telegps-v1.0: Provide one log and append to it

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

diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h
index 3ff9e81142ed60925eb22b71b82bbe205d83aced..c5fa7faba6d867bee81ab990fcdf35eafa0d69c1 100644 (file)
--- a/src/kernel/ao_log.h
+++ b/src/kernel/ao_log.h
@@ -29,7 +29,7 @@
  * by sleeping on this variable.
  */
 extern __xdata uint16_t ao_flight_number;
-
+extern __xdata uint8_t ao_log_mutex;
 extern __pdata uint32_t ao_log_current_pos;
 extern __pdata uint32_t ao_log_end_pos;
 extern __pdata uint32_t ao_log_start_pos;
@@ -47,14 +47,20 @@ 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;
+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);
@@ -175,8 +181,8 @@ struct ao_log_record {
                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;
@@ -245,7 +251,7 @@ struct ao_log_mega {
                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 */
@@ -260,7 +266,8 @@ struct ao_log_mega {
                        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 */
@@ -272,6 +279,11 @@ struct ao_log_mega {
        } 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_metrum {
        char                    type;                   /* 0 */
        uint8_t                 csum;                   /* 1 */
@@ -305,8 +317,9 @@ struct ao_log_metrum {
                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 */
@@ -316,7 +329,7 @@ struct ao_log_metrum {
                        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 {
@@ -364,6 +377,50 @@ 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 */
+                       uint16_t        altitude_low;   /* 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 */
+                       int16_t         altitude_high;  /* 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 +434,9 @@ 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);