WIP

firmware-common-new/src/can_bus/messages/vl_status.rs

@@ -5,8 +5,9 @@ use super::{CanBusMessage, CanBusMessageEnum};
 
 /// may skip stages, may go back to a previous stage
 #[cfg_attr(feature = "defmt", derive(defmt::Format))]
-#[derive(PrimitiveEnum_u8, Clone, Copy, Debug, PartialEq, Eq, Ord, PartialOrd, Serialize, Deserialize)]
-#[repr(C)]
+#[derive(PrimitiveEnum_u8, Clone, Copy, Debug, PartialEq, Eq, Ord, PartialOrd, Serialize, Deserialize, rkyv::Archive, rkyv::Serialize, rkyv::Deserialize)]
+#[rkyv(derive(Clone, Copy, Debug))]
+#[repr(u8)]
 pub enum FlightStage {
     LowPower = 0,
     SelfTest = 1,

firmware-common-new/src/flight_data_record.rs

@@ -0,0 +1,57 @@
+use crate::{
+    can_bus::messages::vl_status::FlightStage, gps::GPSData,
+    vlp::packets::gps_beacon::GPSBeaconPacket,
+};
+
+#[derive(rkyv::Serialize, rkyv::Deserialize, rkyv::Archive, Debug, Clone, PartialEq)]
+pub struct FlightDataRecord {
+    pub record_count: u32,
+    // theoretically, since the recording will start at boot, and we know boot time, we may not need to log the timestamp, this is just in case.
+    pub timestamp_us: u64,
+
+    // [f32;3] is used because Vector3<f32> wouldve been a pain to make serialisable for rkyv
+    // IMU data
+    pub acc: [f32; 3],
+    pub gyro: [f32; 3],
+
+    // Barometer data
+    pub temperature: f32,
+    pub pressure: f32,
+    ///
+    pub mag: [f32; 3],
+    ///
+    pub battery_voltage: f32,
+    ///
+    // bitmask for if each of the data points is valid, (exists cause GPS data is inconsistent and rkyv cant work with option)
+    pub valid: u8,
+    ///
+    // gps data
+    pub lat_lon: (f64, f64),
+    pub altitude: f32,
+    pub num_of_fixed_satalites: u8,
+    pub hdop: f32,
+    pub vdop: f32,
+    pub pdop: f32,
+    ///
+    pub flight_stage: FlightStage,
+
+    // bitmask for ContinuityUpdate (which is in vlf5/firmware)
+    pub pyro_flags: u8,
+}
+
+// `valid` bitmask: which fields in a record held trustworthy data when it was
+// logged. Shared between the firmware logger and the host CLI so both agree on
+// the meaning of every bit.
+pub const VALID_IMU: u8 = 1 << 0;
+pub const VALID_BARO: u8 = 1 << 1;
+pub const VALID_MAG: u8 = 1 << 2;
+pub const VALID_GPS_FIX: u8 = 1 << 3;
+pub const VALID_GPS_ALT: u8 = 1 << 4;
+pub const VALID_BATTERY: u8 = 1 << 5;
+
+// `pyro_flags` bitmask layout (see vlf5 firmware `ContinuityUpdate`).
+pub const PYRO_MAIN_CONTINUITY: u8 = 1 << 0;
+pub const PYRO_MAIN_FIRE: u8 = 1 << 1;
+pub const PYRO_DROGUE_CONTINUITY: u8 = 1 << 2;
+pub const PYRO_DROGUE_FIRE: u8 = 1 << 3;
+pub const PYRO_SHORT_CIRCUIT: u8 = 1 << 4;