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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 uint16_t ao_flight_number;
  33 extern uint8_t  ao_log_mutex;
  34 extern uint32_t ao_log_current_pos;
  35 extern uint32_t ao_log_end_pos;
  36 extern uint32_t ao_log_start_pos;
  37 extern uint8_t  ao_log_running;
  38 extern enum ao_flight_state ao_log_state;
  39
  40 /* required functions from the underlying log system */
  41
  42 #define AO_LOG_FORMAT_UNKNOWN           0       /* unknown; altosui will have to guess */
  43 #define AO_LOG_FORMAT_FULL              1       /* 8 byte typed log records */
  44 #define AO_LOG_FORMAT_TINY              2       /* two byte state/baro records */
  45 #define AO_LOG_FORMAT_TELEMETRY         3       /* 32 byte ao_telemetry records */
  46 #define AO_LOG_FORMAT_TELESCIENCE       4       /* 32 byte typed telescience records */
  47 #define AO_LOG_FORMAT_TELEMEGA_OLD      5       /* 32 byte typed telemega records */
  48 #define AO_LOG_FORMAT_EASYMINI1         6       /* 16-byte MS5607 baro only, 3.0V supply */
  49 #define AO_LOG_FORMAT_TELEMETRUM        7       /* 16-byte typed telemetrum records */
  50 #define AO_LOG_FORMAT_TELEMINI2         8       /* 16-byte MS5607 baro only, 3.3V supply, cc1111 SoC */
  51 #define AO_LOG_FORMAT_TELEGPS           9       /* 32 byte telegps records */
  52 #define AO_LOG_FORMAT_TELEMEGA          10      /* 32 byte typed telemega records with 32 bit gyro cal */
  53 #define AO_LOG_FORMAT_DETHERM           11      /* 16-byte MS5607 baro only, no ADC */
  54 #define AO_LOG_FORMAT_TELEMINI3         12      /* 16-byte MS5607 baro only, 3.3V supply, stm32f042 SoC */
  55 #define AO_LOG_FORMAT_TELEFIRETWO       13      /* 32-byte test stand data */
  56 #define AO_LOG_FORMAT_EASYMINI2         14      /* 16-byte MS5607 baro only, 3.3V supply, stm32f042 SoC */
  57 #define AO_LOG_FORMAT_TELEMEGA_3        15      /* 32 byte typed telemega records with 32 bit gyro cal and mpu9250 */
  58 #define AO_LOG_FORMAT_EASYMEGA_2        16      /* 32 byte typed telemega records with 32 bit gyro cal, mpu9250 rotated 90° and adxl375 */
  59 #define AO_LOG_FORMAT_TELESTATIC        17      /* 32 byte typed telestatic records */
  60 #define AO_LOG_FORMAT_MICROPEAK2        18      /* 2-byte baro values with header */
  61 #define AO_LOG_FORMAT_TELEMEGA_4        19      /* 32 byte typed telemega records with 32 bit gyro cal and Bmx160 */
  62 #define AO_LOG_FORMAT_EASYMOTOR         20      /* 16 byte typed easymotor records with pressure sensor and adxl375 */
  63 #define AO_LOG_FORMAT_TELEMEGA_5        21      /* 32 byte typed telemega records with 32 bit gyro cal, mpu6000 and mmc5983 */
  64 #define AO_LOG_FORMAT_TELEMEGA_6        22      /* 32 byte typed telemega records with 32 bit gyro cal, bmi088 and mmc5983 */
  65 #define AO_LOG_FORMAT_EASYTIMER_2       23      /* 32 byte typed easytimer records with 32 bit gyro cal, bmi088 and mmc5983 */
  66 #define AO_LOG_FORMAT_NONE              127     /* No log at all */
  67
  68 /* Return the flight number from the given log slot, 0 if none, -slot on failure */
  69
  70 int32_t
  71 ao_log_flight(uint8_t slot);
  72
  73 /* Checksum the loaded log record */
  74 uint8_t
  75 ao_log_check_data(void);
  76
  77 /* Check to see if the loaded log record is empty */
  78 uint8_t
  79 ao_log_check_clear(void);
  80
  81 /* Check if there is valid log data at the specified location */
  82 #define AO_LOG_VALID    1
  83 #define AO_LOG_EMPTY    0
  84 #define AO_LOG_INVALID  -1
  85
  86 int8_t
  87 ao_log_check(uint32_t pos);
  88
  89 /* Flush the log */
  90 void
  91 ao_log_flush(void);
  92
  93 /* Logging thread main routine */
  94 void
  95 ao_log(void);
  96
  97 /* functions provided in ao_log.c */
  98
  99 /* Figure out the current flight number */
 100 uint8_t
 101 ao_log_scan(void);
 102
 103 /* Start logging to eeprom */
 104 void
 105 ao_log_start(void);
 106
 107 /* Stop logging */
 108 void
 109 ao_log_stop(void);
 110
 111 /* Initialize the logging system */
 112 void
 113 ao_log_init(void);
 114
 115 /* Write out the current flight number to the erase log */
 116 void
 117 ao_log_write_erase(uint8_t pos);
 118
 119 /* Returns true if there are any logs stored in eeprom */
 120 uint8_t
 121 ao_log_present(void);
 122
 123 /* Returns true if there is no more storage space available */
 124 uint8_t
 125 ao_log_full(void);
 126
 127 /*
 128  * ao_log_big.c
 129  */
 130
 131 /*
 132  * The data log is recorded in the eeprom as a sequence
 133  * of data packets.
 134  *
