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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 int16_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_NONE              127     /* No log at all */
  63
  64 /* Return the flight number from the given log slot, 0 if none, -slot on failure */
  65
  66 int16_t
  67 ao_log_flight(uint8_t slot);
  68
  69 /* Checksum the loaded log record */
  70 uint8_t
  71 ao_log_check_data(void);
  72
  73 /* Check to see if the loaded log record is empty */
  74 uint8_t
  75 ao_log_check_clear(void);
  76
  77 /* Check if there is valid log data at the specified location */
  78 #define AO_LOG_VALID    1
  79 #define AO_LOG_EMPTY    0
  80 #define AO_LOG_INVALID  -1
  81
  82 int8_t
  83 ao_log_check(uint32_t pos);
  84
  85 /* Flush the log */
  86 void
  87 ao_log_flush(void);
  88
  89 /* Logging thread main routine */
  90 void
  91 ao_log(void);
  92
  93 /* functions provided in ao_log.c */
  94
  95 /* Figure out the current flight number */
  96 uint8_t
  97 ao_log_scan(void);
  98
  99 /* Return the position of the start of the given log slot */
 100 uint32_t
 101 ao_log_pos(uint8_t slot);
 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                         uint32_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                         uint32_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                         int16_t         accel_x;        /* 12 */
 265                         int16_t         accel_y;        /* 14 */
 266                         int16_t         accel_z;        /* 16 */
 267                         int16_t         gyro_x;         /* 18 */
 268                         int16_t         gyro_y;         /* 20 */
 269                         int16_t         gyro_z;         /* 22 */
 270                         int16_t         mag_x;          /* 24 */
 271                         int16_t         mag_z;          /* 26 */
 272                         int16_t         mag_y;          /* 28 */
 273                         int16_t         accel;          /* 30 */
 274                 } sensor;       /* 32 */
 275                 /* AO_LOG_TEMP_VOLT */
 276                 struct {
 277                         int16_t         v_batt;         /* 4 */
 278                         int16_t         v_pbatt;        /* 6 */
 279                         int16_t         n_sense;        /* 8 */
 280                         int16_t         sense[10];      /* 10 */
 281                         uint16_t        pyro;           /* 30 */
 282                 } volt;                                 /* 32 */
 283                 /* AO_LOG_GPS_TIME */
 284                 struct {
 285                         int32_t         latitude;       /* 4 */
 286                         int32_t         longitude;      /* 8 */
 287                         uint16_t        altitude_low;   /* 12 */
 288                         uint8_t         hour;           /* 14 */
 289                         uint8_t         minute;         /* 15 */
 290                         uint8_t         second;         /* 16 */
 291                         uint8_t         flags;          /* 17 */
 292                         uint8_t         year;           /* 18 */
 293                         uint8_t         month;          /* 19 */
 294                         uint8_t         day;            /* 20 */
 295                         uint8_t         course;         /* 21 */
 296                         uint16_t        ground_speed;   /* 22 */
 297                         int16_t         climb_rate;     /* 24 */
 298                         uint8_t         pdop;           /* 26 */
 299                         uint8_t         hdop;           /* 27 */
 300                         uint8_t         vdop;           /* 28 */
 301                         uint8_t         mode;           /* 29 */
 302                         int16_t         altitude_high;  /* 30 */
 303                 } gps;  /* 32 */
 304                 /* AO_LOG_GPS_SAT */
 305                 struct {
 306                         uint16_t        channels;       /* 4 */
 307                         struct {
 308                                 uint8_t svid;
 309                                 uint8_t c_n;
 310                         } sats[12];                     /* 6 */
 311                 } gps_sat;                              /* 30 */
 312         } u;
 313 };
 314
 315 #define AO_LOG_MEGA_GPS_ALTITUDE(l)     ((int32_t) ((l)->u.gps.altitude_high << 16) | ((l)->u.gps.altitude_low))
 316 #define AO_LOG_MEGA_SET_GPS_ALTITUDE(l,a)       (((l)->u.gps.mode |= AO_GPS_MODE_ALTITUDE_24), \
 317                                                  ((l)->u.gps.altitude_high = (a) >> 16), \
 318                                                  (l)->u.gps.altitude_low = (a))
 319
 320 struct ao_log_firetwo {
 321         char                    type;                   /* 0 */
 322         uint8_t                 csum;                   /* 1 */
 323         uint16_t                tick;                   /* 2 */
 324         union {                                         /* 4 */
 325                 /* AO_LOG_FLIGHT */
 326                 struct {
 327                         uint16_t        flight;         /* 4 */
 328                 } flight;       /* 6 */
 329                 /* AO_LOG_STATE */
 330                 struct {
 331                         uint16_t        state;          /* 4 */
