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; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful, but
10 * WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
12 * General Public License for more details.
14 * You should have received a copy of the GNU General Public License along
15 * with this program; if not, write to the Free Software Foundation, Inc.,
16 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
19 #ifndef _AO_TELEMETRY_H_
20 #define _AO_TELEMETRY_H_
25 #define AO_MAX_CALLSIGN 8
26 #define AO_MAX_VERSION 8
28 #define AO_MAX_TELEMETRY 128
30 #define AO_MAX_TELEMETRY 32
33 struct ao_telemetry_generic {
34 uint16_t serial; /* 0 */
35 uint16_t tick; /* 2 */
37 uint8_t payload[27]; /* 5 */
41 #define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01
42 #define AO_TELEMETRY_SENSOR_TELEMINI 0x02
43 #define AO_TELEMETRY_SENSOR_TELENANO 0x03
45 struct ao_telemetry_sensor {
46 uint16_t serial; /* 0 */
47 uint16_t tick; /* 2 */
50 uint8_t state; /* 5 flight state */
51 int16_t accel; /* 6 accelerometer (TM only) */
52 int16_t pres; /* 8 pressure sensor */
53 int16_t temp; /* 10 temperature sensor */
54 int16_t v_batt; /* 12 battery voltage */
55 int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */
56 int16_t sense_m; /* 16 main continuity sense (TM/Tm) */
58 int16_t acceleration; /* 18 m/s² * 16 */
59 int16_t speed; /* 20 m/s * 16 */
60 int16_t height; /* 22 m */
62 int16_t ground_pres; /* 24 average pres on pad */
63 int16_t ground_accel; /* 26 average accel on pad */
64 int16_t accel_plus_g; /* 28 accel calibration at +1g */
65 int16_t accel_minus_g; /* 30 accel calibration at -1g */
69 #define AO_TELEMETRY_CONFIGURATION 0x04
71 struct ao_telemetry_configuration {
72 uint16_t serial; /* 0 */
73 uint16_t tick; /* 2 */
76 uint8_t device; /* 5 device type */
77 uint16_t flight; /* 6 flight number */
78 uint8_t config_major; /* 8 Config major version */
79 uint8_t config_minor; /* 9 Config minor version */
80 uint16_t apogee_delay; /* 10 Apogee deploy delay in seconds */
81 uint16_t main_deploy; /* 12 Main deploy alt in meters */
82 uint16_t flight_log_max; /* 14 Maximum flight log size in kB */
83 char callsign[AO_MAX_CALLSIGN]; /* 16 Radio operator identity */
84 char version[AO_MAX_VERSION]; /* 24 Software version */
88 #define AO_TELEMETRY_LOCATION 0x05
92 #define AO_GPS_MODE_ALTITUDE_24 (1 << 0) /* reports 24-bits of altitude */
94 struct ao_telemetry_location {
95 uint16_t serial; /* 0 */
96 uint16_t tick; /* 2 */
99 uint8_t flags; /* 5 Number of sats and other flags */
100 uint16_t altitude_low; /* 6 GPS reported altitude (m) */
101 int32_t latitude; /* 8 latitude (degrees * 10⁷) */
102 int32_t longitude; /* 12 longitude (degrees * 10⁷) */
103 uint8_t year; /* 16 (- 2000) */
104 uint8_t month; /* 17 (1-12) */
105 uint8_t day; /* 18 (1-31) */
106 uint8_t hour; /* 19 (0-23) */
107 uint8_t minute; /* 20 (0-59) */
108 uint8_t second; /* 21 (0-59) */
109 uint8_t pdop; /* 22 (m * 5) */
110 uint8_t hdop; /* 23 (m * 5) */
