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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_TELEMEGA_4        19      /* 32 byte typed telemega records with 32 bit gyro cal and Bmx160 */
  48 #define AO_LOG_FORMAT_NONE              127     /* No log at all */
  49
  50 enum ao_pyro_flag {
  51         ao_pyro_none                    = 0x00000000,
  52
  53         ao_pyro_accel_less              = 0x00000001,
  54         ao_pyro_accel_greater           = 0x00000002,
  55
  56         ao_pyro_speed_less              = 0x00000004,
  57         ao_pyro_speed_greater           = 0x00000008,
  58
  59         ao_pyro_height_less             = 0x00000010,
  60         ao_pyro_height_greater          = 0x00000020,
  61
  62         ao_pyro_orient_less             = 0x00000040,
  63         ao_pyro_orient_greater          = 0x00000080,
  64
  65         ao_pyro_time_less               = 0x00000100,
  66         ao_pyro_time_greater            = 0x00000200,
  67
  68         ao_pyro_ascending               = 0x00000400,
  69         ao_pyro_descending              = 0x00000800,
  70
  71         ao_pyro_after_motor             = 0x00001000,
  72
  73         ao_pyro_delay                   = 0x00002000,
  74
  75         ao_pyro_state_less              = 0x00004000,
  76         ao_pyro_state_greater_or_equal  = 0x00008000,
  77 };
  78
  79 struct ao_pyro {
  80         enum ao_pyro_flag       flags;
  81         int16_t                 accel_less, accel_greater;
  82         int16_t                 speed_less, speed_greater;
  83         int16_t                 height_less, height_greater;
  84         int16_t                 orient_less, orient_greater;
  85         int16_t                 time_less, time_greater;
  86         int16_t                 delay;
  87         uint8_t                 state_less, state_greater_or_equal;
  88         int16_t                 motor;
  89         uint16_t                delay_done;
  90         uint8_t                 _unused;        /* was 'fired' */
  91 };
  92
  93 struct ao_config {
  94         uint8_t         major;
  95         uint8_t         minor;
  96         uint16_t        main_deploy;
  97         int16_t         accel_plus_g;           /* changed for minor version 2 */
  98         uint8_t         _legacy_radio_channel;
  99         char            callsign[AO_MAX_CALLSIGN + 1];
 100         uint8_t         apogee_delay;           /* minor version 1 */
 101         int16_t         accel_minus_g;          /* minor version 2 */
 102         uint32_t        radio_cal;              /* minor version 3 */
 103         uint32_t        flight_log_max;         /* minor version 4 */
 104         uint8_t         ignite_mode;            /* minor version 5 */
 105         uint8_t         pad_orientation;        /* minor version 6 */
 106         uint32_t        radio_setting;          /* minor version 7 */
 107         uint8_t         radio_enable;           /* minor version 8 */
 108         uint8_t         aes_key[AO_AES_LEN];    /* minor version 9 */
 109         uint32_t        frequency;              /* minor version 10 */
 110         uint16_t        apogee_lockout;         /* minor version 11 */
 111         struct ao_pyro  pyro[AO_PYRO_NUM];      /* minor version 12 */
 112         uint16_t        aprs_interval;          /* minor version 13 */
 113         uint8_t         radio_power;            /* minor version 14 */
 114         uint8_t         radio_amp;              /* minor version 14 */
 115         int16_t         accel_zero_along;       /* minor version 15 */
 116         int16_t         accel_zero_across;      /* minor version 15 */
 117         int16_t         accel_zero_through;     /* minor version 15 */
 118         uint8_t         mid_beep;               /* minor version 16 */
 119         uint16_t        tracker_motion;         /* minor version 17 */
 120         uint8_t         tracker_interval;       /* minor version 17 */
 121         uint16_t        pyro_time;              /* minor version 18 */
 122         uint8_t         aprs_ssid;              /* minor version 19 */
 123         uint8_t         radio_rate;             /* minor version 20 */
 124         uint32_t        send_frequency;         /* minor version 21 */
 125         uint8_t         aprs_format;            /* minor version 22 */
 126         uint8_t         pad_box;                /* minor version 22 */
 127         uint8_t         pad_idle;               /* minor version 23 */
 128 };
 129
 130 /*
 131  * ao_log_big.c
 132  */
 133
 134 /*
 135  * The data log is recorded in the eeprom as a sequence
 136  * of data packets.