 332                         uint16_t        reason;         /* 6 */
 333                 } state;        /* 8 */
 334                 /* AO_LOG_SENSOR */
 335                 struct {
 336                         uint16_t        pressure;       /* 4 */
 337                         uint16_t        thrust;         /* 6 */
 338                         uint16_t        thermistor[4];  /* 8 */
 339                 } sensor;       /* 24 */
 340                 uint8_t         align[28];              /* 4 */
 341         } u;    /* 32 */
 342 };
 343
 344 struct ao_log_telestatic {
 345         char                    type;                   /* 0 */
 346         uint8_t                 csum;                   /* 1 */
 347         uint16_t                tick;                   /* 2 */
 348         union {                                         /* 4 */
 349                 /* AO_LOG_FLIGHT */
 350                 struct {
 351                         uint16_t        flight;         /* 4 */
 352                 } flight;       /* 6 */
 353                 /* AO_LOG_STATE */
 354                 struct {
 355                         uint16_t        state;          /* 4 */
 356                         uint16_t        reason;         /* 6 */
 357                 } state;        /* 8 */
 358                 /* AO_LOG_SENSOR */
 359                 struct {
 360                         uint32_t        pressure;       /* 4 */
 361                         uint32_t        pressure2;      /* 8 */
 362                         uint32_t        thrust;         /* 12 */
 363                         uint32_t        mass;           /* 16 */
 364                         uint16_t        t_low;          /* 20 */
 365                         uint16_t        t_high[4];      /* 22 */
 366                 } sensor;       /* 30 */
 367                 uint8_t         align[28];              /* 4 */
 368         } u;    /* 32 */
 369 };
 370
 371 struct ao_log_metrum {
 372         char                    type;                   /* 0 */
 373         uint8_t                 csum;                   /* 1 */
 374         uint16_t                tick;                   /* 2 */
 375         union {                                         /* 4 */
 376                 /* AO_LOG_FLIGHT */
 377                 struct {
 378                         uint16_t        flight;         /* 4 */
 379                         int16_t         ground_accel;   /* 6 */
 380                         uint32_t        ground_pres;    /* 8 */
 381                         uint32_t        ground_temp;    /* 12 */
 382                 } flight;       /* 16 */
 383                 /* AO_LOG_STATE */
 384                 struct {
 385                         uint16_t        state;          /* 4 */
 386                         uint16_t        reason;         /* 6 */
 387                 } state;        /* 8 */
 388                 /* AO_LOG_SENSOR */
 389                 struct {
 390                         uint32_t        pres;           /* 4 */
 391                         uint32_t        temp;           /* 8 */
 392                         int16_t         accel;          /* 12 */
 393                 } sensor;       /* 14 */
 394                 /* AO_LOG_TEMP_VOLT */
 395                 struct {
 396                         int16_t         v_batt;         /* 4 */
 397                         int16_t         sense_a;        /* 6 */
 398                         int16_t         sense_m;        /* 8 */
 399                 } volt;         /* 10 */
 400                 /* AO_LOG_GPS_POS */
 401                 struct {
 402                         int32_t         latitude;       /* 4 */
 403                         int32_t         longitude;      /* 8 */
 404                         uint16_t        altitude_low;   /* 12 */
 405                         int16_t         altitude_high;  /* 14 */
 406                 } gps;          /* 16 */
 407                 /* AO_LOG_GPS_TIME */
 408                 struct {
 409                         uint8_t         hour;           /* 4 */
 410                         uint8_t         minute;         /* 5 */
 411                         uint8_t         second;         /* 6 */
 412                         uint8_t         flags;          /* 7 */
 413                         uint8_t         year;           /* 8 */
 414                         uint8_t         month;          /* 9 */
 415                         uint8_t         day;            /* 10 */
 416                         uint8_t         pdop;           /* 11 */
 417                 } gps_time;     /* 12 */
 418                 /* AO_LOG_GPS_SAT (up to three packets) */
 419                 struct {
 420                         uint8_t channels;               /* 4 */
 421                         uint8_t more;                   /* 5 */
 422                         struct {
 423                                 uint8_t svid;
 424                                 uint8_t c_n;
 425                         } sats[4];                      /* 6 */
 426                 } gps_sat;                              /* 14 */
 427                 uint8_t         raw[12];                /* 4 */
 428         } u;    /* 16 */
 429 };
 430
 431 struct ao_log_mini {
 432         char            type;                           /* 0 */
 433         uint8_t         csum;                           /* 1 */
 434         uint16_t        tick;                           /* 2 */
 435         union {                                         /* 4 */
