2 * Copyright © 2012 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; version 2 of the License.
8 * This program is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * General Public License for more details.
13 * You should have received a copy of the GNU General Public License along
14 * with this program; if not, write to the Free Software Foundation, Inc.,
15 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
18 #ifndef _AO_TELEMETRY_H_
19 #define _AO_TELEMETRY_H_
24 #define AO_MAX_CALLSIGN 8
25 #define AO_MAX_VERSION 8
27 #define AO_MAX_TELEMETRY 128
29 #define AO_MAX_TELEMETRY 32
32 struct ao_telemetry_generic {
33 uint16_t serial; /* 0 */
34 uint16_t tick; /* 2 */
36 uint8_t payload[27]; /* 5 */
40 #define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01
41 #define AO_TELEMETRY_SENSOR_TELEMINI 0x02
42 #define AO_TELEMETRY_SENSOR_TELENANO 0x03
44 struct ao_telemetry_sensor {
45 uint16_t serial; /* 0 */
46 uint16_t tick; /* 2 */
49 uint8_t state; /* 5 flight state */
50 int16_t accel; /* 6 accelerometer (TM only) */
51 int16_t pres; /* 8 pressure sensor */
52 int16_t temp; /* 10 temperature sensor */
53 int16_t v_batt; /* 12 battery voltage */
54 int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */
55 int16_t sense_m; /* 16 main continuity sense (TM/Tm) */
57 int16_t acceleration; /* 18 m/s² * 16 */
58 int16_t speed; /* 20 m/s * 16 */
59 int16_t height; /* 22 m */
61 int16_t ground_pres; /* 24 average pres on pad */
62 int16_t ground_accel; /* 26 average accel on pad */
63 int16_t accel_plus_g; /* 28 accel calibration at +1g */
64 int16_t accel_minus_g; /* 30 accel calibration at -1g */
68 #define AO_TELEMETRY_CONFIGURATION 0x04
70 struct ao_telemetry_configuration {
71 uint16_t serial; /* 0 */
72 uint16_t tick; /* 2 */
75 uint8_t device; /* 5 device type */
76 uint16_t flight; /* 6 flight number */
77 uint8_t config_major; /* 8 Config major version */
78 uint8_t config_minor; /* 9 Config minor version */
79 uint16_t apogee_delay; /* 10 Apogee deploy delay in seconds */
80 uint16_t main_deploy; /* 12 Main deploy alt in meters */
81 uint16_t flight_log_max; /* 14 Maximum flight log size in kB */
82 char callsign[AO_MAX_CALLSIGN]; /* 16 Radio operator identity */
83 char version[AO_MAX_VERSION]; /* 24 Software version */
87 #define AO_TELEMETRY_LOCATION 0x05
91 #define AO_GPS_MODE_ALTITUDE_24 (1 << 0) /* reports 24-bits of altitude */
93 struct ao_telemetry_location {
94 uint16_t serial; /* 0 */
95 uint16_t tick; /* 2 */
98 uint8_t flags; /* 5 Number of sats and other flags */
99 uint16_t altitude_low; /* 6 GPS reported altitude (m) */
100 int32_t latitude; /* 8 latitude (degrees * 10⁷) */
101 int32_t longitude; /* 12 longitude (degrees * 10⁷) */
102 uint8_t year; /* 16 (- 2000) */
103 uint8_t month; /* 17 (1-12) */
104 uint8_t day; /* 18 (1-31) */
105 uint8_t hour; /* 19 (0-23) */
106 uint8_t minute; /* 20 (0-59) */
107 uint8_t second; /* 21 (0-59) */
108 uint8_t pdop; /* 22 (m * 5) */