 137  *
 138  * Each packet starts with a 4-byte header that has the
 139  * packet type, the packet checksum and the tick count. Then
 140  * they all contain 2 16 bit values which hold packet-specific
 141  * data.
 142  *
 143  * For each flight, the first packet
 144  * is FLIGHT packet, indicating the serial number of the
 145  * device and a unique number marking the number of flights
 146  * recorded by this device.
 147  *
 148  * During flight, data from the accelerometer and barometer
 149  * are recorded in SENSOR packets, using the raw 16-bit values
 150  * read from the A/D converter.
 151  *
 152  * Also during flight, but at a lower rate, the deployment
 153  * sensors are recorded in DEPLOY packets. The goal here is to
 154  * detect failure in the deployment circuits.
 155  *
 156  * STATE packets hold state transitions as the flight computer
 157  * transitions through different stages of the flight.
 158  */
 159 #define AO_LOG_FLIGHT           'F'
 160 #define AO_LOG_SENSOR           'A'
 161 #define AO_LOG_TEMP_VOLT        'T'
 162 #define AO_LOG_DEPLOY           'D'
 163 #define AO_LOG_STATE            'S'
 164 #define AO_LOG_GPS_TIME         'G'
 165 #define AO_LOG_GPS_LAT          'N'
 166 #define AO_LOG_GPS_LON          'W'
 167 #define AO_LOG_GPS_ALT          'H'
 168 #define AO_LOG_GPS_SAT          'V'
 169 #define AO_LOG_GPS_DATE         'Y'
 170 #define AO_LOG_GPS_POS          'P'
 171
 172 #define AO_LOG_POS_NONE         (~0UL)
 173
 174 /* Common header in all log formats */
 175 struct ao_log_header {
 176         char                    type;                           /* 0 */
 177         uint8_t                 csum;                           /* 1 */
 178         uint16_t                tick;                           /* 2 */
 179 };
 180
 181 struct ao_log_record {
 182         char                    type;                           /* 0 */
 183         uint8_t                 csum;                           /* 1 */
 184         uint16_t                tick;                           /* 2 */
 185         union {
 186                 struct {
 187                         int16_t         ground_accel;           /* 4 */
 188                         uint16_t        flight;                 /* 6 */
 189                 } flight;
 190                 struct {
 191                         int16_t         accel;                  /* 4 */
 192                         int16_t         pres;                   /* 6 */
 193                 } sensor;
 194                 struct {
 195                         int16_t         temp;
 196                         int16_t         v_batt;
 197                 } temp_volt;
 198                 struct {
 199                         int16_t         drogue;
 200                         int16_t         main;
 201                 } deploy;
 202                 struct {
 203                         uint16_t        state;
 204                         uint16_t        reason;
 205                 } state;
 206                 struct {
 207                         uint8_t         hour;
 208                         uint8_t         minute;
 209                         uint8_t         second;
 210                         uint8_t         flags;
 211                 } gps_time;
 212                 int32_t         gps_latitude;
 213                 int32_t         gps_longitude;
 214                 struct {
 215                         uint16_t        altitude_low;
 216                         int16_t         altitude_high;
 217                 } gps_altitude;
 218                 struct {
 219                         uint16_t        svid;
 220                         uint8_t         unused;
 221                         uint8_t         c_n;
 222                 } gps_sat;
 223                 struct {
 224                         uint8_t         year;
 225                         uint8_t         month;
 226                         uint8_t         day;
 227                         uint8_t         extra;
 228                 } gps_date;
 229                 struct {
 230                         uint16_t        d0;
 231                         uint16_t        d1;
 232                 } anon;
 233         } u;
 234 };
 235
 236 struct ao_log_mega {
 237         char                    type;                   /* 0 */
 238         uint8_t                 csum;                   /* 1 */
 239         uint16_t                tick;                   /* 2 */
 240         union {                                         /* 4 */
 241                 /* AO_LOG_FLIGHT */
 242                 struct {
 243                         uint16_t        flight;                 /* 4 */
 244                         int16_t         ground_accel;           /* 6 */
 245                         uint32_t        ground_pres;            /* 8 */
 246                         int16_t         ground_accel_along;     /* 12 */
 247                         int16_t         ground_accel_across;    /* 14 */
 248                         int16_t         ground_accel_through;   /* 16 */
 249                         int16_t         pad_18;                 /* 18 */
 250                         int32_t         ground_roll;            /* 20 */
