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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_EASYMINI          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_NONE              127     /* No log at all */
  57
  58 extern __code uint8_t ao_log_format;
  59 extern __code uint8_t ao_log_size;
  60
  61 /* Return the flight number from the given log slot, 0 if none */
  62 uint16_t
  63 ao_log_flight(uint8_t slot);
  64
  65 /* Check if there is valid log data at the specified location */
  66 uint8_t
  67 ao_log_check(uint32_t pos);
  68
  69 /* Flush the log */
  70 void
  71 ao_log_flush(void);
  72
  73 /* Logging thread main routine */
  74 void
  75 ao_log(void);
  76
  77 /* functions provided in ao_log.c */
  78
  79 /* Figure out the current flight number */
  80 uint8_t
  81 ao_log_scan(void) __reentrant;
  82
  83 /* Return the position of the start of the given log slot */
  84 uint32_t
  85 ao_log_pos(uint8_t slot);
  86
  87 /* Start logging to eeprom */
  88 void
  89 ao_log_start(void);
  90
  91 /* Stop logging */
  92 void
  93 ao_log_stop(void);
  94
  95 /* Initialize the logging system */
  96 void
  97 ao_log_init(void);
  98
  99 /* Write out the current flight number to the erase log */
 100 void
 101 ao_log_write_erase(uint8_t pos);
 102
 103 /* Returns true if there are any logs stored in eeprom */
 104 uint8_t
 105 ao_log_present(void);
 106
 107 /* Returns true if there is no more storage space available */
 108 uint8_t
 109 ao_log_full(void);
 110
 111 /*
 112  * ao_log_big.c
 113  */
 114
 115 /*
 116  * The data log is recorded in the eeprom as a sequence
 117  * of data packets.
 118  *
 119  * Each packet starts with a 4-byte header that has the
 120  * packet type, the packet checksum and the tick count. Then
 121  * they all contain 2 16 bit values which hold packet-specific
 122  * data.
 123  *
 124  * For each flight, the first packet
 125  * is FLIGHT packet, indicating the serial number of the
 126  * device and a unique number marking the number of flights
 127  * recorded by this device.
 128  *
 129  * During flight, data from the accelerometer and barometer
 130  * are recorded in SENSOR packets, using the raw 16-bit values
 131  * read from the A/D converter.
 132  *
 133  * Also during flight, but at a lower rate, the deployment
 134  * sensors are recorded in DEPLOY packets. The goal here is to
 135  * detect failure in the deployment circuits.
 136  *
 137  * STATE packets hold state transitions as the flight computer
 138  * transitions through different stages of the flight.
 139  */
 140 #define AO_LOG_FLIGHT           'F'
 141 #define AO_LOG_SENSOR           'A'
 142 #define AO_LOG_TEMP_VOLT        'T'
 143 #define AO_LOG_DEPLOY           'D'
 144 #define AO_LOG_STATE            'S'
 145 #define AO_LOG_GPS_TIME         'G'
 146 #define AO_LOG_GPS_LAT          'N'
 147 #define AO_LOG_GPS_LON          'W'
 148 #define AO_LOG_GPS_ALT          'H'
 149 #define AO_LOG_GPS_SAT          'V'
 150 #define AO_LOG_GPS_DATE         'Y'
 151 #define AO_LOG_GPS_POS          'P'
 152
 153 #define AO_LOG_POS_NONE         (~0UL)
 154
 155 struct ao_log_record {
 156         char                    type;                           /* 0 */
 157         uint8_t                 csum;                           /* 1 */
 158         uint16_t                tick;                           /* 2 */
 159         union {
 160                 struct {
 161                         int16_t         ground_accel;           /* 4 */
 162                         uint16_t        flight;                 /* 6 */
 163                 } flight;
 164                 struct {
 165                         int16_t         accel;                  /* 4 */
 166                         int16_t         pres;                   /* 6 */
 167                 } sensor;
 168                 struct {
 169                         int16_t         temp;
 170                         int16_t         v_batt;
 171                 } temp_volt;
 172                 struct {
 173                         int16_t         drogue;
 174                         int16_t         main;
 175                 } deploy;
 176                 struct {
 177                         uint16_t        state;
 178                         uint16_t        reason;
 179                 } state;
 180                 struct {
 181                         uint8_t         hour;
 182                         uint8_t         minute;
 183                         uint8_t         second;
 184                         uint8_t         flags;
 185                 } gps_time;
 186                 int32_t         gps_latitude;
 187                 int32_t         gps_longitude;
 188                 struct {
 189                         uint16_t        altitude_low;
 190                         int16_t         altitude_high;
 191                 } gps_altitude;
 192                 struct {
 193                         uint16_t        svid;
 194                         uint8_t         unused;
