X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao_log.h;h=13eb05bfd7ee4c32aed8120909a779a2440cb69a;hp=33cda3eb3560303f2a3d9030ebc0f76ed7fc89b9;hb=1085ec5d57e0ed5d132f2bbdac1a0b6a32c0ab4a;hpb=8117ba3553789a2bae9beb92fbe9e14e3cc79389

diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h
index 33cda3eb..13eb05bf 100644
--- a/src/kernel/ao_log.h
+++ b/src/kernel/ao_log.h
@@ -3,7 +3,8 @@
  *
  * 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
@@ -43,19 +44,26 @@ 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_DETHERM		11	/* 16-byte MS5607 baro only, no ADC */
 #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 +75,7 @@ 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 */
@@ -176,8 +184,8 @@ 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;
@@ -203,6 +211,18 @@ 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;			/* 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 +233,7 @@ 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;
@@ -246,7 +266,7 @@ 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 */
@@ -261,7 +281,8 @@ 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 */
@@ -273,6 +294,11 @@ 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 */
@@ -306,8 +332,9 @@ 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 */
@@ -317,7 +344,7 @@ 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 {
@@ -381,7 +408,7 @@ struct ao_log_gps {
 		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 */
@@ -396,7 +423,7 @@ struct ao_log_gps {
 			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 {