109 uint8_t hdop; /* 23 (m * 5) */
110 uint8_t vdop; /* 24 (m * 5) */
111 uint8_t mode; /* 25 */
112 uint16_t ground_speed; /* 26 cm/s */
113 int16_t climb_rate; /* 28 cm/s */
114 uint8_t course; /* 30 degrees / 2 */
115 int8_t altitude_high; /* 31 high byte of altitude */
120 #define HAS_WIDE_GPS 1
130 typedef int32_t gps_alt_t;
131 #define AO_TELEMETRY_LOCATION_ALTITUDE(l) (((gps_alt_t) (l)->altitude_high << 16) | ((l)->altitude_low))
132 #define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) (((l)->mode |= AO_GPS_MODE_ALTITUDE_24), \
133 ((l)->altitude_high = (a) >> 16), \
134 ((l)->altitude_low = (a)))
136 typedef int16_t gps_alt_t;
137 #define AO_TELEMETRY_LOCATION_ALTITUDE(l) ((gps_alt_t) (l)->altitude_low)
138 #define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) (((l)->mode = 0, \
139 (l)->altitude_low = (a)))
140 #endif /* HAS_WIDE_GPS */
142 #define AO_TELEMETRY_SATELLITE 0x06
144 struct ao_telemetry_satellite_info {
149 #define AO_TELEMETRY_SATELLITE_MAX_SAT 12
151 struct ao_telemetry_satellite {
152 uint16_t serial; /* 0 */
153 uint16_t tick; /* 2 */
154 uint8_t type; /* 4 */
155 uint8_t channels; /* 5 number of reported sats */
157 struct ao_telemetry_satellite_info sats[AO_TELEMETRY_SATELLITE_MAX_SAT]; /* 6 */
158 uint8_t unused[2]; /* 30 */
162 #define AO_TELEMETRY_COMPANION 0x07
164 #define AO_COMPANION_MAX_CHANNELS 12
166 struct ao_telemetry_companion {
167 uint16_t serial; /* 0 */
168 uint16_t tick; /* 2 */
169 uint8_t type; /* 4 */
170 uint8_t board_id; /* 5 */
172 uint8_t update_period; /* 6 */
173 uint8_t channels; /* 7 */
174 uint16_t companion_data[AO_COMPANION_MAX_CHANNELS]; /* 8 */
178 #define AO_TELEMETRY_MEGA_SENSOR 0x08
180 struct ao_telemetry_mega_sensor {
181 uint16_t serial; /* 0 */
182 uint16_t tick; /* 2 */
183 uint8_t type; /* 4 */
185 uint8_t orient; /* 5 angle from vertical */
186 int16_t accel; /* 6 Z axis */
188 int32_t pres; /* 8 Pa * 10 */
189 int16_t temp; /* 12 °C * 100 */
191 int16_t accel_x; /* 14 */
192 int16_t accel_y; /* 16 */
193 int16_t accel_z; /* 18 */
195 int16_t gyro_x; /* 20 */
196 int16_t gyro_y; /* 22 */
197 int16_t gyro_z; /* 24 */
199 int16_t mag_x; /* 26 */
200 int16_t mag_y; /* 28 */
201 int16_t mag_z; /* 30 */
205 #define AO_TELEMETRY_MEGA_DATA 0x09
207 struct ao_telemetry_mega_data {
208 uint16_t serial; /* 0 */
209 uint16_t tick; /* 2 */
210 uint8_t type; /* 4 */
212 uint8_t state; /* 5 flight state */
214 int16_t v_batt; /* 6 battery voltage */
215 int16_t v_pyro; /* 8 pyro battery voltage */
216 int8_t sense[6]; /* 10 continuity sense */
218 int32_t ground_pres; /* 16 average pres on pad */
219 int16_t ground_accel; /* 20 average accel on pad */
220 int16_t accel_plus_g; /* 22 accel calibration at +1g */
221 int16_t accel_minus_g; /* 24 accel calibration at -1g */
223 int16_t acceleration; /* 26 m/s² * 16 */
224 int16_t speed; /* 28 m/s * 16 */
225 int16_t height; /* 30 m */
230 #define AO_TELEMETRY_METRUM_SENSOR 0x0A
