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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 __xdata uint16_t ao_flight_number;
  33 extern __xdata uint8_t  ao_log_mutex;
  34 extern __pdata uint32_t ao_log_current_pos;
  35 extern __pdata uint32_t ao_log_end_pos;
  36 extern __pdata uint32_t ao_log_start_pos;
  37 extern __xdata uint8_t  ao_log_running;
  38 extern __pdata 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_NONE              127     /* No log at all */
  58
  59 extern __code uint8_t ao_log_format;
  60 extern __code uint8_t ao_log_size;
  61
  62 /* Return the flight number from the given log slot, 0 if none */
  63 uint16_t
  64 ao_log_flight(uint8_t slot);
  65
  66 /* Check if there is valid log data at the specified location */
  67 uint8_t
  68 ao_log_check(uint32_t pos);
  69
  70 /* Flush the log */
  71 void
  72 ao_log_flush(void);
  73
  74 /* Logging thread main routine */
  75 void
  76 ao_log(void);
  77
  78 /* functions provided in ao_log.c */
  79
  80 /* Figure out the current flight number */
  81 uint8_t
  82 ao_log_scan(void) __reentrant;
  83
  84 /* Return the position of the start of the given log slot */
  85 uint32_t
  86 ao_log_pos(uint8_t slot);
  87
  88 /* Start logging to eeprom */
  89 void
  90 ao_log_start(void);
  91
  92 /* Stop logging */
  93 void
  94 ao_log_stop(void);
  95
  96 /* Initialize the logging system */
  97 void
  98 ao_log_init(void);
  99
 100 /* Write out the current flight number to the erase log */
 101 void
 102 ao_log_write_erase(uint8_t pos);
 103
 104 /* Returns true if there are any logs stored in eeprom */
 105 uint8_t
 106 ao_log_present(void);
 107
 108 /* Returns true if there is no more storage space available */
 109 uint8_t
 110 ao_log_full(void);
 111
 112 /*
 113  * ao_log_big.c
 114  */
 115
 116 /*
 117  * The data log is recorded in the eeprom as a sequence
 118  * of data packets.
 119  *
 120  * Each packet starts with a 4-byte header that has the
 121  * packet type, the packet checksum and the tick count. Then
 122  * they all contain 2 16 bit values which hold packet-specific
 123  * data.
 124  *
 125  * For each flight, the first packet
 126  * is FLIGHT packet, indicating the serial number of the
 127  * device and a unique number marking the number of flights
 128  * recorded by this device.
 129  *
 130  * During flight, data from the accelerometer and barometer
 131  * are recorded in SENSOR packets, using the raw 16-bit values
 132  * read from the A/D converter.
 133  *
 134  * Also during flight, but at a lower rate, the deployment
 135  * sensors are recorded in DEPLOY packets. The goal here is to
 136  * detect failure in the deployment circuits.
 137  *
 138  * STATE packets hold state transitions as the flight computer
 139  * transitions through different stages of the flight.
 140  */
 141 #define AO_LOG_FLIGHT           'F'
 142 #define AO_LOG_SENSOR           'A'
 143 #define AO_LOG_TEMP_VOLT        'T'
 144 #define AO_LOG_DEPLOY           'D'
 145 #define AO_LOG_STATE            'S'
 146 #define AO_LOG_GPS_TIME         'G'
 147 #define AO_LOG_GPS_LAT          'N'
 148 #define AO_LOG_GPS_LON          'W'
 149 #define AO_LOG_GPS_ALT          'H'
 150 #define AO_LOG_GPS_SAT          'V'
 151 #define AO_LOG_GPS_DATE         'Y'
 152 #define AO_LOG_GPS_POS          'P'
 153
 154 #define AO_LOG_POS_NONE         (~0UL)
 155
 156 struct ao_log_record {
 157         char                    type;                           /* 0 */
 158         uint8_t                 csum;                           /* 1 */
 159         uint16_t                tick;                           /* 2 */
 160         union {
 161                 struct {
 162                         int16_t         ground_accel;           /* 4 */
 163                         uint16_t        flight;                 /* 6 */
 164                 } flight;
 165                 struct {
 166                         int16_t         accel;                  /* 4 */
 167                         int16_t         pres;                   /* 6 */
 168                 } sensor;
 169                 struct {
 170                         int16_t         temp;
 171                         int16_t         v_batt;
 172                 } temp_volt;
 173                 struct {
 174                         int16_t         drogue;
 175                         int16_t         main;
 176                 } deploy;
 177                 struct {
 178                         uint16_t        state;
 179                         uint16_t        reason;
 180                 } state;
 181                 struct {
 182                         uint8_t         hour;
 183                         uint8_t         minute;
 184                         uint8_t         second;
 185                         uint8_t         flags;
 186                 } gps_time;
 187                 int32_t         gps_latitude;
 188                 int32_t         gps_longitude;
 189                 struct {
 190                         uint16_t        altitude_low;
 191                         int16_t         altitude_high;
