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_TELEMEGA_3 15 /* 32 byte typed telemega records with 32 bit gyro cal and mpu9250 */
58 #define AO_LOG_FORMAT_NONE 127 /* No log at all */
60 /* Return the flight number from the given log slot, 0 if none, -slot on failure */
63 ao_log_flight(uint8_t slot);
65 /* Checksum the loaded log record */
67 ao_log_check_data(void);
69 /* Check to see if the loaded log record is empty */
71 ao_log_check_clear(void);
73 /* Check if there is valid log data at the specified location */
74 #define AO_LOG_VALID 1
75 #define AO_LOG_EMPTY 0
76 #define AO_LOG_INVALID -1
79 ao_log_check(uint32_t pos);
85 /* Logging thread main routine */
89 /* functions provided in ao_log.c */
91 /* Figure out the current flight number */
93 ao_log_scan(void) __reentrant;
95 /* Return the position of the start of the given log slot */
97 ao_log_pos(uint8_t slot);
99 /* Start logging to eeprom */
107 /* Initialize the logging system */
111 /* Write out the current flight number to the erase log */
113 ao_log_write_erase(uint8_t pos);
115 /* Returns true if there are any logs stored in eeprom */
117 ao_log_present(void);
119 /* Returns true if there is no more storage space available */
128 * The data log is recorded in the eeprom as a sequence
131 * Each packet starts with a 4-byte header that has the
132 * packet type, the packet checksum and the tick count. Then
133 * they all contain 2 16 bit values which hold packet-specific
136 * For each flight, the first packet
137 * is FLIGHT packet, indicating the serial number of the
138 * device and a unique number marking the number of flights
139 * recorded by this device.
141 * During flight, data from the accelerometer and barometer
142 * are recorded in SENSOR packets, using the raw 16-bit values
143 * read from the A/D converter.
145 * Also during flight, but at a lower rate, the deployment
146 * sensors are recorded in DEPLOY packets. The goal here is to
147 * detect failure in the deployment circuits.
149 * STATE packets hold state transitions as the flight computer
150 * transitions through different stages of the flight.
152 #define AO_LOG_FLIGHT 'F'
153 #define AO_LOG_SENSOR 'A'
154 #define AO_LOG_TEMP_VOLT 'T'
155 #define AO_LOG_DEPLOY 'D'
156 #define AO_LOG_STATE 'S'
157 #define AO_LOG_GPS_TIME 'G'
158 #define AO_LOG_GPS_LAT 'N'
159 #define AO_LOG_GPS_LON 'W'
160 #define AO_LOG_GPS_ALT 'H'
161 #define AO_LOG_GPS_SAT 'V'
162 #define AO_LOG_GPS_DATE 'Y'
163 #define AO_LOG_GPS_POS 'P'
165 #define AO_LOG_POS_NONE (~0UL)
167 struct ao_log_record {
169 uint8_t csum; /* 1 */
170 uint16_t tick; /* 2 */
173 int16_t ground_accel; /* 4 */
174 uint16_t flight; /* 6 */
177 int16_t accel; /* 4 */
178 int16_t pres; /* 6 */
198 int32_t gps_latitude;
199 int32_t gps_longitude;
201 uint16_t altitude_low;
202 int16_t altitude_high;
224 uint8_t csum; /* 1 */
225 uint16_t tick; /* 2 */
229 uint16_t flight; /* 4 */
230 int16_t ground_accel; /* 6 */
231 uint32_t ground_pres; /* 8 */
232 int16_t ground_accel_along; /* 12 */
233 int16_t ground_accel_across; /* 14 */
234 int16_t ground_accel_through; /* 16 */
235 int16_t pad_18; /* 18 */
236 int32_t ground_roll; /* 20 */
237 int32_t ground_pitch; /* 24 */
238 int32_t ground_yaw; /* 28 */
241 uint16_t flight; /* 4 */
242 int16_t ground_accel; /* 6 */
243 uint32_t ground_pres; /* 8 */
244 int16_t ground_accel_along; /* 12 */
245 int16_t ground_accel_across; /* 14 */
246 int16_t ground_accel_through; /* 16 */
247 int16_t ground_roll; /* 18 */
248 int16_t ground_pitch; /* 20 */
249 int16_t ground_yaw; /* 22 */
250 } flight_old; /* 24 */
258 uint32_t pres; /* 4 */
259 uint32_t temp; /* 8 */
260 int16_t accel_x; /* 12 */
261 int16_t accel_y; /* 14 */
262 int16_t accel_z; /* 16 */
263 int16_t gyro_x; /* 18 */
264 int16_t gyro_y; /* 20 */
265 int16_t gyro_z; /* 22 */
266 int16_t mag_x; /* 24 */
267 int16_t mag_z; /* 26 */
268 int16_t mag_y; /* 28 */
269 int16_t accel; /* 30 */
271 /* AO_LOG_TEMP_VOLT */
273 int16_t v_batt; /* 4 */
274 int16_t v_pbatt; /* 6 */
275 int16_t n_sense; /* 8 */
276 int16_t sense[10]; /* 10 */
277 uint16_t pyro; /* 30 */
279 /* AO_LOG_GPS_TIME */
281 int32_t latitude; /* 4 */
282 int32_t longitude; /* 8 */
283 uint16_t altitude_low; /* 12 */
284 uint8_t hour; /* 14 */
285 uint8_t minute; /* 15 */
286 uint8_t second; /* 16 */
