[GS] Logging improvements

1. Log data from both links into a single file,
2. Add units in log headers,
3. Fix logging icon refresh,
4. Fix free size calculation; Free size is refreshed after logging
stops.

ground_station/src/hmi/hmi.cpp

@@ -115,8 +115,12 @@ void Hmi::initLive() { window.initLive(); }
 void Hmi::live() {
   bool updated = false;
 
-  /* Dual Mode */
   if (link1.data.isUpdated() && link1.info.isUpdated()) {
+    // We log after LIFTOFF and stop either never (if neverStopLogging == TRUE) or at TOUCHDOWN
+    link1Log = (link1.data.state() > 2) && (systemConfig.config.neverStopLogging || link1.data.state() < 7);
+    if (link1Log) {
+      recorder.record(&link1.data.rxData, 1);
+    }
     window.updateLive(&link1.data, &link1.info, 0);
     updated = true;
   } else if (link1.info.isUpdated()) {
@@ -125,11 +129,10 @@ void Hmi::live() {
   }
 
   if (link2.data.isUpdated() && link2.info.isUpdated()) {
-    if (link2.data.state() > 2) {
-      recorder.record(&link2.data.rxData);
-      isLogging = true;
-    } else {
-      isLogging = false;
+    // We log after LIFTOFF and stop either never (if neverStopLogging == TRUE) or at TOUCHDOWN
+    link2Log = (link2.data.state() > 2) && (systemConfig.config.neverStopLogging || link2.data.state() < 7);
+    if (link2Log) {
+      recorder.record(&link2.data.rxData, 2);
     }
     window.updateLive(&link2.data, &link2.info, 1);
     updated = true;
@@ -138,12 +141,15 @@ void Hmi::live() {
     updated = true;
   }
 
+  isLogging = link1Log || link2Log;
+
   if (updated) {
     window.refresh();
   }
 
   if (backButton.wasPressed()) {
     state = MENU;
+    isLogging = false;
     window.initMenu(menuIndex);
   }
 }
@@ -575,13 +581,16 @@ void Hmi::update(void *pvParameter) {
     if (millis() - barUpdate >= 1000) {
       barUpdate = millis();
       float voltage = analogRead(18) * 0.00059154929;
-      int32_t free_memory = utils.getFlashMemoryUsage();
+      if (!ref->isLogging) {
+        ref->flashFreeMemory = utils.getFlashMemoryUsage();
+      }
       if (link2.time.isUpdated()) {
         setTime(link2.time.hour(), link2.time.minute(), link2.time.second(), 0, 0, 0);
         adjustTime(systemConfig.config.timeZoneOffset * 3600);
         timeValid = true;
       }
-      ref->window.updateBar(voltage, digitalRead(21), ref->isLogging, link2.location.isValid(), timeValid, free_memory);
+      ref->window.updateBar(voltage, digitalRead(21), ref->isLogging, link2.location.isValid(), timeValid,
+                            ref->flashFreeMemory);
     }
 
     ref->upButton.read();

ground_station/src/hmi/hmi.hpp

@@ -99,4 +99,9 @@ class Hmi {
   Window window;
 
   uint32_t menuIndex = 0;
+
+  uint32_t flashFreeMemory = 100;
+
+  bool link1Log = false;
+  bool link2Log = false;
 };

ground_station/src/hmi/window.cpp

@@ -59,24 +59,23 @@ void Window::initBar() {
 void Window::updateBar(float batteryVoltage, bool usb, bool logging, bool location, bool time, int32_t free_memory) {
   static int32_t oldHour = 0;
   static int32_t oldMinute = 0;
-  static float oldBatteryVoltage = 0;
   static bool oldUsbStatus = false;
-  static bool oldLocationStatus = false;
   static bool oldLoggingStatus = false;
   static int32_t oldFreeMemory = 0;
 
   static uint32_t blinkStatus = 0;
 
