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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_TELEMETRUM        7       /* 16-byte typed telemetrum records */
  49 #define AO_LOG_FORMAT_NONE              127     /* No log at all */
  50
  51 extern __code uint8_t ao_log_format;
  52
  53 /* Return the flight number from the given log slot, 0 if none */
  54 uint16_t
  55 ao_log_flight(uint8_t slot);
  56
  57 /* Flush the log */
  58 void
  59 ao_log_flush(void);
  60
  61 /* Logging thread main routine */
  62 void
  63 ao_log(void);
  64
  65 /* functions provided in ao_log.c */
  66
  67 /* Figure out the current flight number */
  68 void
  69 ao_log_scan(void) __reentrant;
  70
  71 /* Return the position of the start of the given log slot */
  72 uint32_t
  73 ao_log_pos(uint8_t slot);
  74
  75 /* Start logging to eeprom */
  76 void
  77 ao_log_start(void);
  78
  79 /* Stop logging */
  80 void
  81 ao_log_stop(void);
  82
  83 /* Initialize the logging system */
  84 void
  85 ao_log_init(void);
  86
  87 /* Write out the current flight number to the erase log */
  88 void
  89 ao_log_write_erase(uint8_t pos);
  90
  91 /* Returns true if there are any logs stored in eeprom */
  92 uint8_t
  93 ao_log_present(void);
  94
  95 /* Returns true if there is no more storage space available */
  96 uint8_t
  97 ao_log_full(void);
  98
  99 /*
 100  * ao_log_big.c
 101  */
 102
 103 /*
 104  * The data log is recorded in the eeprom as a sequence
 105  * of data packets.
 106  *
 107  * Each packet starts with a 4-byte header that has the
 108  * packet type, the packet checksum and the tick count. Then
 109  * they all contain 2 16 bit values which hold packet-specific
 110  * data.
 111  *
 112  * For each flight, the first packet
 113  * is FLIGHT packet, indicating the serial number of the
 114  * device and a unique number marking the number of flights
 115  * recorded by this device.
 116  *
 117  * During flight, data from the accelerometer and barometer
 118  * are recorded in SENSOR packets, using the raw 16-bit values
 119  * read from the A/D converter.
 120  *
 121  * Also during flight, but at a lower rate, the deployment
 122  * sensors are recorded in DEPLOY packets. The goal here is to
 123  * detect failure in the deployment circuits.
 124  *
 125  * STATE packets hold state transitions as the flight computer
 126  * transitions through different stages of the flight.
 127  */
 128 #define AO_LOG_FLIGHT           'F'
 129 #define AO_LOG_SENSOR           'A'
 130 #define AO_LOG_TEMP_VOLT        'T'
 131 #define AO_LOG_DEPLOY           'D'
 132 #define AO_LOG_STATE            'S'
 133 #define AO_LOG_GPS_TIME         'G'
 134 #define AO_LOG_GPS_LAT          'N'
 135 #define AO_LOG_GPS_LON          'W'
 136 #define AO_LOG_GPS_ALT          'H'
 137 #define AO_LOG_GPS_SAT          'V'
 138 #define AO_LOG_GPS_DATE         'Y'
 139 #define AO_LOG_GPS_POS          'P'
 140
 141 #define AO_LOG_POS_NONE         (~0UL)
 142
 143 struct ao_log_record {
 144         char                    type;                           /* 0 */
 145         uint8_t                 csum;                           /* 1 */
 146         uint16_t                tick;                           /* 2 */
 147         union {
 148                 struct {
 149                         int16_t         ground_accel;           /* 4 */
 150                         uint16_t        flight;                 /* 6 */
 151                 } flight;
 152                 struct {
 153                         int16_t         accel;                  /* 4 */
 154                         int16_t         pres;                   /* 6 */
 155                 } sensor;
 156                 struct {
 157                         int16_t         temp;
 158                         int16_t         v_batt;
 159                 } temp_volt;
 160                 struct {
 161                         int16_t         drogue;
 162                         int16_t         main;
 163                 } deploy;
 164                 struct {
 165                         uint16_t        state;
 166                         uint16_t        reason;
 167                 } state;
 168                 struct {
 169                         uint8_t         hour;
 170                         uint8_t         minute;
 171                         uint8_t         second;
 172                         uint8_t         flags;
 173                 } gps_time;
 174                 int32_t         gps_latitude;
 175                 int32_t         gps_longitude;
 176                 struct {
 177                         int16_t         altitude;
 178                         uint16_t        unused;
 179                 } gps_altitude;
 180                 struct {
 181                         uint16_t        svid;
 182                         uint8_t         unused;
 183                         uint8_t         c_n;
 184                 } gps_sat;
