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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 int16_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_TELEMEGA_3        15      /* 32 byte typed telemega records with 32 bit gyro cal and mpu9250 */
  58 #define AO_LOG_FORMAT_NONE              127     /* No log at all */
  59
  60 /* Return the flight number from the given log slot, 0 if none, -slot on failure */
  61
  62 int16_t
  63 ao_log_flight(uint8_t slot);
  64
  65 /* Checksum the loaded log record */
  66 uint8_t
  67 ao_log_check_data(void);
  68
  69 /* Check to see if the loaded log record is empty */
  70 uint8_t
  71 ao_log_check_clear(void);
  72
  73 /* Check if there is valid log data at the specified location */
  74 #define AO_LOG_VALID    1
  75 #define AO_LOG_EMPTY    0
  76 #define AO_LOG_INVALID  -1
  77
  78 int8_t
  79 ao_log_check(uint32_t pos);
  80
  81 /* Flush the log */
  82 void
  83 ao_log_flush(void);
  84
  85 /* Logging thread main routine */
  86 void
  87 ao_log(void);
  88
  89 /* functions provided in ao_log.c */
  90
  91 /* Figure out the current flight number */
  92 uint8_t
  93 ao_log_scan(void) __reentrant;
  94
  95 /* Return the position of the start of the given log slot */
  96 uint32_t
  97 ao_log_pos(uint8_t slot);
  98
  99 /* Start logging to eeprom */
 100 void
 101 ao_log_start(void);
 102
 103 /* Stop logging */
 104 void
 105 ao_log_stop(void);
 106
 107 /* Initialize the logging system */
 108 void
 109 ao_log_init(void);
 110
 111 /* Write out the current flight number to the erase log */
 112 void
 113 ao_log_write_erase(uint8_t pos);
 114
 115 /* Returns true if there are any logs stored in eeprom */
 116 uint8_t
 117 ao_log_present(void);
 118
 119 /* Returns true if there is no more storage space available */
 120 uint8_t
 121 ao_log_full(void);
 122
 123 /*
 124  * ao_log_big.c
 125  */
 126
 127 /*
 128  * The data log is recorded in the eeprom as a sequence
 129  * of data packets.
 130  *
 131  * Each packet starts with a 4-byte header that has the
 132  * packet type, the packet checksum and the tick count. Then
 133  * they all contain 2 16 bit values which hold packet-specific
 134  * data.
 135  *
 136  * For each flight, the first packet
 137  * is FLIGHT packet, indicating the serial number of the
 138  * device and a unique number marking the number of flights
 139  * recorded by this device.
 140  *
 141  * During flight, data from the accelerometer and barometer
 142  * are recorded in SENSOR packets, using the raw 16-bit values
 143  * read from the A/D converter.
 144  *
 145  * Also during flight, but at a lower rate, the deployment
 146  * sensors are recorded in DEPLOY packets. The goal here is to
 147  * detect failure in the deployment circuits.
 148  *
 149  * STATE packets hold state transitions as the flight computer
 150  * transitions through different stages of the flight.
 151  */
 152 #define AO_LOG_FLIGHT           'F'
 153 #define AO_LOG_SENSOR           'A'
 154 #define AO_LOG_TEMP_VOLT        'T'
 155 #define AO_LOG_DEPLOY           'D'
 156 #define AO_LOG_STATE            'S'
 157 #define AO_LOG_GPS_TIME         'G'
 158 #define AO_LOG_GPS_LAT          'N'
 159 #define AO_LOG_GPS_LON          'W'
 160 #define AO_LOG_GPS_ALT          'H'
 161 #define AO_LOG_GPS_SAT          'V'
 162 #define AO_LOG_GPS_DATE         'Y'
 163 #define AO_LOG_GPS_POS          'P'
 164
 165 #define AO_LOG_POS_NONE         (~0UL)
 166
 167 struct ao_log_record {
 168         char                    type;                           /* 0 */
 169         uint8_t                 csum;                           /* 1 */
 170         uint16_t                tick;                           /* 2 */
 171         union {
 172                 struct {
 173                         int16_t         ground_accel;           /* 4 */
 174                         uint16_t        flight;                 /* 6 */
 175                 } flight;
 176                 struct {
 177                         int16_t         accel;                  /* 4 */
 178                         int16_t         pres;                   /* 6 */
 179                 } sensor;
 180                 struct {
 181                         int16_t         temp;
 182                         int16_t         v_batt;
 183                 } temp_volt;
 184                 struct {
 185                         int16_t         drogue;
 186                         int16_t         main;
 187                 } deploy;
 188                 struct {
 189                         uint16_t        state;
 190                         uint16_t        reason;
 191                 } state;
 192                 struct {
 193                         uint8_t         hour;
 194                         uint8_t         minute;
 195                         uint8_t         second;
 196                         uint8_t         flags;
 197                 } gps_time;
 198                 int32_t         gps_latitude;
 199                 int32_t         gps_longitude;
 200                 struct {
 201                         uint16_t        altitude_low;
 202                         int16_t         altitude_high;
 203                 } gps_altitude;
 204                 struct {
 205                         uint16_t        svid;
 206                         uint8_t         unused;
 207                         uint8_t         c_n;
 208                 } gps_sat;
 209                 struct {