 436                 /* AO_LOG_FLIGHT */
 437                 struct {
 438                         uint16_t        flight;         /* 4 */
 439                         uint16_t        r6;
 440                         uint32_t        ground_pres;    /* 8 */
 441                 } flight;
 442                 /* AO_LOG_STATE */
 443                 struct {
 444                         uint16_t        state;          /* 4 */
 445                         uint16_t        reason;         /* 6 */
 446                 } state;
 447                 /* AO_LOG_SENSOR */
 448                 struct {
 449                         uint8_t         pres[3];        /* 4 */
 450                         uint8_t         temp[3];        /* 7 */
 451                         int16_t         sense_a;        /* 10 */
 452                         int16_t         sense_m;        /* 12 */
 453                         int16_t         v_batt;         /* 14 */
 454                 } sensor;                               /* 16 */
 455         } u;                                            /* 16 */
 456 };                                                      /* 16 */
 457
 458 #define ao_log_pack24(dst,value) do {           \
 459                 (dst)[0] = (value);             \
 460                 (dst)[1] = (value) >> 8;        \
 461                 (dst)[2] = (value) >> 16;       \
 462         } while (0)
 463
 464 struct ao_log_gps {
 465         char                    type;                   /* 0 */
 466         uint8_t                 csum;                   /* 1 */
 467         uint16_t                tick;                   /* 2 */
 468         union {                                         /* 4 */
 469                 /* AO_LOG_FLIGHT */
 470                 struct {
 471                         uint16_t        flight;                 /* 4 */
 472                         int16_t         start_altitude;         /* 6 */
 473                         int32_t         start_latitude;         /* 8 */
 474                         int32_t         start_longitude;        /* 12 */
 475                 } flight;                                       /* 16 */
 476                 /* AO_LOG_GPS_TIME */
 477                 struct {
 478                         int32_t         latitude;       /* 4 */
 479                         int32_t         longitude;      /* 8 */
 480                         uint16_t        altitude_low;   /* 12 */
 481                         uint8_t         hour;           /* 14 */
 482                         uint8_t         minute;         /* 15 */
 483                         uint8_t         second;         /* 16 */
 484                         uint8_t         flags;          /* 17 */
 485                         uint8_t         year;           /* 18 */
 486                         uint8_t         month;          /* 19 */
 487                         uint8_t         day;            /* 20 */
 488                         uint8_t         course;         /* 21 */
 489                         uint16_t        ground_speed;   /* 22 */
 490                         int16_t         climb_rate;     /* 24 */
 491                         uint8_t         pdop;           /* 26 */
 492                         uint8_t         hdop;           /* 27 */
 493                         uint8_t         vdop;           /* 28 */
 494                         uint8_t         mode;           /* 29 */
 495                         int16_t         altitude_high;  /* 30 */
 496                 } gps;  /* 31 */
 497                 /* AO_LOG_GPS_SAT */
 498                 struct {
 499                         uint16_t        channels;       /* 4 */
 500                         struct {
 501                                 uint8_t svid;
 502                                 uint8_t c_n;
 503                         } sats[12];                     /* 6 */
 504                 } gps_sat;                              /* 30 */
 505         } u;
 506 };
 507
 508 #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
 509 typedef struct ao_log_mega ao_log_type;
 510 #endif
 511
 512 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMETRUM
 513 typedef struct ao_log_metrum ao_log_type;
 514 #endif
 515
 516 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEFIRETWO
 517 typedef struct ao_log_firetwo ao_log_type;
 518 #endif
 519
 520 #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
 521 typedef struct ao_log_mini ao_log_type;
 522 #endif
 523
 524 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEGPS
 525 typedef struct ao_log_gps ao_log_type;
 526 #endif
 527
 528 #if AO_LOG_FORMAT == AO_LOG_FORMAT_FULL
 529 typedef struct ao_log_record ao_log_type;
 530 #endif
 531
 532 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TINY
 533 #define AO_LOG_UNCOMMON 1
 534 #endif
 535
 536 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMETRY
 537 #define AO_LOG_UNCOMMON 1
 538 #endif
 539
 540 #if AO_LOG_FORMAT == AO_LOG_FORMAT_TELESCIENCE
 541 #define AO_LOG_UNCOMMON 1
 542 #endif
 543
 544 #if AO_LOG_FORMAT == AO_LOG_FORMAT_MICROPEAK2
 545 #define AO_LOG_UNCOMMON 1
 546 #endif
 547
 548 #ifndef AO_LOG_UNCOMMON
 549 extern ao_log_type ao_log_data;
 550
 551 #define AO_LOG_SIZE sizeof(ao_log_type)
 552
 553 /* Write a record to the eeprom log */
 554
 555 uint8_t
 556 ao_log_write(ao_log_type *log);
 557 #endif
 558
 559 void
 560 ao_log_flush(void);
 561
 562 void
 563 ao_gps_report_metrum_init(void);
 564
 565 #endif /* _AO_LOG_H_ */