 185                 struct {
 186                         uint8_t         year;
 187                         uint8_t         month;
 188                         uint8_t         day;
 189                         uint8_t         extra;
 190                 } gps_date;
 191                 struct {
 192                         uint16_t        d0;
 193                         uint16_t        d1;
 194                 } anon;
 195         } u;
 196 };
 197
 198 struct ao_log_mega {
 199         char                    type;                   /* 0 */
 200         uint8_t                 csum;                   /* 1 */
 201         uint16_t                tick;                   /* 2 */
 202         union {                                         /* 4 */
 203                 /* AO_LOG_FLIGHT */
 204                 struct {
 205                         uint16_t        flight;                 /* 4 */
 206                         int16_t         ground_accel;           /* 6 */
 207                         uint32_t        ground_pres;            /* 8 */
 208                         int16_t         ground_accel_along;     /* 16 */
 209                         int16_t         ground_accel_across;    /* 12 */
 210                         int16_t         ground_accel_through;   /* 14 */
 211                         int16_t         ground_roll;            /* 18 */
 212                         int16_t         ground_pitch;           /* 20 */
 213                         int16_t         ground_yaw;             /* 22 */
 214                 } flight;                                       /* 24 */
 215                 /* AO_LOG_STATE */
 216                 struct {
 217                         uint16_t        state;
 218                         uint16_t        reason;
 219                 } state;
 220                 /* AO_LOG_SENSOR */
 221                 struct {
 222                         uint32_t        pres;           /* 4 */
 223                         uint32_t        temp;           /* 8 */
 224                         int16_t         accel_x;        /* 12 */
 225                         int16_t         accel_y;        /* 14 */
 226                         int16_t         accel_z;        /* 16 */
 227                         int16_t         gyro_x;         /* 18 */
 228                         int16_t         gyro_y;         /* 20 */
 229                         int16_t         gyro_z;         /* 22 */
 230                         int16_t         mag_x;          /* 24 */
 231                         int16_t         mag_y;          /* 26 */
 232                         int16_t         mag_z;          /* 28 */
 233                         int16_t         accel;          /* 30 */
 234                 } sensor;       /* 32 */
 235                 /* AO_LOG_TEMP_VOLT */
 236                 struct {
 237                         int16_t         v_batt;         /* 4 */
 238                         int16_t         v_pbatt;        /* 6 */
 239                         int16_t         n_sense;        /* 8 */
 240                         int16_t         sense[10];      /* 10 */
 241                         uint16_t        pyro;           /* 30 */
 242                 } volt;                                 /* 32 */
 243                 /* AO_LOG_GPS_TIME */
 244                 struct {
 245                         int32_t         latitude;       /* 4 */
 246                         int32_t         longitude;      /* 8 */
 247                         int16_t         altitude;       /* 12 */
 248                         uint8_t         hour;           /* 14 */
 249                         uint8_t         minute;         /* 15 */
 250                         uint8_t         second;         /* 16 */
 251                         uint8_t         flags;          /* 17 */
 252                         uint8_t         year;           /* 18 */
 253                         uint8_t         month;          /* 19 */
 254                         uint8_t         day;            /* 20 */
 255                         uint8_t         pad;            /* 21 */
 256                 } gps;  /* 22 */
 257                 /* AO_LOG_GPS_SAT */
 258                 struct {
 259                         uint16_t        channels;       /* 4 */
 260                         struct {
 261                                 uint8_t svid;
 262                                 uint8_t c_n;
 263                         } sats[12];                     /* 6 */
 264                 } gps_sat;                              /* 30 */
 265         } u;
 266 };
 267
 268 struct ao_log_metrum {
 269         char                    type;                   /* 0 */
 270         uint8_t                 csum;                   /* 1 */
 271         uint16_t                tick;                   /* 2 */
 272         union {                                         /* 4 */
 273                 /* AO_LOG_FLIGHT */
 274                 struct {
