git.gag.com Git - fw/altos/blob - src/kernel/ao_log.h

   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; 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  * You should have received a copy of the GNU General Public License along
  15  * with this program; if not, write to the Free Software Foundation, Inc.,
  16  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
  17  */
  18
  19 #ifndef _AO_LOG_H_
  20 #define _AO_LOG_H_
  21
  22 #include <ao_flight.h>
  23
  24 /*
  25  * ao_log.c
  26  */
  27
  28 /* We record flight numbers in the first record of
  29  * the log. Tasks may wait for this to be initialized
  30  * by sleeping on this variable.
  31  */
  32 extern int16_t ao_flight_number;
  33 extern uint8_t  ao_log_mutex;
  34 extern uint32_t ao_log_current_pos;
  35 extern uint32_t ao_log_end_pos;
  36 extern uint32_t ao_log_start_pos;
  37 extern uint8_t  ao_log_running;
  38 extern enum ao_flight_state ao_log_state;
  39
  40 /* required functions from the underlying log system */
  41
  42 #define AO_LOG_FORMAT_UNKNOWN           0       /* unknown; altosui will have to guess */
  43 #define AO_LOG_FORMAT_FULL              1       /* 8 byte typed log records */
  44 #define AO_LOG_FORMAT_TINY              2       /* two byte state/baro records */
  45 #define AO_LOG_FORMAT_TELEMETRY         3       /* 32 byte ao_telemetry records */
  46 #define AO_LOG_FORMAT_TELESCIENCE       4       /* 32 byte typed telescience records */
  47 #define AO_LOG_FORMAT_TELEMEGA_OLD      5       /* 32 byte typed telemega records */
  48 #define AO_LOG_FORMAT_EASYMINI1         6       /* 16-byte MS5607 baro only, 3.0V supply */
  49 #define AO_LOG_FORMAT_TELEMETRUM        7       /* 16-byte typed telemetrum records */
  50 #define AO_LOG_FORMAT_TELEMINI2         8       /* 16-byte MS5607 baro only, 3.3V supply, cc1111 SoC */
  51 #define AO_LOG_FORMAT_TELEGPS           9       /* 32 byte telegps records */
  52 #define AO_LOG_FORMAT_TELEMEGA          10      /* 32 byte typed telemega records with 32 bit gyro cal */
  53 #define AO_LOG_FORMAT_DETHERM           11      /* 16-byte MS5607 baro only, no ADC */
  54 #define AO_LOG_FORMAT_TELEMINI3         12      /* 16-byte MS5607 baro only, 3.3V supply, stm32f042 SoC */
  55 #define AO_LOG_FORMAT_TELEFIRETWO       13      /* 32-byte test stand data */
  56 #define AO_LOG_FORMAT_EASYMINI2         14      /* 16-byte MS5607 baro only, 3.3V supply, stm32f042 SoC */
  57 #define AO_LOG_FORMAT_TELEMEGA_3        15      /* 32 byte typed telemega records with 32 bit gyro cal and mpu9250 */
  58 #define AO_LOG_FORMAT_EASYMEGA_2        16      /* 32 byte typed telemega records with 32 bit gyro cal, mpu9250 rotated 90° and adxl375 */
  59 #define AO_LOG_FORMAT_NONE              127     /* No log at all */
  60
  61 /* Return the flight number from the given log slot, 0 if none, -slot on failure */
  62
  63 int16_t
  64 ao_log_flight(uint8_t slot);
  65
  66 /* Checksum the loaded log record */
  67 uint8_t
  68 ao_log_check_data(void);
  69
  70 /* Check to see if the loaded log record is empty */
  71 uint8_t
  72 ao_log_check_clear(void);
  73
  74 /* Check if there is valid log data at the specified location */
  75 #define AO_LOG_VALID    1
  76 #define AO_LOG_EMPTY    0
  77 #define AO_LOG_INVALID  -1
  78
  79 int8_t
  80 ao_log_check(uint32_t pos);
  81
  82 /* Flush the log */
  83 void
  84 ao_log_flush(void);
  85
  86 /* Logging thread main routine */
  87 void
  88 ao_log(void);
  89
  90 /* functions provided in ao_log.c */
  91
  92 /* Figure out the current flight number */
  93 uint8_t
  94 ao_log_scan(void);
  95
  96 /* Return the position of the start of the given log slot */
  97 uint32_t
  98 ao_log_pos(uint8_t slot);
  99
 100 /* Start logging to eeprom */
 101 void
 102 ao_log_start(void);
 103
 104 /* Stop logging */
 105 void
 106 ao_log_stop(void);
 107
 108 /* Initialize the logging system */
 109 void
 110 ao_log_init(void);
 111
 112 /* Write out the current flight number to the erase log */
 113 void
 114 ao_log_write_erase(uint8_t pos);
 115
 116 /* Returns true if there are any logs stored in eeprom */
 117 uint8_t
 118 ao_log_present(void);
 119
 120 /* Returns true if there is no more storage space available */
 121 uint8_t
 122 ao_log_full(void);
 123
 124 /*
 125  * ao_log_big.c
 126  */
 127
 128 /*
 129  * The data log is recorded in the eeprom as a sequence
 130  * of data packets.
