altos: Add split telemetry code

[fw/altos] / src / ao.h

diff --git a/src/ao.h b/src/ao.h
index 4895f016d663c8b93749b8600b4a2fa72cbcafd6..4d31f4f52dd30e65746708af477db5035a51d558 100644 (file)
--- a/src/ao.h
+++ b/src/ao.h
@@ -1040,14 +1040,15 @@ ao_gps_report_init(void);
  */
 
 #define AO_MAX_CALLSIGN                        8
+#define AO_MAX_VERSION                 8
 #define AO_MAX_TELEMETRY               128
 
 struct ao_telemetry_generic {
        uint16_t        serial;         /* 0 */
        uint16_t        tick;           /* 2 */
        uint8_t         type;           /* 4 */
-       uint8_t         payload[19];    /* 5 */
-       /* 24 */
+       uint8_t         payload[27];    /* 5 */
+       /* 32 */
 };
 
 #define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01
@@ -1070,31 +1071,46 @@ struct ao_telemetry_sensor {
        int16_t         acceleration;   /* 18 m/s² * 16 */
        int16_t         speed;          /* 20 m/s * 16 */
        int16_t         height;         /* 22 m */
-       /* 24 */
-};
 
-#define AO_TELEMETRY_CONSTANT          0x10
+       int16_t         ground_pres;    /* 24 average pres on pad */
+       int16_t         ground_accel;   /* 26 average accel on pad */
+       int16_t         accel_plus_g;   /* 28 accel calibration at +1g */
+       int16_t         accel_minus_g;  /* 30 accel calibration at -1g */
+       /* 32 */
+};
 
-struct ao_telemetry_constant {
-       uint16_t        serial;         /*  0 */
-       uint16_t        tick;           /*  2 */
-       uint8_t         type;           /*  4 */
-       uint8_t         device;         /*  5 device type */
-       uint16_t        flight;         /*  6 flight number */
-       int16_t         ground_accel;   /*  8 average ground accelerometer (TM only) */
-       int16_t         ground_pres;    /* 10 average ground barometer */
-       int16_t         accel_plus_g;   /* 12 +1g accelerometer calibration value (TM only) */
-       int16_t         accel_minus_g;  /* 14 -1g accelermeter calibration value (TM only) */
-       char            callsign[AO_MAX_CALLSIGN];      /* 16 identity */
-       /* 24 */
+#define AO_TELEMETRY_CONFIGURATION     0x04
+
+struct ao_telemetry_configuration {
+       uint16_t        serial;                         /*  0 */
+       uint16_t        tick;                           /*  2 */
+       uint8_t         type;                           /*  4 */
+
+       uint8_t         device;                         /*  5 device type */
+       uint16_t        flight;                         /*  6 flight number */
+       uint8_t         config_major;                   /*  8 Config major version */
+       uint8_t         config_minor;                   /*  9 Config minor version */
+       uint16_t        main_deploy;                    /* 10 Main deploy alt in meters */
+       uint32_t        flight_log_max;                 /* 12 Maximum flight log size in bytes */
+       char            callsign[AO_MAX_CALLSIGN];      /* 16 Radio operator identity */
+       char            version[AO_MAX_VERSION];        /* 24 Software version */
+       /* 32 */
 };
 
-#define AO_TELEMETRY_LOCATION          0x11
+#define AO_TELEMETRY_LOCATION          0x05
+
+#define AO_GPS_MODE_NOT_VALID          'N'
+#define AO_GPS_MODE_AUTONOMOUS         'A'
+#define AO_GPS_MODE_DIFFERENTIAL       'D'
+#define AO_GPS_MODE_ESTIMATED          'E'
+#define AO_GPS_MODE_MANUAL             'M'
+#define AO_GPS_MODE_SIMULATED          'S'
 
 struct ao_telemetry_location {
        uint16_t        serial;         /*  0 */
        uint16_t        tick;           /*  2 */
        uint8_t         type;           /*  4 */
+
        uint8_t         flags;          /*  5 Number of sats and other flags */
        int16_t         altitude;       /*  6 GPS reported altitude (m) */
        int32_t         latitude;       /*  8 latitude (degrees * 10⁷) */
@@ -1105,25 +1121,40 @@ struct ao_telemetry_location {
        uint8_t         hour;           /* 19 (0-23) */
        uint8_t         minute;         /* 20 (0-59) */
        uint8_t         second;         /* 21 (0-59) */
-       uint8_t         hdop;           /* 22 (m * 5) */
-       uint8_t         unused;         /* 23 */
-       /* 24 */
+       uint8_t         pdop;           /* 22 (m * 5) */
+       uint8_t         hdop;           /* 23 (m * 5) */
+       uint8_t         vdop;           /* 24 (m * 5) */
+       uint8_t         mode;           /* 25 */
+       uint16_t        ground_speed;   /* 26 cm/s */
+       uint8_t         course;         /* 28 degrees / 2 */
+       uint8_t         unused[3];      /* 29 */
+       /* 32 */
 };
 
 #define AO_TELEMETRY_SATELLITE         0x12
 
+struct ao_telemetry_satellite_info {
+       uint8_t         svid;
+       uint8_t         c_n_1;
+};
+
 struct ao_telemetry_satellite {
-       uint16_t        serial;         /*  0 */
-       uint16_t        tick;           /*  2 */
-       uint8_t         type;           /*  4 */
-       uint8_t         channels;       /*  5 number of reported sats */
-       uint8_t         sats_0_1[3];    /*  6 reported sats 0 and 1 */
-       uint8_t         sats_2_3[3];
-       uint8_t         sats_4_5[3];
-       uint8_t         sats_6_7[3];
-       uint8_t         sats_8_9[3];
-       uint8_t         sats_10_11[3];
-       /* 24 */
+       uint16_t                                serial;         /*  0 */
+       uint16_t                                tick;           /*  2 */
+       uint8_t                                 type;           /*  4 */
+       uint8_t                                 channels;       /*  5 number of reported sats */
+
+       struct ao_telemetry_satellite_info      sats[12];       /* 6 */
+       uint8_t                                 unused[2];      /* 30 */
+       /* 32 */
+};
+
+union ao_telemetry_all {
+       struct ao_telemetry_generic             generic;
+       struct ao_telemetry_sensor              sensor;
+       struct ao_telemetry_configuration       configuration;
+       struct ao_telemetry_location            location;
+       struct ao_telemetry_satellite           satellite;
 };
 
 #define AO_SAT_0_SSID(s)       ((s)[0] & 0x3f)
@@ -1198,6 +1229,9 @@ ao_telemetry_set_interval(uint16_t interval);
 void
 ao_rdf_set(uint8_t rdf);
 
+void
+ao_telemetry_init(void);
+
 void
 ao_telemetry_orig_init(void);