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   1 /*
   2  * Copyright © 2017 Keith Packard <keithp@keithp.com>
   3  *
   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.
   8  *
   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.
  13  */
  14
  15 #ifndef _AO_EEPROM_READ_H_
  16 #define _AO_EEPROM_READ_H_
  17
  18 #include <stdint.h>
  19 #include <stdio.h>
  20 #include <ao-ms5607.h>
  21
  22 #define AO_MAX_CALLSIGN 8
  23 #define AO_AES_LEN      16
  24 #define AO_PYRO_NUM     8
  25
  26 /* required functions from the underlying log system */
  27
  28 #define AO_LOG_FORMAT_UNKNOWN           0       /* unknown; altosui will have to guess */
  29 #define AO_LOG_FORMAT_FULL              1       /* 8 byte typed log records */
  30 #define AO_LOG_FORMAT_TINY              2       /* two byte state/baro records */
  31 #define AO_LOG_FORMAT_TELEMETRY         3       /* 32 byte ao_telemetry records */
  32 #define AO_LOG_FORMAT_TELESCIENCE       4       /* 32 byte typed telescience records */
  33 #define AO_LOG_FORMAT_TELEMEGA_OLD      5       /* 32 byte typed telemega records */
  34 #define AO_LOG_FORMAT_EASYMINI1         6       /* 16-byte MS5607 baro only, 3.0V supply */
  35 #define AO_LOG_FORMAT_TELEMETRUM        7       /* 16-byte typed telemetrum records */
  36 #define AO_LOG_FORMAT_TELEMINI2         8       /* 16-byte MS5607 baro only, 3.3V supply, cc1111 SoC */
  37 #define AO_LOG_FORMAT_TELEGPS           9       /* 32 byte telegps records */
  38 #define AO_LOG_FORMAT_TELEMEGA          10      /* 32 byte typed telemega records with 32 bit gyro cal */
  39 #define AO_LOG_FORMAT_DETHERM           11      /* 16-byte MS5607 baro only, no ADC */
  40 #define AO_LOG_FORMAT_TELEMINI3         12      /* 16-byte MS5607 baro only, 3.3V supply, stm32f042 SoC */
  41 #define AO_LOG_FORMAT_TELEFIRETWO       13      /* 32-byte test stand data */
  42 #define AO_LOG_FORMAT_EASYMINI2         14      /* 16-byte MS5607 baro only, 3.3V supply, stm32f042 SoC */
  43 #define AO_LOG_FORMAT_TELEMEGA_3        15      /* 32 byte typed telemega records with 32 bit gyro cal and mpu9250 */
  44 #define AO_LOG_FORMAT_EASYMEGA_2        16      /* 32 byte typed telemega records with 32 bit gyro cal, mpu9250 rotated 90° and adxl375 */
  45 #define AO_LOG_FORMAT_TELESTATIC        17      /* 32 byte typed telestatic records */
  46 #define AO_LOG_FORMAT_MICROPEAK2        18      /* 2-byte baro values with header */
  47 #define AO_LOG_FORMAT_NONE              127     /* No log at all */
  48
  49 enum ao_pyro_flag {
  50         ao_pyro_none                    = 0x00000000,
  51
  52         ao_pyro_accel_less              = 0x00000001,
  53         ao_pyro_accel_greater           = 0x00000002,
  54
  55         ao_pyro_speed_less              = 0x00000004,
  56         ao_pyro_speed_greater           = 0x00000008,
  57
  58         ao_pyro_height_less             = 0x00000010,
  59         ao_pyro_height_greater          = 0x00000020,
  60
  61         ao_pyro_orient_less             = 0x00000040,
  62         ao_pyro_orient_greater          = 0x00000080,
  63
  64         ao_pyro_time_less               = 0x00000100,
  65         ao_pyro_time_greater            = 0x00000200,
  66
  67         ao_pyro_ascending               = 0x00000400,
  68         ao_pyro_descending              = 0x00000800,
  69
  70         ao_pyro_after_motor             = 0x00001000,
  71
  72         ao_pyro_delay                   = 0x00002000,
  73
  74         ao_pyro_state_less              = 0x00004000,
  75         ao_pyro_state_greater_or_equal  = 0x00008000,
  76 };
  77
  78 struct ao_pyro {
  79         enum ao_pyro_flag       flags;
  80         int16_t                 accel_less, accel_greater;
  81         int16_t                 speed_less, speed_greater;
  82         int16_t                 height_less, height_greater;
  83         int16_t                 orient_less, orient_greater;
