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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; 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_TELESTATIC        17      /* 32 byte typed telestatic records */
  60 #define AO_LOG_FORMAT_NONE              127     /* No log at all */
  61
  62 /* Return the flight number from the given log slot, 0 if none, -slot on failure */
  63
  64 int16_t
  65 ao_log_flight(uint8_t slot);
  66
  67 /* Checksum the loaded log record */
  68 uint8_t
  69 ao_log_check_data(void);
  70
  71 /* Check to see if the loaded log record is empty */
  72 uint8_t
  73 ao_log_check_clear(void);
  74
  75 /* Check if there is valid log data at the specified location */
  76 #define AO_LOG_VALID    1
  77 #define AO_LOG_EMPTY    0
  78 #define AO_LOG_INVALID  -1
  79
  80 int8_t
  81 ao_log_check(uint32_t pos);
  82
  83 /* Flush the log */
  84 void
  85 ao_log_flush(void);
  86
  87 /* Logging thread main routine */
  88 void
  89 ao_log(void);
  90
  91 /* functions provided in ao_log.c */
  92
  93 /* Figure out the current flight number */
  94 uint8_t
  95 ao_log_scan(void);
  96
  97 /* Return the position of the start of the given log slot */
  98 uint32_t
  99 ao_log_pos(uint8_t slot);
 100
 101 /* Start logging to eeprom */
 102 void
 103 ao_log_start(void);
 104
 105 /* Stop logging */
 106 void
 107 ao_log_stop(void);
 108
 109 /* Initialize the logging system */
 110 void
 111 ao_log_init(void);
 112
 113 /* Write out the current flight number to the erase log */
 114 void
 115 ao_log_write_erase(uint8_t pos);
 116
 117 /* Returns true if there are any logs stored in eeprom */
 118 uint8_t
 119 ao_log_present(void);
 120
 121 /* Returns true if there is no more storage space available */
 122 uint8_t
 123 ao_log_full(void);
 124
 125 /*
 126  * ao_log_big.c
 127  */
 128
 129 /*
 130  * The data log is recorded in the eeprom as a sequence
 131  * of data packets.
 132  *
 133  * Each packet starts with a 4-byte header that has the
 134  * packet type, the packet checksum and the tick count. Then
 135  * they all contain 2 16 bit values which hold packet-specific
 136  * data.
 137  *
 138  * For each flight, the first packet
 139  * is FLIGHT packet, indicating the serial number of the
 140  * device and a unique number marking the number of flights
 141  * recorded by this device.
 142  *
 143  * During flight, data from the accelerometer and barometer
 144  * are recorded in SENSOR packets, using the raw 16-bit values
 145  * read from the A/D converter.
 146  *
 147  * Also during flight, but at a lower rate, the deployment
 148  * sensors are recorded in DEPLOY packets. The goal here is to
 149  * detect failure in the deployment circuits.
 150  *
 151  * STATE packets hold state transitions as the flight computer
 152  * transitions through different stages of the flight.
