X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao_log.h;h=c5fa7faba6d867bee81ab990fcdf35eafa0d69c1;hp=3ff9e81142ed60925eb22b71b82bbe205d83aced;hb=bb7522acf040f41740ecd059e3d5d2480b652420;hpb=8124af8c27b2b9e446aa3a4f1da83d4db7c1ea87

diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h
index 3ff9e811..c5fa7fab 100644
--- 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);