altos: Record 32-bits for gyro calibration values

[fw/altos] / src / kernel / ao_log.h

diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h
index da20e067148d23467915fb71b05ef91ed5436265..3354c2439bc2a06dbc647975781557155175f08a 100644 (file)
--- a/src/kernel/ao_log.h
+++ b/src/kernel/ao_log.h
@@ -43,19 +43,25 @@ extern __pdata enum ao_flight_state ao_log_state;
 #define AO_LOG_FORMAT_TINY             2       /* two byte state/baro records */
 #define AO_LOG_FORMAT_TELEMETRY                3       /* 32 byte ao_telemetry records */
 #define AO_LOG_FORMAT_TELESCIENCE      4       /* 32 byte typed telescience records */
-#define AO_LOG_FORMAT_TELEMEGA         5       /* 32 byte typed telemega records */
+#define AO_LOG_FORMAT_TELEMEGA_OLD     5       /* 32 byte typed telemega records */
 #define AO_LOG_FORMAT_EASYMINI         6       /* 16-byte MS5607 baro only, 3.0V supply */
 #define AO_LOG_FORMAT_TELEMETRUM       7       /* 16-byte typed telemetrum records */
 #define AO_LOG_FORMAT_TELEMINI         8       /* 16-byte MS5607 baro only, 3.3V supply */
 #define AO_LOG_FORMAT_TELEGPS          9       /* 32 byte telegps records */
+#define AO_LOG_FORMAT_TELEMEGA         10      /* 32 byte typed telemega records with 32 bit gyro cal */
 #define AO_LOG_FORMAT_NONE             127     /* No log at all */
 
 extern __code uint8_t ao_log_format;
+extern __code uint8_t ao_log_size;
 
 /* Return the flight number from the given log slot, 0 if none */
 uint16_t
 ao_log_flight(uint8_t slot);
 
+/* Check if there is valid log data at the specified location */
+uint8_t
+ao_log_check(uint32_t pos);
+
 /* Flush the log */
 void
 ao_log_flush(void);
@@ -67,7 +73,7 @@ ao_log(void);
 /* functions provided in ao_log.c */
 
 /* Figure out the current flight number */
-void
+uint8_t
 ao_log_scan(void) __reentrant;
 
 /* Return the position of the start of the given log slot */
@@ -203,6 +209,18 @@ struct ao_log_mega {
        uint16_t                tick;                   /* 2 */
        union {                                         /* 4 */
                /* AO_LOG_FLIGHT */
+               struct {
+                       uint16_t        flight;                 /* 4 */
+                       int16_t         ground_accel;           /* 6 */
+                       uint32_t        ground_pres;            /* 8 */
+                       int16_t         ground_accel_along;     /* 12 */
+                       int16_t         ground_accel_across;    /* 14 */
+                       int16_t         ground_accel_through;   /* 16 */
+                       int16_t         pad                     /* 18 */
+                       int32_t         ground_roll;            /* 20 */
+                       int32_t         ground_pitch;           /* 24 */
+                       int32_t         ground_yaw;             /* 28 */
+               } flight;                                       /* 32 */
                struct {
                        uint16_t        flight;                 /* 4 */
                        int16_t         ground_accel;           /* 6 */
@@ -213,7 +231,7 @@ struct ao_log_mega {
                        int16_t         ground_roll;            /* 18 */
                        int16_t         ground_pitch;           /* 20 */
                        int16_t         ground_yaw;             /* 22 */
-               } flight;                                       /* 24 */
+               } flight_old;                                   /* 24 */
                /* AO_LOG_STATE */
                struct {
                        uint16_t        state;