_erase(uint8_t pos);
114 /* Returns true if there are any logs stored in eeprom */
116 ao_log_present(void);
118 /* Returns true if there is no more storage space available */
127 * The data log is recorded in the eeprom as a sequence
130 * Each packet starts with a 4-byte header that has the
131 * packet type, the packet checksum and the tick count. Then
132 * they all contain 2 16 bit values which hold packet-specific
135 * For each flight, the first packet
136 * is FLIGHT packet, indicating the serial number of the
137 * device and a unique number marking the number of flights
138 * recorded by this device.
140 * During flight, data from the accelerometer and barometer
141 * are recorded in SENSOR packets, using the raw 16-bit values
142 * read from the A/D converter.
144 * Also during flight, but at a lower rate, the deployment
145 * sensors are recorded in DEPLOY packets. The goal here is to
146 * detect failure in the deployment circuits.
148 * STATE packets hold state transitions as the flight computer
149 * transitions through different stages of the flight.
151 #define AO_LOG_FLIGHT 'F'
152 #define AO_LOG_SENSOR 'A'
153 #define AO_LOG_TEMP_VOLT 'T'
154 #define AO_LOG_DEPLOY 'D'
155 #define AO_LOG_STATE 'S'
156 #define AO_LOG_GPS_TIME 'G'
157 #define AO_LOG_GPS_LAT 'N'
158 #define AO_LOG_GPS_LON 'W'
159 #define AO_LOG_GPS_ALT 'H'
160 #define AO_LOG_GPS_SAT 'V'
161 #define AO_LOG_GPS_DATE 'Y'
162 #define AO_LOG_GPS_POS 'P'
164 #define AO_LOG_POS_NONE (~0UL)
166 struct ao_log_record {
168 uint8_t csum; /* 1 */
169 uint16_t tick; /* 2 */
172 int16_t ground_accel; /* 4 */
173 uint16_t flight; /* 6 */
176 int16_t accel; /* 4 */
177 int16_t pres; /* 6 */
197 int32_t gps_latitude;
198 int32_t gps_longitude;
200 uint16_t altitude_low;
201 int16_t altitude_high;
223 uint8_t csum; /* 1 */
224 uint16_t tick; /* 2 */
228 uint16_t flight; /* 4 */
229 int16_t ground_accel; /* 6 */
230 uint32_t ground_pres; /* 8 */
231 int16_t ground_accel_along; /* 12 */
232 int16_t ground_accel_across; /* 14 */
233 int16_t ground_accel_through; /* 16 */
234 int16_t pad_18; /* 18 */
235 int32_t ground_roll; /* 20 */
236 int32_t ground_pitch; /* 24 */
237 int32_t ground_yaw; /* 28 */
240 uint16_t flight; /* 4 */
241 int16_t ground_accel; /* 6 */
242 uint32_t ground_pres; /* 8 */
243 int16_t ground_accel_along; /* 12 */
244 int16_t ground_accel_across; /* 14 */
245 int16_t ground_accel_through; /* 16 */
246 int16_t ground_roll; /* 18 */
247 int16_t ground_pitch; /* 20 */
248 int16_t ground_yaw; /* 22 */
249 } flight_old; /* 24 */
257 uint32_t pres; /* 4 */
258 uint32_t temp; /* 8 */
259 int16_t accel_x; /* 12 */
260 int16_t accel_y; /* 14 */
261 int16_t accel_z; /* 16 */
262 int16_t gyro_x; /* 18 */
263 int16_t gyro_y; /* 20 */
264 int16_t gyro_z; /* 22 */
265 int16_t mag_x; /* 24 */
266 int16_t mag_z; /* 26 */
267 int16_t mag_y; /* 28 */
268 int16_t accel; /* 30 */
270 /* AO_LOG_TEMP_VOLT */
272 int16_t v_batt; /* 4 */
273 int16_t v_pbatt; /* 6 */
274 int16_t n_sense; /* 8 */
275 int16_t sense[10]; /* 10 */
276 uint16_t pyro; /* 30 */
278 /* AO_LOG_GPS_TIME */
280 int32_t latitude; /* 4 */
281 int32_t longitude; /* 8 */
282 uint16_t altitude_low; /* 12 */
283 uint8_t hour; /* 14 */
284 uint8_t minute; /* 15 */
285 uint8_t second; /* 16 */
286 uint8_t flags; /* 17 */
287 uint8_t year; /* 18 */
288 uint8_t month; /* 19 */
289 uint8_t day; /* 20 */
290 uint8_t course; /* 21 */
291 uint16_t ground_speed; /* 22 */
292 int16_t climb_rate; /* 24 */
293 uint8_t pdop; /* 26 */
294 uint8_t hdop; /* 27 */
295 uint8_t vdop; /* 28 */
296 uint8_t mode; /* 29 */
297 int16_t altitude_high; /* 30 */
301 uint16_t channels; /* 4 */
310 #define AO_LOG_MEGA_GPS_ALTITUDE(l) ((int32_t) ((l)->u.gps.altitude_high << 16) | ((l)->u.gps.altitude_low))
