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 uint16_t ao_flight_number;
33 extern uint8_t ao_log_mutex;
34 extern uint32_t ao_log_current_pos;
35 extern uint32_t ao_log_end_pos;
36 extern uint32_t ao_log_start_pos;
37 extern uint8_t ao_log_running;
38 extern 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_TELEMEGA_3 15 /* 32 byte typed telemega records with 32 bit gyro cal and mpu9250 */
58 #define AO_LOG_FORMAT_EASYMEGA_2 16 /* 32 byte typed telemega records with 32 bit gyro cal, mpu9250 rotated 90° and adxl375 */
59 #define AO_LOG_FORMAT_TELESTATIC 17 /* 32 byte typed telestatic records */
60 #define AO_LOG_FORMAT_MICROPEAK2 18 /* 2-byte baro values with header */
61 #define AO_LOG_FORMAT_TELEMEGA_4 19 /* 32 byte typed telemega records with 32 bit gyro cal and Bmx160 */
62 #define AO_LOG_FORMAT_EASYMOTOR 20 /* 16 byte typed easymotor records with pressure sensor and adxl375 */
63 #define AO_LOG_FORMAT_TELEMEGA_5 21 /* 32 byte typed telemega records with 32 bit gyro cal, mpu6000 and mmc5983 */
64 #define AO_LOG_FORMAT_TELEMEGA_6 22 /* 32 byte typed telemega records with 32 bit gyro cal, bmi088 and mmc5983 */
65 #define AO_LOG_FORMAT_NONE 127 /* No log at all */
67 /* Return the flight number from the given log slot, 0 if none, -slot on failure */
70 ao_log_flight(uint8_t slot);
72 /* Checksum the loaded log record */
74 ao_log_check_data(void);
76 /* Check to see if the loaded log record is empty */
78 ao_log_check_clear(void);
80 /* Check if there is valid log data at the specified location */
81 #define AO_LOG_VALID 1
82 #define AO_LOG_EMPTY 0
83 #define AO_LOG_INVALID -1
86 ao_log_check(uint32_t pos);
92 /* Logging thread main routine */
96 /* functions provided in ao_log.c */
98 /* Figure out the current flight number */
102 /* Start logging to eeprom */
110 /* Initialize the logging system */
114 /* Write out the current flight number to the erase log */
116 ao_log_write_erase(uint8_t pos);
118 /* Returns true if there are any logs stored in eeprom */
120 ao_log_present(void);
122 /* Returns true if there is no more storage space available */
131 * The data log is recorded in the eeprom as a sequence
134 * Each packet starts with a 4-byte header that has the
135 * packet type, the packet checksum and the tick count. Then
136 * they all contain 2 16 bit values which hold packet-specific
139 * For each flight, the first packet
140 * is FLIGHT packet, indicating the serial number of the
141 * device and a unique number marking the number of flights
142 * recorded by this device.
144 * During flight, data from the accelerometer and barometer
145 * are recorded in SENSOR packets, using the raw 16-bit values
146 * read from the A/D converter.
148 * Also during flight, but at a lower rate, the deployment
149 * sensors are recorded in DEPLOY packets. The goal here is to
150 * detect failure in the deployment circuits.
152 * STATE packets hold state transitions as the flight computer
153 * transitions through different stages of the flight.
155 #define AO_LOG_FLIGHT 'F'
156 #define AO_LOG_SENSOR 'A'
157 #define AO_LOG_TEMP_VOLT 'T'
158 #define AO_LOG_DEPLOY 'D'
159 #define AO_LOG_STATE 'S'
160 #define AO_LOG_GPS_TIME 'G'
161 #define AO_LOG_GPS_LAT 'N'
162 #define AO_LOG_GPS_LON 'W'
163 #define AO_LOG_GPS_ALT 'H'
164 #define AO_LOG_GPS_SAT 'V'
165 #define AO_LOG_GPS_DATE 'Y'
166 #define AO_LOG_GPS_POS 'P'
168 #define AO_LOG_POS_NONE (~0UL)
170 struct ao_log_record {
172 uint8_t csum; /* 1 */
173 uint16_t tick; /* 2 */
176 int16_t ground_accel; /* 4 */
177 uint16_t flight; /* 6 */
180 int16_t accel; /* 4 */
181 int16_t pres; /* 6 */
201 int32_t gps_latitude;
202 int32_t gps_longitude;
204 uint16_t altitude_low;
205 int16_t altitude_high;