 275                         uint16_t        flight;         /* 4 */
 276                         int16_t         ground_accel;   /* 6 */
 277                         uint32_t        ground_pres;    /* 8 */
 278                 } flight;       /* 12 */
 279                 /* AO_LOG_STATE */
 280                 struct {
 281                         uint16_t        state;          /* 4 */
 282                         uint16_t        reason;         /* 6 */
 283                 } state;        /* 8 */
 284                 /* AO_LOG_SENSOR */
 285                 struct {
 286                         uint32_t        pres;           /* 4 */
 287                         uint32_t        temp;           /* 8 */
 288                         int16_t         accel;          /* 12 */
 289                 } sensor;       /* 14 */
 290                 /* AO_LOG_TEMP_VOLT */
 291                 struct {
 292                         int16_t         v_batt;         /* 4 */
 293                         int16_t         sense_a;        /* 6 */
 294                         int16_t         sense_m;        /* 8 */
 295                 } volt;         /* 10 */
 296                 /* AO_LOG_GPS_POS */
 297                 struct {
 298                         int32_t         latitude;       /* 4 */
 299                         int32_t         longitude;      /* 8 */
 300                         int16_t         altitude;       /* 12 */
 301                 } gps;          /* 14 */
 302                 /* AO_LOG_GPS_TIME */
 303                 struct {
 304                         uint8_t         hour;           /* 4 */
 305                         uint8_t         minute;         /* 5 */
 306                         uint8_t         second;         /* 6 */
 307                         uint8_t         flags;          /* 7 */
 308                         uint8_t         year;           /* 8 */
 309                         uint8_t         month;          /* 9 */
 310                         uint8_t         day;            /* 10 */
 311                         uint8_t         pad;            /* 11 */
 312                 } gps_time;     /* 12 */
 313                 /* AO_LOG_GPS_SAT (up to three packets) */
 314                 struct {
 315                         uint8_t channels;               /* 4 */
 316                         uint8_t more;                   /* 5 */
 317                         struct {
 318                                 uint8_t svid;
 319                                 uint8_t c_n;
 320                         } sats[4];                      /* 6 */
 321                 } gps_sat;                              /* 14 */
 322                 uint8_t         raw[12];                /* 4 */
 323         } u;    /* 16 */
 324 };
 325
 326 struct ao_log_mini {
 327         char            type;                           /* 0 */
 328         uint8_t         csum;                           /* 1 */
 329         uint16_t        tick;                           /* 2 */
 330         union {                                         /* 4 */
 331                 /* AO_LOG_FLIGHT */
 332                 struct {
 333                         uint16_t        flight;         /* 4 */
 334                         uint16_t        r6;
 335                         uint32_t        ground_pres;    /* 8 */
 336                 } flight;
 337                 /* AO_LOG_STATE */
 338                 struct {
 339                         uint16_t        state;          /* 4 */
 340                         uint16_t        reason;         /* 6 */
 341                 } state;
 342                 /* AO_LOG_SENSOR */
 343                 struct {
 344                         uint8_t         pres[3];        /* 4 */
 345                         uint8_t         temp[3];        /* 7 */
 346                         int16_t         sense_a;        /* 10 */
 347                         int16_t         sense_m;        /* 12 */
 348                         int16_t         v_batt;         /* 14 */
 349                 } sensor;                               /* 16 */
 350         } u;                                            /* 16 */
 351 };                                                      /* 16 */
 352
 353 #define ao_log_pack24(dst,value) do {           \
 354                 (dst)[0] = (value);             \
 355                 (dst)[1] = (value) >> 8;        \
 356                 (dst)[2] = (value) >> 16;       \
 357         } while (0)
 358
 359 /* Write a record to the eeprom log */
 360 uint8_t
 361 ao_log_data(__xdata struct ao_log_record *log) __reentrant;
 362
 363 uint8_t
 364 ao_log_mega(__xdata struct ao_log_mega *log) __reentrant;
 365
 366 uint8_t
 367 ao_log_metrum(__xdata struct ao_log_metrum *log) __reentrant;
 368
 369 uint8_t
 370 ao_log_mini(__xdata struct ao_log_mini *log) __reentrant;
 371
 372 void
 373 ao_log_flush(void);
 374
 375 void
 376 ao_gps_report_metrum_init(void);
 377
 378 #endif /* _AO_LOG_H_ */