Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos

[fw/altos] / src / kernel / ao_log.h

diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h
index 26ff444088f52f2805a3d2b4b496e1a3893ff1ce..09ae7add80b683f469454cf721c4ad5f7c185410 100644 (file)
--- a/src/kernel/ao_log.h
+++ b/src/kernel/ao_log.h
@@ -60,6 +60,7 @@ extern enum ao_flight_state ao_log_state;
 #define AO_LOG_FORMAT_MICROPEAK2       18      /* 2-byte baro values with header */
 #define AO_LOG_FORMAT_TELEMEGA_4       19      /* 32 byte typed telemega records with 32 bit gyro cal and Bmx160 */
 #define AO_LOG_FORMAT_EASYMOTOR                20      /* ? byte typed easymotor records with pressure sensor and adxl375 */
+#define AO_LOG_FORMAT_TELEMEGA_5       21      /* 32 byte typed telemega records with 32 bit gyro cal, mpu6000 and mmc5983 */
 #define AO_LOG_FORMAT_NONE             127     /* No log at all */
 
 /* Return the flight number from the given log slot, 0 if none, -slot on failure */
@@ -258,15 +259,30 @@ struct ao_log_mega {
                struct {
                        uint32_t        pres;           /* 4 */
                        uint32_t        temp;           /* 8 */
-                       int16_t         accel_x;        /* 12 */
-                       int16_t         accel_y;        /* 14 */
-                       int16_t         accel_z;        /* 16 */
-                       int16_t         gyro_x;         /* 18 */
-                       int16_t         gyro_y;         /* 20 */
-                       int16_t         gyro_z;         /* 22 */
-                       int16_t         mag_x;          /* 24 */
-                       int16_t         mag_z;          /* 26 */
-                       int16_t         mag_y;          /* 28 */
+                       union {
+                               struct {
+                                       int16_t         accel_along;    /* 12 */
+                                       int16_t         accel_across;   /* 14 */
+                                       int16_t         accel_through;  /* 16 */
+                                       int16_t         gyro_roll;      /* 18 */
+                                       int16_t         gyro_pitch;     /* 20 */
+                                       int16_t         gyro_yaw;       /* 22 */
+                                       int16_t         mag_along;      /* 24 */
+                                       int16_t         mag_across;     /* 26 */
+                                       int16_t         mag_through;    /* 28 */
+                               };
+                               struct {
+                                       int16_t         accel_x;        /* 12 */
+                                       int16_t         accel_y;        /* 14 */
+                                       int16_t         accel_z;        /* 16 */
+                                       int16_t         gyro_x;         /* 18 */
+                                       int16_t         gyro_y;         /* 20 */
+                                       int16_t         gyro_z;         /* 22 */
+                                       int16_t         mag_x;          /* 24 */
+                                       int16_t         mag_z;          /* 26 */
+                                       int16_t         mag_y;          /* 28 */
+                               };
+                       };
                        int16_t         accel;          /* 30 */
                } sensor;       /* 32 */
                /* AO_LOG_TEMP_VOLT */
@@ -502,7 +518,38 @@ struct ao_log_gps {
        } u;
 };
 
-#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
+struct ao_log_motor {
+       char                    type;                   /* 0 */
+       uint8_t                 csum;                   /* 1 */
+       uint16_t                tick;                   /* 2 */
+       union {                                         /* 4 */
+               /* AO_LOG_FLIGHT */
+               struct {
+                       uint16_t        flight;                 /* 4 */
+                       int16_t         ground_accel;           /* 6 */
+                       int16_t         ground_accel_along;     /* 8 */
+                       int16_t         ground_accel_across;    /* 10 */
+                       int16_t         ground_accel_through;   /* 12 */
+                       int16_t         ground_motor_pressure;  /* 14 */
+               } flight;                                       /* 16 */
+               /* AO_LOG_STATE */
+               struct {
+                       uint16_t        state;                  /* 4 */
+                       uint16_t        reason;                 /* 6 */
+               } state;
+               /* AO_LOG_SENSOR */
+               struct {
+                       uint16_t        pressure;               /* 4 */
+                       uint16_t        v_batt;                 /* 6 */
+                       int16_t         accel;                  /* 8 */
+                       int16_t         accel_across;           /* 10 */
+                       int16_t         accel_along;            /* 12 */
+                       int16_t         accel_through;          /* 14 */
+               } sensor;                                       /* 16 */
+       } u;
+};
+
+#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
 typedef struct ao_log_mega ao_log_type;
 #endif