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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 extern __xdata uint8_t  ao_log_mutex;
  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_EASYMINI          6       /* 16-byte MS5607 baro only, 3.0V supply */
  48 #define AO_LOG_FORMAT_TELEMETRUM        7       /* 16-byte typed telemetrum records */
  49 #define AO_LOG_FORMAT_TELEMINI          8       /* 16-byte MS5607 baro only, 3.3V supply */
  50 #define AO_LOG_FORMAT_TELEGPS           9       /* 32 byte telegps records */
  51 #define AO_LOG_FORMAT_NONE              127     /* No log at all */
  52
  53 extern __code uint8_t ao_log_format;
  54
  55 /* Return the flight number from the given log slot, 0 if none */
  56 uint16_t
  57 ao_log_flight(uint8_t slot);
  58
  59 /* Flush the log */
  60 void
  61 ao_log_flush(void);
  62
  63 /* Logging thread main routine */
  64 void
  65 ao_log(void);
  66
  67 /* functions provided in ao_log.c */
  68
  69 /* Figure out the current flight number */
  70 void
  71 ao_log_scan(void) __reentrant;
  72
  73 /* Return the position of the start of the given log slot */
  74 uint32_t
  75 ao_log_pos(uint8_t slot);
  76
  77 /* Start logging to eeprom */
  78 void
  79 ao_log_start(void);
  80
  81 /* Stop logging */
  82 void
  83 ao_log_stop(void);
  84
  85 /* Initialize the logging system */
  86 void
  87 ao_log_init(void);
  88
  89 /* Write out the current flight number to the erase log */
  90 void
  91 ao_log_write_erase(uint8_t pos);
  92
  93 /* Returns true if there are any logs stored in eeprom */
  94 uint8_t
  95 ao_log_present(void);
  96
  97 /* Returns true if there is no more storage space available */
  98 uint8_t
  99 ao_log_full(void);
 100
 101 /*
 102  * ao_log_big.c
 103  */
 104
 105 /*
 106  * The data log is recorded in the eeprom as a sequence
 107  * of data packets.
 108  *
 109  * Each packet starts with a 4-byte header that has the
 110  * packet type, the packet checksum and the tick count. Then
 111  * they all contain 2 16 bit values which hold packet-specific
 112  * data.
 113  *
 114  * For each flight, the first packet
 115  * is FLIGHT packet, indicating the serial number of the
 116  * device and a unique number marking the number of flights
 117  * recorded by this device.
 118  *
 119  * During flight, data from the accelerometer and barometer
 120  * are recorded in SENSOR packets, using the raw 16-bit values
 121  * read from the A/D converter.
 122  *
 123  * Also during flight, but at a lower rate, the deployment
 124  * sensors are recorded in DEPLOY packets. The goal here is to
 125  * detect failure in the deployment circuits.
 126  *
 127  * STATE packets hold state transitions as the flight computer
 128  * transitions through different stages of the flight.