 210                         uint8_t         year;
 211                         uint8_t         month;
 212                         uint8_t         day;
 213                         uint8_t         extra;
 214                 } gps_date;
 215                 struct {
 216                         uint16_t        d0;
 217                         uint16_t        d1;
 218                 } anon;
 219         } u;
 220 };
 221
 222 struct ao_log_mega {
 223         char                    type;                   /* 0 */
 224         uint8_t                 csum;                   /* 1 */
 225         uint16_t                tick;                   /* 2 */
 226         union {                                         /* 4 */
 227                 /* AO_LOG_FLIGHT */
 228                 struct {
 229                         uint16_t        flight;                 /* 4 */
 230                         int16_t         ground_accel;           /* 6 */
 231                         uint32_t        ground_pres;            /* 8 */
 232                         int16_t         ground_accel_along;     /* 12 */
 233                         int16_t         ground_accel_across;    /* 14 */
 234                         int16_t         ground_accel_through;   /* 16 */
 235                         int16_t         pad_18;                 /* 18 */
 236                         int32_t         ground_roll;            /* 20 */
 237                         int32_t         ground_pitch;           /* 24 */
 238                         int32_t         ground_yaw;             /* 28 */
 239                 } flight;                                       /* 32 */
 240                 struct {
 241                         uint16_t        flight;                 /* 4 */
 242                         int16_t         ground_accel;           /* 6 */
 243                         uint32_t        ground_pres;            /* 8 */
 244                         int16_t         ground_accel_along;     /* 12 */
 245                         int16_t         ground_accel_across;    /* 14 */
 246                         int16_t         ground_accel_through;   /* 16 */
 247                         int16_t         ground_roll;            /* 18 */
 248                         int16_t         ground_pitch;           /* 20 */
 249                         int16_t         ground_yaw;             /* 22 */
 250                 } flight_old;                                   /* 24 */
 251                 /* AO_LOG_STATE */
 252                 struct {
 253                         uint16_t        state;
 254                         uint16_t        reason;
 255                 } state;
 256                 /* AO_LOG_SENSOR */
 257                 struct {
 258                         uint32_t        pres;           /* 4 */
 259                         uint32_t        temp;           /* 8 */
 260                         int16_t         accel_x;        /* 12 */
 261                         int16_t         accel_y;        /* 14 */
 262                         int16_t         accel_z;        /* 16 */
 263                         int16_t         gyro_x;         /* 18 */
 264                         int16_t         gyro_y;         /* 20 */
 265                         int16_t         gyro_z;         /* 22 */
 266                         int16_t         mag_x;          /* 24 */
 267                         int16_t         mag_z;          /* 26 */
 268                         int16_t         mag_y;          /* 28 */
 269                         int16_t         accel;          /* 30 */
 270                 } sensor;       /* 32 */
 271                 /* AO_LOG_TEMP_VOLT */
 272                 struct {
 273                         int16_t         v_batt;         /* 4 */
 274                         int16_t         v_pbatt;        /* 6 */
 275                         int16_t         n_sense;        /* 8 */
 276                         int16_t         sense[10];      /* 10 */
 277                         uint16_t        pyro;           /* 30 */
 278                 } volt;                                 /* 32 */
 279                 /* AO_LOG_GPS_TIME */
 280                 struct {
 281                         int32_t         latitude;       /* 4 */
 282                         int32_t         longitude;      /* 8 */
 283                         uint16_t        altitude_low;   /* 12 */
 284                         uint8_t         hour;           /* 14 */
 285                         uint8_t         minute;         /* 15 */
 286                         uint8_t         second;         /* 16 */
 287                         uint8_t         flags;          /* 17 */
 288                         uint8_t         year;           /* 18 */
 289                         uint8_t         month;          /* 19 */
 290                         uint8_t         day;            /* 20 */
 291                         uint8_t         course;         /* 21 */
 292                         uint16_t        ground_speed;   /* 22 */
 293                         int16_t         climb_rate;     /* 24 */
 294                         uint8_t         pdop;           /* 26 */
 295                         uint8_t         hdop;           /* 27 */
 296                         uint8_t         vdop;           /* 28 */
 297                         uint8_t         mode;           /* 29 */
 298                         int16_t         altitude_high;  /* 30 */
 299                 } gps;  /* 32 */
