* the log. Tasks may wait for this to be initialized
* by sleeping on this variable.
*/
-extern int16_t ao_flight_number;
+extern uint16_t ao_flight_number;
extern uint8_t ao_log_mutex;
extern uint32_t ao_log_current_pos;
extern uint32_t ao_log_end_pos;
#define AO_LOG_FORMAT_TELESTATIC 17 /* 32 byte typed telestatic records */
#define AO_LOG_FORMAT_MICROPEAK2 18 /* 2-byte baro values with header */
#define AO_LOG_FORMAT_TELEMEGA_4 19 /* 32 byte typed telemega records with 32 bit gyro cal and Bmx160 */
+#define AO_LOG_FORMAT_EASYMOTOR 20 /* 16 byte typed easymotor records with pressure sensor and adxl375 */
+#define AO_LOG_FORMAT_TELEMEGA_5 21 /* 32 byte typed telemega records with 32 bit gyro cal, mpu6000 and mmc5983 */
+#define AO_LOG_FORMAT_TELEMEGA_6 22 /* 32 byte typed telemega records with 32 bit gyro cal, bmi088 and mmc5983 */
+#define AO_LOG_FORMAT_EASYTIMER_2 23 /* 32 byte typed easytimer records with 32 bit gyro cal, bmi088 and mmc5983 */
+#define AO_LOG_FORMAT_EASYMEGA_3 24 /* 32 byte typed telemega records with 32 bit gyro cal, bmi088 and mmc5983 */
#define AO_LOG_FORMAT_NONE 127 /* No log at all */
/* Return the flight number from the given log slot, 0 if none, -slot on failure */
-int16_t
+int32_t
ao_log_flight(uint8_t slot);
/* Checksum the loaded log record */
struct {
uint16_t flight; /* 4 */
int16_t ground_accel; /* 6 */
- uint32_t ground_pres; /* 8 */
+ int32_t ground_pres; /* 8 */
int16_t ground_accel_along; /* 12 */
int16_t ground_accel_across; /* 14 */
int16_t ground_accel_through; /* 16 */
struct {
uint16_t flight; /* 4 */
int16_t ground_accel; /* 6 */
- uint32_t ground_pres; /* 8 */
+ int32_t ground_pres; /* 8 */
int16_t ground_accel_along; /* 12 */
int16_t ground_accel_across; /* 14 */
int16_t ground_accel_through; /* 16 */
struct {
uint32_t pres; /* 4 */
uint32_t temp; /* 8 */
- int16_t accel_x; /* 12 */
- int16_t accel_y; /* 14 */
- int16_t accel_z; /* 16 */
- int16_t gyro_x; /* 18 */
- int16_t gyro_y; /* 20 */
- int16_t gyro_z; /* 22 */
- int16_t mag_x; /* 24 */
- int16_t mag_z; /* 26 */
- int16_t mag_y; /* 28 */
+ union {
+ struct {
+ int16_t accel_along; /* 12 */
+ int16_t accel_across; /* 14 */
+ int16_t accel_through; /* 16 */
+ int16_t gyro_roll; /* 18 */
+ int16_t gyro_pitch; /* 20 */
+ int16_t gyro_yaw; /* 22 */
+ int16_t mag_along; /* 24 */
+ int16_t mag_across; /* 26 */
+ int16_t mag_through; /* 28 */
+ };
+ struct {
+ int16_t accel_x; /* 12 */
+ int16_t accel_y; /* 14 */
+ int16_t accel_z; /* 16 */
+ int16_t gyro_x; /* 18 */
+ int16_t gyro_y; /* 20 */
+ int16_t gyro_z; /* 22 */
+ int16_t mag_x; /* 24 */
+ int16_t mag_z; /* 26 */
+ int16_t mag_y; /* 28 */
+ };
+ };
int16_t accel; /* 30 */
} sensor; /* 32 */
/* AO_LOG_TEMP_VOLT */
struct {
uint16_t flight; /* 4 */
int16_t ground_accel; /* 6 */
- uint32_t ground_pres; /* 8 */
+ int32_t ground_pres; /* 8 */
uint32_t ground_temp; /* 12 */
} flight; /* 16 */
/* AO_LOG_STATE */
