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   1 /*
   2  * Copyright © 2012 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; version 2 of the License.
   7  *
   8  * This program is distributed in the hope that it will be useful, but
   9  * WITHOUT ANY WARRANTY; without even the implied warranty of
  10  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  11  * General Public License for more details.
  12  *
  13  * You should have received a copy of the GNU General Public License along
  14  * with this program; if not, write to the Free Software Foundation, Inc.,
  15  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  16  */
  17
  18 #ifndef _AO_LOG_H_
  19 #define _AO_LOG_H_
  20
  21 #include <ao_flight.h>
  22
  23 /*
  24  * ao_log.c
  25  */
  26
  27 /* We record flight numbers in the first record of
  28  * the log. Tasks may wait for this to be initialized
  29  * by sleeping on this variable.
  30  */
  31 extern __xdata uint16_t ao_flight_number;
  32
  33 extern __pdata uint32_t ao_log_current_pos;
  34 extern __pdata uint32_t ao_log_end_pos;
  35 extern __pdata uint32_t ao_log_start_pos;
  36 extern __xdata uint8_t  ao_log_running;
  37 extern __pdata enum ao_flight_state ao_log_state;
  38
  39 /* required functions from the underlying log system */
  40
  41 #define AO_LOG_FORMAT_UNKNOWN           0       /* unknown; altosui will have to guess */
  42 #define AO_LOG_FORMAT_FULL              1       /* 8 byte typed log records */
  43 #define AO_LOG_FORMAT_TINY              2       /* two byte state/baro records */
  44 #define AO_LOG_FORMAT_TELEMETRY         3       /* 32 byte ao_telemetry records */
  45 #define AO_LOG_FORMAT_TELESCIENCE       4       /* 32 byte typed telescience records */
  46 #define AO_LOG_FORMAT_TELEMEGA          5       /* 32 byte typed telemega records */
  47 #define AO_LOG_FORMAT_MINI              6       /* 16-byte MS5607 baro only */
  48 #define AO_LOG_FORMAT_NONE              127     /* No log at all */
  49
  50 extern __code uint8_t ao_log_format;
  51
  52 /* Return the flight number from the given log slot, 0 if none */
  53 uint16_t
  54 ao_log_flight(uint8_t slot);
  55
  56 /* Flush the log */
  57 void
  58 ao_log_flush(void);
  59
  60 /* Logging thread main routine */
  61 void
  62 ao_log(void);
  63
  64 /* functions provided in ao_log.c */
  65
  66 /* Figure out the current flight number */
  67 void
  68 ao_log_scan(void) __reentrant;
  69
  70 /* Return the position of the start of the given log slot */
  71 uint32_t
  72 ao_log_pos(uint8_t slot);
  73
  74 /* Start logging to eeprom */
  75 void
  76 ao_log_start(void);
  77
  78 /* Stop logging */
  79 void
  80 ao_log_stop(void);
  81
  82 /* Initialize the logging system */
  83 void
  84 ao_log_init(void);
  85
  86 /* Write out the current flight number to the erase log */
  87 void
  88 ao_log_write_erase(uint8_t pos);
  89
  90 /* Returns true if there are any logs stored in eeprom */
  91 uint8_t
  92 ao_log_present(void);
  93
  94 /* Returns true if there is no more storage space available */
  95 uint8_t
  96 ao_log_full(void);
  97
  98 /*
  99  * ao_log_big.c
 100  */
 101
 102 /*
 103  * The data log is recorded in the eeprom as a sequence
 104  * of data packets.
 105  *
 106  * Each packet starts with a 4-byte header that has the
 107  * packet type, the packet checksum and the tick count. Then
 108  * they all contain 2 16 bit values which hold packet-specific
 109  * data.
 110  *
 111  * For each flight, the first packet
 112  * is FLIGHT packet, indicating the serial number of the
 113  * device and a unique number marking the number of flights
 114  * recorded by this device.