111 uint8_t vdop; /* 24 (m * 5) */
112 uint8_t mode; /* 25 */
113 uint16_t ground_speed; /* 26 cm/s */
114 int16_t climb_rate; /* 28 cm/s */
115 uint8_t course; /* 30 degrees / 2 */
116 int8_t altitude_high; /* 31 high byte of altitude */
121 #define HAS_WIDE_GPS 1
131 typedef int32_t gps_alt_t;
132 #define AO_TELEMETRY_LOCATION_ALTITUDE(l) (((gps_alt_t) (l)->altitude_high << 16) | ((l)->altitude_low))
133 #define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) (((l)->mode |= AO_GPS_MODE_ALTITUDE_24), \
134 ((l)->altitude_high = (a) >> 16), \
135 ((l)->altitude_low = (a)))
137 typedef int16_t gps_alt_t;
138 #define AO_TELEMETRY_LOCATION_ALTITUDE(l) ((gps_alt_t) (l)->altitude_low)
139 #define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) (((l)->mode = 0, \
140 (l)->altitude_low = (a)))
141 #endif /* HAS_WIDE_GPS */
143 #define AO_TELEMETRY_SATELLITE 0x06
145 struct ao_telemetry_satellite_info {
150 #define AO_TELEMETRY_SATELLITE_MAX_SAT 12
152 struct ao_telemetry_satellite {
153 uint16_t serial; /* 0 */
154 uint16_t tick; /* 2 */
155 uint8_t type; /* 4 */
156 uint8_t channels; /* 5 number of reported sats */
158 struct ao_telemetry_satellite_info sats[AO_TELEMETRY_SATELLITE_MAX_SAT]; /* 6 */
159 uint8_t unused[2]; /* 30 */
163 #define AO_TELEMETRY_COMPANION 0x07
165 #define AO_COMPANION_MAX_CHANNELS 12
167 struct ao_telemetry_companion {
168 uint16_t serial; /* 0 */
169 uint16_t tick; /* 2 */
170 uint8_t type; /* 4 */
171 uint8_t board_id; /* 5 */
173 uint8_t update_period; /* 6 */
174 uint8_t channels; /* 7 */
175 uint16_t companion_data[AO_COMPANION_MAX_CHANNELS]; /* 8 */
179 #define AO_TELEMETRY_MEGA_SENSOR_MPU 0x08 /* Invensense IMU */
180 #define AO_TELEMETRY_MEGA_SENSOR_BMX160 0x12 /* BMX160 IMU */
182 struct ao_telemetry_mega_sensor {
183 uint16_t serial; /* 0 */
184 uint16_t tick; /* 2 */
185 uint8_t type; /* 4 */
187 uint8_t orient; /* 5 angle from vertical */
188 int16_t accel; /* 6 Z axis */
190 int32_t pres; /* 8 Pa * 10 */
191 int16_t temp; /* 12 °C * 100 */
193 int16_t accel_x; /* 14 */
194 int16_t accel_y; /* 16 */
195 int16_t accel_z; /* 18 */
197 int16_t gyro_x; /* 20 */
198 int16_t gyro_y; /* 22 */
199 int16_t gyro_z; /* 24 */
201 int16_t mag_x; /* 26 */
202 int16_t mag_z; /* 28 */
203 int16_t mag_y; /* 30 */
207 #define AO_TELEMETRY_MEGA_DATA 0x09
209 struct ao_telemetry_mega_data {
210 uint16_t serial; /* 0 */
211 uint16_t tick; /* 2 */
212 uint8_t type; /* 4 */
214 uint8_t state; /* 5 flight state */
216 int16_t v_batt; /* 6 battery voltage */
217 int16_t v_pyro; /* 8 pyro battery voltage */
218 int8_t sense[6]; /* 10 continuity sense */
220 int32_t ground_pres; /* 16 average pres on pad */
221 int16_t ground_accel; /* 20 average accel on pad */
222 int16_t accel_plus_g; /* 22 accel calibration at +1g */
223 int16_t accel_minus_g; /* 24 accel calibration at -1g */
225 int16_t acceleration; /* 26 m/s² * 16 */
226 int16_t speed; /* 28 m/s * 16 */
227 int16_t height; /* 30 m */
232 #define AO_TELEMETRY_METRUM_SENSOR 0x0A
234 struct ao_telemetry_metrum_sensor {