 153  */
 154 #define AO_LOG_FLIGHT           'F'
 155 #define AO_LOG_SENSOR           'A'
 156 #define AO_LOG_TEMP_VOLT        'T'
 157 #define AO_LOG_DEPLOY           'D'
 158 #define AO_LOG_STATE            'S'
 159 #define AO_LOG_GPS_TIME         'G'
 160 #define AO_LOG_GPS_LAT          'N'
 161 #define AO_LOG_GPS_LON          'W'
 162 #define AO_LOG_GPS_ALT          'H'
 163 #define AO_LOG_GPS_SAT          'V'
 164 #define AO_LOG_GPS_DATE         'Y'
 165 #define AO_LOG_GPS_POS          'P'
 166
 167 #define AO_LOG_POS_NONE         (~0UL)
 168
 169 struct ao_log_record {
 170         char                    type;                           /* 0 */
 171         uint8_t                 csum;                           /* 1 */
 172         uint16_t                tick;                           /* 2 */
 173         union {
 174                 struct {
 175                         int16_t         ground_accel;           /* 4 */
 176                         uint16_t        flight;                 /* 6 */
 177                 } flight;
 178                 struct {
 179                         int16_t         accel;                  /* 4 */
 180                         int16_t         pres;                   /* 6 */
 181                 } sensor;
 182                 struct {
 183                         int16_t         temp;
 184                         int16_t         v_batt;
 185                 } temp_volt;
 186                 struct {
 187                         int16_t         drogue;
 188                         int16_t         main;
 189                 } deploy;
 190                 struct {
 191                         uint16_t        state;
 192                         uint16_t        reason;
 193                 } state;
 194                 struct {
 195                         uint8_t         hour;
 196                         uint8_t         minute;
 197                         uint8_t         second;
 198                         uint8_t         flags;
 199                 } gps_time;
 200                 int32_t         gps_latitude;
 201                 int32_t         gps_longitude;
 202                 struct {
 203                         uint16_t        altitude_low;
 204                         int16_t         altitude_high;
 205                 } gps_altitude;
 206                 struct {
 207                         uint16_t        svid;
 208                         uint8_t         unused;
 209                         uint8_t         c_n;
 210                 } gps_sat;
 211                 struct {
 212                         uint8_t         year;
 213                         uint8_t         month;
 214                         uint8_t         day;
 215                         uint8_t         extra;
 216                 } gps_date;
 217                 struct {
 218                         uint16_t        d0;
 219                         uint16_t        d1;
 220                 } anon;
 221         } u;
 222 };
 223
 224 struct ao_log_mega {
 225         char                    type;                   /* 0 */
 226         uint8_t                 csum;                   /* 1 */
 227         uint16_t                tick;                   /* 2 */
 228         union {                                         /* 4 */
 229                 /* AO_LOG_FLIGHT */
 230                 struct {
 231                         uint16_t        flight;                 /* 4 */
 232                         int16_t         ground_accel;           /* 6 */
 233                         uint32_t        ground_pres;            /* 8 */
 234                         int16_t         ground_accel_along;     /* 12 */
 235                         int16_t         ground_accel_across;    /* 14 */
 236                         int16_t         ground_accel_through;   /* 16 */
 237                         int16_t         pad_18;                 /* 18 */
 238                         int32_t         ground_roll;            /* 20 */
 239                         int32_t         ground_pitch;           /* 24 */
 240                         int32_t         ground_yaw;             /* 28 */
 241                 } flight;                                       /* 32 */
 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         ground_roll;            /* 18 */
 250                         int16_t         ground_pitch;           /* 20 */
 251                         int16_t         ground_yaw;             /* 22 */
 252                 } flight_old;                                   /* 24 */
 253                 /* AO_LOG_STATE */
 254                 struct {
 255                         uint16_t        state;
 256                         uint16_t        reason;
 257                 } state;
 258                 /* AO_LOG_SENSOR */
 259                 struct {
 260                         uint32_t        pres;           /* 4 */
