*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
*
* This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* the log. Tasks may wait for this to be initialized
* by sleeping on this variable.
*/
-extern __xdata uint16_t ao_flight_number;
-
-extern __pdata uint32_t ao_log_current_pos;
-extern __pdata uint32_t ao_log_end_pos;
-extern __pdata uint32_t ao_log_start_pos;
-extern __xdata uint8_t ao_log_running;
-extern __pdata enum ao_flight_state ao_log_state;
+extern int16_t ao_flight_number;
+extern uint8_t ao_log_mutex;
+extern uint32_t ao_log_current_pos;
+extern uint32_t ao_log_end_pos;
+extern uint32_t ao_log_start_pos;
+extern uint8_t ao_log_running;
+extern enum ao_flight_state ao_log_state;
/* required functions from the underlying log system */
#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_EASYMINI 6 /* 16-byte MS5607 baro only, 3.0V supply */
+#define AO_LOG_FORMAT_TELEMEGA_OLD 5 /* 32 byte typed telemega records */
+#define AO_LOG_FORMAT_EASYMINI1 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_TELEMINI2 8 /* 16-byte MS5607 baro only, 3.3V supply, cc1111 SoC */
#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_DETHERM 11 /* 16-byte MS5607 baro only, no ADC */
+#define AO_LOG_FORMAT_TELEMINI3 12 /* 16-byte MS5607 baro only, 3.3V supply, stm32f042 SoC */
+#define AO_LOG_FORMAT_TELEFIRETWO 13 /* 32-byte test stand data */
+#define AO_LOG_FORMAT_EASYMINI2 14 /* 16-byte MS5607 baro only, 3.3V supply, stm32f042 SoC */
+#define AO_LOG_FORMAT_TELEMEGA_3 15 /* 32 byte typed telemega records with 32 bit gyro cal and mpu9250 */
+#define AO_LOG_FORMAT_EASYMEGA_2 16 /* 32 byte typed telemega records with 32 bit gyro cal, mpu9250 rotated 90° and adxl375 */
+#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_NONE 127 /* No log at all */
-extern __code uint8_t ao_log_format;
+/* Return the flight number from the given log slot, 0 if none, -slot on failure */
-/* Return the flight number from the given log slot, 0 if none */
-uint16_t
+int16_t
ao_log_flight(uint8_t slot);
+/* Checksum the loaded log record */
+uint8_t
+ao_log_check_data(void);
+
+/* Check to see if the loaded log record is empty */
+uint8_t
+ao_log_check_clear(void);
+
+/* Check if there is valid log data at the specified location */
+#define AO_LOG_VALID 1
+#define AO_LOG_EMPTY 0
+#define AO_LOG_INVALID -1
+
+int8_t
+ao_log_check(uint32_t pos);
+
/* Flush the log */
void
ao_log_flush(void);
/* functions provided in ao_log.c */
/* Figure out the current flight number */
-void
-ao_log_scan(void) __reentrant;
+uint8_t
+ao_log_scan(void);
/* Return the position of the start of the given log slot */
uint32_t
int32_t gps_latitude;
int32_t gps_longitude;
struct {
- int16_t altitude;
- uint16_t unused;
+ uint16_t altitude_low;
+ int16_t altitude_high;
} gps_altitude;
struct {
uint16_t svid;
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; /* 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 */
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;
int16_t gyro_y; /* 20 */
int16_t gyro_z; /* 22 */
int16_t mag_x; /* 24 */
- int16_t mag_y; /* 26 */
- int16_t mag_z; /* 28 */
+ int16_t mag_z; /* 26 */
+ int16_t mag_y; /* 28 */
int16_t accel; /* 30 */
} sensor; /* 32 */
/* AO_LOG_TEMP_VOLT */
struct {
int32_t latitude; /* 4 */
int32_t longitude; /* 8 */
- int16_t altitude; /* 12 */
+ uint16_t altitude_low; /* 12 */
uint8_t hour; /* 14 */
uint8_t minute; /* 15 */
uint8_t second; /* 16 */
uint8_t hdop; /* 27 */
uint8_t vdop; /* 28 */
uint8_t mode; /* 29 */
- } gps; /* 30 */
+ int16_t altitude_high; /* 30 */
+ } gps; /* 32 */
/* AO_LOG_GPS_SAT */
struct {
uint16_t channels; /* 4 */
} u;
};
+#define AO_LOG_MEGA_GPS_ALTITUDE(l) ((int32_t) ((l)->u.gps.altitude_high << 16) | ((l)->u.gps.altitude_low))