 192                 } gps_altitude;
 193                 struct {
 194                         uint16_t        svid;
 195                         uint8_t         unused;
 196                         uint8_t         c_n;
 197                 } gps_sat;
 198                 struct {
 199                         uint8_t         year;
 200                         uint8_t         month;
 201                         uint8_t         day;
 202                         uint8_t         extra;
 203                 } gps_date;
 204                 struct {
 205                         uint16_t        d0;
 206                         uint16_t        d1;
 207                 } anon;
 208         } u;
 209 };
 210
 211 struct ao_log_mega {
 212         char                    type;                   /* 0 */
 213         uint8_t                 csum;                   /* 1 */
 214         uint16_t                tick;                   /* 2 */
 215         union {                                         /* 4 */
 216                 /* AO_LOG_FLIGHT */
 217                 struct {
 218                         uint16_t        flight;                 /* 4 */
 219                         int16_t         ground_accel;           /* 6 */
 220                         uint32_t        ground_pres;            /* 8 */
 221                         int16_t         ground_accel_along;     /* 12 */
 222                         int16_t         ground_accel_across;    /* 14 */
 223                         int16_t         ground_accel_through;   /* 16 */
 224                         int16_t         pad_18;                 /* 18 */
 225                         int32_t         ground_roll;            /* 20 */
 226                         int32_t         ground_pitch;           /* 24 */
 227                         int32_t         ground_yaw;             /* 28 */
 228                 } flight;                                       /* 32 */
 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         ground_roll;            /* 18 */
 237                         int16_t         ground_pitch;           /* 20 */
 238                         int16_t         ground_yaw;             /* 22 */
 239                 } flight_old;                                   /* 24 */
 240                 /* AO_LOG_STATE */
 241                 struct {
 242                         uint16_t        state;
 243                         uint16_t        reason;
 244                 } state;
 245                 /* AO_LOG_SENSOR */
 246                 struct {
 247                         uint32_t        pres;           /* 4 */
 248                         uint32_t        temp;           /* 8 */
 249                         int16_t         accel_x;        /* 12 */
 250                         int16_t         accel_y;        /* 14 */
 251                         int16_t         accel_z;        /* 16 */
 252                         int16_t         gyro_x;         /* 18 */
 253                         int16_t         gyro_y;         /* 20 */
 254                         int16_t         gyro_z;         /* 22 */
 255                         int16_t         mag_x;          /* 24 */
 256                         int16_t         mag_z;          /* 26 */
 257                         int16_t         mag_y;          /* 28 */
 258                         int16_t         accel;          /* 30 */
 259                 } sensor;       /* 32 */
 260                 /* AO_LOG_TEMP_VOLT */
 261                 struct {
 262                         int16_t         v_batt;         /* 4 */
 263                         int16_t         v_pbatt;        /* 6 */
 264                         int16_t         n_sense;        /* 8 */
 265                         int16_t         sense[10];      /* 10 */
 266                         uint16_t        pyro;           /* 30 */
 267                 } volt;                                 /* 32 */
 268                 /* AO_LOG_GPS_TIME */
 269                 struct {
 270                         int32_t         latitude;       /* 4 */
 271                         int32_t         longitude;      /* 8 */
 272                         uint16_t        altitude_low;   /* 12 */
 273                         uint8_t         hour;           /* 14 */
 274                         uint8_t         minute;         /* 15 */
 275                         uint8_t         second;         /* 16 */
 276                         uint8_t         flags;          /* 17 */
 277                         uint8_t         year;           /* 18 */
 278                         uint8_t         month;          /* 19 */
 279                         uint8_t         day;            /* 20 */
 280                         uint8_t         course;         /* 21 */
 281                         uint16_t        ground_speed;   /* 22 */
 282                         int16_t         climb_rate;     /* 24 */
 283                         uint8_t         pdop;           /* 26 */
 284                         uint8_t         hdop;           /* 27 */
 285                         uint8_t         vdop;           /* 28 */
 286                         uint8_t         mode;           /* 29 */