 195                         uint8_t         c_n;
 196                 } gps_sat;
 197                 struct {
 198                         uint8_t         year;
 199                         uint8_t         month;
 200                         uint8_t         day;
 201                         uint8_t         extra;
 202                 } gps_date;
 203                 struct {
 204                         uint16_t        d0;
 205                         uint16_t        d1;
 206                 } anon;
 207         } u;
 208 };
 209
 210 struct ao_log_mega {
 211         char                    type;                   /* 0 */
 212         uint8_t                 csum;                   /* 1 */
 213         uint16_t                tick;                   /* 2 */
 214         union {                                         /* 4 */
 215                 /* AO_LOG_FLIGHT */
 216                 struct {
 217                         uint16_t        flight;                 /* 4 */
 218                         int16_t         ground_accel;           /* 6 */
 219                         uint32_t        ground_pres;            /* 8 */
 220                         int16_t         ground_accel_along;     /* 12 */
 221                         int16_t         ground_accel_across;    /* 14 */
 222                         int16_t         ground_accel_through;   /* 16 */
 223                         int16_t         pad_18;                 /* 18 */
 224                         int32_t         ground_roll;            /* 20 */
 225                         int32_t         ground_pitch;           /* 24 */
 226                         int32_t         ground_yaw;             /* 28 */
 227                 } flight;                                       /* 32 */
 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         ground_roll;            /* 18 */
 236                         int16_t         ground_pitch;           /* 20 */
 237                         int16_t         ground_yaw;             /* 22 */
 238                 } flight_old;                                   /* 24 */
 239                 /* AO_LOG_STATE */
 240                 struct {
 241                         uint16_t        state;
 242                         uint16_t        reason;
 243                 } state;
 244                 /* AO_LOG_SENSOR */
 245                 struct {
 246                         uint32_t        pres;           /* 4 */
 247                         uint32_t        temp;           /* 8 */
 248                         int16_t         accel_x;        /* 12 */
 249                         int16_t         accel_y;        /* 14 */
 250                         int16_t         accel_z;        /* 16 */
 251                         int16_t         gyro_x;         /* 18 */
 252                         int16_t         gyro_y;         /* 20 */
 253                         int16_t         gyro_z;         /* 22 */
 254                         int16_t         mag_x;          /* 24 */
 255                         int16_t         mag_z;          /* 26 */
 256                         int16_t         mag_y;          /* 28 */
 257                         int16_t         accel;          /* 30 */
 258                 } sensor;       /* 32 */
 259                 /* AO_LOG_TEMP_VOLT */
 260                 struct {
 261                         int16_t         v_batt;         /* 4 */
 262                         int16_t         v_pbatt;        /* 6 */
 263                         int16_t         n_sense;        /* 8 */
 264                         int16_t         sense[10];      /* 10 */
 265                         uint16_t        pyro;           /* 30 */
 266                 } volt;                                 /* 32 */
 267                 /* AO_LOG_GPS_TIME */
 268                 struct {
 269                         int32_t         latitude;       /* 4 */
 270                         int32_t         longitude;      /* 8 */
 271                         uint16_t        altitude_low;   /* 12 */
 272                         uint8_t         hour;           /* 14 */
 273                         uint8_t         minute;         /* 15 */
 274                         uint8_t         second;         /* 16 */
 275                         uint8_t         flags;          /* 17 */
 276                         uint8_t         year;           /* 18 */
 277                         uint8_t         month;          /* 19 */
 278                         uint8_t         day;            /* 20 */
 279                         uint8_t         course;         /* 21 */
 280                         uint16_t        ground_speed;   /* 22 */
 281                         int16_t         climb_rate;     /* 24 */
 282                         uint8_t         pdop;           /* 26 */
 283                         uint8_t         hdop;           /* 27 */
 284                         uint8_t         vdop;           /* 28 */
 285                         uint8_t         mode;           /* 29 */