 131  *
 132  * Each packet starts with a 4-byte header that has the
 133  * packet type, the packet checksum and the tick count. Then
 134  * they all contain 2 16 bit values which hold packet-specific
 135  * data.
 136  *
 137  * For each flight, the first packet
 138  * is FLIGHT packet, indicating the serial number of the
 139  * device and a unique number marking the number of flights
 140  * recorded by this device.
 141  *
 142  * During flight, data from the accelerometer and barometer
 143  * are recorded in SENSOR packets, using the raw 16-bit values
 144  * read from the A/D converter.
 145  *
 146  * Also during flight, but at a lower rate, the deployment
 147  * sensors are recorded in DEPLOY packets. The goal here is to
 148  * detect failure in the deployment circuits.
 149  *
 150  * STATE packets hold state transitions as the flight computer
 151  * transitions through different stages of the flight.
 152  */
 153 #define AO_LOG_FLIGHT           'F'
 154 #define AO_LOG_SENSOR           'A'
 155 #define AO_LOG_TEMP_VOLT        'T'
 156 #define AO_LOG_DEPLOY           'D'
 157 #define AO_LOG_STATE            'S'
 158 #define AO_LOG_GPS_TIME         'G'
 159 #define AO_LOG_GPS_LAT          'N'
 160 #define AO_LOG_GPS_LON          'W'
 161 #define AO_LOG_GPS_ALT          'H'
 162 #define AO_LOG_GPS_SAT          'V'
 163 #define AO_LOG_GPS_DATE         'Y'
 164 #define AO_LOG_GPS_POS          'P'
 165
 166 #define AO_LOG_POS_NONE         (~0UL)
 167
 168 struct ao_log_record {
 169         char                    type;                           /* 0 */
 170         uint8_t                 csum;                           /* 1 */
 171         uint16_t                tick;                           /* 2 */
 172         union {
 173                 struct {
 174                         int16_t         ground_accel;           /* 4 */
 175                         uint16_t        flight;                 /* 6 */
 176                 } flight;
 177                 struct {
 178                         int16_t         accel;                  /* 4 */
 179                         int16_t         pres;                   /* 6 */
 180                 } sensor;
 181                 struct {
 182                         int16_t         temp;
 183                         int16_t         v_batt;
 184                 } temp_volt;
 185                 struct {
 186                         int16_t         drogue;
 187                         int16_t         main;
 188                 } deploy;
 189                 struct {
 190                         uint16_t        state;
 191                         uint16_t        reason;
 192                 } state;
 193                 struct {
 194                         uint8_t         hour;
 195                         uint8_t         minute;
 196                         uint8_t         second;
 197                         uint8_t         flags;
 198                 } gps_time;
 199                 int32_t         gps_latitude;
 200                 int32_t         gps_longitude;
 201                 struct {
 202                         uint16_t        altitude_low;
 203                         int16_t         altitude_high;
 204                 } gps_altitude;
 205                 struct {
 206                         uint16_t        svid;
 207                         uint8_t         unused;
 208                         uint8_t         c_n;
 209                 } gps_sat;
 210                 struct {
 211                         uint8_t         year;
 212                         uint8_t         month;
 213                         uint8_t         day;
 214                         uint8_t         extra;
 215                 } gps_date;
 216                 struct {
 217                         uint16_t        d0;
 218                         uint16_t        d1;
 219                 } anon;
 220         } u;
 221 };
 222
 223 struct ao_log_mega {
 224         char                    type;                   /* 0 */
 225         uint8_t                 csum;                   /* 1 */
 226         uint16_t                tick;                   /* 2 */
 227         union {                                         /* 4 */
 228                 /* AO_LOG_FLIGHT */
 229                 struct {
 230                         uint16_t        flight;                 /* 4 */
 231                         int16_t         ground_accel;           /* 6 */
 232                         uint32_t        ground_pres;            /* 8 */
 233                         int16_t         ground_accel_along;     /* 12 */
 234                         int16_t         ground_accel_across;    /* 14 */
 235                         int16_t         ground_accel_through;   /* 16 */
 236                         int16_t         pad_18;                 /* 18 */
 237                         int32_t         ground_roll;            /* 20 */