 129  */
 130 #define AO_LOG_FLIGHT           'F'
 131 #define AO_LOG_SENSOR           'A'
 132 #define AO_LOG_TEMP_VOLT        'T'
 133 #define AO_LOG_DEPLOY           'D'
 134 #define AO_LOG_STATE            'S'
 135 #define AO_LOG_GPS_TIME         'G'
 136 #define AO_LOG_GPS_LAT          'N'
 137 #define AO_LOG_GPS_LON          'W'
 138 #define AO_LOG_GPS_ALT          'H'
 139 #define AO_LOG_GPS_SAT          'V'
 140 #define AO_LOG_GPS_DATE         'Y'
 141 #define AO_LOG_GPS_POS          'P'
 142
 143 #define AO_LOG_POS_NONE         (~0UL)
 144
 145 struct ao_log_record {
 146         char                    type;                           /* 0 */
 147         uint8_t                 csum;                           /* 1 */
 148         uint16_t                tick;                           /* 2 */
 149         union {
 150                 struct {
 151                         int16_t         ground_accel;           /* 4 */
 152                         uint16_t        flight;                 /* 6 */
 153                 } flight;
 154                 struct {
 155                         int16_t         accel;                  /* 4 */
 156                         int16_t         pres;                   /* 6 */
 157                 } sensor;
 158                 struct {
 159                         int16_t         temp;
 160                         int16_t         v_batt;
 161                 } temp_volt;
 162                 struct {
 163                         int16_t         drogue;
 164                         int16_t         main;
 165                 } deploy;
 166                 struct {
 167                         uint16_t        state;
 168                         uint16_t        reason;
 169                 } state;
 170                 struct {
 171                         uint8_t         hour;
 172                         uint8_t         minute;
 173                         uint8_t         second;
 174                         uint8_t         flags;
 175                 } gps_time;
 176                 int32_t         gps_latitude;
 177                 int32_t         gps_longitude;
 178                 struct {
 179                         uint16_t        altitude_low;
 180                         int16_t         altitude_high;
 181                 } gps_altitude;
 182                 struct {
 183                         uint16_t        svid;
 184                         uint8_t         unused;
 185                         uint8_t         c_n;
 186                 } gps_sat;
 187                 struct {
 188                         uint8_t         year;
 189                         uint8_t         month;
 190                         uint8_t         day;
 191                         uint8_t         extra;
 192                 } gps_date;
 193                 struct {
 194                         uint16_t        d0;
 195                         uint16_t        d1;
 196                 } anon;
 197         } u;
 198 };
 199
 200 struct ao_log_mega {
 201         char                    type;                   /* 0 */
 202         uint8_t                 csum;                   /* 1 */
 203         uint16_t                tick;                   /* 2 */
 204         union {                                         /* 4 */
 205                 /* AO_LOG_FLIGHT */
 206                 struct {
 207                         uint16_t        flight;                 /* 4 */
 208                         int16_t         ground_accel;           /* 6 */
 209                         uint32_t        ground_pres;            /* 8 */
 210                         int16_t         ground_accel_along;     /* 12 */
 211                         int16_t         ground_accel_across;    /* 14 */
 212                         int16_t         ground_accel_through;   /* 16 */
 213                         int16_t         ground_roll;            /* 18 */
 214                         int16_t         ground_pitch;           /* 20 */
 215                         int16_t         ground_yaw;             /* 22 */
 216                 } flight;                                       /* 24 */
 217                 /* AO_LOG_STATE */
 218                 struct {
 219                         uint16_t        state;
 220                         uint16_t        reason;
 221                 } state;
 222                 /* AO_LOG_SENSOR */
 223                 struct {
 224                         uint32_t        pres;           /* 4 */
 225                         uint32_t        temp;           /* 8 */
 226                         int16_t         accel_x;        /* 12 */
 227                         int16_t         accel_y;        /* 14 */
 228                         int16_t         accel_z;        /* 16 */
 229                         int16_t         gyro_x;         /* 18 */
 230                         int16_t         gyro_y;         /* 20 */
 231                         int16_t         gyro_z;         /* 22 */
 232                         int16_t         mag_x;          /* 24 */
 233                         int16_t         mag_y;          /* 26 */
 234                         int16_t         mag_z;          /* 28 */
 235                         int16_t         accel;          /* 30 */
 236                 } sensor;       /* 32 */
 237                 /* AO_LOG_TEMP_VOLT */
 238                 struct {