+#define AO_LOG_MEGA_SET_GPS_ALTITUDE(l,a) (((l)->u.gps.mode |= AO_GPS_MODE_ALTITUDE_24), \
+ ((l)->u.gps.altitude_high = (a) >> 16), \
+ (l)->u.gps.altitude_low = (a))
+
+struct ao_log_firetwo {
+ char type; /* 0 */
+ uint8_t csum; /* 1 */
+ uint16_t tick; /* 2 */
+ union { /* 4 */
+ /* AO_LOG_FLIGHT */
+ struct {
+ uint16_t flight; /* 4 */
+ } flight; /* 6 */
+ /* AO_LOG_STATE */
+ struct {
+ uint16_t state; /* 4 */
+ uint16_t reason; /* 6 */
+ } state; /* 8 */
+ /* AO_LOG_SENSOR */
+ struct {
+ uint16_t pressure; /* 4 */
+ uint16_t thrust; /* 6 */
+ uint16_t thermistor[4]; /* 8 */
+ } sensor; /* 24 */
+ uint8_t align[28]; /* 4 */
+ } u; /* 32 */
+};
+
+struct ao_log_telestatic {
+ char type; /* 0 */
+ uint8_t csum; /* 1 */
+ uint16_t tick; /* 2 */
+ union { /* 4 */
+ /* AO_LOG_FLIGHT */
+ struct {
+ uint16_t flight; /* 4 */
+ } flight; /* 6 */
+ /* AO_LOG_STATE */
+ struct {
+ uint16_t state; /* 4 */
+ uint16_t reason; /* 6 */
+ } state; /* 8 */
+ /* AO_LOG_SENSOR */
+ struct {
+ uint32_t pressure; /* 4 */
+ uint32_t pressure2; /* 8 */
+ uint32_t thrust; /* 12 */
+ uint32_t mass; /* 16 */
+ uint16_t t_low; /* 20 */
+ uint16_t t_high[4]; /* 22 */
+ } sensor; /* 30 */
+ uint8_t align[28]; /* 4 */
+ } u; /* 32 */
+};
+
struct ao_log_metrum {
char type; /* 0 */
uint8_t csum; /* 1 */
struct {
int32_t latitude; /* 4 */
int32_t longitude; /* 8 */
- int16_t altitude; /* 12 */
- } gps; /* 14 */
+ uint16_t altitude_low; /* 12 */
+ int16_t altitude_high; /* 14 */
+ } gps; /* 16 */
/* AO_LOG_GPS_TIME */
struct {
uint8_t hour; /* 4 */
uint8_t year; /* 8 */
uint8_t month; /* 9 */
uint8_t day; /* 10 */
- uint8_t pad; /* 11 */
+ uint8_t pdop; /* 11 */
} gps_time; /* 12 */
/* AO_LOG_GPS_SAT (up to three packets) */
struct {
struct {
int32_t latitude; /* 4 */
int32_t longitude; /* 8 */
- int16_t altitude; /* 12 */
+ uint16_t altitude_low; /* 12 */
uint8_t hour; /* 14 */
uint8_t minute; /* 15 */
uint8_t second; /* 16 */
uint8_t hdop; /* 27 */
uint8_t vdop; /* 28 */
uint8_t mode; /* 29 */
- uint8_t state; /* 30 */
+ int16_t altitude_high; /* 30 */
} gps; /* 31 */
/* AO_LOG_GPS_SAT */
struct {
} u;
};
-/* Write a record to the eeprom log */
-uint8_t
-ao_log_data(__xdata struct ao_log_record *log) __reentrant;
+#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
+typedef struct ao_log_mega ao_log_type;
+#endif
-uint8_t
-ao_log_mega(__xdata struct ao_log_mega *log) __reentrant;
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMETRUM
+typedef struct ao_log_metrum ao_log_type;
+#endif
-uint8_t
-ao_log_metrum(__xdata struct ao_log_metrum *log) __reentrant;
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEFIRETWO
+typedef struct ao_log_firetwo ao_log_type;
+#endif
-uint8_t
-ao_log_mini(__xdata struct ao_log_mini *log) __reentrant;
+#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
+typedef struct ao_log_mini ao_log_type;
+#endif
+
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEGPS
+typedef struct ao_log_gps ao_log_type;
+#endif
+
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_FULL
+typedef struct ao_log_record ao_log_type;
+#endif
+
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_TINY
+#define AO_LOG_UNCOMMON 1
+#endif
+
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMETRY
+#define AO_LOG_UNCOMMON 1
+#endif
+
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_TELESCIENCE
+#define AO_LOG_UNCOMMON 1
+#endif
+
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_MICROPEAK2
+#define AO_LOG_UNCOMMON 1
+#endif
+
+#ifndef AO_LOG_UNCOMMON
+extern ao_log_type ao_log_data;
+
+#define AO_LOG_SIZE sizeof(ao_log_type)
+
+/* Write a record to the eeprom log */
uint8_t
-ao_log_gps(__xdata struct ao_log_gps *log) __reentrant;
+ao_log_write(ao_log_type *log);
+#endif
void
ao_log_flush(void);
projects / fw / altos / blobdiff