  84         int16_t                 time_less, time_greater;
  85         int16_t                 delay;
  86         uint8_t                 state_less, state_greater_or_equal;
  87         int16_t                 motor;
  88         uint16_t                delay_done;
  89         uint8_t                 _unused;        /* was 'fired' */
  90 };
  91
  92 struct ao_config {
  93         uint8_t         major;
  94         uint8_t         minor;
  95         uint16_t        main_deploy;
  96         int16_t         accel_plus_g;           /* changed for minor version 2 */
  97         uint8_t         _legacy_radio_channel;
  98         char            callsign[AO_MAX_CALLSIGN + 1];
  99         uint8_t         apogee_delay;           /* minor version 1 */
 100         int16_t         accel_minus_g;          /* minor version 2 */
 101         uint32_t        radio_cal;              /* minor version 3 */
 102         uint32_t        flight_log_max;         /* minor version 4 */
 103         uint8_t         ignite_mode;            /* minor version 5 */
 104         uint8_t         pad_orientation;        /* minor version 6 */
 105         uint32_t        radio_setting;          /* minor version 7 */
 106         uint8_t         radio_enable;           /* minor version 8 */
 107         uint8_t         aes_key[AO_AES_LEN];    /* minor version 9 */
 108         uint32_t        frequency;              /* minor version 10 */
 109         uint16_t        apogee_lockout;         /* minor version 11 */
 110         struct ao_pyro  pyro[AO_PYRO_NUM];      /* minor version 12 */
 111         uint16_t        aprs_interval;          /* minor version 13 */
 112         uint8_t         radio_power;            /* minor version 14 */
 113         uint8_t         radio_amp;              /* minor version 14 */
 114         int16_t         accel_zero_along;       /* minor version 15 */
 115         int16_t         accel_zero_across;      /* minor version 15 */
 116         int16_t         accel_zero_through;     /* minor version 15 */
 117         uint8_t         mid_beep;               /* minor version 16 */
 118         uint16_t        tracker_motion;         /* minor version 17 */
 119         uint8_t         tracker_interval;       /* minor version 17 */
 120         uint16_t        pyro_time;              /* minor version 18 */
 121         uint8_t         aprs_ssid;              /* minor version 19 */
 122         uint8_t         radio_rate;             /* minor version 20 */
 123         uint32_t        send_frequency;         /* minor version 21 */
 124         uint8_t         aprs_format;            /* minor version 22 */
 125         uint8_t         pad_box;                /* minor version 22 */
 126         uint8_t         pad_idle;               /* minor version 23 */
 127 };
 128
 129 /*
 130  * ao_log_big.c
 131  */
 132
 133 /*
 134  * The data log is recorded in the eeprom as a sequence
 135  * of data packets.
 136  *
 137  * Each packet starts with a 4-byte header that has the
 138  * packet type, the packet checksum and the tick count. Then
 139  * they all contain 2 16 bit values which hold packet-specific
 140  * data.
 141  *
 142  * For each flight, the first packet
 143  * is FLIGHT packet, indicating the serial number of the
 144  * device and a unique number marking the number of flights
 145  * recorded by this device.
 146  *
 147  * During flight, data from the accelerometer and barometer
 148  * are recorded in SENSOR packets, using the raw 16-bit values
 149  * read from the A/D converter.
 150  *
 151  * Also during flight, but at a lower rate, the deployment
 152  * sensors are recorded in DEPLOY packets. The goal here is to
 153  * detect failure in the deployment circuits.
 154  *
 155  * STATE packets hold state transitions as the flight computer
 156  * transitions through different stages of the flight.