 135  * Each packet starts with a 4-byte header that has the
 136  * packet type, the packet checksum and the tick count. Then
 137  * they all contain 2 16 bit values which hold packet-specific
 138  * data.
 139  *
 140  * For each flight, the first packet
 141  * is FLIGHT packet, indicating the serial number of the
 142  * device and a unique number marking the number of flights
 143  * recorded by this device.
 144  *
 145  * During flight, data from the accelerometer and barometer
 146  * are recorded in SENSOR packets, using the raw 16-bit values
 147  * read from the A/D converter.
 148  *
 149  * Also during flight, but at a lower rate, the deployment
 150  * sensors are recorded in DEPLOY packets. The goal here is to
 151  * detect failure in the deployment circuits.
 152  *
 153  * STATE packets hold state transitions as the flight computer
 154  * transitions through different stages of the flight.
 155  */
 156 #define AO_LOG_FLIGHT           'F'
 157 #define AO_LOG_SENSOR           'A'
 158 #define AO_LOG_TEMP_VOLT        'T'
 159 #define AO_LOG_DEPLOY           'D'
 160 #define AO_LOG_STATE            'S'
 161 #define AO_LOG_GPS_TIME         'G'
 162 #define AO_LOG_GPS_LAT          'N'
 163 #define AO_LOG_GPS_LON          'W'
 164 #define AO_LOG_GPS_ALT          'H'
 165 #define AO_LOG_GPS_SAT          'V'
 166 #define AO_LOG_GPS_DATE         'Y'
 167 #define AO_LOG_GPS_POS          'P'
 168
 169 #define AO_LOG_POS_NONE         (~0UL)
 170
 171 struct ao_log_record {
 172         char                    type;                           /* 0 */
 173         uint8_t                 csum;                           /* 1 */
 174         uint16_t                tick;                           /* 2 */
 175         union {
 176                 struct {
 177                         int16_t         ground_accel;           /* 4 */
 178                         uint16_t        flight;                 /* 6 */
 179                 } flight;
 180                 struct {
 181                         int16_t         accel;                  /* 4 */
 182                         int16_t         pres;                   /* 6 */
 183                 } sensor;
 184                 struct {
 185                         int16_t         temp;
 186                         int16_t         v_batt;
 187                 } temp_volt;
 188                 struct {
 189                         int16_t         drogue;
 190                         int16_t         main;
 191                 } deploy;
 192                 struct {
 193                         uint16_t        state;
 194                         uint16_t        reason;
 195                 } state;
 196                 struct {
 197                         uint8_t         hour;
 198                         uint8_t         minute;
 199                         uint8_t         second;
 200                         uint8_t         flags;
 201                 } gps_time;
 202                 int32_t         gps_latitude;
 203                 int32_t         gps_longitude;
 204                 struct {
 205                         uint16_t        altitude_low;
 206                         int16_t         altitude_high;
 207                 } gps_altitude;
 208                 struct {
 209                         uint16_t        svid;
 210                         uint8_t         unused;
 211                         uint8_t         c_n;
 212                 } gps_sat;
 213                 struct {
 214                         uint8_t         year;
 215                         uint8_t         month;
 216                         uint8_t         day;
 217                         uint8_t         extra;
 218                 } gps_date;
 219                 struct {
 220                         uint16_t        d0;
 221                         uint16_t        d1;
 222                 } anon;
 223         } u;
 224 };
 225
 226 struct ao_log_mega {
 227         char                    type;                   /* 0 */
 228         uint8_t                 csum;                   /* 1 */
 229         uint16_t                tick;                   /* 2 */
 230         union {                                         /* 4 */
 231                 /* AO_LOG_FLIGHT */
 232                 struct {
 233                         uint16_t        flight;                 /* 4 */
 234                         int16_t         ground_accel;           /* 6 */
 235                         int32_t         ground_pres;            /* 8 */
 236                         int16_t         ground_accel_along;     /* 12 */