311 #define AO_LOG_MEGA_SET_GPS_ALTITUDE(l,a) (((l)->u.gps.mode |= AO_GPS_MODE_ALTITUDE_24), \
312 ((l)->u.gps.altitude_high = (a) >> 16), \
313 (l)->u.gps.altitude_low = (a))
315 struct ao_log_firetwo {
317 uint8_t csum; /* 1 */
318 uint16_t tick; /* 2 */
322 uint16_t flight; /* 4 */
326 uint16_t state; /* 4 */
327 uint16_t reason; /* 6 */
331 uint16_t pressure; /* 4 */
332 uint16_t thrust; /* 6 */
333 uint16_t thermistor[4]; /* 8 */
335 uint8_t align[28]; /* 4 */
339 struct ao_log_metrum {
341 uint8_t csum; /* 1 */
342 uint16_t tick; /* 2 */
346 uint16_t flight; /* 4 */
347 int16_t ground_accel; /* 6 */
348 uint32_t ground_pres; /* 8 */
349 uint32_t ground_temp; /* 12 */
353 uint16_t state; /* 4 */
354 uint16_t reason; /* 6 */
358 uint32_t pres; /* 4 */
359 uint32_t temp; /* 8 */
360 int16_t accel; /* 12 */
362 /* AO_LOG_TEMP_VOLT */
364 int16_t v_batt; /* 4 */
365 int16_t sense_a; /* 6 */
366 int16_t sense_m; /* 8 */
370 int32_t latitude; /* 4 */
371 int32_t longitude; /* 8 */
372 uint16_t altitude_low; /* 12 */
373 int16_t altitude_high; /* 14 */
375 /* AO_LOG_GPS_TIME */
377 uint8_t hour; /* 4 */
378 uint8_t minute; /* 5 */
379 uint8_t second; /* 6 */
380 uint8_t flags; /* 7 */
381 uint8_t year; /* 8 */
382 uint8_t month; /* 9 */
383 uint8_t day; /* 10 */
384 uint8_t pdop; /* 11 */
386 /* AO_LOG_GPS_SAT (up to three packets) */
388 uint8_t channels; /* 4 */
389 uint8_t more; /* 5 */
395 uint8_t raw[12]; /* 4 */
401 uint8_t csum; /* 1 */
402 uint16_t tick; /* 2 */
406 uint16_t flight; /* 4 */
408 uint32_t ground_pres; /* 8 */
412 uint16_t state; /* 4 */
413 uint16_t reason; /* 6 */
417 uint8_t pres[3]; /* 4 */
418 uint8_t temp[3]; /* 7 */
419 int16_t sense_a; /* 10 */
420 int16_t sense_m; /* 12 */
421 int16_t v_batt; /* 14 */
426 #define ao_log_pack24(dst,value) do { \
427 (dst)[0] = (value); \
428 (dst)[1] = (value) >> 8; \
429 (dst)[2] = (value) >> 16; \
434 uint8_t csum; /* 1 */
435 uint16_t tick; /* 2 */
439 uint16_t flight; /* 4 */
440 int16_t start_altitude; /* 6 */
441 int32_t start_latitude; /* 8 */
442 int32_t start_longitude; /* 12 */
444 /* AO_LOG_GPS_TIME */
446 int32_t latitude; /* 4 */
447 int32_t longitude; /* 8 */
448 uint16_t altitude_low; /* 12 */
449 uint8_t hour; /* 14 */
450 uint8_t minute; /* 15 */
451 uint8_t second; /* 16 */
452 uint8_t flags; /* 17 */
453 uint8_t year; /* 18 */
454 uint8_t month; /* 19 */
455 uint8_t day; /* 20 */
456 uint8_t course; /* 21 */
457 uint16_t ground_speed; /* 22 */
458 int16_t climb_rate; /* 24 */
459 uint8_t pdop; /* 26 */
460 uint8_t hdop; /* 27 */
461 uint8_t vdop; /* 28 */
462 uint8_t mode; /* 29 */
463 int16_t altitude_high; /* 30 */
467 uint16_t channels; /* 4 */
476 #if AO_LOG_FORMAT == AO_LOG_FOMAT_TELEMEGA_OLD || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA
477 typedef struct ao_log_mega ao_log_type;
480 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMETRUM
481 typedef struct ao_log_metrum ao_log_type;
484 #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
485 typedef struct ao_log_mini ao_log_type;
488 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEGPS
489 typedef struct ao_log_gps ao_log_type;
492 #if AO_LOG_FORMAT == AO_LOG_FORMAT_FULL
493 typedef struct ao_log_record ao_log_type;
496 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TINY
497 #define AO_LOG_UNCOMMON 1
500 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMETRY
501 #define AO_LOG_UNCOMMON 1
504 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELESCIENCE
505 #define AO_LOG_UNCOMMON 1
508 #ifndef AO_LOG_UNCOMMON
509 extern __xdata ao_log_type log;
511 #define AO_LOG_SIZE sizeof(ao_log_type)
513 /* Write a record to the eeprom log */
516 ao_log_write(__xdata ao_log_type *log) __reentrant;
523 ao_gps_report_metrum_init(void);
525 #endif /* _AO_LOG_H_ */