 157  */
 158 #define AO_LOG_FLIGHT           'F'
 159 #define AO_LOG_SENSOR           'A'
 160 #define AO_LOG_TEMP_VOLT        'T'
 161 #define AO_LOG_DEPLOY           'D'
 162 #define AO_LOG_STATE            'S'
 163 #define AO_LOG_GPS_TIME         'G'
 164 #define AO_LOG_GPS_LAT          'N'
 165 #define AO_LOG_GPS_LON          'W'
 166 #define AO_LOG_GPS_ALT          'H'
 167 #define AO_LOG_GPS_SAT          'V'
 168 #define AO_LOG_GPS_DATE         'Y'
 169 #define AO_LOG_GPS_POS          'P'
 170
 171 #define AO_LOG_POS_NONE         (~0UL)
 172
 173 /* Common header in all log formats */
 174 struct ao_log_header {
 175         char                    type;                           /* 0 */
 176         uint8_t                 csum;                           /* 1 */
 177         uint16_t                tick;                           /* 2 */
 178 };
 179
 180 struct ao_log_record {
 181         char                    type;                           /* 0 */
 182         uint8_t                 csum;                           /* 1 */
 183         uint16_t                tick;                           /* 2 */
 184         union {
 185                 struct {
 186                         int16_t         ground_accel;           /* 4 */
 187                         uint16_t        flight;                 /* 6 */
 188                 } flight;
 189                 struct {
 190                         int16_t         accel;                  /* 4 */
 191                         int16_t         pres;                   /* 6 */
 192                 } sensor;
 193                 struct {
 194                         int16_t         temp;
 195                         int16_t         v_batt;
 196                 } temp_volt;
 197                 struct {
 198                         int16_t         drogue;
 199                         int16_t         main;
 200                 } deploy;
 201                 struct {
 202                         uint16_t        state;
 203                         uint16_t        reason;
 204                 } state;
 205                 struct {
 206                         uint8_t         hour;
 207                         uint8_t         minute;
 208                         uint8_t         second;
 209                         uint8_t         flags;
 210                 } gps_time;
 211                 int32_t         gps_latitude;
 212                 int32_t         gps_longitude;
 213                 struct {
 214                         uint16_t        altitude_low;
 215                         int16_t         altitude_high;
 216                 } gps_altitude;
 217                 struct {
 218                         uint16_t        svid;
 219                         uint8_t         unused;
 220                         uint8_t         c_n;
 221                 } gps_sat;
 222                 struct {
 223                         uint8_t         year;
 224                         uint8_t         month;
 225                         uint8_t         day;
 226                         uint8_t         extra;
 227                 } gps_date;
 228                 struct {
 229                         uint16_t        d0;
 230                         uint16_t        d1;
 231                 } anon;
 232         } u;
 233 };
 234
 235 struct ao_log_mega {
 236         char                    type;                   /* 0 */
 237         uint8_t                 csum;                   /* 1 */
 238         uint16_t                tick;                   /* 2 */
 239         union {                                         /* 4 */
 240                 /* AO_LOG_FLIGHT */
 241                 struct {
 242                         uint16_t        flight;                 /* 4 */
 243                         int16_t         ground_accel;           /* 6 */
 244                         uint32_t        ground_pres;            /* 8 */
 245                         int16_t         ground_accel_along;     /* 12 */
 246                         int16_t         ground_accel_across;    /* 14 */
 247                         int16_t         ground_accel_through;   /* 16 */
 248                         int16_t         pad_18;                 /* 18 */
 249                         int32_t         ground_roll;            /* 20 */
 250                         int32_t         ground_pitch;           /* 24 */
 251                         int32_t         ground_yaw;             /* 28 */
 252                 } flight;                                       /* 32 */
 253                 struct {
 254                         uint16_t        flight;                 /* 4 */
 255                         int16_t         ground_accel;           /* 6 */
 256                         uint32_t        ground_pres;            /* 8 */
 257                         int16_t         ground_accel_along;     /* 12 */
 258                         int16_t         ground_accel_across;    /* 14 */