 251                         int32_t         ground_pitch;           /* 24 */
 252                         int32_t         ground_yaw;             /* 28 */
 253                 } flight;                                       /* 32 */
 254                 struct {
 255                         uint16_t        flight;                 /* 4 */
 256                         int16_t         ground_accel;           /* 6 */
 257                         uint32_t        ground_pres;            /* 8 */
 258                         int16_t         ground_accel_along;     /* 12 */
 259                         int16_t         ground_accel_across;    /* 14 */
 260                         int16_t         ground_accel_through;   /* 16 */
 261                         int16_t         ground_roll;            /* 18 */
 262                         int16_t         ground_pitch;           /* 20 */
 263                         int16_t         ground_yaw;             /* 22 */
 264                 } flight_old;                                   /* 24 */
 265                 /* AO_LOG_STATE */
 266                 struct {
 267                         uint16_t        state;
 268                         uint16_t        reason;
 269                 } state;
 270                 /* AO_LOG_SENSOR */
 271                 struct {
 272                         uint32_t        pres;           /* 4 */
 273                         uint32_t        temp;           /* 8 */
 274                         int16_t         accel_x;        /* 12 */
 275                         int16_t         accel_y;        /* 14 */
 276                         int16_t         accel_z;        /* 16 */
 277                         int16_t         gyro_x;         /* 18 */
 278                         int16_t         gyro_y;         /* 20 */
 279                         int16_t         gyro_z;         /* 22 */
 280                         int16_t         mag_x;          /* 24 */
 281                         int16_t         mag_z;          /* 26 */
 282                         int16_t         mag_y;          /* 28 */
 283                         int16_t         accel;          /* 30 */
 284                 } sensor;       /* 32 */
 285                 /* AO_LOG_TEMP_VOLT */
 286                 struct {
 287                         int16_t         v_batt;         /* 4 */
 288                         int16_t         v_pbatt;        /* 6 */
 289                         int16_t         n_sense;        /* 8 */
 290                         int16_t         sense[10];      /* 10 */
 291                         uint16_t        pyro;           /* 30 */
 292                 } volt;                                 /* 32 */
 293                 /* AO_LOG_GPS_TIME */
 294                 struct {
 295                         int32_t         latitude;       /* 4 */
 296                         int32_t         longitude;      /* 8 */
 297                         uint16_t        altitude_low;   /* 12 */
 298                         uint8_t         hour;           /* 14 */
 299                         uint8_t         minute;         /* 15 */
 300                         uint8_t         second;         /* 16 */
 301                         uint8_t         flags;          /* 17 */
 302                         uint8_t         year;           /* 18 */
 303                         uint8_t         month;          /* 19 */
 304                         uint8_t         day;            /* 20 */
 305                         uint8_t         course;         /* 21 */
 306                         uint16_t        ground_speed;   /* 22 */
 307                         int16_t         climb_rate;     /* 24 */
 308                         uint8_t         pdop;           /* 26 */
 309                         uint8_t         hdop;           /* 27 */
 310                         uint8_t         vdop;           /* 28 */
 311                         uint8_t         mode;           /* 29 */
 312                         int16_t         altitude_high;  /* 30 */
 313                 } gps;  /* 32 */
 314                 /* AO_LOG_GPS_SAT */
 315                 struct {
 316                         uint16_t        channels;       /* 4 */
 317                         struct {
 318                                 uint8_t svid;
 319                                 uint8_t c_n;
 320                         } sats[12];                     /* 6 */
 321                 } gps_sat;                              /* 30 */
 322         } u;
 323 };
 324
 325 #define AO_LOG_MEGA_GPS_ALTITUDE(l)     ((int32_t) ((l)->u.gps.altitude_high << 16) | ((l)->u.gps.altitude_low))
 326 #define AO_LOG_MEGA_SET_GPS_ALTITUDE(l,a)       (((l)->u.gps.mode |= AO_GPS_MODE_ALTITUDE_24), \
 327                                                  ((l)->u.gps.altitude_high = (a) >> 16), \
 328                                                  (l)->u.gps.altitude_low = (a))
 329
 330 struct ao_log_firetwo {
 331         char                    type;                   /* 0 */
 332         uint8_t                 csum;                   /* 1 */
 333         uint16_t                tick;                   /* 2 */