 261                         uint32_t        temp;           /* 8 */
 262                         int16_t         accel_x;        /* 12 */
 263                         int16_t         accel_y;        /* 14 */
 264                         int16_t         accel_z;        /* 16 */
 265                         int16_t         gyro_x;         /* 18 */
 266                         int16_t         gyro_y;         /* 20 */
 267                         int16_t         gyro_z;         /* 22 */
 268                         int16_t         mag_x;          /* 24 */
 269                         int16_t         mag_z;          /* 26 */
 270                         int16_t         mag_y;          /* 28 */
 271                         int16_t         accel;          /* 30 */
 272                 } sensor;       /* 32 */
 273                 /* AO_LOG_TEMP_VOLT */
 274                 struct {
 275                         int16_t         v_batt;         /* 4 */
 276                         int16_t         v_pbatt;        /* 6 */
 277                         int16_t         n_sense;        /* 8 */
 278                         int16_t         sense[10];      /* 10 */
 279                         uint16_t        pyro;           /* 30 */
 280                 } volt;                                 /* 32 */
 281                 /* AO_LOG_GPS_TIME */
 282                 struct {
 283                         int32_t         latitude;       /* 4 */
 284                         int32_t         longitude;      /* 8 */
 285                         uint16_t        altitude_low;   /* 12 */
 286                         uint8_t         hour;           /* 14 */
 287                         uint8_t         minute;         /* 15 */
 288                         uint8_t         second;         /* 16 */
 289                         uint8_t         flags;          /* 17 */
 290                         uint8_t         year;           /* 18 */
 291                         uint8_t         month;          /* 19 */
 292                         uint8_t         day;            /* 20 */
 293                         uint8_t         course;         /* 21 */
 294                         uint16_t        ground_speed;   /* 22 */
 295                         int16_t         climb_rate;     /* 24 */
 296                         uint8_t         pdop;           /* 26 */
 297                         uint8_t         hdop;           /* 27 */
 298                         uint8_t         vdop;           /* 28 */
 299                         uint8_t         mode;           /* 29 */
 300                         int16_t         altitude_high;  /* 30 */
 301                 } gps;  /* 32 */
 302                 /* AO_LOG_GPS_SAT */
 303                 struct {
 304                         uint16_t        channels;       /* 4 */
 305                         struct {
 306                                 uint8_t svid;
 307                                 uint8_t c_n;
 308                         } sats[12];                     /* 6 */
 309                 } gps_sat;                              /* 30 */
 310         } u;
 311 };
 312
 313 #define AO_LOG_MEGA_GPS_ALTITUDE(l)     ((int32_t) ((l)->u.gps.altitude_high << 16) | ((l)->u.gps.altitude_low))
 314 #define AO_LOG_MEGA_SET_GPS_ALTITUDE(l,a)       (((l)->u.gps.mode |= AO_GPS_MODE_ALTITUDE_24), \
 315                                                  ((l)->u.gps.altitude_high = (a) >> 16), \
 316                                                  (l)->u.gps.altitude_low = (a))
 317
 318 struct ao_log_firetwo {
 319         char                    type;                   /* 0 */
 320         uint8_t                 csum;                   /* 1 */
 321         uint16_t                tick;                   /* 2 */
 322         union {                                         /* 4 */
 323                 /* AO_LOG_FLIGHT */
 324                 struct {
 325                         uint16_t        flight;         /* 4 */
 326                 } flight;       /* 6 */
 327                 /* AO_LOG_STATE */
 328                 struct {
 329                         uint16_t        state;          /* 4 */
 330                         uint16_t        reason;         /* 6 */
 331                 } state;        /* 8 */
 332                 /* AO_LOG_SENSOR */
 333                 struct {
 334                         uint16_t        pressure;       /* 4 */
 335                         uint16_t        thrust;         /* 6 */
 336                         uint16_t        thermistor[4];  /* 8 */
 337                 } sensor;       /* 24 */
 338                 uint8_t         align[28];              /* 4 */
 339         } u;    /* 32 */
 340 };
 341
 342 struct ao_log_telestatic {
 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                 } flight;       /* 6 */
 351                 /* AO_LOG_STATE */
 352                 struct {