 300                 /* AO_LOG_GPS_SAT */
 301                 struct {
 302                         uint16_t        channels;       /* 4 */
 303                         struct {
 304                                 uint8_t svid;
 305                                 uint8_t c_n;
 306                         } sats[12];                     /* 6 */
 307                 } gps_sat;                              /* 30 */
 308         } u;
 309 };
 310
 311 #define AO_LOG_MEGA_GPS_ALTITUDE(l)     ((int32_t) ((l)->u.gps.altitude_high << 16) | ((l)->u.gps.altitude_low))
 312 #define AO_LOG_MEGA_SET_GPS_ALTITUDE(l,a)       (((l)->u.gps.mode |= AO_GPS_MODE_ALTITUDE_24), \
 313                                                  ((l)->u.gps.altitude_high = (a) >> 16), \
 314                                                  (l)->u.gps.altitude_low = (a))
 315
 316 struct ao_log_firetwo {
 317         char                    type;                   /* 0 */
 318         uint8_t                 csum;                   /* 1 */
 319         uint16_t                tick;                   /* 2 */
 320         union {                                         /* 4 */
 321                 /* AO_LOG_FLIGHT */
 322                 struct {
 323                         uint16_t        flight;         /* 4 */
 324                 } flight;       /* 6 */
 325                 /* AO_LOG_STATE */
 326                 struct {
 327                         uint16_t        state;          /* 4 */
 328                         uint16_t        reason;         /* 6 */
 329                 } state;        /* 8 */
 330                 /* AO_LOG_SENSOR */
 331                 struct {
 332                         uint16_t        pressure;       /* 4 */
 333                         uint16_t        thrust;         /* 6 */
 334                         uint16_t        thermistor[4];  /* 8 */
 335                 } sensor;       /* 24 */
 336                 uint8_t         align[28];              /* 4 */
 337         } u;    /* 32 */
 338 };
 339
 340 struct ao_log_metrum {
 341         char                    type;                   /* 0 */
 342         uint8_t                 csum;                   /* 1 */
 343         uint16_t                tick;                   /* 2 */
 344         union {                                         /* 4 */
 345                 /* AO_LOG_FLIGHT */
 346                 struct {
 347                         uint16_t        flight;         /* 4 */
 348                         int16_t         ground_accel;   /* 6 */
 349                         uint32_t        ground_pres;    /* 8 */
 350                         uint32_t        ground_temp;    /* 12 */
 351                 } flight;       /* 16 */
 352                 /* AO_LOG_STATE */
 353                 struct {
 354                         uint16_t        state;          /* 4 */
 355                         uint16_t        reason;         /* 6 */
 356                 } state;        /* 8 */
 357                 /* AO_LOG_SENSOR */
 358                 struct {
 359                         uint32_t        pres;           /* 4 */
 360                         uint32_t        temp;           /* 8 */
 361                         int16_t         accel;          /* 12 */
 362                 } sensor;       /* 14 */
 363                 /* AO_LOG_TEMP_VOLT */
 364                 struct {
 365                         int16_t         v_batt;         /* 4 */
 366                         int16_t         sense_a;        /* 6 */
 367                         int16_t         sense_m;        /* 8 */
 368                 } volt;         /* 10 */
 369                 /* AO_LOG_GPS_POS */
 370                 struct {
 371                         int32_t         latitude;       /* 4 */
 372                         int32_t         longitude;      /* 8 */
 373                         uint16_t        altitude_low;   /* 12 */
 374                         int16_t         altitude_high;  /* 14 */
 375                 } gps;          /* 16 */
 376                 /* AO_LOG_GPS_TIME */
 377                 struct {
 378                         uint8_t         hour;           /* 4 */
 379                         uint8_t         minute;         /* 5 */
 380                         uint8_t         second;         /* 6 */
 381                         uint8_t         flags;          /* 7 */
 382                         uint8_t         year;           /* 8 */
 383                         uint8_t         month;          /* 9 */
 384                         uint8_t         day;            /* 10 */
 385                         uint8_t         pdop;           /* 11 */
 386                 } gps_time;     /* 12 */
 387                 /* AO_LOG_GPS_SAT (up to three packets) */
 388                 struct {
 389                         uint8_t channels;               /* 4 */
 390                         uint8_t more;                   /* 5 */
 391                         struct {
 392                                 uint8_t svid;
 393                                 uint8_t c_n;
 394                         } sats[4];                      /* 6 */
 395                 } gps_sat;                              /* 14 */
 396                 uint8_t         raw[12];                /* 4 */
 397         } u;    /* 16 */
 398 };
 399
 400 struct ao_log_mini {
 401         char            type;                           /* 0 */
 402         uint8_t         csum;                           /* 1 */