 237                         int16_t         ground_accel_across;    /* 14 */
 238                         int16_t         ground_accel_through;   /* 16 */
 239                         int16_t         pad_18;                 /* 18 */
 240                         int32_t         ground_roll;            /* 20 */
 241                         int32_t         ground_pitch;           /* 24 */
 242                         int32_t         ground_yaw;             /* 28 */
 243                 } flight;                                       /* 32 */
 244                 struct {
 245                         uint16_t        flight;                 /* 4 */
 246                         int16_t         ground_accel;           /* 6 */
 247                         int32_t         ground_pres;            /* 8 */
 248                         int16_t         ground_accel_along;     /* 12 */
 249                         int16_t         ground_accel_across;    /* 14 */
 250                         int16_t         ground_accel_through;   /* 16 */
 251                         int16_t         ground_roll;            /* 18 */
 252                         int16_t         ground_pitch;           /* 20 */
 253                         int16_t         ground_yaw;             /* 22 */
 254                 } flight_old;                                   /* 24 */
 255                 /* AO_LOG_STATE */
 256                 struct {
 257                         uint16_t        state;
 258                         uint16_t        reason;
 259                 } state;
 260                 /* AO_LOG_SENSOR */
 261                 struct {
 262                         uint32_t        pres;           /* 4 */
 263                         uint32_t        temp;           /* 8 */
 264                         union {
 265                                 struct {
 266                                         int16_t         accel_along;    /* 12 */
 267                                         int16_t         accel_across;   /* 14 */
 268                                         int16_t         accel_through;  /* 16 */
 269                                         int16_t         gyro_roll;      /* 18 */
 270                                         int16_t         gyro_pitch;     /* 20 */
 271                                         int16_t         gyro_yaw;       /* 22 */
 272                                         int16_t         mag_along;      /* 24 */
 273                                         int16_t         mag_across;     /* 26 */
 274                                         int16_t         mag_through;    /* 28 */
 275                                 };
 276                                 struct {
 277                                         int16_t         accel_x;        /* 12 */
 278                                         int16_t         accel_y;        /* 14 */
 279                                         int16_t         accel_z;        /* 16 */
 280                                         int16_t         gyro_x;         /* 18 */
 281                                         int16_t         gyro_y;         /* 20 */
 282                                         int16_t         gyro_z;         /* 22 */
 283                                         int16_t         mag_x;          /* 24 */
 284                                         int16_t         mag_z;          /* 26 */
 285                                         int16_t         mag_y;          /* 28 */
 286                                 };
 287                         };
 288                         int16_t         accel;          /* 30 */
 289                 } sensor;       /* 32 */
 290                 /* AO_LOG_TEMP_VOLT */
 291                 struct {
 292                         int16_t         v_batt;         /* 4 */
 293                         int16_t         v_pbatt;        /* 6 */
 294                         int16_t         n_sense;        /* 8 */
 295                         int16_t         sense[10];      /* 10 */
 296                         uint16_t        pyro;           /* 30 */
 297                 } volt;                                 /* 32 */
 298                 /* AO_LOG_GPS_TIME */
 299                 struct {
 300                         int32_t         latitude;       /* 4 */
 301                         int32_t         longitude;      /* 8 */
 302                         uint16_t        altitude_low;   /* 12 */
 303                         uint8_t         hour;           /* 14 */
 304                         uint8_t         minute;         /* 15 */