 238                         int32_t         ground_pitch;           /* 24 */
 239                         int32_t         ground_yaw;             /* 28 */
 240                 } flight;                                       /* 32 */
 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         ground_roll;            /* 18 */
 249                         int16_t         ground_pitch;           /* 20 */
 250                         int16_t         ground_yaw;             /* 22 */
 251                 } flight_old;                                   /* 24 */
 252                 /* AO_LOG_STATE */
 253                 struct {
 254                         uint16_t        state;
 255                         uint16_t        reason;
 256                 } state;
 257                 /* AO_LOG_SENSOR */
 258                 struct {
 259                         uint32_t        pres;           /* 4 */
 260                         uint32_t        temp;           /* 8 */
 261                         int16_t         accel_x;        /* 12 */
 262                         int16_t         accel_y;        /* 14 */
 263                         int16_t         accel_z;        /* 16 */
 264                         int16_t         gyro_x;         /* 18 */
 265                         int16_t         gyro_y;         /* 20 */
 266                         int16_t         gyro_z;         /* 22 */
 267                         int16_t         mag_x;          /* 24 */
 268                         int16_t         mag_z;          /* 26 */
 269                         int16_t         mag_y;          /* 28 */
 270                         int16_t         accel;          /* 30 */
 271                 } sensor;       /* 32 */
 272                 /* AO_LOG_TEMP_VOLT */
 273                 struct {
 274                         int16_t         v_batt;         /* 4 */
 275                         int16_t         v_pbatt;        /* 6 */
 276                         int16_t         n_sense;        /* 8 */
 277                         int16_t         sense[10];      /* 10 */
 278                         uint16_t        pyro;           /* 30 */
 279                 } volt;                                 /* 32 */
 280                 /* AO_LOG_GPS_TIME */
 281                 struct {
 282                         int32_t         latitude;       /* 4 */
 283                         int32_t         longitude;      /* 8 */
 284                         uint16_t        altitude_low;   /* 12 */
 285                         uint8_t         hour;           /* 14 */
 286                         uint8_t         minute;         /* 15 */
 287                         uint8_t         second;         /* 16 */
 288                         uint8_t         flags;          /* 17 */
 289                         uint8_t         year;           /* 18 */
 290                         uint8_t         month;          /* 19 */
 291                         uint8_t         day;            /* 20 */
 292                         uint8_t         course;         /* 21 */
 293                         uint16_t        ground_speed;   /* 22 */
 294                         int16_t         climb_rate;     /* 24 */
 295                         uint8_t         pdop;           /* 26 */
 296                         uint8_t         hdop;           /* 27 */
 297                         uint8_t         vdop;           /* 28 */
 298                         uint8_t         mode;           /* 29 */
 299                         int16_t         altitude_high;  /* 30 */
 300                 } gps;  /* 32 */
 301                 /* AO_LOG_GPS_SAT */
 302                 struct {
 303                         uint16_t        channels;       /* 4 */
 304                         struct {
 305                                 uint8_t svid;
 306                                 uint8_t c_n;
 307                         } sats[12];                     /* 6 */
 308                 } gps_sat;                              /* 30 */
 309         } u;
 310 };
 311
 312 #define AO_LOG_MEGA_GPS_ALTITUDE(l)     ((int32_t) ((l)->u.gps.altitude_high << 16) | ((l)->u.gps.altitude_low))
 313 #define AO_LOG_MEGA_SET_GPS_ALTITUDE(l,a)       (((l)->u.gps.mode |= AO_GPS_MODE_ALTITUDE_24), \
 314                                                  ((l)->u.gps.altitude_high = (a) >> 16), \
 315                                                  (l)->u.gps.altitude_low = (a))
 316
 317 struct ao_log_firetwo {
 318         char                    type;                   /* 0 */
 319         uint8_t                 csum;                   /* 1 */
 320         uint16_t                tick;                   /* 2 */
 321         union {                                         /* 4 */
 322                 /* AO_LOG_FLIGHT */
 323                 struct {
 324                         uint16_t        flight;         /* 4 */
