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

   1 /*
   2  * Copyright © 2012 Keith Packard <keithp@keithp.com>
   3  *
   4  * This program is free software; you can redistribute it and/or modify
   5  * it under the terms of the GNU General Public License as published by
   6  * the Free Software Foundation; 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_OLD      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_TELEMEGA          10      /* 32 byte typed telemega records with 32 bit gyro cal */
  52 #define AO_LOG_FORMAT_DETHERM           11      /* 16-byte MS5607 baro only, no ADC */
  53 #define AO_LOG_FORMAT_NONE              127     /* No log at all */
  54
  55 extern __code uint8_t ao_log_format;
  56 extern __code uint8_t ao_log_size;
  57
  58 /* Return the flight number from the given log slot, 0 if none */
  59 uint16_t
  60 ao_log_flight(uint8_t slot);
  61
  62 /* Check if there is valid log data at the specified location */
  63 uint8_t
  64 ao_log_check(uint32_t pos);
  65
  66 /* Flush the log */
  67 void
  68 ao_log_flush(void);
  69
  70 /* Logging thread main routine */
  71 void
  72 ao_log(void);
  73
  74 /* functions provided in ao_log.c */
  75
  76 /* Figure out the current flight number */
  77 uint8_t
  78 ao_log_scan(void) __reentrant;
  79
  80 /* Return the position of the start of the given log slot */
  81 uint32_t
  82 ao_log_pos(uint8_t slot);
  83
  84 /* Start logging to eeprom */
  85 void
  86 ao_log_start(void);
  87
  88 /* Stop logging */
  89 void
  90 ao_log_stop(void);
  91
  92 /* Initialize the logging system */
  93 void
  94 ao_log_init(void);
  95
  96 /* Write out the current flight number to the erase log */
  97 void
  98 ao_log_write_erase(uint8_t pos);
  99
 100 /* Returns true if there are any logs stored in eeprom */
 101 uint8_t
 102 ao_log_present(void);
 103
 104 /* Returns true if there is no more storage space available */
 105 uint8_t
 106 ao_log_full(void);
 107
 108 /*
 109  * ao_log_big.c
 110  */
 111
 112 /*
 113  * The data log is recorded in the eeprom as a sequence
 114  * of data packets.
 115  *
 116  * Each packet starts with a 4-byte header that has the
 117  * packet type, the packet checksum and the tick count. Then
 118  * they all contain 2 16 bit values which hold packet-specific
 119  * data.
 120  *
 121  * For each flight, the first packet
 122  * is FLIGHT packet, indicating the serial number of the
 123  * device and a unique number marking the number of flights
 124  * recorded by this device.
 125  *
 126  * During flight, data from the accelerometer and barometer
 127  * are recorded in SENSOR packets, using the raw 16-bit values
 128  * read from the A/D converter.
 129  *
 130  * Also during flight, but at a lower rate, the deployment
 131  * sensors are recorded in DEPLOY packets. The goal here is to
 132  * detect failure in the deployment circuits.
 133  *
 134  * STATE packets hold state transitions as the flight computer
 135  * transitions through different stages of the flight.