 239                         int16_t         v_batt;         /* 4 */
 240                         int16_t         v_pbatt;        /* 6 */
 241                         int16_t         n_sense;        /* 8 */
 242                         int16_t         sense[10];      /* 10 */
 243                         uint16_t        pyro;           /* 30 */
 244                 } volt;                                 /* 32 */
 245                 /* AO_LOG_GPS_TIME */
 246                 struct {
 247                         int32_t         latitude;       /* 4 */
 248                         int32_t         longitude;      /* 8 */
 249                         uint16_t        altitude_low;   /* 12 */
 250                         uint8_t         hour;           /* 14 */
 251                         uint8_t         minute;         /* 15 */
 252                         uint8_t         second;         /* 16 */
 253                         uint8_t         flags;          /* 17 */
 254                         uint8_t         year;           /* 18 */
 255                         uint8_t         month;          /* 19 */
 256                         uint8_t         day;            /* 20 */
 257                         uint8_t         course;         /* 21 */
 258                         uint16_t        ground_speed;   /* 22 */
 259                         int16_t         climb_rate;     /* 24 */
 260                         uint8_t         pdop;           /* 26 */
 261                         uint8_t         hdop;           /* 27 */
 262                         uint8_t         vdop;           /* 28 */
 263                         uint8_t         mode;           /* 29 */
 264                         int16_t         altitude_high;  /* 30 */
 265                 } gps;  /* 32 */
 266                 /* AO_LOG_GPS_SAT */
 267                 struct {
 268                         uint16_t        channels;       /* 4 */
 269                         struct {
 270                                 uint8_t svid;
 271                                 uint8_t c_n;
 272                         } sats[12];                     /* 6 */
 273                 } gps_sat;                              /* 30 */
 274         } u;
 275 };
 276
 277 #define AO_LOG_MEGA_GPS_ALTITUDE(l)     ((int32_t) ((l)->u.gps.altitude_high << 16) | ((l)->u.gps.altitude_low))
 278 #define AO_LOG_MEGA_SET_GPS_ALTITUDE(l,a)       (((l)->u.gps.mode |= AO_GPS_MODE_ALTITUDE_24), \
 279                                                  ((l)->u.gps.altitude_high = (a) >> 16), \
 280                                                  (l)->u.gps.altitude_low = (a))
 281
 282 struct ao_log_metrum {
 283         char                    type;                   /* 0 */
 284         uint8_t                 csum;                   /* 1 */
 285         uint16_t                tick;                   /* 2 */
 286         union {                                         /* 4 */
 287                 /* AO_LOG_FLIGHT */
 288                 struct {
 289                         uint16_t        flight;         /* 4 */
 290                         int16_t         ground_accel;   /* 6 */
 291                         uint32_t        ground_pres;    /* 8 */
 292                         uint32_t        ground_temp;    /* 12 */
 293                 } flight;       /* 16 */
 294                 /* AO_LOG_STATE */
 295                 struct {
 296                         uint16_t        state;          /* 4 */
 297                         uint16_t        reason;         /* 6 */
 298                 } state;        /* 8 */
 299                 /* AO_LOG_SENSOR */
 300                 struct {
 301                         uint32_t        pres;           /* 4 */
 302                         uint32_t        temp;           /* 8 */
 303                         int16_t         accel;          /* 12 */
 304                 } sensor;       /* 14 */
 305                 /* AO_LOG_TEMP_VOLT */
 306                 struct {
 307                         int16_t         v_batt;         /* 4 */
 308                         int16_t         sense_a;        /* 6 */
 309                         int16_t         sense_m;        /* 8 */
 310                 } volt;         /* 10 */
 311                 /* AO_LOG_GPS_POS */
 312                 struct {
 313                         int32_t         latitude;       /* 4 */
 314                         int32_t         longitude;      /* 8 */
 315                         uint16_t        altitude_low;   /* 12 */
 316                         int16_t         altitude_high;  /* 14 */
 317                 } gps;          /* 16 */
 318                 /* AO_LOG_GPS_TIME */
 319                 struct {
 320                         uint8_t         hour;           /* 4 */
 321                         uint8_t         minute;         /* 5 */
 322                         uint8_t         second;         /* 6 */
 323                         uint8_t         flags;          /* 7 */
 324                         uint8_t         year;           /* 8 */
 325                         uint8_t         month;          /* 9 */
 326                         uint8_t         day;            /* 10 */
 327                         uint8_t         pad;            /* 11 */
 328                 } gps_time;     /* 12 */
 329                 /* AO_LOG_GPS_SAT (up to three packets) */
 330                 struct {