227 uint8_t csum; /* 1 */
228 uint16_t tick; /* 2 */
232 uint16_t flight; /* 4 */
233 int16_t ground_accel; /* 6 */
234 int32_t ground_pres; /* 8 */
235 int16_t ground_accel_along; /* 12 */
236 int16_t ground_accel_across; /* 14 */
237 int16_t ground_accel_through; /* 16 */
238 int16_t pad_18; /* 18 */
239 int32_t ground_roll; /* 20 */
240 int32_t ground_pitch; /* 24 */
241 int32_t ground_yaw; /* 28 */
244 uint16_t flight; /* 4 */
245 int16_t ground_accel; /* 6 */
246 int32_t ground_pres; /* 8 */
247 int16_t ground_accel_along; /* 12 */
248 int16_t ground_accel_across; /* 14 */
249 int16_t ground_accel_through; /* 16 */
250 int16_t ground_roll; /* 18 */
251 int16_t ground_pitch; /* 20 */
252 int16_t ground_yaw; /* 22 */
253 } flight_old; /* 24 */
261 uint32_t pres; /* 4 */
262 uint32_t temp; /* 8 */
265 int16_t accel_along; /* 12 */
266 int16_t accel_across; /* 14 */
267 int16_t accel_through; /* 16 */
268 int16_t gyro_roll; /* 18 */
269 int16_t gyro_pitch; /* 20 */
270 int16_t gyro_yaw; /* 22 */
271 int16_t mag_along; /* 24 */
272 int16_t mag_across; /* 26 */
273 int16_t mag_through; /* 28 */
276 int16_t accel_x; /* 12 */
277 int16_t accel_y; /* 14 */
278 int16_t accel_z; /* 16 */
279 int16_t gyro_x; /* 18 */
280 int16_t gyro_y; /* 20 */
281 int16_t gyro_z; /* 22 */
282 int16_t mag_x; /* 24 */
283 int16_t mag_z; /* 26 */
284 int16_t mag_y; /* 28 */
287 int16_t accel; /* 30 */
289 /* AO_LOG_TEMP_VOLT */
291 int16_t v_batt; /* 4 */
292 int16_t v_pbatt; /* 6 */
293 int16_t n_sense; /* 8 */
294 int16_t sense[10]; /* 10 */
295 uint16_t pyro; /* 30 */
297 /* AO_LOG_GPS_TIME */
299 int32_t latitude; /* 4 */
300 int32_t longitude; /* 8 */
301 uint16_t altitude_low; /* 12 */
302 uint8_t hour; /* 14 */
303 uint8_t minute; /* 15 */
304 uint8_t second; /* 16 */
305 uint8_t flags; /* 17 */
306 uint8_t year; /* 18 */
307 uint8_t month; /* 19 */
308 uint8_t day; /* 20 */
309 uint8_t course; /* 21 */
310 uint16_t ground_speed; /* 22 */
311 int16_t climb_rate; /* 24 */
312 uint8_t pdop; /* 26 */
313 uint8_t hdop; /* 27 */
314 uint8_t vdop; /* 28 */
315 uint8_t mode; /* 29 */
316 int16_t altitude_high; /* 30 */
320 uint16_t channels; /* 4 */
329 #define AO_LOG_MEGA_GPS_ALTITUDE(l) ((int32_t) ((l)->u.gps.altitude_high << 16) | ((l)->u.gps.altitude_low))
330 #define AO_LOG_MEGA_SET_GPS_ALTITUDE(l,a) (((l)->u.gps.mode |= AO_GPS_MODE_ALTITUDE_24), \
331 ((l)->u.gps.altitude_high = (a) >> 16), \
332 (l)->u.gps.altitude_low = (a))
334 struct ao_log_firetwo {
336 uint8_t csum; /* 1 */
337 uint16_t tick; /* 2 */
341 uint16_t flight; /* 4 */
345 uint16_t state; /* 4 */
346 uint16_t reason; /* 6 */
350 uint16_t pressure; /* 4 */
351 uint16_t thrust; /* 6 */
352 uint16_t thermistor[4]; /* 8 */
354 uint8_t align[28]; /* 4 */
358 struct ao_log_telestatic {
360 uint8_t csum; /* 1 */
361 uint16_t tick; /* 2 */
365 uint16_t flight; /* 4 */
369 uint16_t state; /* 4 */
370 uint16_t reason; /* 6 */
374 uint32_t pressure; /* 4 */
375 uint32_t pressure2; /* 8 */
376 uint32_t thrust; /* 12 */
377 uint32_t mass; /* 16 */
378 uint16_t t_low; /* 20 */
379 uint16_t t_high[4]; /* 22 */
381 uint8_t align[28]; /* 4 */
385 struct ao_log_metrum {
387 uint8_t csum; /* 1 */
388 uint16_t tick; /* 2 */
392 uint16_t flight; /* 4 */
393 int16_t ground_accel; /* 6 */
394 int32_t ground_pres; /* 8 */
395 uint32_t ground_temp; /* 12 */
399 uint16_t state; /* 4 */
400 uint16_t reason; /* 6 */
404 uint32_t pres; /* 4 */
405 uint32_t temp; /* 8 */
406 int16_t accel; /* 12 */
408 /* AO_LOG_TEMP_VOLT */
410 int16_t v_batt; /* 4 */
411 int16_t sense_a; /* 6 */
412 int16_t sense_m; /* 8 */
416 int32_t latitude; /* 4 */
417 int32_t longitude; /* 8 */
418 uint16_t altitude_low; /* 12 */
419 int16_t altitude_high; /* 14 */