 334         union {                                         /* 4 */
 335                 /* AO_LOG_FLIGHT */
 336                 struct {
 337                         uint16_t        flight;         /* 4 */
 338                 } flight;       /* 6 */
 339                 /* AO_LOG_STATE */
 340                 struct {
 341                         uint16_t        state;          /* 4 */
 342                         uint16_t        reason;         /* 6 */
 343                 } state;        /* 8 */
 344                 /* AO_LOG_SENSOR */
 345                 struct {
 346                         uint16_t        pressure;       /* 4 */
 347                         uint16_t        thrust;         /* 6 */
 348                         uint16_t        thermistor[4];  /* 8 */
 349                 } sensor;       /* 24 */
 350                 uint8_t         align[28];              /* 4 */
 351         } u;    /* 32 */
 352 };
 353
 354 struct ao_log_telestatic {
 355         char                    type;                   /* 0 */
 356         uint8_t                 csum;                   /* 1 */
 357         uint16_t                tick;                   /* 2 */
 358         union {                                         /* 4 */
 359                 /* AO_LOG_FLIGHT */
 360                 struct {
 361                         uint16_t        flight;         /* 4 */
 362                 } flight;       /* 6 */
 363                 /* AO_LOG_STATE */
 364                 struct {
 365                         uint16_t        state;          /* 4 */
 366                         uint16_t        reason;         /* 6 */
 367                 } state;        /* 8 */
 368                 /* AO_LOG_SENSOR */
 369                 struct {
 370                         uint32_t        pressure;       /* 4 */
 371                         uint32_t        pressure2;      /* 8 */
 372                         uint32_t        thrust;         /* 12 */
 373                         uint32_t        mass;           /* 16 */
 374                         uint16_t        t_low;          /* 20 */
 375                         uint16_t        t_high[4];      /* 22 */
 376                 } sensor;       /* 30 */
 377                 uint8_t         align[28];              /* 4 */
 378         } u;    /* 32 */
 379 };
 380
 381 struct ao_log_metrum {
 382         char                    type;                   /* 0 */
 383         uint8_t                 csum;                   /* 1 */
 384         uint16_t                tick;                   /* 2 */
 385         union {                                         /* 4 */
 386                 /* AO_LOG_FLIGHT */
 387                 struct {
 388                         uint16_t        flight;         /* 4 */
 389                         int16_t         ground_accel;   /* 6 */
 390                         uint32_t        ground_pres;    /* 8 */
 391                         uint32_t        ground_temp;    /* 12 */
 392                 } flight;       /* 16 */
 393                 /* AO_LOG_STATE */
 394                 struct {
 395                         uint16_t        state;          /* 4 */
 396                         uint16_t        reason;         /* 6 */
 397                 } state;        /* 8 */
 398                 /* AO_LOG_SENSOR */
 399                 struct {
 400                         uint32_t        pres;           /* 4 */
 401                         uint32_t        temp;           /* 8 */
 402                         int16_t         accel;          /* 12 */
 403                 } sensor;       /* 14 */
 404                 /* AO_LOG_TEMP_VOLT */
 405                 struct {
 406                         int16_t         v_batt;         /* 4 */
 407                         int16_t         sense_a;        /* 6 */
 408                         int16_t         sense_m;        /* 8 */
 409                 } volt;         /* 10 */
 410                 /* AO_LOG_GPS_POS */
 411                 struct {
 412                         int32_t         latitude;       /* 4 */
 413                         int32_t         longitude;      /* 8 */
 414                         uint16_t        altitude_low;   /* 12 */
 415                         int16_t         altitude_high;  /* 14 */
 416                 } gps;          /* 16 */
 417                 /* AO_LOG_GPS_TIME */
 418                 struct {
 419                         uint8_t         hour;           /* 4 */
 420                         uint8_t         minute;         /* 5 */
 421                         uint8_t         second;         /* 6 */
 422                         uint8_t         flags;          /* 7 */
 423                         uint8_t         year;           /* 8 */
 424                         uint8_t         month;          /* 9 */
 425                         uint8_t         day;            /* 10 */
 426                         uint8_t         pdop;           /* 11 */
 427                 } gps_time;     /* 12 */
 428                 /* AO_LOG_GPS_SAT (up to three packets) */
 429                 struct {
 430                         uint8_t channels;               /* 4 */
 431                         uint8_t more;                   /* 5 */
