*/
#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
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) */
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)
void
ao_rdf_set(uint8_t rdf);
+void
+ao_telemetry_init(void);
+
void
ao_telemetry_orig_init(void);
/* Defines which mark this particular AltOS product */
-const char ao_version[] = AO_iVersion_STRING;
+const char ao_version[AO_MAX_VERSION] = AO_iVersion_STRING;
const char ao_manufacturer[] = AO_iManufacturer_STRING;
const char ao_product[] = AO_iProduct_STRING;
ao_serial_init();
ao_gps_init();
ao_gps_report_init();
- ao_telemetry_orig_init();
+ ao_telemetry_init();
ao_radio_init();
ao_packet_slave_init(TRUE);
ao_igniter_init();
--- /dev/null
+/*
+ * Copyright © 2011 Keith Packard <keithp@keithp.com>
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; version 2 of the License.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
+ */
+
+#include "ao.h"
+#include "ao_product.h"
+
+__xdata uint16_t ao_telemetry_interval = 0;
+__xdata uint8_t ao_rdf = 0;
+__xdata uint16_t ao_rdf_time;
+
+#define AO_RDF_INTERVAL_TICKS AO_SEC_TO_TICKS(5)
+#define AO_RDF_LENGTH_MS 500
+
+#if defined(TELEMETRUM_V_0_1) || defined(TELEMETRUM_V_0_2) || defined(TELEMETRUM_V_1_0) || defined(TELEMETRUM_V_1_1)
+#define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELEMETRUM
+#endif
+
+#if defined(TELEMINI_V_0_1)
+#define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELEMINI
+#endif
+
+#if defined(TELENANO_V_0_1)
+#define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_TELENANO
+#endif
+
+void
+ao_telemetry(void)
+{
+ uint16_t time;
+ int16_t delay;
+ static __xdata union ao_telemetry_all telemetry;
+ uint8_t sample;
+
+ ao_config_get();
+ while (!ao_flight_number)
+ ao_sleep(&ao_flight_number);
+
+ telemetry.generic.serial = ao_serial_number;
+ for (;;) {
+ while (ao_telemetry_interval == 0)
+ ao_sleep(&ao_telemetry_interval);
+ time = ao_rdf_time = ao_time();
+ while (ao_telemetry_interval) {
+
+ /* Send sensor packet */
+ sample = ao_sample_adc;
+
+ telemetry.generic.tick = ao_adc_ring[sample].tick;
+ telemetry.generic.type = AO_TELEMETRY_SENSOR;
+
+ telemetry.sensor.state = ao_flight_state;
+#if HAS_ACCEL
+ telemetry.sensor.accel = ao_adc_ring[sample].accel;
+#else
+ telemetry.sensor.accel = 0;
+#endif
+ telemetry.sensor.pres = ao_adc_ring[sample].pres;
+ telemetry.sensor.temp = ao_adc_ring[sample].temp;
+ telemetry.sensor.v_batt = ao_adc_ring[sample].v_batt;
+#if HAS_IGNITE
+ telemetry.sensor.sense_d = ao_adc_ring[sample].sense_d;
+ telemetry.sensor.sense_m = ao_adc_ring[sample].sense_m;
+#else
+ telemetry.sensor.sense_d = 0;
+ telemetry.sensor.sense_m = 0;
+#endif
+
+ telemetry.sensor.acceleration = ao_accel;
+ telemetry.sensor.speed = ao_speed;
+ telemetry.sensor.height = ao_height;
+
+ telemetry.sensor.ground_pres = ao_ground_pres;
+ telemetry.sensor.ground_accel = ao_ground_accel;
+ telemetry.sensor.accel_plus_g = ao_config.accel_plus_g;
+ telemetry.sensor.accel_minus_g = ao_config.accel_minus_g;
+
+ ao_radio_send(&telemetry, sizeof (telemetry));
+
+ telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
+ telemetry.configuration.device = AO_idProduct_NUMBER;
+ telemetry.configuration.flight = ao_flight_number;
+ telemetry.configuration.config_major = AO_CONFIG_MAJOR;
+ telemetry.configuration.config_minor = AO_CONFIG_MINOR;
+ telemetry.configuration.main_deploy = ao_config.main_deploy;
+ telemetry.configuration.flight_log_max = ao_config.flight_log_max;
+ memcpy (telemetry.configuration.callsign,
+ ao_config.callsign,
+ AO_MAX_CALLSIGN);
+ memcpy (telemetry.configuration.version,
+ ao_version,
+ AO_MAX_VERSION);
+
+ if (ao_rdf &&
+ (int16_t) (ao_time() - ao_rdf_time) >= 0)
+ {
+ ao_rdf_time = ao_time() + AO_RDF_INTERVAL_TICKS;
+ ao_radio_rdf(AO_RDF_LENGTH_MS);
+ }
+ time += ao_telemetry_interval;
+ delay = time - ao_time();
+ if (delay > 0)
+ ao_delay(delay);
+ else
+ time = ao_time();
+ }
+ }
+}
+
+void
+ao_telemetry_set_interval(uint16_t interval)
+{
+ ao_telemetry_interval = interval;
+ ao_wakeup(&ao_telemetry_interval);
+}
+
+void
+ao_rdf_set(uint8_t rdf)
+{
+ ao_rdf = rdf;
+ if (rdf == 0)
+ ao_radio_rdf_abort();
+ else
+ ao_rdf_time = ao_time();
+}
+
+__xdata struct ao_task ao_telemetry_task;
+
+void
+ao_telemetry_init()
+{
+ ao_add_task(&ao_telemetry_task, ao_telemetry, "telemetry");
+}
projects / fw / altos / commitdiff