 115  *
 116  * During flight, data from the accelerometer and barometer
 117  * are recorded in SENSOR packets, using the raw 16-bit values
 118  * read from the A/D converter.
 119  *
 120  * Also during flight, but at a lower rate, the deployment
 121  * sensors are recorded in DEPLOY packets. The goal here is to
 122  * detect failure in the deployment circuits.
 123  *
 124  * STATE packets hold state transitions as the flight computer
 125  * transitions through different stages of the flight.
 126  */
 127 #define AO_LOG_FLIGHT           'F'
 128 #define AO_LOG_SENSOR           'A'
 129 #define AO_LOG_TEMP_VOLT        'T'
 130 #define AO_LOG_DEPLOY           'D'
 131 #define AO_LOG_STATE            'S'
 132 #define AO_LOG_GPS_TIME         'G'
 133 #define AO_LOG_GPS_LAT          'N'
 134 #define AO_LOG_GPS_LON          'W'
 135 #define AO_LOG_GPS_ALT          'H'
 136 #define AO_LOG_GPS_SAT          'V'
 137 #define AO_LOG_GPS_DATE         'Y'
 138
 139 #define AO_LOG_POS_NONE         (~0UL)
 140
 141 struct ao_log_record {
 142         char                    type;                           /* 0 */
 143         uint8_t                 csum;                           /* 1 */
 144         uint16_t                tick;                           /* 2 */
 145         union {
 146                 struct {
 147                         int16_t         ground_accel;           /* 4 */
 148                         uint16_t        flight;                 /* 6 */
 149                 } flight;
 150                 struct {
 151                         int16_t         accel;                  /* 4 */
 152                         int16_t         pres;                   /* 6 */
 153                 } sensor;
 154                 struct {
 155                         int16_t         temp;
 156                         int16_t         v_batt;
 157                 } temp_volt;
 158                 struct {
 159                         int16_t         drogue;
 160                         int16_t         main;
 161                 } deploy;
 162                 struct {
 163                         uint16_t        state;
 164                         uint16_t        reason;
 165                 } state;
 166                 struct {
 167                         uint8_t         hour;
 168                         uint8_t         minute;
 169                         uint8_t         second;
 170                         uint8_t         flags;
 171                 } gps_time;
 172                 int32_t         gps_latitude;
 173                 int32_t         gps_longitude;
 174                 struct {
 175                         int16_t         altitude;
 176                         uint16_t        unused;
 177                 } gps_altitude;
 178                 struct {
 179                         uint16_t        svid;
 180                         uint8_t         unused;
 181                         uint8_t         c_n;
 182                 } gps_sat;
 183                 struct {
 184                         uint8_t         year;
 185                         uint8_t         month;
 186                         uint8_t         day;
 187                         uint8_t         extra;
 188                 } gps_date;
 189                 struct {
 190                         uint16_t        d0;
 191                         uint16_t        d1;
 192                 } anon;
 193         } u;
 194 };
 195
 196 struct ao_log_mega {
 197         char                    type;                   /* 0 */
 198         uint8_t                 csum;                   /* 1 */
 199         uint16_t                tick;                   /* 2 */
 200         union {                                         /* 4 */
 201                 /* AO_LOG_FLIGHT */
 202                 struct {
 203                         uint16_t        flight;                 /* 4 */
 204                         int16_t         ground_accel;           /* 6 */
 205                         uint32_t        ground_pres;            /* 8 */
 206                         int16_t         ground_accel_along;     /* 16 */
 207                         int16_t         ground_accel_across;    /* 12 */
 208                         int16_t         ground_accel_through;   /* 14 */
 209                         int16_t         ground_roll;            /* 18 */
 210                         int16_t         ground_pitch;           /* 20 */
 211                         int16_t         ground_yaw;             /* 22 */
 212                 } flight;                                       /* 24 */
 213                 /* AO_LOG_STATE */
 214                 struct {
 215                         uint16_t        state;
 216                         uint16_t        reason;