 136  */
 137 #define AO_LOG_FLIGHT           'F'
 138 #define AO_LOG_SENSOR           'A'
 139 #define AO_LOG_TEMP_VOLT        'T'
 140 #define AO_LOG_DEPLOY           'D'
 141 #define AO_LOG_STATE            'S'
 142 #define AO_LOG_GPS_TIME         'G'
 143 #define AO_LOG_GPS_LAT          'N'
 144 #define AO_LOG_GPS_LON          'W'
 145 #define AO_LOG_GPS_ALT          'H'
 146 #define AO_LOG_GPS_SAT          'V'
 147 #define AO_LOG_GPS_DATE         'Y'
 148 #define AO_LOG_GPS_POS          'P'
 149
 150 #define AO_LOG_POS_NONE         (~0UL)
 151
 152 struct ao_log_record {
 153         char                    type;                           /* 0 */
 154         uint8_t                 csum;                           /* 1 */
 155         uint16_t                tick;                           /* 2 */
 156         union {
 157                 struct {
 158                         int16_t         ground_accel;           /* 4 */
 159                         uint16_t        flight;                 /* 6 */
 160                 } flight;
 161                 struct {
 162                         int16_t         accel;                  /* 4 */
 163                         int16_t         pres;                   /* 6 */
 164                 } sensor;
 165                 struct {
 166                         int16_t         temp;
 167                         int16_t         v_batt;
 168                 } temp_volt;
 169                 struct {
 170                         int16_t         drogue;
 171                         int16_t         main;
 172                 } deploy;
 173                 struct {
 174                         uint16_t        state;
 175                         uint16_t        reason;
 176                 } state;
 177                 struct {
 178                         uint8_t         hour;
 179                         uint8_t         minute;
 180                         uint8_t         second;
 181                         uint8_t         flags;
 182                 } gps_time;
 183                 int32_t         gps_latitude;
 184                 int32_t         gps_longitude;
 185                 struct {
 186                         uint16_t        altitude_low;
 187                         int16_t         altitude_high;
 188                 } gps_altitude;
 189                 struct {
 190                         uint16_t        svid;
 191                         uint8_t         unused;
 192                         uint8_t         c_n;
 193                 } gps_sat;
 194                 struct {
 195                         uint8_t         year;
 196                         uint8_t         month;
 197                         uint8_t         day;
 198                         uint8_t         extra;
 199                 } gps_date;
 200                 struct {
 201                         uint16_t        d0;
 202                         uint16_t        d1;
 203                 } anon;
 204         } u;
 205 };
 206
 207 struct ao_log_mega {
 208         char                    type;                   /* 0 */
 209         uint8_t                 csum;                   /* 1 */
 210         uint16_t                tick;                   /* 2 */
 211         union {                                         /* 4 */
 212                 /* AO_LOG_FLIGHT */
 213                 struct {
 214                         uint16_t        flight;                 /* 4 */
 215                         int16_t         ground_accel;           /* 6 */
 216                         uint32_t        ground_pres;            /* 8 */
 217                         int16_t         ground_accel_along;     /* 12 */
 218                         int16_t         ground_accel_across;    /* 14 */
 219                         int16_t         ground_accel_through;   /* 16 */
 220                         int16_t         pad_18;                 /* 18 */
 221                         int32_t         ground_roll;            /* 20 */
 222                         int32_t         ground_pitch;           /* 24 */
 223                         int32_t         ground_yaw;             /* 28 */
 224                 } flight;                                       /* 32 */
 225                 struct {
 226                         uint16_t        flight;                 /* 4 */
 227                         int16_t         ground_accel;           /* 6 */
 228                         uint32_t        ground_pres;            /* 8 */
 229                         int16_t         ground_accel_along;     /* 12 */
 230                         int16_t         ground_accel_across;    /* 14 */
 231                         int16_t         ground_accel_through;   /* 16 */
 232                         int16_t         ground_roll;            /* 18 */
 233                         int16_t         ground_pitch;           /* 20 */
 234                         int16_t         ground_yaw;             /* 22 */
 235                 } flight_old;                                   /* 24 */
 236                 /* AO_LOG_STATE */
 237                 struct {
 238                         uint16_t        state;
 239                         uint16_t        reason;
 240                 } state;
 241                 /* AO_LOG_SENSOR */
 242                 struct {
 243                         uint32_t        pres;           /* 4 */
 244                         uint32_t        temp;           /* 8 */
 245                         int16_t         accel_x;        /* 12 */
 246                         int16_t         accel_y;        /* 14 */
 247                         int16_t         accel_z;        /* 16 */