   // Logging
   if (logging != oldLoggingStatus) {
-    display.drawBitmap(65, 1, bar_download, 16, 16, !logging);
+    display.drawBitmap(75, 1, bar_download, 16, 16, !logging);
+    oldLoggingStatus = logging;
   }
   if (logging) {
-    display.drawBitmap(65, 1, bar_download, 16, 16, blinkStatus);
+    display.drawBitmap(75, 1, bar_download, 16, 16, blinkStatus);
   }
 
   // Location
-  if (location != oldLocationStatus) {
+  if (location) {
     display.drawBitmap(329, 1, bar_location, 16, 16, !location);
   }
 
@@ -132,7 +131,7 @@ void Window::updateBar(float batteryVoltage, bool usb, bool logging, bool locati
   }
 
   // Battery
-  if (batteryVoltage != oldBatteryVoltage && !usb) {
+  if (batteryVoltage && !usb) {
     if (batteryVoltage > 3.3f) {
       display.fillRect(373, 5, 6, 8, BLACK);
       display.drawRoundRect(371, 3, 24, 12, 2, BLACK);

ground_station/src/logging/recorder.cpp

@@ -20,7 +20,7 @@ bool Recorder::begin() {
     number++;
   } while (fatfs.exists(fileName));
 
-  queue = xQueueCreate(10, sizeof(packedRXMessage));
+  queue = xQueueCreate(64, sizeof(RecorderElement));
   xTaskCreate(recordTask, "task_recorder", 4096, this, 1, NULL);
   initialized = true;
   return initialized;
@@ -34,22 +34,25 @@ void Recorder::createFile() {
     return;
   }
   fileCreated = true;
-  file.println("ts,state,errors,lat,lon,altitude,velocity,battery,pyro1,pyro2");
+  file.println(
+      "link,ts[deciseconds],state,errors,lat[deg/10000],lon[deg/10000],altitude[m],velocity[m/"
+      "s],battery[decivolts],pyro1,pyro2");
 }
 
 void Recorder::recordTask(void *pvParameter) {
   Recorder *ref = (Recorder *)pvParameter;
   char line[128];
   uint32_t count = 0;
-  packedRXMessage element;
+  RecorderElement element;
   while (ref->initialized) {
     if (xQueueReceive(ref->queue, &element, portMAX_DELAY) == pdPASS) {
       if (!ref->fileCreated) {
         ref->createFile();
       }
-      snprintf(line, 128, "%d,%d,%d,%d,%d,%d,%d,%d,%d,%d", element.timestamp, element.state, element.errors,
-               element.lat, element.lon, element.altitude, element.velocity, element.voltage,
-               (bool)(element.pyro_continuity & 0x01), (bool)(element.pyro_continuity & 0x02));
+      const auto &data = element.data;
+      snprintf(line, 128, "%hu,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d", element.source, data.timestamp, data.state, data.errors,
+               data.lat, data.lon, data.altitude, data.velocity, data.voltage, (bool)(data.pyro_continuity & 0x01),
+               (bool)(data.pyro_continuity & 0x02));
       ref->file.println(line);
       count++;
 

ground_station/src/logging/recorder.hpp

@@ -3,6 +3,11 @@
 #include "telemetry/telemetryData.hpp"
 #include "utils.hpp"
 
+struct RecorderElement {
+  packedRXMessage data;
+  uint8_t source;  // Link 1 or Link 2
+};
+
 class Recorder {
  public:
   Recorder(const char* directory) : directory(directory) {}
@@ -12,9 +17,10 @@ class Recorder {
 
   void disable() { enabled = false; }
 
-  void record(packedRXMessage* data) {
+  void record(packedRXMessage* data, uint8_t link_source) {
     if (enabled) {
-      xQueueSend(queue, data, 0);
+      RecorderElement rec_elem = {*data, link_source};
+      xQueueSend(queue, &rec_elem, 0);
     }
   }
 

ground_station/src/navigation.cpp

@@ -15,7 +15,7 @@ bool Navigation::begin() {
 
   calibration = CALIB_CONCLUDED;
 
-  xTaskCreate(navigationTask, "task_recorder", 1024, this, 1, NULL);
+  xTaskCreate(navigationTask, "task_navigation", 1024, this, 1, NULL);
   return true;
 }