421 /* AO_LOG_GPS_TIME */
423 uint8_t hour; /* 4 */
424 uint8_t minute; /* 5 */
425 uint8_t second; /* 6 */
426 uint8_t flags; /* 7 */
427 uint8_t year; /* 8 */
428 uint8_t month; /* 9 */
429 uint8_t day; /* 10 */
430 uint8_t pdop; /* 11 */
432 /* AO_LOG_GPS_SAT (up to three packets) */
434 uint8_t channels; /* 4 */
435 uint8_t more; /* 5 */
441 uint8_t raw[12]; /* 4 */
447 uint8_t csum; /* 1 */
448 uint16_t tick; /* 2 */
452 uint16_t flight; /* 4 */
454 int32_t ground_pres; /* 8 */
458 uint16_t state; /* 4 */
459 uint16_t reason; /* 6 */
463 uint8_t pres[3]; /* 4 */
464 uint8_t temp[3]; /* 7 */
465 int16_t sense_a; /* 10 */
466 int16_t sense_m; /* 12 */
467 int16_t v_batt; /* 14 */
472 #define ao_log_pack24(dst,value) do { \
473 (dst)[0] = (uint8_t) (value); \
474 (dst)[1] = (uint8_t) ((value) >> 8); \
475 (dst)[2] = (uint8_t) ((value) >> 16); \
480 uint8_t csum; /* 1 */
481 uint16_t tick; /* 2 */
485 uint16_t flight; /* 4 */
486 int16_t start_altitude; /* 6 */
487 int32_t start_latitude; /* 8 */
488 int32_t start_longitude; /* 12 */
490 /* AO_LOG_GPS_TIME */
492 int32_t latitude; /* 4 */
493 int32_t longitude; /* 8 */
494 uint16_t altitude_low; /* 12 */
495 uint8_t hour; /* 14 */
496 uint8_t minute; /* 15 */
497 uint8_t second; /* 16 */
498 uint8_t flags; /* 17 */
499 uint8_t year; /* 18 */
500 uint8_t month; /* 19 */
501 uint8_t day; /* 20 */
502 uint8_t course; /* 21 */
503 uint16_t ground_speed; /* 22 */
504 int16_t climb_rate; /* 24 */
505 uint8_t pdop; /* 26 */
506 uint8_t hdop; /* 27 */
507 uint8_t vdop; /* 28 */
508 uint8_t mode; /* 29 */
509 int16_t altitude_high; /* 30 */
513 uint16_t channels; /* 4 */
522 struct ao_log_motor {
524 uint8_t csum; /* 1 */
525 uint16_t tick; /* 2 */
529 uint16_t flight; /* 4 */
530 int16_t ground_accel; /* 6 */
531 int16_t ground_accel_along; /* 8 */
532 int16_t ground_accel_across; /* 10 */
533 int16_t ground_accel_through; /* 12 */
534 int16_t ground_motor_pressure; /* 14 */
538 uint16_t state; /* 4 */
539 uint16_t reason; /* 6 */
543 uint16_t pressure; /* 4 */
544 uint16_t v_batt; /* 6 */
545 int16_t accel; /* 8 */
546 int16_t accel_across; /* 10 */
547 int16_t accel_along; /* 12 */
548 int16_t accel_through; /* 14 */
553 #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 || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_4 || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_5 || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_6
554 typedef struct ao_log_mega ao_log_type;
557 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMETRUM
558 typedef struct ao_log_metrum ao_log_type;
561 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEFIRETWO
562 typedef struct ao_log_firetwo ao_log_type;
565 #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
566 typedef struct ao_log_mini ao_log_type;
569 #if AO_LOG_FORMAT == AO_LOG_FORMAT_EASYMOTOR
570 typedef struct ao_log_motor ao_log_type;
573 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEGPS
574 typedef struct ao_log_gps ao_log_type;
577 #if AO_LOG_FORMAT == AO_LOG_FORMAT_FULL
578 typedef struct ao_log_record ao_log_type;
581 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TINY
582 #define AO_LOG_UNCOMMON 1
585 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMETRY
586 #define AO_LOG_UNCOMMON 1
589 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELESCIENCE
590 #define AO_LOG_UNCOMMON 1
593 #if AO_LOG_FORMAT == AO_LOG_FORMAT_MICROPEAK2
594 #define AO_LOG_UNCOMMON 1
597 #ifndef AO_LOG_UNCOMMON
598 extern ao_log_type ao_log_data;
600 #define AO_LOG_SIZE sizeof(ao_log_type)
602 /* Write a record to the eeprom log */
605 ao_log_write(ao_log_type *log);
612 ao_gps_report_metrum_init(void);
614 #endif /* _AO_LOG_H_ */