 286                         int16_t         altitude_high;  /* 30 */
 287                 } gps;  /* 32 */
 288                 /* AO_LOG_GPS_SAT */
 289                 struct {
 290                         uint16_t        channels;       /* 4 */
 291                         struct {
 292                                 uint8_t svid;
 293                                 uint8_t c_n;
 294                         } sats[12];                     /* 6 */
 295                 } gps_sat;                              /* 30 */
 296         } u;
 297 };
 298
 299 #define AO_LOG_MEGA_GPS_ALTITUDE(l)     ((int32_t) ((l)->u.gps.altitude_high << 16) | ((l)->u.gps.altitude_low))
 300 #define AO_LOG_MEGA_SET_GPS_ALTITUDE(l,a)       (((l)->u.gps.mode |= AO_GPS_MODE_ALTITUDE_24), \
 301                                                  ((l)->u.gps.altitude_high = (a) >> 16), \
 302                                                  (l)->u.gps.altitude_low = (a))
 303
 304 struct ao_log_firetwo {
 305         char                    type;                   /* 0 */
 306         uint8_t                 csum;                   /* 1 */
 307         uint16_t                tick;                   /* 2 */
 308         union {                                         /* 4 */
 309                 /* AO_LOG_FLIGHT */
 310                 struct {
 311                         uint16_t        flight;         /* 4 */
 312                 } flight;       /* 6 */
 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                         uint16_t        pressure;       /* 4 */
 321                         uint16_t        thrust;         /* 6 */
 322                         uint16_t        thermistor[4];  /* 8 */
 323                 } sensor;       /* 24 */
 324                 uint8_t         align[28];              /* 4 */
 325         } u;    /* 32 */
 326 };
 327
 328 struct ao_log_metrum {
 329         char                    type;                   /* 0 */
 330         uint8_t                 csum;                   /* 1 */
 331         uint16_t                tick;                   /* 2 */
 332         union {                                         /* 4 */
 333                 /* AO_LOG_FLIGHT */
 334                 struct {
 335                         uint16_t        flight;         /* 4 */
 336                         int16_t         ground_accel;   /* 6 */
 337                         uint32_t        ground_pres;    /* 8 */
 338                         uint32_t        ground_temp;    /* 12 */
 339                 } flight;       /* 16 */
 340                 /* AO_LOG_STATE */
 341                 struct {
 342                         uint16_t        state;          /* 4 */
 343                         uint16_t        reason;         /* 6 */
 344                 } state;        /* 8 */
 345                 /* AO_LOG_SENSOR */
 346                 struct {
 347                         uint32_t        pres;           /* 4 */
 348                         uint32_t        temp;           /* 8 */
 349                         int16_t         accel;          /* 12 */
 350                 } sensor;       /* 14 */
 351                 /* AO_LOG_TEMP_VOLT */
 352                 struct {
 353                         int16_t         v_batt;         /* 4 */
 354                         int16_t         sense_a;        /* 6 */
 355                         int16_t         sense_m;        /* 8 */
 356                 } volt;         /* 10 */
 357                 /* AO_LOG_GPS_POS */
 358                 struct {
 359                         int32_t         latitude;       /* 4 */
 360                         int32_t         longitude;      /* 8 */
 361                         uint16_t        altitude_low;   /* 12 */
 362                         int16_t         altitude_high;  /* 14 */
 363                 } gps;          /* 16 */
 364                 /* AO_LOG_GPS_TIME */
 365                 struct {
 366                         uint8_t         hour;           /* 4 */
 367                         uint8_t         minute;         /* 5 */
 368                         uint8_t         second;         /* 6 */
 369                         uint8_t         flags;          /* 7 */
 370                         uint8_t         year;           /* 8 */
 371                         uint8_t         month;          /* 9 */
 372                         uint8_t         day;            /* 10 */
 373                         uint8_t         pdop;           /* 11 */
 374                 } gps_time;     /* 12 */
 375                 /* AO_LOG_GPS_SAT (up to three packets) */
 376                 struct {
 377                         uint8_t channels;               /* 4 */
 378                         uint8_t more;                   /* 5 */
 379                         struct {
 380                                 uint8_t svid;
 381                                 uint8_t c_n;
 382                         } sats[4];                      /* 6 */