 248                         int16_t         gyro_x;         /* 18 */
 249                         int16_t         gyro_y;         /* 20 */
 250                         int16_t         gyro_z;         /* 22 */
 251                         int16_t         mag_x;          /* 24 */
 252                         int16_t         mag_y;          /* 26 */
 253                         int16_t         mag_z;          /* 28 */
 254                         int16_t         accel;          /* 30 */
 255                 } sensor;       /* 32 */
 256                 /* AO_LOG_TEMP_VOLT */
 257                 struct {
 258                         int16_t         v_batt;         /* 4 */
 259                         int16_t         v_pbatt;        /* 6 */
 260                         int16_t         n_sense;        /* 8 */
 261                         int16_t         sense[10];      /* 10 */
 262                         uint16_t        pyro;           /* 30 */
 263                 } volt;                                 /* 32 */
 264                 /* AO_LOG_GPS_TIME */
 265                 struct {
 266                         int32_t         latitude;       /* 4 */
 267                         int32_t         longitude;      /* 8 */
 268                         uint16_t        altitude_low;   /* 12 */
 269                         uint8_t         hour;           /* 14 */
 270                         uint8_t         minute;         /* 15 */
 271                         uint8_t         second;         /* 16 */
 272                         uint8_t         flags;          /* 17 */
 273                         uint8_t         year;           /* 18 */
 274                         uint8_t         month;          /* 19 */
 275                         uint8_t         day;            /* 20 */
 276                         uint8_t         course;         /* 21 */
 277                         uint16_t        ground_speed;   /* 22 */
 278                         int16_t         climb_rate;     /* 24 */
 279                         uint8_t         pdop;           /* 26 */
 280                         uint8_t         hdop;           /* 27 */
 281                         uint8_t         vdop;           /* 28 */
 282                         uint8_t         mode;           /* 29 */
 283                         int16_t         altitude_high;  /* 30 */
 284                 } gps;  /* 32 */
 285                 /* AO_LOG_GPS_SAT */
 286                 struct {
 287                         uint16_t        channels;       /* 4 */
 288                         struct {
 289                                 uint8_t svid;
 290                                 uint8_t c_n;
 291                         } sats[12];                     /* 6 */
 292                 } gps_sat;                              /* 30 */
 293         } u;
 294 };
 295
 296 #define AO_LOG_MEGA_GPS_ALTITUDE(l)     ((int32_t) ((l)->u.gps.altitude_high << 16) | ((l)->u.gps.altitude_low))
 297 #define AO_LOG_MEGA_SET_GPS_ALTITUDE(l,a)       (((l)->u.gps.mode |= AO_GPS_MODE_ALTITUDE_24), \
 298                                                  ((l)->u.gps.altitude_high = (a) >> 16), \
 299                                                  (l)->u.gps.altitude_low = (a))
 300
 301 struct ao_log_metrum {
 302         char                    type;                   /* 0 */
 303         uint8_t                 csum;                   /* 1 */
 304         uint16_t                tick;                   /* 2 */
 305         union {                                         /* 4 */
 306                 /* AO_LOG_FLIGHT */
 307                 struct {
 308                         uint16_t        flight;         /* 4 */
 309                         int16_t         ground_accel;   /* 6 */
 310                         uint32_t        ground_pres;    /* 8 */
 311                         uint32_t        ground_temp;    /* 12 */
 312                 } flight;       /* 16 */
 313                 /* AO_LOG_STATE */
 314                 struct {
 315                         uint16_t        state;          /* 4 */
 316                         uint16_t        reason;         /* 6 */
 317                 } state;        /* 8 */
 318                 /* AO_LOG_SENSOR */
 319                 struct {
 320                         uint32_t        pres;           /* 4 */
 321                         uint32_t        temp;           /* 8 */
 322                         int16_t         accel;          /* 12 */
 323                 } sensor;       /* 14 */
 324                 /* AO_LOG_TEMP_VOLT */
 325                 struct {
 326                         int16_t         v_batt;         /* 4 */
 327                         int16_t         sense_a;        /* 6 */
 328                         int16_t         sense_m;        /* 8 */
 329                 } volt;         /* 10 */
 330                 /* AO_LOG_GPS_POS */
 331                 struct {
 332                         int32_t         latitude;       /* 4 */
 333                         int32_t         longitude;      /* 8 */
 334                         uint16_t        altitude_low;   /* 12 */
 335                         int16_t         altitude_high;  /* 14 */
 336                 } gps;          /* 16 */
 337                 /* AO_LOG_GPS_TIME */
 338                 struct {
 339                         uint8_t         hour;           /* 4 */
 340                         uint8_t         minute;         /* 5 */
 341                         uint8_t         second;         /* 6 */
 342                         uint8_t         flags;          /* 7 */
 343                         uint8_t         year;           /* 8 */
 344                         uint8_t         month;          /* 9 */
