altos: Add TeleGPS logging format

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

diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h
index 3ff9e81142ed60925eb22b71b82bbe205d83aced..87fa0d4d3a323c3645050f451f6731d526ee0607 100644 (file)
--- a/src/kernel/ao_log.h
+++ b/src/kernel/ao_log.h
@@ -47,6 +47,7 @@ extern __pdata enum ao_flight_state ao_log_state;
 #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_NONE             127     /* No log at all */
 
 extern __code uint8_t ao_log_format;
@@ -364,6 +365,50 @@ struct ao_log_mini {
                (dst)[2] = (value) >> 16;       \
        } while (0)
 
+struct ao_log_gps {
+       char                    type;                   /* 0 */
+       uint8_t                 csum;                   /* 1 */
+       uint16_t                tick;                   /* 2 */
+       union {                                         /* 4 */
+               /* AO_LOG_FLIGHT */
+               struct {
+                       uint16_t        flight;                 /* 4 */
+                       int16_t         start_altitude;         /* 6 */
+                       int32_t         start_latitude;         /* 8 */
+                       int32_t         start_longitude;        /* 12 */
+               } flight;                                       /* 16 */
+               /* AO_LOG_GPS_TIME */
+               struct {
+                       int32_t         latitude;       /* 4 */
+                       int32_t         longitude;      /* 8 */
+                       int16_t         altitude;       /* 12 */
+                       uint8_t         hour;           /* 14 */
+                       uint8_t         minute;         /* 15 */
+                       uint8_t         second;         /* 16 */
+                       uint8_t         flags;          /* 17 */
+                       uint8_t         year;           /* 18 */
+                       uint8_t         month;          /* 19 */
+                       uint8_t         day;            /* 20 */
+                       uint8_t         course;         /* 21 */
+                       uint16_t        ground_speed;   /* 22 */
+                       int16_t         climb_rate;     /* 24 */
+                       uint8_t         pdop;           /* 26 */
+                       uint8_t         hdop;           /* 27 */
+                       uint8_t         vdop;           /* 28 */
+                       uint8_t         mode;           /* 29 */
+                       uint8_t         state;          /* 30 */
+               } gps;  /* 31 */
+               /* AO_LOG_GPS_SAT */
+               struct {
+                       uint16_t        channels;       /* 4 */
+                       struct {
+                               uint8_t svid;
+                               uint8_t c_n;
+                       } sats[12];                     /* 6 */
+               } gps_sat;                              /* 30 */
+       } u;
+};
+
 /* Write a record to the eeprom log */
 uint8_t
 ao_log_data(__xdata struct ao_log_record *log) __reentrant;
@@ -377,6 +422,9 @@ ao_log_metrum(__xdata struct ao_log_metrum *log) __reentrant;
 uint8_t
 ao_log_mini(__xdata struct ao_log_mini *log) __reentrant;
 
+uint8_t
+ao_log_gps(__xdata struct ao_log_gps *log) __reentrant;
+
 void
 ao_log_flush(void);