X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_log.h;h=1faea957639ce667ad44895b60dd22bf52b893d7;hb=065c60d38f38343bd1f319a87f6b50367a3abbe3;hp=5c150abcefac88a4fb2dc4444d01d4b8a9c0e190;hpb=f10009b07b651f69014ac5608f3ca29bce874c24;p=fw%2Faltos

diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h
index 5c150abc..1faea957 100644
--- a/src/kernel/ao_log.h
+++ b/src/kernel/ao_log.h
@@ -29,7 +29,7 @@
  * the log. Tasks may wait for this to be initialized
  * by sleeping on this variable.
  */
-extern int16_t ao_flight_number;
+extern uint16_t ao_flight_number;
 extern uint8_t	ao_log_mutex;
 extern uint32_t ao_log_current_pos;
 extern uint32_t ao_log_end_pos;
@@ -59,12 +59,13 @@ extern enum ao_flight_state ao_log_state;
 #define AO_LOG_FORMAT_TELESTATIC	17	/* 32 byte typed telestatic records */
 #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_EASYMOTOR		20	/* 16 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 */
 
-int16_t
+int32_t
 ao_log_flight(uint8_t slot);
 
 /* Checksum the loaded log record */
@@ -229,7 +230,7 @@ struct ao_log_mega {
 		struct {
 			uint16_t	flight;			/* 4 */
 			int16_t		ground_accel;		/* 6 */
-			uint32_t	ground_pres;		/* 8 */
+			int32_t		ground_pres;		/* 8 */
 			int16_t		ground_accel_along;	/* 12 */
 			int16_t		ground_accel_across;	/* 14 */
 			int16_t		ground_accel_through;	/* 16 */
@@ -241,7 +242,7 @@ struct ao_log_mega {
 		struct {
 			uint16_t	flight;			/* 4 */
 			int16_t		ground_accel;		/* 6 */
-			uint32_t	ground_pres;		/* 8 */
+			int32_t		ground_pres;		/* 8 */
 			int16_t		ground_accel_along;	/* 12 */
 			int16_t		ground_accel_across;	/* 14 */
 			int16_t		ground_accel_through;	/* 16 */
@@ -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 */
@@ -374,7 +390,7 @@ struct ao_log_metrum {
 		struct {
 			uint16_t	flight;		/* 4 */
 			int16_t		ground_accel;	/* 6 */
-			uint32_t	ground_pres;	/* 8 */
+			int32_t		ground_pres;	/* 8 */
 			uint32_t	ground_temp;	/* 12 */
 		} flight;	/* 16 */
 		/* AO_LOG_STATE */
@@ -434,7 +450,7 @@ struct ao_log_mini {
 		struct {
 			uint16_t	flight;		/* 4 */
 			uint16_t	r6;
-			uint32_t	ground_pres;	/* 8 */
+			int32_t		ground_pres;	/* 8 */
 		} flight;
 		/* AO_LOG_STATE */
 		struct {
@@ -453,9 +469,9 @@ struct ao_log_mini {
 };							/* 16 */
 
 #define ao_log_pack24(dst,value) do {		\
-		(dst)[0] = (value);		\
-		(dst)[1] = (value) >> 8;	\
-		(dst)[2] = (value) >> 16;	\
+		(dst)[0] = (uint8_t) (value);	\
+		(dst)[1] = (uint8_t) ((value) >> 8);	\
+		(dst)[2] = (uint8_t) ((value) >> 16);	\
 	} while (0)
 
 struct ao_log_gps {
@@ -533,7 +549,7 @@ struct ao_log_motor {
 	} 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
+#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