 345                         uint8_t         day;            /* 10 */
 346                         uint8_t         pdop;           /* 11 */
 347                 } gps_time;     /* 12 */
 348                 /* AO_LOG_GPS_SAT (up to three packets) */
 349                 struct {
 350                         uint8_t channels;               /* 4 */
 351                         uint8_t more;                   /* 5 */
 352                         struct {
 353                                 uint8_t svid;
 354                                 uint8_t c_n;
 355                         } sats[4];                      /* 6 */
 356                 } gps_sat;                              /* 14 */
 357                 uint8_t         raw[12];                /* 4 */
 358         } u;    /* 16 */
 359 };
 360
 361 struct ao_log_mini {
 362         char            type;                           /* 0 */
 363         uint8_t         csum;                           /* 1 */
 364         uint16_t        tick;                           /* 2 */
 365         union {                                         /* 4 */
 366                 /* AO_LOG_FLIGHT */
 367                 struct {
 368                         uint16_t        flight;         /* 4 */
 369                         uint16_t        r6;
 370                         uint32_t        ground_pres;    /* 8 */
 371                 } flight;
 372                 /* AO_LOG_STATE */
 373                 struct {
 374                         uint16_t        state;          /* 4 */
 375                         uint16_t        reason;         /* 6 */
 376                 } state;
 377                 /* AO_LOG_SENSOR */
 378                 struct {
 379                         uint8_t         pres[3];        /* 4 */
 380                         uint8_t         temp[3];        /* 7 */
 381                         int16_t         sense_a;        /* 10 */
 382                         int16_t         sense_m;        /* 12 */
 383                         int16_t         v_batt;         /* 14 */
 384                 } sensor;                               /* 16 */
 385         } u;                                            /* 16 */
 386 };                                                      /* 16 */
 387
 388 #define ao_log_pack24(dst,value) do {           \
 389                 (dst)[0] = (value);             \
 390                 (dst)[1] = (value) >> 8;        \
 391                 (dst)[2] = (value) >> 16;       \
 392         } while (0)
 393
 394 struct ao_log_gps {
 395         char                    type;                   /* 0 */
 396         uint8_t                 csum;                   /* 1 */
 397         uint16_t                tick;                   /* 2 */
 398         union {                                         /* 4 */
 399                 /* AO_LOG_FLIGHT */
 400                 struct {
 401                         uint16_t        flight;                 /* 4 */
 402                         int16_t         start_altitude;         /* 6 */
 403                         int32_t         start_latitude;         /* 8 */
 404                         int32_t         start_longitude;        /* 12 */
 405                 } flight;                                       /* 16 */
 406                 /* AO_LOG_GPS_TIME */
 407                 struct {
 408                         int32_t         latitude;       /* 4 */
 409                         int32_t         longitude;      /* 8 */
 410                         uint16_t        altitude_low;   /* 12 */
 411                         uint8_t         hour;           /* 14 */
 412                         uint8_t         minute;         /* 15 */
 413                         uint8_t         second;         /* 16 */
 414                         uint8_t         flags;          /* 17 */
 415                         uint8_t         year;           /* 18 */
 416                         uint8_t         month;          /* 19 */
 417                         uint8_t         day;            /* 20 */
 418                         uint8_t         course;         /* 21 */
 419                         uint16_t        ground_speed;   /* 22 */
 420                         int16_t         climb_rate;     /* 24 */
 421                         uint8_t         pdop;           /* 26 */
 422                         uint8_t         hdop;           /* 27 */
 423                         uint8_t         vdop;           /* 28 */
 424                         uint8_t         mode;           /* 29 */
 425                         int16_t         altitude_high;  /* 30 */
 426                 } gps;  /* 31 */
 427                 /* AO_LOG_GPS_SAT */
 428                 struct {
 429                         uint16_t        channels;       /* 4 */
 430                         struct {
 431                                 uint8_t svid;
 432                                 uint8_t c_n;
 433                         } sats[12];                     /* 6 */
 434                 } gps_sat;                              /* 30 */
 435         } u;
 436 };
 437
 438 /* Write a record to the eeprom log */
 439 uint8_t
 440 ao_log_data(__xdata struct ao_log_record *log) __reentrant;
 441
 442 uint8_t
 443 ao_log_mega(__xdata struct ao_log_mega *log) __reentrant;
 444
 445 uint8_t
 446 ao_log_metrum(__xdata struct ao_log_metrum *log) __reentrant;
 447
 448 uint8_t
 449 ao_log_mini(__xdata struct ao_log_mini *log) __reentrant;
 450
 451 uint8_t
 452 ao_log_gps(__xdata struct ao_log_gps *log) __reentrant;
 453
 454 void
 455 ao_log_flush(void);
 456
 457 void
 458 ao_gps_report_metrum_init(void);
 459
 460 #endif /* _AO_LOG_H_ */