232 struct ao_telemetry_metrum_sensor {
233 uint16_t serial; /* 0 */
234 uint16_t tick; /* 2 */
235 uint8_t type; /* 4 */
237 uint8_t state; /* 5 flight state */
238 int16_t accel; /* 6 Z axis */
240 int32_t pres; /* 8 Pa * 10 */
241 int16_t temp; /* 12 °C * 100 */
243 int16_t acceleration; /* 14 m/s² * 16 */
244 int16_t speed; /* 16 m/s * 16 */
245 int16_t height; /* 18 m */
247 int16_t v_batt; /* 20 battery voltage */
248 int16_t sense_a; /* 22 apogee continuity sense */
249 int16_t sense_m; /* 24 main continuity sense */
251 uint8_t pad[6]; /* 26 */
255 #define AO_TELEMETRY_METRUM_DATA 0x0B
257 struct ao_telemetry_metrum_data {
258 uint16_t serial; /* 0 */
259 uint16_t tick; /* 2 */
260 uint8_t type; /* 4 */
261 uint8_t pad5[3]; /* 5 */
263 int32_t ground_pres; /* 8 average pres on pad */
264 int16_t ground_accel; /* 12 average accel on pad */
265 int16_t accel_plus_g; /* 14 accel calibration at +1g */
266 int16_t accel_minus_g; /* 16 accel calibration at -1g */
268 uint8_t pad18[14]; /* 18 */
272 #define AO_TELEMETRY_MINI 0x10
274 struct ao_telemetry_mini {
275 uint16_t serial; /* 0 */
276 uint16_t tick; /* 2 */
277 uint8_t type; /* 4 */
279 uint8_t state; /* 5 flight state */
280 int16_t v_batt; /* 6 battery voltage */
281 int16_t sense_a; /* 8 apogee continuity */
282 int16_t sense_m; /* 10 main continuity */
284 int32_t pres; /* 12 Pa * 10 */
285 int16_t temp; /* 16 °C * 100 */
287 int16_t acceleration; /* 18 m/s² * 16 */
288 int16_t speed; /* 20 m/s * 16 */
289 int16_t height; /* 22 m */
291 int32_t ground_pres; /* 24 average pres on pad */
293 int32_t pad28; /* 28 */
297 /* #define AO_SEND_ALL_BARO */
299 #define AO_TELEMETRY_BARO 0x80
302 * This packet allows the full sampling rate baro
303 * data to be captured over the RF link so that the
304 * flight software can be tested using 'real' data.
306 * Along with this telemetry packet, the flight
307 * code is modified to send full-rate telemetry all the time
308 * and never send an RDF tone; this ensure that the full radio
311 struct ao_telemetry_baro {
312 uint16_t serial; /* 0 */
313 uint16_t tick; /* 2 */
314 uint8_t type; /* 4 */
315 uint8_t samples; /* 5 number samples */
317 int16_t baro[12]; /* 6 samples */
321 union ao_telemetry_all {
322 struct ao_telemetry_generic generic;
323 struct ao_telemetry_sensor sensor;
324 struct ao_telemetry_configuration configuration;
325 struct ao_telemetry_location location;
326 struct ao_telemetry_satellite satellite;
327 struct ao_telemetry_companion companion;
328 struct ao_telemetry_mega_sensor mega_sensor;
329 struct ao_telemetry_mega_data mega_data;
330 struct ao_telemetry_metrum_sensor metrum_sensor;
331 struct ao_telemetry_metrum_data metrum_data;
332 struct ao_telemetry_mini mini;
333 struct ao_telemetry_baro baro;
336 typedef char ao_check_telemetry_size[sizeof(union ao_telemetry_all) == 32 ? 1 : -1];
338 struct ao_telemetry_all_recv {
339 union ao_telemetry_all telemetry;
344 #endif /* _AO_TELEMETRY_H_ */