 217                 } state;
 218                 /* AO_LOG_SENSOR */
 219                 struct {
 220                         uint32_t        pres;           /* 4 */
 221                         uint32_t        temp;           /* 8 */
 222                         int16_t         accel_x;        /* 12 */
 223                         int16_t         accel_y;        /* 14 */
 224                         int16_t         accel_z;        /* 16 */
 225                         int16_t         gyro_x;         /* 18 */
 226                         int16_t         gyro_y;         /* 20 */
 227                         int16_t         gyro_z;         /* 22 */
 228                         int16_t         mag_x;          /* 24 */
 229                         int16_t         mag_y;          /* 26 */
 230                         int16_t         mag_z;          /* 28 */
 231                         int16_t         accel;          /* 30 */
 232                 } sensor;       /* 32 */
 233                 /* AO_LOG_TEMP_VOLT */
 234                 struct {
 235                         int16_t         v_batt;         /* 4 */
 236                         int16_t         v_pbatt;        /* 6 */
 237                         int16_t         n_sense;        /* 8 */
 238                         int16_t         sense[10];      /* 10 */
 239                 } volt;                                 /* 30 */
 240                 /* AO_LOG_GPS_TIME */
 241                 struct {
 242                         int32_t         latitude;       /* 4 */
 243                         int32_t         longitude;      /* 8 */
 244                         int16_t         altitude;       /* 12 */
 245                         uint8_t         hour;           /* 14 */
 246                         uint8_t         minute;         /* 15 */
 247                         uint8_t         second;         /* 16 */
 248                         uint8_t         flags;          /* 17 */
 249                         uint8_t         year;           /* 18 */
 250                         uint8_t         month;          /* 19 */
 251                         uint8_t         day;            /* 20 */
 252                         uint8_t         pad;            /* 21 */
 253                 } gps;  /* 22 */
 254                 /* AO_LOG_GPS_SAT */
 255                 struct {
 256                         uint16_t        channels;       /* 4 */
 257                         struct {
 258                                 uint8_t svid;
 259                                 uint8_t c_n;
 260                         } sats[12];                     /* 6 */
 261                 } gps_sat;                              /* 30 */
 262         } u;
 263 };
 264
 265 struct ao_log_mini {
 266         char            type;                           /* 0 */
 267         uint8_t         csum;                           /* 1 */
 268         uint16_t        tick;                           /* 2 */
 269         union {                                         /* 4 */
 270                 /* AO_LOG_FLIGHT */
 271                 struct {
 272                         uint16_t        flight;         /* 4 */
 273                         uint16_t        r6;
 274                         uint32_t        ground_pres;    /* 8 */
 275                 } flight;
 276                 /* AO_LOG_STATE */
 277                 struct {
 278                         uint16_t        state;          /* 4 */
 279                         uint16_t        reason;         /* 6 */
 280                 } state;
 281                 /* AO_LOG_SENSOR */
 282                 struct {
 283                         uint8_t         pres[3];        /* 4 */
 284                         uint8_t         temp[3];        /* 7 */
 285                         int16_t         sense_a;        /* 10 */
 286                         int16_t         sense_m;        /* 12 */
 287                         int16_t         v_batt;         /* 14 */
 288                 } sensor;                               /* 16 */
 289         } u;                                            /* 16 */
 290 };                                                      /* 16 */
 291
 292 static inline void
 293 ao_log_pack24(uint8_t *dst, uint32_t value) {
 294         dst[0] = value;
 295         dst[1] = value >> 8;
 296         dst[2] = value >> 16;
 297 }
 298
 299 /* Write a record to the eeprom log */
 300 uint8_t
 301 ao_log_data(__xdata struct ao_log_record *log) __reentrant;
 302
 303 uint8_t
 304 ao_log_mega(__xdata struct ao_log_mega *log) __reentrant;
 305
 306 uint8_t
 307 ao_log_mini(__xdata struct ao_log_mini *log) __reentrant;
 308
 309 void
 310 ao_log_flush(void);
 311
 312 #endif /* _AO_LOG_H_ */