 259                         int16_t         ground_accel_through;   /* 16 */
 260                         int16_t         ground_roll;            /* 18 */
 261                         int16_t         ground_pitch;           /* 20 */
 262                         int16_t         ground_yaw;             /* 22 */
 263                 } flight_old;                                   /* 24 */
 264                 /* AO_LOG_STATE */
 265                 struct {
 266                         uint16_t        state;
 267                         uint16_t        reason;
 268                 } state;
 269                 /* AO_LOG_SENSOR */
 270                 struct {
 271                         uint32_t        pres;           /* 4 */
 272                         uint32_t        temp;           /* 8 */
 273                         int16_t         accel_x;        /* 12 */
 274                         int16_t         accel_y;        /* 14 */
 275                         int16_t         accel_z;        /* 16 */
 276                         int16_t         gyro_x;         /* 18 */
 277                         int16_t         gyro_y;         /* 20 */
 278                         int16_t         gyro_z;         /* 22 */
 279                         int16_t         mag_x;          /* 24 */
 280                         int16_t         mag_z;          /* 26 */
 281                         int16_t         mag_y;          /* 28 */
 282                         int16_t         accel;          /* 30 */
 283                 } sensor;       /* 32 */
 284                 /* AO_LOG_TEMP_VOLT */
 285                 struct {
 286                         int16_t         v_batt;         /* 4 */
 287                         int16_t         v_pbatt;        /* 6 */
 288                         int16_t         n_sense;        /* 8 */
 289                         int16_t         sense[10];      /* 10 */
 290                         uint16_t        pyro;           /* 30 */
 291                 } volt;                                 /* 32 */
 292                 /* AO_LOG_GPS_TIME */
 293                 struct {
 294                         int32_t         latitude;       /* 4 */
 295                         int32_t         longitude;      /* 8 */
 296                         uint16_t        altitude_low;   /* 12 */
 297                         uint8_t         hour;           /* 14 */
 298                         uint8_t         minute;         /* 15 */
 299                         uint8_t         second;         /* 16 */
 300                         uint8_t         flags;          /* 17 */
 301                         uint8_t         year;           /* 18 */
 302                         uint8_t         month;          /* 19 */
 303                         uint8_t         day;            /* 20 */
 304                         uint8_t         course;         /* 21 */
 305                         uint16_t        ground_speed;   /* 22 */
 306                         int16_t         climb_rate;     /* 24 */
 307                         uint8_t         pdop;           /* 26 */
 308                         uint8_t         hdop;           /* 27 */
 309                         uint8_t         vdop;           /* 28 */
 310                         uint8_t         mode;           /* 29 */
 311                         int16_t         altitude_high;  /* 30 */
 312                 } gps;  /* 32 */
 313                 /* AO_LOG_GPS_SAT */
 314                 struct {
 315                         uint16_t        channels;       /* 4 */
 316                         struct {
 317                                 uint8_t svid;
 318                                 uint8_t c_n;
 319                         } sats[12];                     /* 6 */
 320                 } gps_sat;                              /* 30 */
 321         } u;
 322 };
 323
 324 #define AO_LOG_MEGA_GPS_ALTITUDE(l)     ((int32_t) ((l)->u.gps.altitude_high << 16) | ((l)->u.gps.altitude_low))
 325 #define AO_LOG_MEGA_SET_GPS_ALTITUDE(l,a)       (((l)->u.gps.mode |= AO_GPS_MODE_ALTITUDE_24), \
 326                                                  ((l)->u.gps.altitude_high = (a) >> 16), \
 327                                                  (l)->u.gps.altitude_low = (a))
 328
 329 struct ao_log_firetwo {
 330         char                    type;                   /* 0 */
 331         uint8_t                 csum;                   /* 1 */
 332         uint16_t                tick;                   /* 2 */
 333         union {                                         /* 4 */
 334                 /* AO_LOG_FLIGHT */
 335                 struct {
 336                         uint16_t        flight;         /* 4 */
 337                 } flight;       /* 6 */
 338                 /* AO_LOG_STATE */
 339                 struct {
 340                         uint16_t        state;          /* 4 */
 341                         uint16_t        reason;         /* 6 */
 342                 } state;        /* 8 */
