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