On-flash format of the ACwing flight log (format 1). More...

#include <stdint.h>

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Data Structures
struct	log_sector_hdr_t
	sector header More...

struct	log_info_t

struct	log_time_t

struct	log_att_t

struct	log_vert_t

struct	log_flight_t

struct	log_event_t

struct	log_est_t

struct	log_power_t

struct	log_drop_t

Macros
#define	LOG_FORMAT 1u

#define	LOG_MAGIC 0x474C4341u
	"ACLG"

#define	LOG_SECTOR 4096u

#define	LOG_PAGE 256u

#define	LOG_HDR_SIZE 20u

#define	LOG_REC_OVERHEAD 3u
	type, len, crc8

#define	LOG_REC_MAX 64u
	largest payload

Enumerations
enum	{ LR_INFO = 0x01 , LR_TIME = 0x02 , LR_ATT = 0x10 , LR_VERT = 0x11 , LR_FLIGHT = 0x12 , LR_EVENT = 0x13 , LR_EST = 0x14 , LR_POWER = 0x20 , LR_DROP = 0x7F }

Functions
uint8_t	log_crc8 (const uint8_t *p, uint32_t n)

uint16_t	log_crc16 (const uint8_t *p, uint32_t n)

Detailed Description

On-flash format of the ACwing flight log (format 1).

The log flash (W25Q128JV, 16 MB, 4 KB sectors) is a ring of sectors. A log (one per arming, or one per power-on with logMode = always) is a run of consecutive sectors; when the flash is full the oldest sectors are erased and reused, so the oldest log may lose its beginning ("truncated").

Every sector starts with a 20-byte header, then records until the end of the sector or the first 0xFF byte (erased flash). A record never crosses a sector boundary:

[type u8][len u8][payload: len bytes][crc8 over type, len, payload]

CRC-8: poly 0x07, init 0x00 (CRC-8/SMBUS). A reader that finds a bad CRC skips to the next sector. All values little-endian, packed.

The PC decoders (02 - Tools) follow this file: change both together and bump LOG_FORMAT. A NEW record type does not need a new format: readers skip the types they do not know (LR_TIME was added that way, firmware 0.6).

Definition in file log_format.h.

Macro Definition Documentation

◆ LOG_FORMAT

#define LOG_FORMAT 1u

Definition at line 28 of file log_format.h.

◆ LOG_MAGIC

#define LOG_MAGIC 0x474C4341u

"ACLG"

Definition at line 29 of file log_format.h.

◆ LOG_SECTOR

#define LOG_SECTOR 4096u

Definition at line 30 of file log_format.h.

◆ LOG_PAGE

#define LOG_PAGE 256u

Definition at line 31 of file log_format.h.

◆ LOG_HDR_SIZE

#define LOG_HDR_SIZE 20u

Definition at line 32 of file log_format.h.

◆ LOG_REC_OVERHEAD

#define LOG_REC_OVERHEAD 3u

type, len, crc8

Definition at line 33 of file log_format.h.

◆ LOG_REC_MAX

#define LOG_REC_MAX 64u

largest payload

Definition at line 34 of file log_format.h.

Enumeration Type Documentation

◆ anonymous enum

anonymous enum

Enumerator
LR_INFO	first record of a log
LR_TIME	wall clock: after LR_INFO, and when it is set
LR_ATT	attitude and IMU, 50 Hz
LR_VERT	vertical estimate and loop, 50 Hz
LR_FLIGHT	flight core state, 10 Hz
LR_EVENT	every EVENT of the flight core
LR_EST	estimator health, 10 Hz
LR_POWER	battery, 10 Hz (BattTask)
LR_DROP	records lost because a queue was full

Definition at line 50 of file log_format.h.

Function Documentation

◆ log_crc8()

uint8_t log_crc8	(	const uint8_t *	p,
		uint32_t	n
	)

Definition at line 28 of file log_store.c.

References n.

Referenced by log_append().

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◆ log_crc16()

uint16_t log_crc16	(	const uint8_t *	p,
		uint32_t	n
	)

Definition at line 38 of file log_store.c.