 305                         uint8_t         second;         /* 16 */
 306                         uint8_t         flags;          /* 17 */
 307                         uint8_t         year;           /* 18 */
 308                         uint8_t         month;          /* 19 */
 309                         uint8_t         day;            /* 20 */
 310                         uint8_t         course;         /* 21 */
 311                         uint16_t        ground_speed;   /* 22 */
 312                         int16_t         climb_rate;     /* 24 */
 313                         uint8_t         pdop;           /* 26 */
 314                         uint8_t         hdop;           /* 27 */
 315                         uint8_t         vdop;           /* 28 */
 316                         uint8_t         mode;           /* 29 */
 317                         int16_t         altitude_high;  /* 30 */
 318                 } gps;  /* 32 */
 319                 /* AO_LOG_GPS_SAT */
 320                 struct {
 321                         uint16_t        channels;       /* 4 */
 322                         struct {
 323                                 uint8_t svid;
 324                                 uint8_t c_n;
 325                         } sats[12];                     /* 6 */
 326                 } gps_sat;                              /* 30 */
 327         } u;
 328 };
 329
 330 #define AO_LOG_MEGA_GPS_ALTITUDE(l)     ((int32_t) ((l)->u.gps.altitude_high << 16) | ((l)->u.gps.altitude_low))
 331 #define AO_LOG_MEGA_SET_GPS_ALTITUDE(l,a)       (((l)->u.gps.mode |= AO_GPS_MODE_ALTITUDE_24), \
 332                                                  ((l)->u.gps.altitude_high = (a) >> 16), \
 333                                                  (l)->u.gps.altitude_low = (a))
 334
 335 struct ao_log_firetwo {
 336         char                    type;                   /* 0 */
 337         uint8_t                 csum;                   /* 1 */
 338         uint16_t                tick;                   /* 2 */
 339         union {                                         /* 4 */
 340                 /* AO_LOG_FLIGHT */
 341                 struct {
 342                         uint16_t        flight;         /* 4 */
 343                 } flight;       /* 6 */
 344                 /* AO_LOG_STATE */
 345                 struct {
 346                         uint16_t        state;          /* 4 */
 347                         uint16_t        reason;         /* 6 */
 348                 } state;        /* 8 */
 349                 /* AO_LOG_SENSOR */
 350                 struct {
 351                         uint16_t        pressure;       /* 4 */
 352                         uint16_t        thrust;         /* 6 */
 353                         uint16_t        thermistor[4];  /* 8 */
 354                 } sensor;       /* 24 */
 355                 uint8_t         align[28];              /* 4 */
 356         } u;    /* 32 */
 357 };
 358
 359 struct ao_log_telestatic {
 360         char                    type;                   /* 0 */
 361         uint8_t                 csum;                   /* 1 */
 362         uint16_t                tick;                   /* 2 */
 363         union {                                         /* 4 */
 364                 /* AO_LOG_FLIGHT */
 365                 struct {
 366                         uint16_t        flight;         /* 4 */
 367                 } flight;       /* 6 */
 368                 /* AO_LOG_STATE */
 369                 struct {
 370                         uint16_t        state;          /* 4 */
 371                         uint16_t        reason;         /* 6 */
 372                 } state;        /* 8 */
 373                 /* AO_LOG_SENSOR */
 374                 struct {
 375                         uint32_t        pressure;       /* 4 */
 376                         uint32_t        pressure2;      /* 8 */
 377                         uint32_t        thrust;         /* 12 */
 378                         uint32_t        mass;           /* 16 */
 379                         uint16_t        t_low;          /* 20 */
 380                         uint16_t        t_high[4];      /* 22 */
 381                 } sensor;       /* 30 */
 382                 uint8_t         align[28];              /* 4 */
 383         } u;    /* 32 */
 384 };
 385
 386 struct ao_log_metrum {
 387         char                    type;                   /* 0 */
 388         uint8_t                 csum;                   /* 1 */