 325                 } flight;       /* 6 */
 326                 /* AO_LOG_STATE */
 327                 struct {
 328                         uint16_t        state;          /* 4 */
 329                         uint16_t        reason;         /* 6 */
 330                 } state;        /* 8 */
 331                 /* AO_LOG_SENSOR */
 332                 struct {
 333                         uint16_t        pressure;       /* 4 */
 334                         uint16_t        thrust;         /* 6 */
 335                         uint16_t        thermistor[4];  /* 8 */
 336                 } sensor;       /* 24 */
 337                 uint8_t         align[28];              /* 4 */
 338         } u;    /* 32 */
 339 };
 340
 341 struct ao_log_metrum {
 342         char                    type;                   /* 0 */
 343         uint8_t                 csum;                   /* 1 */
 344         uint16_t                tick;                   /* 2 */
 345         union {                                         /* 4 */
 346                 /* AO_LOG_FLIGHT */
 347                 struct {
 348                         uint16_t        flight;         /* 4 */
 349                         int16_t         ground_accel;   /* 6 */
 350                         uint32_t        ground_pres;    /* 8 */
 351                         uint32_t        ground_temp;    /* 12 */
 352                 } flight;       /* 16 */
 353                 /* AO_LOG_STATE */
 354                 struct {
 355                         uint16_t        state;          /* 4 */
 356                         uint16_t        reason;         /* 6 */
 357                 } state;        /* 8 */
 358                 /* AO_LOG_SENSOR */
 359                 struct {
 360                         uint32_t        pres;           /* 4 */
 361                         uint32_t        temp;           /* 8 */
 362                         int16_t         accel;          /* 12 */
 363                 } sensor;       /* 14 */
 364                 /* AO_LOG_TEMP_VOLT */
 365                 struct {
 366                         int16_t         v_batt;         /* 4 */
 367                         int16_t         sense_a;        /* 6 */
 368                         int16_t         sense_m;        /* 8 */
 369                 } volt;         /* 10 */
 370                 /* AO_LOG_GPS_POS */
 371                 struct {
 372                         int32_t         latitude;       /* 4 */
 373                         int32_t         longitude;      /* 8 */
 374                         uint16_t        altitude_low;   /* 12 */
 375                         int16_t         altitude_high;  /* 14 */
 376                 } gps;          /* 16 */
 377                 /* AO_LOG_GPS_TIME */
 378                 struct {
 379                         uint8_t         hour;           /* 4 */
 380                         uint8_t         minute;         /* 5 */
 381                         uint8_t         second;         /* 6 */
 382                         uint8_t         flags;          /* 7 */
 383                         uint8_t         year;           /* 8 */
 384                         uint8_t         month;          /* 9 */
 385                         uint8_t         day;            /* 10 */
 386                         uint8_t         pdop;           /* 11 */
 387                 } gps_time;     /* 12 */
 388                 /* AO_LOG_GPS_SAT (up to three packets) */
 389                 struct {
 390                         uint8_t channels;               /* 4 */
 391                         uint8_t more;                   /* 5 */
 392                         struct {
 393                                 uint8_t svid;
 394                                 uint8_t c_n;
 395                         } sats[4];                      /* 6 */
 396                 } gps_sat;                              /* 14 */
 397                 uint8_t         raw[12];                /* 4 */
 398         } u;    /* 16 */
 399 };
 400
 401 struct ao_log_mini {
 402         char            type;                           /* 0 */
 403         uint8_t         csum;                           /* 1 */
 404         uint16_t        tick;                           /* 2 */
 405         union {                                         /* 4 */
 406                 /* AO_LOG_FLIGHT */
 407                 struct {
 408                         uint16_t        flight;         /* 4 */
 409                         uint16_t        r6;
 410                         uint32_t        ground_pres;    /* 8 */
 411                 } flight;
 412                 /* AO_LOG_STATE */
 413                 struct {
 414                         uint16_t        state;          /* 4 */
 415                         uint16_t        reason;         /* 6 */
 416                 } state;
 417                 /* AO_LOG_SENSOR */