 287                         int16_t         altitude_high;  /* 30 */
 288                 } gps;  /* 32 */
 289                 /* AO_LOG_GPS_SAT */
 290                 struct {
 291                         uint16_t        channels;       /* 4 */
 292                         struct {
 293                                 uint8_t svid;
 294                                 uint8_t c_n;
 295                         } sats[12];                     /* 6 */
 296                 } gps_sat;                              /* 30 */
 297         } u;
 298 };
 299
 300 #define AO_LOG_MEGA_GPS_ALTITUDE(l)     ((int32_t) ((l)->u.gps.altitude_high << 16) | ((l)->u.gps.altitude_low))
 301 #define AO_LOG_MEGA_SET_GPS_ALTITUDE(l,a)       (((l)->u.gps.mode |= AO_GPS_MODE_ALTITUDE_24), \
 302                                                  ((l)->u.gps.altitude_high = (a) >> 16), \
 303                                                  (l)->u.gps.altitude_low = (a))
 304
 305 struct ao_log_firetwo {
 306         char                    type;                   /* 0 */
 307         uint8_t                 csum;                   /* 1 */
 308         uint16_t                tick;                   /* 2 */
 309         union {                                         /* 4 */
 310                 /* AO_LOG_FLIGHT */
 311                 struct {
 312                         uint16_t        flight;         /* 4 */
 313                 } flight;       /* 6 */
 314                 /* AO_LOG_STATE */
 315                 struct {
 316                         uint16_t        state;          /* 4 */
 317                         uint16_t        reason;         /* 6 */
 318                 } state;        /* 8 */
 319                 /* AO_LOG_SENSOR */
 320                 struct {
 321                         uint16_t        pressure;       /* 4 */
 322                         uint16_t        thrust;         /* 6 */
 323                         uint16_t        thermistor[4];  /* 8 */
 324                 } sensor;       /* 24 */
 325                 uint8_t         align[28];              /* 4 */
 326         } u;    /* 32 */
 327 };
 328
 329 struct ao_log_metrum {
 330         char                    type;                   /* 0 */
 331         uint8_t                 csum;                   /* 1 */
 332         uint16_t                tick;                   /* 2 */
 333         union {                                         /* 4 */
 334                 /* AO_LOG_FLIGHT */
 335                 struct {
 336                         uint16_t        flight;         /* 4 */
 337                         int16_t         ground_accel;   /* 6 */
 338                         uint32_t        ground_pres;    /* 8 */
 339                         uint32_t        ground_temp;    /* 12 */
 340                 } flight;       /* 16 */
 341                 /* AO_LOG_STATE */
 342                 struct {
 343                         uint16_t        state;          /* 4 */
 344                         uint16_t        reason;         /* 6 */
 345                 } state;        /* 8 */
 346                 /* AO_LOG_SENSOR */
 347                 struct {
 348                         uint32_t        pres;           /* 4 */
 349                         uint32_t        temp;           /* 8 */
 350                         int16_t         accel;          /* 12 */
 351                 } sensor;       /* 14 */
 352                 /* AO_LOG_TEMP_VOLT */
 353                 struct {
 354                         int16_t         v_batt;         /* 4 */
 355                         int16_t         sense_a;        /* 6 */
 356                         int16_t         sense_m;        /* 8 */
 357                 } volt;         /* 10 */
 358                 /* AO_LOG_GPS_POS */
 359                 struct {
 360                         int32_t         latitude;       /* 4 */
 361                         int32_t         longitude;      /* 8 */
 362                         uint16_t        altitude_low;   /* 12 */
 363                         int16_t         altitude_high;  /* 14 */
 364                 } gps;          /* 16 */
 365                 /* AO_LOG_GPS_TIME */
 366                 struct {
 367                         uint8_t         hour;           /* 4 */
 368                         uint8_t         minute;         /* 5 */
 369                         uint8_t         second;         /* 6 */
 370                         uint8_t         flags;          /* 7 */
 371                         uint8_t         year;           /* 8 */
 372                         uint8_t         month;          /* 9 */
 373                         uint8_t         day;            /* 10 */
 374                         uint8_t         pdop;           /* 11 */
 375                 } gps_time;     /* 12 */
 376                 /* AO_LOG_GPS_SAT (up to three packets) */
 377                 struct {
 378                         uint8_t channels;               /* 4 */
 379                         uint8_t more;                   /* 5 */
 380                         struct {
 381                                 uint8_t svid;