235 uint16_t serial; /* 0 */
236 uint16_t tick; /* 2 */
237 uint8_t type; /* 4 */
239 uint8_t state; /* 5 flight state */
240 int16_t accel; /* 6 Z axis */
242 int32_t pres; /* 8 Pa * 10 */
243 int16_t temp; /* 12 °C * 100 */
245 int16_t acceleration; /* 14 m/s² * 16 */
246 int16_t speed; /* 16 m/s * 16 */
247 int16_t height; /* 18 m */
249 int16_t v_batt; /* 20 battery voltage */
250 int16_t sense_a; /* 22 apogee continuity sense */
251 int16_t sense_m; /* 24 main continuity sense */
253 uint8_t pad[6]; /* 26 */
257 #define AO_TELEMETRY_METRUM_DATA 0x0B
259 struct ao_telemetry_metrum_data {
260 uint16_t serial; /* 0 */
261 uint16_t tick; /* 2 */
262 uint8_t type; /* 4 */
263 uint8_t pad5[3]; /* 5 */
265 int32_t ground_pres; /* 8 average pres on pad */
266 int16_t ground_accel; /* 12 average accel on pad */
267 int16_t accel_plus_g; /* 14 accel calibration at +1g */
268 int16_t accel_minus_g; /* 16 accel calibration at -1g */
270 uint8_t pad18[14]; /* 18 */
274 #define AO_TELEMETRY_MINI2 0x10 /* CC1111 based */
275 #define AO_TELEMETRY_MINI3 0x11 /* STMF042 based */
277 struct ao_telemetry_mini {
278 uint16_t serial; /* 0 */
279 uint16_t tick; /* 2 */
280 uint8_t type; /* 4 */
282 uint8_t state; /* 5 flight state */
283 int16_t v_batt; /* 6 battery voltage */
284 int16_t sense_a; /* 8 apogee continuity */
285 int16_t sense_m; /* 10 main continuity */
287 int32_t pres; /* 12 Pa * 10 */
288 int16_t temp; /* 16 °C * 100 */
290 int16_t acceleration; /* 18 m/s² * 16 */
291 int16_t speed; /* 20 m/s * 16 */
292 int16_t height; /* 22 m */
294 int32_t ground_pres; /* 24 average pres on pad */
296 int32_t pad28; /* 28 */
300 /* #define AO_SEND_ALL_BARO */
302 #define AO_TELEMETRY_BARO 0x80
305 * This packet allows the full sampling rate baro
306 * data to be captured over the RF link so that the
307 * flight software can be tested using 'real' data.
309 * Along with this telemetry packet, the flight
310 * code is modified to send full-rate telemetry all the time
311 * and never send an RDF tone; this ensure that the full radio
314 struct ao_telemetry_baro {
315 uint16_t serial; /* 0 */
316 uint16_t tick; /* 2 */
317 uint8_t type; /* 4 */
318 uint8_t samples; /* 5 number samples */
320 int16_t baro[12]; /* 6 samples */
324 union ao_telemetry_all {
325 struct ao_telemetry_generic generic;
326 struct ao_telemetry_sensor sensor;
327 struct ao_telemetry_configuration configuration;
328 struct ao_telemetry_location location;
329 struct ao_telemetry_satellite satellite;
330 struct ao_telemetry_companion companion;
331 struct ao_telemetry_mega_sensor mega_sensor;
332 struct ao_telemetry_mega_data mega_data;
333 struct ao_telemetry_metrum_sensor metrum_sensor;
334 struct ao_telemetry_metrum_data metrum_data;
335 struct ao_telemetry_mini mini;
336 struct ao_telemetry_baro baro;
339 typedef char ao_check_telemetry_size[sizeof(union ao_telemetry_all) == 32 ? 1 : -1];
341 struct ao_telemetry_all_recv {
342 union ao_telemetry_all telemetry;
347 #endif /* _AO_TELEMETRY_H_ */