 383                 } gps_sat;                              /* 14 */
 384                 uint8_t         raw[12];                /* 4 */
 385         } u;    /* 16 */
 386 };
 387
 388 struct ao_log_mini {
 389         char            type;                           /* 0 */
 390         uint8_t         csum;                           /* 1 */
 391         uint16_t        tick;                           /* 2 */
 392         union {                                         /* 4 */
 393                 /* AO_LOG_FLIGHT */
 394                 struct {
 395                         uint16_t        flight;         /* 4 */
 396                         uint16_t        r6;
 397                         uint32_t        ground_pres;    /* 8 */
 398                 } flight;
 399                 /* AO_LOG_STATE */
 400                 struct {
 401                         uint16_t        state;          /* 4 */
 402                         uint16_t        reason;         /* 6 */
 403                 } state;
 404                 /* AO_LOG_SENSOR */
 405                 struct {
 406                         uint8_t         pres[3];        /* 4 */
 407                         uint8_t         temp[3];        /* 7 */
 408                         int16_t         sense_a;        /* 10 */
 409                         int16_t         sense_m;        /* 12 */
 410                         int16_t         v_batt;         /* 14 */
 411                 } sensor;                               /* 16 */
 412         } u;                                            /* 16 */
 413 };                                                      /* 16 */
 414
 415 #define ao_log_pack24(dst,value) do {           \
 416                 (dst)[0] = (value);             \
 417                 (dst)[1] = (value) >> 8;        \
 418                 (dst)[2] = (value) >> 16;       \
 419         } while (0)
 420
 421 struct ao_log_gps {
 422         char                    type;                   /* 0 */
 423         uint8_t                 csum;                   /* 1 */
 424         uint16_t                tick;                   /* 2 */
 425         union {                                         /* 4 */
 426                 /* AO_LOG_FLIGHT */
 427                 struct {
 428                         uint16_t        flight;                 /* 4 */
 429                         int16_t         start_altitude;         /* 6 */
 430                         int32_t         start_latitude;         /* 8 */
 431                         int32_t         start_longitude;        /* 12 */
 432                 } flight;                                       /* 16 */
 433                 /* AO_LOG_GPS_TIME */
 434                 struct {
 435                         int32_t         latitude;       /* 4 */
 436                         int32_t         longitude;      /* 8 */
 437                         uint16_t        altitude_low;   /* 12 */
 438                         uint8_t         hour;           /* 14 */
 439                         uint8_t         minute;         /* 15 */
 440                         uint8_t         second;         /* 16 */
 441                         uint8_t         flags;          /* 17 */
 442                         uint8_t         year;           /* 18 */
 443                         uint8_t         month;          /* 19 */
 444                         uint8_t         day;            /* 20 */
 445                         uint8_t         course;         /* 21 */
 446                         uint16_t        ground_speed;   /* 22 */
 447                         int16_t         climb_rate;     /* 24 */
 448                         uint8_t         pdop;           /* 26 */
 449                         uint8_t         hdop;           /* 27 */
 450                         uint8_t         vdop;           /* 28 */
 451                         uint8_t         mode;           /* 29 */
 452                         int16_t         altitude_high;  /* 30 */
 453                 } gps;  /* 31 */
 454                 /* AO_LOG_GPS_SAT */
 455                 struct {
 456                         uint16_t        channels;       /* 4 */
 457                         struct {
 458                                 uint8_t svid;
 459                                 uint8_t c_n;
 460                         } sats[12];                     /* 6 */
 461                 } gps_sat;                              /* 30 */
 462         } u;
 463 };
 464
 465 /* Write a record to the eeprom log */
 466 uint8_t
 467 ao_log_data(__xdata struct ao_log_record *log) __reentrant;
 468
 469 uint8_t
 470 ao_log_mega(__xdata struct ao_log_mega *log) __reentrant;
 471
 472 uint8_t
 473 ao_log_metrum(__xdata struct ao_log_metrum *log) __reentrant;
 474
 475 uint8_t
 476 ao_log_mini(__xdata struct ao_log_mini *log) __reentrant;
 477
 478 uint8_t
 479 ao_log_gps(__xdata struct ao_log_gps *log) __reentrant;
 480
 481 void
 482 ao_log_flush(void);
 483
 484 void
 485 ao_gps_report_metrum_init(void);
 486
 487 #endif /* _AO_LOG_H_ */