 389         uint16_t                tick;                   /* 2 */
 390         union {                                         /* 4 */
 391                 /* AO_LOG_FLIGHT */
 392                 struct {
 393                         uint16_t        flight;         /* 4 */
 394                         int16_t         ground_accel;   /* 6 */
 395                         int32_t         ground_pres;    /* 8 */
 396                         uint32_t        ground_temp;    /* 12 */
 397                 } flight;       /* 16 */
 398                 /* AO_LOG_STATE */
 399                 struct {
 400                         uint16_t        state;          /* 4 */
 401                         uint16_t        reason;         /* 6 */
 402                 } state;        /* 8 */
 403                 /* AO_LOG_SENSOR */
 404                 struct {
 405                         uint32_t        pres;           /* 4 */
 406                         uint32_t        temp;           /* 8 */
 407                         int16_t         accel;          /* 12 */
 408                 } sensor;       /* 14 */
 409                 /* AO_LOG_TEMP_VOLT */
 410                 struct {
 411                         int16_t         v_batt;         /* 4 */
 412                         int16_t         sense_a;        /* 6 */
 413                         int16_t         sense_m;        /* 8 */
 414                 } volt;         /* 10 */
 415                 /* AO_LOG_GPS_POS */
 416                 struct {
 417                         int32_t         latitude;       /* 4 */
 418                         int32_t         longitude;      /* 8 */
 419                         uint16_t        altitude_low;   /* 12 */
 420                         int16_t         altitude_high;  /* 14 */
 421                 } gps;          /* 16 */
 422                 /* AO_LOG_GPS_TIME */
 423                 struct {
 424                         uint8_t         hour;           /* 4 */
 425                         uint8_t         minute;         /* 5 */
 426                         uint8_t         second;         /* 6 */
 427                         uint8_t         flags;          /* 7 */
 428                         uint8_t         year;           /* 8 */
 429                         uint8_t         month;          /* 9 */
 430                         uint8_t         day;            /* 10 */
 431                         uint8_t         pdop;           /* 11 */
 432                 } gps_time;     /* 12 */
 433                 /* AO_LOG_GPS_SAT (up to three packets) */
 434                 struct {
 435                         uint8_t channels;               /* 4 */
 436                         uint8_t more;                   /* 5 */
 437                         struct {
 438                                 uint8_t svid;
 439                                 uint8_t c_n;
 440                         } sats[4];                      /* 6 */
 441                 } gps_sat;                              /* 14 */
 442                 uint8_t         raw[12];                /* 4 */
 443         } u;    /* 16 */
 444 };
 445
 446 struct ao_log_mini {
 447         char            type;                           /* 0 */
 448         uint8_t         csum;                           /* 1 */
 449         uint16_t        tick;                           /* 2 */
 450         union {                                         /* 4 */
 451                 /* AO_LOG_FLIGHT */
 452                 struct {
 453                         uint16_t        flight;         /* 4 */
 454                         uint16_t        r6;
 455                         int32_t         ground_pres;    /* 8 */
 456                 } flight;
 457                 /* AO_LOG_STATE */
 458                 struct {
 459                         uint16_t        state;          /* 4 */
 460                         uint16_t        reason;         /* 6 */
 461                 } state;
 462                 /* AO_LOG_SENSOR */
 463                 struct {
 464                         uint8_t         pres[3];        /* 4 */
 465                         uint8_t         temp[3];        /* 7 */
 466                         int16_t         sense_a;        /* 10 */
 467                         int16_t         sense_m;        /* 12 */
 468                         int16_t         v_batt;         /* 14 */
 469                 } sensor;                               /* 16 */
 470         } u;                                            /* 16 */
 471 };                                                      /* 16 */
 472