 331                         uint8_t channels;               /* 4 */
 332                         uint8_t more;                   /* 5 */
 333                         struct {
 334                                 uint8_t svid;
 335                                 uint8_t c_n;
 336                         } sats[4];                      /* 6 */
 337                 } gps_sat;                              /* 14 */
 338                 uint8_t         raw[12];                /* 4 */
 339         } u;    /* 16 */
 340 };
 341
 342 struct ao_log_mini {
 343         char            type;                           /* 0 */
 344         uint8_t         csum;                           /* 1 */
 345         uint16_t        tick;                           /* 2 */
 346         union {                                         /* 4 */
 347                 /* AO_LOG_FLIGHT */
 348                 struct {
 349                         uint16_t        flight;         /* 4 */
 350                         uint16_t        r6;
 351                         uint32_t        ground_pres;    /* 8 */
 352                 } flight;
 353                 /* AO_LOG_STATE */
 354                 struct {
 355                         uint16_t        state;          /* 4 */
 356                         uint16_t        reason;         /* 6 */
 357                 } state;
 358                 /* AO_LOG_SENSOR */
 359                 struct {
 360                         uint8_t         pres[3];        /* 4 */
 361                         uint8_t         temp[3];        /* 7 */
 362                         int16_t         sense_a;        /* 10 */
 363                         int16_t         sense_m;        /* 12 */
 364                         int16_t         v_batt;         /* 14 */
 365                 } sensor;                               /* 16 */
 366         } u;                                            /* 16 */
 367 };                                                      /* 16 */
 368
 369 #define ao_log_pack24(dst,value) do {           \
 370                 (dst)[0] = (value);             \
 371                 (dst)[1] = (value) >> 8;        \
 372                 (dst)[2] = (value) >> 16;       \
 373         } while (0)
 374
 375 struct ao_log_gps {
 376         char                    type;                   /* 0 */
 377         uint8_t                 csum;                   /* 1 */
 378         uint16_t                tick;                   /* 2 */
 379         union {                                         /* 4 */
 380                 /* AO_LOG_FLIGHT */
 381                 struct {
 382                         uint16_t        flight;                 /* 4 */
 383                         int16_t         start_altitude;         /* 6 */
 384                         int32_t         start_latitude;         /* 8 */
 385                         int32_t         start_longitude;        /* 12 */
 386                 } flight;                                       /* 16 */
 387                 /* AO_LOG_GPS_TIME */
 388                 struct {
 389                         int32_t         latitude;       /* 4 */
 390                         int32_t         longitude;      /* 8 */
 391                         uint16_t        altitude_low;   /* 12 */
 392                         uint8_t         hour;           /* 14 */
 393                         uint8_t         minute;         /* 15 */
 394                         uint8_t         second;         /* 16 */
 395                         uint8_t         flags;          /* 17 */
 396                         uint8_t         year;           /* 18 */
 397                         uint8_t         month;          /* 19 */
 398                         uint8_t         day;            /* 20 */
 399                         uint8_t         course;         /* 21 */
 400                         uint16_t        ground_speed;   /* 22 */
 401                         int16_t         climb_rate;     /* 24 */
 402                         uint8_t         pdop;           /* 26 */
 403                         uint8_t         hdop;           /* 27 */
 404                         uint8_t         vdop;           /* 28 */
 405                         uint8_t         mode;           /* 29 */
 406                         int16_t         altitude_high;  /* 30 */
 407                 } gps;  /* 31 */
 408                 /* AO_LOG_GPS_SAT */
 409                 struct {
 410                         uint16_t        channels;       /* 4 */
 411                         struct {
 412                                 uint8_t svid;
 413                                 uint8_t c_n;
 414                         } sats[12];                     /* 6 */
 415                 } gps_sat;                              /* 30 */
 416         } u;
 417 };
 418
 419 /* Write a record to the eeprom log */
 420 uint8_t
 421 ao_log_data(__xdata struct ao_log_record *log) __reentrant;
 422
 423 uint8_t
 424 ao_log_mega(__xdata struct ao_log_mega *log) __reentrant;
 425
 426 uint8_t
 427 ao_log_metrum(__xdata struct ao_log_metrum *log) __reentrant;
 428
 429 uint8_t
 430 ao_log_mini(__xdata struct ao_log_mini *log) __reentrant;
 431
 432 uint8_t
 433 ao_log_gps(__xdata struct ao_log_gps *log) __reentrant;
 434
 435 void
 436 ao_log_flush(void);
 437
 438 void
 439 ao_gps_report_metrum_init(void);
 440
 441 #endif /* _AO_LOG_H_ */