 343                 /* AO_LOG_SENSOR */
 344                 struct {
 345                         uint16_t        pressure;       /* 4 */
 346                         uint16_t        thrust;         /* 6 */
 347                         uint16_t        thermistor[4];  /* 8 */
 348                 } sensor;       /* 24 */
 349                 uint8_t         align[28];              /* 4 */
 350         } u;    /* 32 */
 351 };
 352
 353 struct ao_log_telestatic {
 354         char                    type;                   /* 0 */
 355         uint8_t                 csum;                   /* 1 */
 356         uint16_t                tick;                   /* 2 */
 357         union {                                         /* 4 */
 358                 /* AO_LOG_FLIGHT */
 359                 struct {
 360                         uint16_t        flight;         /* 4 */
 361                 } flight;       /* 6 */
 362                 /* AO_LOG_STATE */
 363                 struct {
 364                         uint16_t        state;          /* 4 */
 365                         uint16_t        reason;         /* 6 */
 366                 } state;        /* 8 */
 367                 /* AO_LOG_SENSOR */
 368                 struct {
 369                         uint32_t        pressure;       /* 4 */
 370                         uint32_t        pressure2;      /* 8 */
 371                         uint32_t        thrust;         /* 12 */
 372                         uint32_t        mass;           /* 16 */
 373                         uint16_t        t_low;          /* 20 */
 374                         uint16_t        t_high[4];      /* 22 */
 375                 } sensor;       /* 30 */
 376                 uint8_t         align[28];              /* 4 */
 377         } u;    /* 32 */
 378 };
 379
 380 struct ao_log_metrum {
 381         char                    type;                   /* 0 */
 382         uint8_t                 csum;                   /* 1 */
 383         uint16_t                tick;                   /* 2 */
 384         union {                                         /* 4 */
 385                 /* AO_LOG_FLIGHT */
 386                 struct {
 387                         uint16_t        flight;         /* 4 */
 388                         int16_t         ground_accel;   /* 6 */
 389                         uint32_t        ground_pres;    /* 8 */
 390                         uint32_t        ground_temp;    /* 12 */
 391                 } flight;       /* 16 */
 392                 /* AO_LOG_STATE */
 393                 struct {
 394                         uint16_t        state;          /* 4 */
 395                         uint16_t        reason;         /* 6 */
 396                 } state;        /* 8 */
 397                 /* AO_LOG_SENSOR */
 398                 struct {
 399                         uint32_t        pres;           /* 4 */
 400                         uint32_t        temp;           /* 8 */
 401                         int16_t         accel;          /* 12 */
 402                 } sensor;       /* 14 */
 403                 /* AO_LOG_TEMP_VOLT */
 404                 struct {
 405                         int16_t         v_batt;         /* 4 */
 406                         int16_t         sense_a;        /* 6 */
 407                         int16_t         sense_m;        /* 8 */
 408                 } volt;         /* 10 */
 409                 /* AO_LOG_GPS_POS */
 410                 struct {
 411                         int32_t         latitude;       /* 4 */
 412                         int32_t         longitude;      /* 8 */
 413                         uint16_t        altitude_low;   /* 12 */
 414                         int16_t         altitude_high;  /* 14 */
 415                 } gps;          /* 16 */
 416                 /* AO_LOG_GPS_TIME */
 417                 struct {
 418                         uint8_t         hour;           /* 4 */
 419                         uint8_t         minute;         /* 5 */
 420                         uint8_t         second;         /* 6 */
 421                         uint8_t         flags;          /* 7 */
 422                         uint8_t         year;           /* 8 */
 423                         uint8_t         month;          /* 9 */
 424                         uint8_t         day;            /* 10 */
 425                         uint8_t         pdop;           /* 11 */
 426                 } gps_time;     /* 12 */
 427                 /* AO_LOG_GPS_SAT (up to three packets) */
 428                 struct {
 429                         uint8_t channels;               /* 4 */
 430                         uint8_t more;                   /* 5 */
 431                         struct {
 432                                 uint8_t svid;
 433                                 uint8_t c_n;
 434                         } sats[4];                      /* 6 */