 473 #define ao_log_pack24(dst,value) do {           \
 474                 (dst)[0] = (uint8_t) (value);   \
 475                 (dst)[1] = (uint8_t) ((value) >> 8);    \
 476                 (dst)[2] = (uint8_t) ((value) >> 16);   \
 477         } while (0)
 478
 479 struct ao_log_gps {
 480         char                    type;                   /* 0 */
 481         uint8_t                 csum;                   /* 1 */
 482         uint16_t                tick;                   /* 2 */
 483         union {                                         /* 4 */
 484                 /* AO_LOG_FLIGHT */
 485                 struct {
 486                         uint16_t        flight;                 /* 4 */
 487                         int16_t         start_altitude;         /* 6 */
 488                         int32_t         start_latitude;         /* 8 */
 489                         int32_t         start_longitude;        /* 12 */
 490                 } flight;                                       /* 16 */
 491                 /* AO_LOG_GPS_TIME */
 492                 struct {
 493                         int32_t         latitude;       /* 4 */
 494                         int32_t         longitude;      /* 8 */
 495                         uint16_t        altitude_low;   /* 12 */
 496                         uint8_t         hour;           /* 14 */
 497                         uint8_t         minute;         /* 15 */
 498                         uint8_t         second;         /* 16 */
 499                         uint8_t         flags;          /* 17 */
 500                         uint8_t         year;           /* 18 */
 501                         uint8_t         month;          /* 19 */
 502                         uint8_t         day;            /* 20 */
 503                         uint8_t         course;         /* 21 */
 504                         uint16_t        ground_speed;   /* 22 */
 505                         int16_t         climb_rate;     /* 24 */
 506                         uint8_t         pdop;           /* 26 */
 507                         uint8_t         hdop;           /* 27 */
 508                         uint8_t         vdop;           /* 28 */
 509                         uint8_t         mode;           /* 29 */
 510                         int16_t         altitude_high;  /* 30 */
 511                 } gps;  /* 31 */
 512                 /* AO_LOG_GPS_SAT */
 513                 struct {
 514                         uint16_t        channels;       /* 4 */
 515                         struct {
 516                                 uint8_t svid;
 517                                 uint8_t c_n;
 518                         } sats[12];                     /* 6 */
 519                 } gps_sat;                              /* 30 */
 520         } u;
 521 };
 522
 523 struct ao_log_motor {
 524         char                    type;                   /* 0 */
 525         uint8_t                 csum;                   /* 1 */
 526         uint16_t                tick;                   /* 2 */
 527         union {                                         /* 4 */
 528                 /* AO_LOG_FLIGHT */
 529                 struct {
 530                         uint16_t        flight;                 /* 4 */
 531                         int16_t         ground_accel;           /* 6 */
 532                         int16_t         ground_accel_along;     /* 8 */
 533                         int16_t         ground_accel_across;    /* 10 */
 534                         int16_t         ground_accel_through;   /* 12 */
 535                         int16_t         ground_motor_pressure;  /* 14 */
 536                 } flight;                                       /* 16 */
 537                 /* AO_LOG_STATE */
 538                 struct {
 539                         uint16_t        state;                  /* 4 */
 540                         uint16_t        reason;                 /* 6 */
 541                 } state;
 542                 /* AO_LOG_SENSOR */
 543                 struct {
 544                         uint16_t        pressure;               /* 4 */
 545                         uint16_t        v_batt;                 /* 6 */
 546                         int16_t         accel;                  /* 8 */
 547                         int16_t         accel_across;           /* 10 */
 548                         int16_t         accel_along;            /* 12 */
 549                         int16_t         accel_through;          /* 14 */