struct {
uint16_t flight; /* 4 */
uint16_t r6;
- uint32_t ground_pres; /* 8 */
+ int32_t ground_pres; /* 8 */
} flight;
/* AO_LOG_STATE */
struct {
}; /* 16 */
#define ao_log_pack24(dst,value) do { \
- (dst)[0] = (value); \
- (dst)[1] = (value) >> 8; \
- (dst)[2] = (value) >> 16; \
+ (dst)[0] = (uint8_t) (value); \
+ (dst)[1] = (uint8_t) ((value) >> 8); \
+ (dst)[2] = (uint8_t) ((value) >> 16); \
} while (0)
struct ao_log_gps {
} u;
};
-#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
+struct ao_log_motor {
+ char type; /* 0 */
+ uint8_t csum; /* 1 */
+ uint16_t tick; /* 2 */
+ union { /* 4 */
+ /* AO_LOG_FLIGHT */
+ struct {
+ uint16_t flight; /* 4 */
+ int16_t ground_accel; /* 6 */
+ int16_t ground_accel_along; /* 8 */
+ int16_t ground_accel_across; /* 10 */
+ int16_t ground_accel_through; /* 12 */
+ int16_t ground_motor_pressure; /* 14 */
+ } flight; /* 16 */
+ /* AO_LOG_STATE */
+ struct {
+ uint16_t state; /* 4 */
+ uint16_t reason; /* 6 */
+ } state;
+ /* AO_LOG_SENSOR */
+ struct {
+ uint16_t pressure; /* 4 */
+ uint16_t v_batt; /* 6 */
+ int16_t accel; /* 8 */
+ int16_t accel_across; /* 10 */
+ int16_t accel_along; /* 12 */
+ int16_t accel_through; /* 14 */
+ } sensor; /* 16 */
+ } u;
+};
+
+struct ao_log_timer {
+ char type; /* 0 */
+ uint8_t csum; /* 1 */
+ uint16_t tick; /* 2 */
+ union { /* 4 */
+ /* AO_LOG_FLIGHT */
+ struct {
+ uint16_t flight; /* 4 */
+ int16_t ground_accel; /* 6 */
+ int16_t ground_accel_along; /* 8 */
+ int16_t ground_accel_across; /* 10 */
+ int16_t ground_accel_through; /* 12 */
+ int16_t pad_14; /* 14 */
+ int32_t ground_roll; /* 16 */
+ int32_t ground_pitch; /* 20 */
+ int32_t ground_yaw; /* 24 */
+ } flight; /* 32 */
+ /* AO_LOG_STATE */
+ struct {
+ uint16_t state; /* 4 */
+ uint16_t reason; /* 6 */
+ } state;
+ /* AO_LOG_SENSOR */
+ struct {
+ int16_t accel_along; /* 4 */
+ int16_t accel_across; /* 6 */
+ int16_t accel_through; /* 8 */
+ int16_t gyro_roll; /* 10 */
+ int16_t gyro_pitch; /* 12 */
+ int16_t gyro_yaw; /* 14 */
+ int16_t mag_along; /* 16 */
+ int16_t mag_across; /* 18 */
+ int16_t mag_through; /* 20 */
+ int16_t v_batt; /* 22 */
+ int16_t v_pbatt; /* 24 */
+ int16_t sense[2]; /* 26 */
+ uint16_t pyro; /* 30 */
+ } sensor; /* 32 */
+ } u;
+};
+
+#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 || AO_LOG_FORMAT == AO_LOG_FORMAT_EASYMEGA_3
typedef struct ao_log_mega ao_log_type;
#endif
typedef struct ao_log_mini ao_log_type;
#endif
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_EASYMOTOR
+typedef struct ao_log_motor ao_log_type;
+#endif
+
#if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEGPS
typedef struct ao_log_gps ao_log_type;
#endif
#define AO_LOG_UNCOMMON 1
#endif
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_EASYTIMER_2
+typedef struct ao_log_timer ao_log_type;
+#endif
+
#ifndef AO_LOG_UNCOMMON
extern ao_log_type ao_log_data;
projects / fw / altos / blobdiff