 382                                 uint8_t c_n;
 383                         } sats[4];                      /* 6 */
 384                 } gps_sat;                              /* 14 */
 385                 uint8_t         raw[12];                /* 4 */
 386         } u;    /* 16 */
 387 };
 388
 389 struct ao_log_mini {
 390         char            type;                           /* 0 */
 391         uint8_t         csum;                           /* 1 */
 392         uint16_t        tick;                           /* 2 */
 393         union {                                         /* 4 */
 394                 /* AO_LOG_FLIGHT */
 395                 struct {
 396                         uint16_t        flight;         /* 4 */
 397                         uint16_t        r6;
 398                         uint32_t        ground_pres;    /* 8 */
 399                 } flight;
 400                 /* AO_LOG_STATE */
 401                 struct {
 402                         uint16_t        state;          /* 4 */
 403                         uint16_t        reason;         /* 6 */
 404                 } state;
 405                 /* AO_LOG_SENSOR */
 406                 struct {
 407                         uint8_t         pres[3];        /* 4 */
 408                         uint8_t         temp[3];        /* 7 */
 409                         int16_t         sense_a;        /* 10 */
 410                         int16_t         sense_m;        /* 12 */
 411                         int16_t         v_batt;         /* 14 */
 412                 } sensor;                               /* 16 */
 413         } u;                                            /* 16 */
 414 };                                                      /* 16 */
 415
 416 #define ao_log_pack24(dst,value) do {           \
 417                 (dst)[0] = (value);             \
 418                 (dst)[1] = (value) >> 8;        \
 419                 (dst)[2] = (value) >> 16;       \
 420         } while (0)
 421
 422 struct ao_log_gps {
 423         char                    type;                   /* 0 */
 424         uint8_t                 csum;                   /* 1 */
 425         uint16_t                tick;                   /* 2 */
 426         union {                                         /* 4 */
 427                 /* AO_LOG_FLIGHT */
 428                 struct {
 429                         uint16_t        flight;                 /* 4 */
 430                         int16_t         start_altitude;         /* 6 */
 431                         int32_t         start_latitude;         /* 8 */
 432                         int32_t         start_longitude;        /* 12 */
 433                 } flight;                                       /* 16 */
 434                 /* AO_LOG_GPS_TIME */
 435                 struct {
 436                         int32_t         latitude;       /* 4 */
 437                         int32_t         longitude;      /* 8 */
 438                         uint16_t        altitude_low;   /* 12 */
 439                         uint8_t         hour;           /* 14 */
 440                         uint8_t         minute;         /* 15 */
 441                         uint8_t         second;         /* 16 */
 442                         uint8_t         flags;          /* 17 */
 443                         uint8_t         year;           /* 18 */
 444                         uint8_t         month;          /* 19 */
 445                         uint8_t         day;            /* 20 */
 446                         uint8_t         course;         /* 21 */
 447                         uint16_t        ground_speed;   /* 22 */
 448                         int16_t         climb_rate;     /* 24 */
 449                         uint8_t         pdop;           /* 26 */
 450                         uint8_t         hdop;           /* 27 */
 451                         uint8_t         vdop;           /* 28 */
 452                         uint8_t         mode;           /* 29 */
 453                         int16_t         altitude_high;  /* 30 */
 454                 } gps;  /* 31 */
 455                 /* AO_LOG_GPS_SAT */
 456                 struct {
 457                         uint16_t        channels;       /* 4 */
 458                         struct {
 459                                 uint8_t svid;
 460                                 uint8_t c_n;
 461                         } sats[12];                     /* 6 */
 462                 } gps_sat;                              /* 30 */
 463         } u;
 464 };
 465
 466 /* Write a record to the eeprom log */
 467 uint8_t
 468 ao_log_data(__xdata struct ao_log_record *log) __reentrant;
 469
 470 uint8_t
 471 ao_log_mega(__xdata struct ao_log_mega *log) __reentrant;
 472
 473 uint8_t
 474 ao_log_metrum(__xdata struct ao_log_metrum *log) __reentrant;
 475
 476 uint8_t
 477 ao_log_mini(__xdata struct ao_log_mini *log) __reentrant;
 478
 479 uint8_t
 480 ao_log_gps(__xdata struct ao_log_gps *log) __reentrant;
 481
 482 void
 483 ao_log_flush(void);
 484
 485 void
 486 ao_gps_report_metrum_init(void);
 487
 488 #endif /* _AO_LOG_H_ */