 418                 struct {
 419                         uint8_t         pres[3];        /* 4 */
 420                         uint8_t         temp[3];        /* 7 */
 421                         int16_t         sense_a;        /* 10 */
 422                         int16_t         sense_m;        /* 12 */
 423                         int16_t         v_batt;         /* 14 */
 424                 } sensor;                               /* 16 */
 425         } u;                                            /* 16 */
 426 };                                                      /* 16 */
 427
 428 #define ao_log_pack24(dst,value) do {           \
 429                 (dst)[0] = (value);             \
 430                 (dst)[1] = (value) >> 8;        \
 431                 (dst)[2] = (value) >> 16;       \
 432         } while (0)
 433
 434 struct ao_log_gps {
 435         char                    type;                   /* 0 */
 436         uint8_t                 csum;                   /* 1 */
 437         uint16_t                tick;                   /* 2 */
 438         union {                                         /* 4 */
 439                 /* AO_LOG_FLIGHT */
 440                 struct {
 441                         uint16_t        flight;                 /* 4 */
 442                         int16_t         start_altitude;         /* 6 */
 443                         int32_t         start_latitude;         /* 8 */
 444                         int32_t         start_longitude;        /* 12 */
 445                 } flight;                                       /* 16 */
 446                 /* AO_LOG_GPS_TIME */
 447                 struct {
 448                         int32_t         latitude;       /* 4 */
 449                         int32_t         longitude;      /* 8 */
 450                         uint16_t        altitude_low;   /* 12 */
 451                         uint8_t         hour;           /* 14 */
 452                         uint8_t         minute;         /* 15 */
 453                         uint8_t         second;         /* 16 */
 454                         uint8_t         flags;          /* 17 */
 455                         uint8_t         year;           /* 18 */
 456                         uint8_t         month;          /* 19 */
 457                         uint8_t         day;            /* 20 */
 458                         uint8_t         course;         /* 21 */
 459                         uint16_t        ground_speed;   /* 22 */
 460                         int16_t         climb_rate;     /* 24 */
 461                         uint8_t         pdop;           /* 26 */
 462                         uint8_t         hdop;           /* 27 */
 463                         uint8_t         vdop;           /* 28 */
 464                         uint8_t         mode;           /* 29 */
 465                         int16_t         altitude_high;  /* 30 */
 466                 } gps;  /* 31 */
 467                 /* AO_LOG_GPS_SAT */
 468                 struct {
 469                         uint16_t        channels;       /* 4 */
 470                         struct {
 471                                 uint8_t svid;
 472                                 uint8_t c_n;
 473                         } sats[12];                     /* 6 */
 474                 } gps_sat;                              /* 30 */
 475         } u;
 476 };
 477
 478 #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
 479 typedef struct ao_log_mega ao_log_type;
 480 #endif
 481
 482 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMETRUM
 483 typedef struct ao_log_metrum ao_log_type;
 484 #endif
 485
 486 #if AO_LOG_FORMAT == AO_LOG_FORMAT_EASYMINI1 || AO_LOG_FORMAT == AO_LOG_FORMAT_EASYMINI2 || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMINI2 || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMINI3
 487 typedef struct ao_log_mini ao_log_type;
 488 #endif
 489
 490 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEGPS
 491 typedef struct ao_log_gps ao_log_type;
 492 #endif
 493
 494 #if AO_LOG_FORMAT == AO_LOG_FORMAT_FULL
 495 typedef struct ao_log_record ao_log_type;
 496 #endif
 497
 498 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TINY
 499 #define AO_LOG_UNCOMMON 1
 500 #endif
 501
 502 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMETRY
 503 #define AO_LOG_UNCOMMON 1
 504 #endif
 505
 506 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELESCIENCE
 507 #define AO_LOG_UNCOMMON 1
 508 #endif
 509
 510 #ifndef AO_LOG_UNCOMMON
 511 extern ao_log_type ao_log_data;
 512
 513 #define AO_LOG_SIZE sizeof(ao_log_type)
 514
 515 /* Write a record to the eeprom log */
 516
 517 uint8_t
 518 ao_log_write(ao_log_type *log);
 519 #endif
 520
 521 void
 522 ao_log_flush(void);
 523
 524 void
 525 ao_gps_report_metrum_init(void);
 526
 527 #endif /* _AO_LOG_H_ */