 353                         uint16_t        state;          /* 4 */
 354                         uint16_t        reason;         /* 6 */
 355                 } state;        /* 8 */
 356                 /* AO_LOG_SENSOR */
 357                 struct {
 358                         uint32_t        pressure;       /* 4 */
 359                         uint32_t        pressure2;      /* 8 */
 360                         uint32_t        thrust;         /* 12 */
 361                         uint32_t        mass;           /* 16 */
 362                         uint16_t        t_low;          /* 20 */
 363                         uint16_t        t_high[4];      /* 22 */
 364                 } sensor;       /* 30 */
 365                 uint8_t         align[28];              /* 4 */
 366         } u;    /* 32 */
 367 };
 368
 369 struct ao_log_metrum {
 370         char                    type;                   /* 0 */
 371         uint8_t                 csum;                   /* 1 */
 372         uint16_t                tick;                   /* 2 */
 373         union {                                         /* 4 */
 374                 /* AO_LOG_FLIGHT */
 375                 struct {
 376                         uint16_t        flight;         /* 4 */
 377                         int16_t         ground_accel;   /* 6 */
 378                         uint32_t        ground_pres;    /* 8 */
 379                         uint32_t        ground_temp;    /* 12 */
 380                 } flight;       /* 16 */
 381                 /* AO_LOG_STATE */
 382                 struct {
 383                         uint16_t        state;          /* 4 */
 384                         uint16_t        reason;         /* 6 */
 385                 } state;        /* 8 */
 386                 /* AO_LOG_SENSOR */
 387                 struct {
 388                         uint32_t        pres;           /* 4 */
 389                         uint32_t        temp;           /* 8 */
 390                         int16_t         accel;          /* 12 */
 391                 } sensor;       /* 14 */
 392                 /* AO_LOG_TEMP_VOLT */
 393                 struct {
 394                         int16_t         v_batt;         /* 4 */
 395                         int16_t         sense_a;        /* 6 */
 396                         int16_t         sense_m;        /* 8 */
 397                 } volt;         /* 10 */
 398                 /* AO_LOG_GPS_POS */
 399                 struct {
 400                         int32_t         latitude;       /* 4 */
 401                         int32_t         longitude;      /* 8 */
 402                         uint16_t        altitude_low;   /* 12 */
 403                         int16_t         altitude_high;  /* 14 */
 404                 } gps;          /* 16 */
 405                 /* AO_LOG_GPS_TIME */
 406                 struct {
 407                         uint8_t         hour;           /* 4 */
 408                         uint8_t         minute;         /* 5 */
 409                         uint8_t         second;         /* 6 */
 410                         uint8_t         flags;          /* 7 */
 411                         uint8_t         year;           /* 8 */
 412                         uint8_t         month;          /* 9 */
 413                         uint8_t         day;            /* 10 */
 414                         uint8_t         pdop;           /* 11 */
 415                 } gps_time;     /* 12 */
 416                 /* AO_LOG_GPS_SAT (up to three packets) */
 417                 struct {
 418                         uint8_t channels;               /* 4 */
 419                         uint8_t more;                   /* 5 */
 420                         struct {
 421                                 uint8_t svid;
 422                                 uint8_t c_n;
 423                         } sats[4];                      /* 6 */
 424                 } gps_sat;                              /* 14 */
 425                 uint8_t         raw[12];                /* 4 */
 426         } u;    /* 16 */
 427 };
 428
 429 struct ao_log_mini {
 430         char            type;                           /* 0 */
 431         uint8_t         csum;                           /* 1 */
 432         uint16_t        tick;                           /* 2 */
 433         union {                                         /* 4 */
 434                 /* AO_LOG_FLIGHT */
 435                 struct {
 436                         uint16_t        flight;         /* 4 */
 437                         uint16_t        r6;
 438                         uint32_t        ground_pres;    /* 8 */
 439                 } flight;
 440                 /* AO_LOG_STATE */
 441                 struct {
 442                         uint16_t        state;          /* 4 */
 443                         uint16_t        reason;         /* 6 */