 550                 } sensor;                                       /* 16 */
 551         } u;
 552 };
 553
 554 struct ao_log_timer {
 555         char                    type;                   /* 0 */
 556         uint8_t                 csum;                   /* 1 */
 557         uint16_t                tick;                   /* 2 */
 558         union {                                         /* 4 */
 559                 /* AO_LOG_FLIGHT */
 560                 struct {
 561                         uint16_t        flight;                 /* 4 */
 562                         int16_t         ground_accel;           /* 6 */
 563                         int16_t         ground_accel_along;     /* 8 */
 564                         int16_t         ground_accel_across;    /* 10 */
 565                         int16_t         ground_accel_through;   /* 12 */
 566                         int16_t         pad_14;                 /* 14 */
 567                         int32_t         ground_roll;            /* 16 */
 568                         int32_t         ground_pitch;           /* 20 */
 569                         int32_t         ground_yaw;             /* 24 */
 570                 } flight;                                       /* 32 */
 571                 /* AO_LOG_STATE */
 572                 struct {
 573                         uint16_t        state;                  /* 4 */
 574                         uint16_t        reason;                 /* 6 */
 575                 } state;
 576                 /* AO_LOG_SENSOR */
 577                 struct {
 578                         int16_t         accel_along;    /* 4 */
 579                         int16_t         accel_across;   /* 6 */
 580                         int16_t         accel_through;  /* 8 */
 581                         int16_t         gyro_roll;      /* 10 */
 582                         int16_t         gyro_pitch;     /* 12 */
 583                         int16_t         gyro_yaw;       /* 14 */
 584                         int16_t         mag_along;      /* 16 */
 585                         int16_t         mag_across;     /* 18 */
 586                         int16_t         mag_through;    /* 20 */
 587                         int16_t         v_batt;         /* 22 */
 588                         int16_t         v_pbatt;        /* 24 */
 589                         int16_t         sense[2];       /* 26 */
 590                         uint16_t        pyro;           /* 30 */
 591                 } sensor;       /* 32 */
 592         } u;
 593 };
 594
 595 #if AO_LOG_FORMAT == AO_LOG_FOMAT_TELEMEGA_OLD || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_3 || AO_LOG_FORMAT == AO_LOG_FORMAT_EASYMEGA_2 || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_4 || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_5 || AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_6
 596 typedef struct ao_log_mega ao_log_type;
 597 #endif
 598
 599 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMETRUM
 600 typedef struct ao_log_metrum ao_log_type;
 601 #endif
 602
 603 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEFIRETWO
 604 typedef struct ao_log_firetwo ao_log_type;
 605 #endif
 606
 607 #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
 608 typedef struct ao_log_mini ao_log_type;
 609 #endif
 610
 611 #if AO_LOG_FORMAT == AO_LOG_FORMAT_EASYMOTOR
 612 typedef struct ao_log_motor ao_log_type;
 613 #endif
 614
 615 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEGPS
 616 typedef struct ao_log_gps ao_log_type;
 617 #endif
 618
 619 #if AO_LOG_FORMAT == AO_LOG_FORMAT_FULL
 620 typedef struct ao_log_record ao_log_type;
 621 #endif
 622
 623 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TINY
 624 #define AO_LOG_UNCOMMON 1
 625 #endif
 626
 627 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMETRY
 628 #define AO_LOG_UNCOMMON 1
 629 #endif
 630
 631 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELESCIENCE
 632 #define AO_LOG_UNCOMMON 1
 633 #endif
 634
 635 #if AO_LOG_FORMAT == AO_LOG_FORMAT_MICROPEAK2
 636 #define AO_LOG_UNCOMMON 1
 637 #endif
 638
 639 #if AO_LOG_FORMAT == AO_LOG_FORMAT_EASYTIMER_2
 640 typedef struct ao_log_timer ao_log_type;
 641 #endif
 642
 643 #ifndef AO_LOG_UNCOMMON
 644 extern ao_log_type ao_log_data;
 645
 646 #define AO_LOG_SIZE sizeof(ao_log_type)
 647
 648 /* Write a record to the eeprom log */
 649
 650 uint8_t
 651 ao_log_write(ao_log_type *log);
 652 #endif
 653
 654 void
 655 ao_log_flush(void);
 656
 657 void
 658 ao_gps_report_metrum_init(void);
 659
 660 #endif /* _AO_LOG_H_ */