 435                 } gps_sat;                              /* 14 */
 436                 uint8_t         raw[12];                /* 4 */
 437         } u;    /* 16 */
 438 };
 439
 440 struct ao_log_mini {
 441         char            type;                           /* 0 */
 442         uint8_t         csum;                           /* 1 */
 443         uint16_t        tick;                           /* 2 */
 444         union {                                         /* 4 */
 445                 /* AO_LOG_FLIGHT */
 446                 struct {
 447                         uint16_t        flight;         /* 4 */
 448                         uint16_t        r6;
 449                         uint32_t        ground_pres;    /* 8 */
 450                 } flight;
 451                 /* AO_LOG_STATE */
 452                 struct {
 453                         uint16_t        state;          /* 4 */
 454                         uint16_t        reason;         /* 6 */
 455                 } state;
 456                 /* AO_LOG_SENSOR */
 457                 struct {
 458                         uint8_t         pres[3];        /* 4 */
 459                         uint8_t         temp[3];        /* 7 */
 460                         int16_t         sense_a;        /* 10 */
 461                         int16_t         sense_m;        /* 12 */
 462                         int16_t         v_batt;         /* 14 */
 463                 } sensor;                               /* 16 */
 464         } u;                                            /* 16 */
 465 };                                                      /* 16 */
 466
 467 #define ao_log_pack24(dst,value) do {           \
 468                 (dst)[0] = (value);             \
 469                 (dst)[1] = (value) >> 8;        \
 470                 (dst)[2] = (value) >> 16;       \
 471         } while (0)
 472
 473 struct ao_log_gps {
 474         char                    type;                   /* 0 */
 475         uint8_t                 csum;                   /* 1 */
 476         uint16_t                tick;                   /* 2 */
 477         union {                                         /* 4 */
 478                 /* AO_LOG_FLIGHT */
 479                 struct {
 480                         uint16_t        flight;                 /* 4 */
 481                         int16_t         start_altitude;         /* 6 */
 482                         int32_t         start_latitude;         /* 8 */
 483                         int32_t         start_longitude;        /* 12 */
 484                 } flight;                                       /* 16 */
 485                 /* AO_LOG_GPS_TIME */
 486                 struct {
 487                         int32_t         latitude;       /* 4 */
 488                         int32_t         longitude;      /* 8 */
 489                         uint16_t        altitude_low;   /* 12 */
 490                         uint8_t         hour;           /* 14 */
 491                         uint8_t         minute;         /* 15 */
 492                         uint8_t         second;         /* 16 */
 493                         uint8_t         flags;          /* 17 */
 494                         uint8_t         year;           /* 18 */
 495                         uint8_t         month;          /* 19 */
 496                         uint8_t         day;            /* 20 */
 497                         uint8_t         course;         /* 21 */
 498                         uint16_t        ground_speed;   /* 22 */
 499                         int16_t         climb_rate;     /* 24 */
 500                         uint8_t         pdop;           /* 26 */
 501                         uint8_t         hdop;           /* 27 */
 502                         uint8_t         vdop;           /* 28 */
 503                         uint8_t         mode;           /* 29 */
 504                         int16_t         altitude_high;  /* 30 */
 505                 } gps;  /* 31 */
 506                 /* AO_LOG_GPS_SAT */
 507                 struct {
 508                         uint16_t        channels;       /* 4 */
 509                         struct {
 510                                 uint8_t svid;
 511                                 uint8_t c_n;
 512                         } sats[12];                     /* 6 */
 513                 } gps_sat;                              /* 30 */
 514         } u;
 515 };
 516
 517 struct ao_eeprom {
 518         struct ao_config        config;
 519         struct ao_ms5607_prom   ms5607_prom;
 520         int                     log_format;
 521         uint16_t                serial_number;
 522         uint8_t                 *data;
 523         uint32_t                len;
 524 };
 525
 526 struct ao_eeprom *ao_eeprom_read(FILE *file);
 527
 528 struct ao_eeprom *ao_eeprom_read_old(FILE *file);
 529
 530 void ao_eeprom_free_data(struct ao_eeprom *ao_eeprom);
 531
 532 #endif /* _AO_EEPROM_READ_H_ */