 432                         struct {
 433                                 uint8_t svid;
 434                                 uint8_t c_n;
 435                         } sats[4];                      /* 6 */
 436                 } gps_sat;                              /* 14 */
 437                 uint8_t         raw[12];                /* 4 */
 438         } u;    /* 16 */
 439 };
 440
 441 struct ao_log_mini {
 442         char            type;                           /* 0 */
 443         uint8_t         csum;                           /* 1 */
 444         uint16_t        tick;                           /* 2 */
 445         union {                                         /* 4 */
 446                 /* AO_LOG_FLIGHT */
 447                 struct {
 448                         uint16_t        flight;         /* 4 */
 449                         uint16_t        r6;
 450                         uint32_t        ground_pres;    /* 8 */
 451                 } flight;
 452                 /* AO_LOG_STATE */
 453                 struct {
 454                         uint16_t        state;          /* 4 */
 455                         uint16_t        reason;         /* 6 */
 456                 } state;
 457                 /* AO_LOG_SENSOR */
 458                 struct {
 459                         uint8_t         pres[3];        /* 4 */
 460                         uint8_t         temp[3];        /* 7 */
 461                         int16_t         sense_a;        /* 10 */
 462                         int16_t         sense_m;        /* 12 */
 463                         int16_t         v_batt;         /* 14 */
 464                 } sensor;                               /* 16 */
 465         } u;                                            /* 16 */
 466 };                                                      /* 16 */
 467
 468 #define ao_log_pack24(dst,value) do {           \
 469                 (dst)[0] = (value);             \
 470                 (dst)[1] = (value) >> 8;        \
 471                 (dst)[2] = (value) >> 16;       \
 472         } while (0)
 473
 474 struct ao_log_gps {
 475         char                    type;                   /* 0 */
 476         uint8_t                 csum;                   /* 1 */
 477         uint16_t                tick;                   /* 2 */
 478         union {                                         /* 4 */
 479                 /* AO_LOG_FLIGHT */
 480                 struct {
 481                         uint16_t        flight;                 /* 4 */
 482                         int16_t         start_altitude;         /* 6 */
 483                         int32_t         start_latitude;         /* 8 */
 484                         int32_t         start_longitude;        /* 12 */
 485                 } flight;                                       /* 16 */
 486                 /* AO_LOG_GPS_TIME */
 487                 struct {
 488                         int32_t         latitude;       /* 4 */
 489                         int32_t         longitude;      /* 8 */
 490                         uint16_t        altitude_low;   /* 12 */
 491                         uint8_t         hour;           /* 14 */
 492                         uint8_t         minute;         /* 15 */
 493                         uint8_t         second;         /* 16 */
 494                         uint8_t         flags;          /* 17 */
 495                         uint8_t         year;           /* 18 */
 496                         uint8_t         month;          /* 19 */
 497                         uint8_t         day;            /* 20 */
 498                         uint8_t         course;         /* 21 */
 499                         uint16_t        ground_speed;   /* 22 */
 500                         int16_t         climb_rate;     /* 24 */
 501                         uint8_t         pdop;           /* 26 */
 502                         uint8_t         hdop;           /* 27 */
 503                         uint8_t         vdop;           /* 28 */
 504                         uint8_t         mode;           /* 29 */
 505                         int16_t         altitude_high;  /* 30 */
 506                 } gps;  /* 31 */
 507                 /* AO_LOG_GPS_SAT */
 508                 struct {
 509                         uint16_t        channels;       /* 4 */
 510                         struct {
 511                                 uint8_t svid;
 512                                 uint8_t c_n;
 513                         } sats[12];                     /* 6 */
 514                 } gps_sat;                              /* 30 */
 515         } u;
 516 };
 517
 518 struct ao_eeprom {
 519         struct ao_config        config;
 520         struct ao_ms5607_prom   ms5607_prom;
 521         int                     log_format;
 522         uint16_t                serial_number;
 523         uint8_t                 *data;
 524         uint32_t                len;
 525 };
 526
 527 struct ao_eeprom *ao_eeprom_read(FILE *file);
 528
 529 struct ao_eeprom *ao_eeprom_read_old(FILE *file);
 530
 531 void ao_eeprom_free_data(struct ao_eeprom *ao_eeprom);
 532
 533 #endif /* _AO_EEPROM_READ_H_ */