 444                 } state;
 445                 /* AO_LOG_SENSOR */
 446                 struct {
 447                         uint8_t         pres[3];        /* 4 */
 448                         uint8_t         temp[3];        /* 7 */
 449                         int16_t         sense_a;        /* 10 */
 450                         int16_t         sense_m;        /* 12 */
 451                         int16_t         v_batt;         /* 14 */
 452                 } sensor;                               /* 16 */
 453         } u;                                            /* 16 */
 454 };                                                      /* 16 */
 455
 456 #define ao_log_pack24(dst,value) do {           \
 457                 (dst)[0] = (value);             \
 458                 (dst)[1] = (value) >> 8;        \
 459                 (dst)[2] = (value) >> 16;       \
 460         } while (0)
 461
 462 struct ao_log_gps {
 463         char                    type;                   /* 0 */
 464         uint8_t                 csum;                   /* 1 */
 465         uint16_t                tick;                   /* 2 */
 466         union {                                         /* 4 */
 467                 /* AO_LOG_FLIGHT */
 468                 struct {
 469                         uint16_t        flight;                 /* 4 */
 470                         int16_t         start_altitude;         /* 6 */
 471                         int32_t         start_latitude;         /* 8 */
 472                         int32_t         start_longitude;        /* 12 */
 473                 } flight;                                       /* 16 */
 474                 /* AO_LOG_GPS_TIME */
 475                 struct {
 476                         int32_t         latitude;       /* 4 */
 477                         int32_t         longitude;      /* 8 */
 478                         uint16_t        altitude_low;   /* 12 */
 479                         uint8_t         hour;           /* 14 */
 480                         uint8_t         minute;         /* 15 */
 481                         uint8_t         second;         /* 16 */
 482                         uint8_t         flags;          /* 17 */
 483                         uint8_t         year;           /* 18 */
 484                         uint8_t         month;          /* 19 */
 485                         uint8_t         day;            /* 20 */
 486                         uint8_t         course;         /* 21 */
 487                         uint16_t        ground_speed;   /* 22 */
 488                         int16_t         climb_rate;     /* 24 */
 489                         uint8_t         pdop;           /* 26 */
 490                         uint8_t         hdop;           /* 27 */
 491                         uint8_t         vdop;           /* 28 */
 492                         uint8_t         mode;           /* 29 */
 493                         int16_t         altitude_high;  /* 30 */
 494                 } gps;  /* 31 */
 495                 /* AO_LOG_GPS_SAT */
 496                 struct {
 497                         uint16_t        channels;       /* 4 */
 498                         struct {
 499                                 uint8_t svid;
 500                                 uint8_t c_n;
 501                         } sats[12];                     /* 6 */
 502                 } gps_sat;                              /* 30 */
 503         } u;
 504 };
 505
 506 #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
 507 typedef struct ao_log_mega ao_log_type;
 508 #endif
 509
 510 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMETRUM
 511 typedef struct ao_log_metrum ao_log_type;
 512 #endif
 513
 514 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEFIRETWO
 515 typedef struct ao_log_firetwo ao_log_type;
 516 #endif
 517
 518 #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
 519 typedef struct ao_log_mini ao_log_type;
 520 #endif
 521
 522 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEGPS
 523 typedef struct ao_log_gps ao_log_type;
 524 #endif
 525
 526 #if AO_LOG_FORMAT == AO_LOG_FORMAT_FULL
 527 typedef struct ao_log_record ao_log_type;
 528 #endif
 529
 530 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TINY
 531 #define AO_LOG_UNCOMMON 1
 532 #endif
 533
 534 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMETRY
 535 #define AO_LOG_UNCOMMON 1
 536 #endif
 537
 538 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELESCIENCE
 539 #define AO_LOG_UNCOMMON 1
 540 #endif
 541
 542 #ifndef AO_LOG_UNCOMMON
 543 extern ao_log_type ao_log_data;
 544
 545 #define AO_LOG_SIZE sizeof(ao_log_type)
 546
 547 /* Write a record to the eeprom log */
 548
 549 uint8_t
 550 ao_log_write(ao_log_type *log);
 551 #endif
 552
 553 void
 554 ao_log_flush(void);
 555
 556 void
 557 ao_gps_report_metrum_init(void);
 558
 559 #endif /* _AO_LOG_H_ */