X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao_log.h;h=a2f2c6ca9679f8b93946ff3bc3d418d5e4209d2a;hp=3ff9e81142ed60925eb22b71b82bbe205d83aced;hb=359e2d6eca5258f4fabc59772f1320e195a7397c;hpb=c8ad50495e2d81209a4882dd4f82c19d9ae2ac34

diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h
index 3ff9e811..a2f2c6ca 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
@@ -29,7 +30,7 @@
  * 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;
@@ -43,18 +44,28 @@ 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_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_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);
@@ -66,7 +77,7 @@ 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 */
@@ -175,8 +186,8 @@ 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;
@@ -202,6 +213,18 @@ 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 */
@@ -212,7 +235,7 @@ 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;
@@ -245,7 +268,7 @@ 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 +283,8 @@ 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 +296,37 @@ 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_firetwo {
+	char			type;			/* 0 */
+	uint8_t			csum;			/* 1 */
+	uint16_t		tick;			/* 2 */
+	union {						/* 4 */
+		/* AO_LOG_FLIGHT */
+		struct {
+			uint16_t	flight;		/* 4 */
+			uint16_t	idle_pressure;	/* 6 */
+			uint16_t	idle_thrust;	/* 8 */
+		} flight;	/* 16 */
+		/* 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_metrum {
 	char			type;			/* 0 */
 	uint8_t			csum;			/* 1 */
@@ -305,8 +360,9 @@ 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 +372,7 @@ 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 +420,50 @@ 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 +477,9 @@ 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);