287 uint8_t flags; /* 17 */
288 uint8_t year; /* 18 */
289 uint8_t month; /* 19 */
290 uint8_t day; /* 20 */
291 uint8_t course; /* 21 */
292 uint16_t ground_speed; /* 22 */
293 int16_t climb_rate; /* 24 */
294 uint8_t pdop; /* 26 */
295 uint8_t hdop; /* 27 */
296 uint8_t vdop; /* 28 */
297 uint8_t mode; /* 29 */
298 int16_t altitude_high; /* 30 */
302 uint16_t channels; /* 4 */
311 #define AO_LOG_MEGA_GPS_ALTITUDE(l) ((int32_t) ((l)->u.gps.altitude_high << 16) | ((l)->u.gps.altitude_low))
312 #define AO_LOG_MEGA_SET_GPS_ALTITUDE(l,a) (((l)->u.gps.mode |= AO_GPS_MODE_ALTITUDE_24), \
313 ((l)->u.gps.altitude_high = (a) >> 16), \
314 (l)->u.gps.altitude_low = (a))
316 struct ao_log_firetwo {
318 uint8_t csum; /* 1 */
319 uint16_t tick; /* 2 */
323 uint16_t flight; /* 4 */
327 uint16_t state; /* 4 */
328 uint16_t reason; /* 6 */
332 uint16_t pressure; /* 4 */
333 uint16_t thrust; /* 6 */
334 uint16_t thermistor[4]; /* 8 */
336 uint8_t align[28]; /* 4 */
340 struct ao_log_metrum {
342 uint8_t csum; /* 1 */
343 uint16_t tick; /* 2 */
347 uint16_t flight; /* 4 */
348 int16_t ground_accel; /* 6 */
349 uint32_t ground_pres; /* 8 */
350 uint32_t ground_temp; /* 12 */
354 uint16_t state; /* 4 */
355 uint16_t reason; /* 6 */
359 uint32_t pres; /* 4 */
360 uint32_t temp; /* 8 */
361 int16_t accel; /* 12 */
363 /* AO_LOG_TEMP_VOLT */
365 int16_t v_batt; /* 4 */
366 int16_t sense_a; /* 6 */
367 int16_t sense_m; /* 8 */
371 int32_t latitude; /* 4 */
372 int32_t longitude; /* 8 */
373 uint16_t altitude_low; /* 12 */
374 int16_t altitude_high; /* 14 */
376 /* AO_LOG_GPS_TIME */
378 uint8_t hour; /* 4 */
379 uint8_t minute; /* 5 */
380 uint8_t second; /* 6 */
381 uint8_t flags; /* 7 */
382 uint8_t year; /* 8 */
383 uint8_t month; /* 9 */
384 uint8_t day; /* 10 */
385 uint8_t pdop; /* 11 */
387 /* AO_LOG_GPS_SAT (up to three packets) */
389 uint8_t channels; /* 4 */
390 uint8_t more; /* 5 */
396 uint8_t raw[12]; /* 4 */
402 uint8_t csum; /* 1 */
403 uint16_t tick; /* 2 */
407 uint16_t flight; /* 4 */
409 uint32_t ground_pres; /* 8 */
413 uint16_t state; /* 4 */
414 uint16_t reason; /* 6 */
418 uint8_t pres[3]; /* 4 */
419 uint8_t temp[3]; /* 7 */
420 int16_t sense_a; /* 10 */
421 int16_t sense_m; /* 12 */
422 int16_t v_batt; /* 14 */
427 #define ao_log_pack24(dst,value) do { \
428 (dst)[0] = (value); \
429 (dst)[1] = (value) >> 8; \
430 (dst)[2] = (value) >> 16; \
435 uint8_t csum; /* 1 */
436 uint16_t tick; /* 2 */
440 uint16_t flight; /* 4 */
441 int16_t start_altitude; /* 6 */
442 int32_t start_latitude; /* 8 */
443 int32_t start_longitude; /* 12 */
445 /* AO_LOG_GPS_TIME */
447 int32_t latitude; /* 4 */
448 int32_t longitude; /* 8 */
449 uint16_t altitude_low; /* 12 */
450 uint8_t hour; /* 14 */
451 uint8_t minute; /* 15 */
452 uint8_t second; /* 16 */
453 uint8_t flags; /* 17 */
454 uint8_t year; /* 18 */
455 uint8_t month; /* 19 */
456 uint8_t day; /* 20 */
457 uint8_t course; /* 21 */
458 uint16_t ground_speed; /* 22 */
459 int16_t climb_rate; /* 24 */
460 uint8_t pdop; /* 26 */
461 uint8_t hdop; /* 27 */
462 uint8_t vdop; /* 28 */
463 uint8_t mode; /* 29 */
464 int16_t altitude_high; /* 30 */
468 uint16_t channels; /* 4 */
477 #if AO_LOG_FORMAT == AO_LOG_FOMAT_TELEMEGA_OLD || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_3
478 typedef struct ao_log_mega ao_log_type;
481 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMETRUM
482 typedef struct ao_log_metrum ao_log_type;
485 #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
486 typedef struct ao_log_mini ao_log_type;
489 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEGPS
490 typedef struct ao_log_gps ao_log_type;
493 #if AO_LOG_FORMAT == AO_LOG_FORMAT_FULL
494 typedef struct ao_log_record ao_log_type;
497 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TINY
498 #define AO_LOG_UNCOMMON 1
501 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMETRY
502 #define AO_LOG_UNCOMMON 1
505 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELESCIENCE
506 #define AO_LOG_UNCOMMON 1
509 #ifndef AO_LOG_UNCOMMON
510 extern __xdata ao_log_type ao_log_data;
512 #define AO_LOG_SIZE sizeof(ao_log_type)
514 /* Write a record to the eeprom log */
517 ao_log_write(__xdata ao_log_type *log) __reentrant;
524 ao_gps_report_metrum_init(void);
526 #endif /* _AO_LOG_H_ */