dataLog.h

#ifndef DATALOG_H
#define DATALOG_H
 
#include <ChRt.h>
#include <SD.h>
#include <stdint.h>
 
#include "FifoBuffer.h"
#include "HistoryBuffer.h"
#include "MS5611.h"                //Barometer Library
#include "SparkFunLSM9DS1.h"       //Low-G IMU Library
#include "SparkFun_Qwiic_KX13X.h"  //High-G IMU Library
#include "SparkFun_u-blox_GNSS_Arduino_Library.h"
#include "VoltageSensor.h"
#include "rocketFSM.h"
// #include "acShared.h"
// #include "dataStructs.h"
 
struct LowGData {
    float ax;
    float ay;
    float az;
    float gx;
    float gy;
    float gz;
    float mx;
    float my;
    float mz;
    systime_t timeStamp_lowG;
};
 
struct HighGData {
    float hg_ax;
    float hg_ay;
    float hg_az;
    systime_t timeStamp_highG;
};
 
struct GpsData {
    float latitude;
    float longitude;
    float altitude;
    uint32_t siv_count;
    uint32_t fix_type;
    bool posLock;
    systime_t timeStamp_GPS;
};
 
struct FlapData {
    float extension;
    systime_t timeStamp_flaps;
};
 
struct BarometerData {
    float temperature;  // in degC
    float pressure;     // in mbar
    float altitude;     // in meter
    systime_t timeStamp_barometer;
};
 
struct stateData {
    float state_x = 0;
    float state_vx = 0;
    float state_ax = 0;
    float state_apo = 0;
    // float state_q0 = 0;
 
    systime_t timeStamp_state = 0;
};
 
struct sensorDataStruct_t {
    // data for lowGimu
    bool has_lowG_data;
    LowGData lowG_data;
 
    // data for highGimu accel data (hg_x, hg_y, hg_z)
    bool has_highG_data;
    HighGData highG_data;
 
    // GPS DATA
    bool has_gps_data;
    GpsData gps_data;
 
    // Barometer data (temp and pres)
    bool has_barometer_data;
    BarometerData barometer_data;
 
    // State variables
    bool has_state_data;
    stateData state_data;
 
    // Rocket State
    bool has_rocketState_data;
    rocketStateData<4> rocketState_data;
 
    // Flap state
    bool has_flap_data;
    FlapData flap_data;
 
    // Voltage state
    bool has_voltage_data;
    VoltageData voltage_data;
};
 
enum sensors { LOWG_IMU, HIGHG_IMU, BAROMETER, GPS };
 
#define FIFO_SIZE 1000
class DataLogBuffer {
   private:
    FifoBuffer<LowGData, FIFO_SIZE> lowGFifo{};
    FifoBuffer<HighGData, FIFO_SIZE> highGFifo{};
    FifoBuffer<GpsData, FIFO_SIZE> gpsFifo{};
    FifoBuffer<stateData, FIFO_SIZE> stateFifo{};
    FifoBuffer<rocketStateData<4>, FIFO_SIZE> rocketStateFifo{};
    FifoBuffer<FlapData, FIFO_SIZE> flapFifo{};
    FifoBuffer<VoltageData, FIFO_SIZE> voltageFifo{};
    FifoBuffer<BarometerData, FIFO_SIZE> barometerFifo{};
 
   public:
    MUTEX_DECL(dataMutex_lowG);
    MUTEX_DECL(dataMutex_highG);
    MUTEX_DECL(dataMutex_GPS);
    MUTEX_DECL(dataMutex_barometer);
    MUTEX_DECL(dataMutex_flaps);
    MUTEX_DECL(dataMutex_rocket_state);
    MUTEX_DECL(dataMutex_voltage);
    MUTEX_DECL(dataMutex_state);
 
    HistoryBuffer<50> altitude_history_50 = HistoryBuffer<50>();
    HistoryBuffer<50> IMU_acceleration_history_50 = HistoryBuffer<50>();
 
    HistoryBuffer<6> altitude_history_6 = HistoryBuffer<6>();
    HistoryBuffer<6> IMU_acceleration_history_6 = HistoryBuffer<6>();
 
    HistoryBuffer<6> gnc_altitude_history_6 = HistoryBuffer<6>();
    HistoryBuffer<6> gnc_IMU_acceleration_history_6 = HistoryBuffer<6>();
 
    sensorDataStruct_t current_data;
 
    File dataFile;
 
    bool pushLowGFifo(LowGData* lowG_Data);
    bool popLowGFifo(LowGData* lowG_Data);
 
    bool pushHighGFifo(HighGData* highG_Data);
    bool popHighGFifo(HighGData* highG_Data);
 
    bool pushGpsFifo(GpsData* gps_Data);
    bool popGpsFifo(GpsData* gps_Data);
 
    bool pushStateFifo(stateData* state_data);
    bool popStateFifo(stateData* state_data);
 
    bool pushRocketStateFifo(rocketStateData<4>* rocket_data);
    bool popRocketStateFifo(rocketStateData<4>* rocket_data);
 
    bool pushBarometerFifo(BarometerData* barometer_data);
    bool popBarometerFifo(BarometerData* barometer_data);
 
    bool pushFlapsFifo(FlapData* flap_data);
    bool popFlapsFifo(FlapData* flap_data);
 
    bool pushVoltageFifo(VoltageData* voltage_data);
    bool popVoltageFifo(VoltageData* voltage_data);
};
 
// forward declare;
struct Telemetry;
// TODO: Re-think this struct
struct pointers {
    LSM9DS1* lowGimuPointer{};
    QwiicKX134* highGimuPointer{};
    MS5611* barometerPointer{};
    SFE_UBLOX_GNSS* GPSPointer{};
    Telemetry* telemetry{};
 
    sensorDataStruct_t* sensorDataPointer{};
 
    DataLogBuffer dataloggerTHDVarsPointer;
    bool abort;
};
 
void dataLoggerTickFunction(pointers*);
 
char* sd_file_namer(char* inputName, char* fileExtensionParam);
 
void logData(File* dataFile, sensorDataStruct_t* data);
 
#endif