 403         uint16_t        tick;                           /* 2 */
 404         union {                                         /* 4 */
 405                 /* AO_LOG_FLIGHT */
 406                 struct {
 407                         uint16_t        flight;         /* 4 */
 408                         uint16_t        r6;
 409                         uint32_t        ground_pres;    /* 8 */
 410                 } flight;
 411                 /* AO_LOG_STATE */
 412                 struct {
 413                         uint16_t        state;          /* 4 */
 414                         uint16_t        reason;         /* 6 */
 415                 } state;
 416                 /* AO_LOG_SENSOR */
 417                 struct {
 418                         uint8_t         pres[3];        /* 4 */
 419                         uint8_t         temp[3];        /* 7 */
 420                         int16_t         sense_a;        /* 10 */
 421                         int16_t         sense_m;        /* 12 */
 422                         int16_t         v_batt;         /* 14 */
 423                 } sensor;                               /* 16 */
 424         } u;                                            /* 16 */
 425 };                                                      /* 16 */
 426
 427 #define ao_log_pack24(dst,value) do {           \
 428                 (dst)[0] = (value);             \
 429                 (dst)[1] = (value) >> 8;        \
 430                 (dst)[2] = (value) >> 16;       \
 431         } while (0)
 432
 433 struct ao_log_gps {
 434         char                    type;                   /* 0 */
 435         uint8_t                 csum;                   /* 1 */
 436         uint16_t                tick;                   /* 2 */
 437         union {                                         /* 4 */
 438                 /* AO_LOG_FLIGHT */
 439                 struct {
 440                         uint16_t        flight;                 /* 4 */
 441                         int16_t         start_altitude;         /* 6 */
 442                         int32_t         start_latitude;         /* 8 */
 443                         int32_t         start_longitude;        /* 12 */
 444                 } flight;                                       /* 16 */
 445                 /* AO_LOG_GPS_TIME */
 446                 struct {
 447                         int32_t         latitude;       /* 4 */
 448                         int32_t         longitude;      /* 8 */
 449                         uint16_t        altitude_low;   /* 12 */
 450                         uint8_t         hour;           /* 14 */
 451                         uint8_t         minute;         /* 15 */
 452                         uint8_t         second;         /* 16 */
 453                         uint8_t         flags;          /* 17 */
 454                         uint8_t         year;           /* 18 */
 455                         uint8_t         month;          /* 19 */
 456                         uint8_t         day;            /* 20 */
 457                         uint8_t         course;         /* 21 */
 458                         uint16_t        ground_speed;   /* 22 */
 459                         int16_t         climb_rate;     /* 24 */
 460                         uint8_t         pdop;           /* 26 */
 461                         uint8_t         hdop;           /* 27 */
 462                         uint8_t         vdop;           /* 28 */
 463                         uint8_t         mode;           /* 29 */
 464                         int16_t         altitude_high;  /* 30 */
 465                 } gps;  /* 31 */
 466                 /* AO_LOG_GPS_SAT */
 467                 struct {
 468                         uint16_t        channels;       /* 4 */
 469                         struct {
 470                                 uint8_t svid;
 471                                 uint8_t c_n;
 472                         } sats[12];                     /* 6 */
 473                 } gps_sat;                              /* 30 */
 474         } u;
 475 };
 476
 477 #if AO_LOG_FORMAT == AO_LOG_FOMAT_TELEMEGA_OLD || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_3
 478 typedef struct ao_log_mega ao_log_type;
 479 #endif
 480
 481 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMETRUM
 482 typedef struct ao_log_metrum ao_log_type;
 483 #endif
 484
 485 #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
 486 typedef struct ao_log_mini ao_log_type;
 487 #endif
 488
 489 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEGPS
 490 typedef struct ao_log_gps ao_log_type;
 491 #endif
 492
 493 #if AO_LOG_FORMAT == AO_LOG_FORMAT_FULL
 494 typedef struct ao_log_record ao_log_type;
 495 #endif
 496
 497 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TINY
 498 #define AO_LOG_UNCOMMON 1
 499 #endif
 500
 501 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMETRY
 502 #define AO_LOG_UNCOMMON 1
 503 #endif
 504
 505 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELESCIENCE
 506 #define AO_LOG_UNCOMMON 1
 507 #endif
 508
 509 #ifndef AO_LOG_UNCOMMON
 510 extern __xdata ao_log_type ao_log_data;
 511
 512 #define AO_LOG_SIZE sizeof(ao_log_type)
 513
 514 /* Write a record to the eeprom log */
 515
 516 uint8_t
 517 ao_log_write(__xdata ao_log_type *log) __reentrant;
 518 #endif
 519
 520 void
 521 ao_log_flush(void);
 522
 523 void
 524 ao_gps_report_metrum_init(void);
 525
 526 #endif /* _AO_LOG_H_ */