altos: Record 32-bits for gyro calibration values

The gyro ground calibration values are scaled by 512 to provide a bit
more precision for the computations. This means they don't fit in 16
bits, so change the format of the flight log record. Also change the
reported format so that AltosUI has a chance of figuring it out.

Signed-off-by: Keith Packard <keithp@keithp.com>

diff --git a/src/kernel/ao_log.h b/src/kernel/ao_log.h
index c13a2580f71e3bdae2af7be7d978b71d6d921eff..3354c2439bc2a06dbc647975781557155175f08a 100644 (file)
--- a/src/kernel/ao_log.h
+++ b/src/kernel/ao_log.h
@@ -43,11 +43,12 @@ 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_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_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_NONE             127     /* No log at all */
 
 extern __code uint8_t ao_log_format;
 #define AO_LOG_FORMAT_NONE             127     /* No log at all */
 
 extern __code uint8_t ao_log_format;


@@ -208,6 +209,18 @@ struct ao_log_mega {
        uint16_t                tick;                   /* 2 */
        union {                                         /* 4 */
                /* AO_LOG_FLIGHT */
        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 */
+                       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 */
                struct {
                        uint16_t        flight;                 /* 4 */
                        int16_t         ground_accel;           /* 6 */


@@ -218,7 +231,7 @@ struct ao_log_mega {
                        int16_t         ground_roll;            /* 18 */
                        int16_t         ground_pitch;           /* 20 */
                        int16_t         ground_yaw;             /* 22 */
                        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;
                /* AO_LOG_STATE */
                struct {
                        uint16_t        state;