X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fcore%2Fao.h;h=0cff0436e5758e43791b90f16e606ffe14f9a718;hb=f145be3fc4ee94fdb5c1e2406b6c11d38bdbbd9b;hp=05f056fd5e8b577091286b1418e5ef73f3b4d905;hpb=c32893ce79835a8f861d6ef414644c2ff9769ff6;p=fw%2Faltos

diff --git a/src/core/ao.h b/src/core/ao.h
index 05f056fd..0cff0436 100644
--- a/src/core/ao.h
+++ b/src/core/ao.h
@@ -37,9 +37,9 @@
 struct ao_task {
 	__xdata void *wchan;		/* current wait channel (NULL if running) */
 	uint16_t alarm;			/* abort ao_sleep time */
+	ao_arch_task_members		/* any architecture-specific fields */
 	uint8_t task_id;		/* unique id */
 	__code char *name;		/* task name */
-	ao_arch_task_members		/* any architecture-specific fields */
 	uint8_t	stack[AO_STACK_SIZE];	/* saved stack */
 };
 
@@ -1118,6 +1118,30 @@ struct ao_telemetry_companion {
 	/* 32 */
 };
 	
+/* #define AO_SEND_ALL_BARO */
+
+#define AO_TELEMETRY_BARO		0x80
+
+/*
+ * This packet allows the full sampling rate baro
+ * data to be captured over the RF link so that the
+ * flight software can be tested using 'real' data.
+ *
+ * Along with this telemetry packet, the flight
+ * code is modified to send full-rate telemetry all the time
+ * and never send an RDF tone; this ensure that the full radio
+ * link is available.
+ */
+struct ao_telemetry_baro {
+	uint16_t				serial;		/*  0 */
+	uint16_t				tick;		/*  2 */
+	uint8_t					type;		/*  4 */
+	uint8_t					samples;	/*  5 number samples */
+
+	int16_t					baro[12];	/* 6 samples */
+	/* 32 */
+};
+
 union ao_telemetry_all {
 	struct ao_telemetry_generic		generic;
 	struct ao_telemetry_sensor		sensor;
@@ -1125,6 +1149,7 @@ union ao_telemetry_all {
 	struct ao_telemetry_location		location;
 	struct ao_telemetry_satellite		satellite;
 	struct ao_telemetry_companion		companion;
+	struct ao_telemetry_baro		baro;
 };
 
 /*
@@ -1258,9 +1283,15 @@ struct ao_telemetry_raw_recv {
 
 /* Set delay between telemetry reports (0 to disable) */
 
+#ifdef AO_SEND_ALL_BARO
+#define AO_TELEMETRY_INTERVAL_PAD	AO_MS_TO_TICKS(100)
+#define AO_TELEMETRY_INTERVAL_FLIGHT	AO_MS_TO_TICKS(100)
+#define AO_TELEMETRY_INTERVAL_RECOVER	AO_MS_TO_TICKS(100)
+#else
 #define AO_TELEMETRY_INTERVAL_PAD	AO_MS_TO_TICKS(1000)
 #define AO_TELEMETRY_INTERVAL_FLIGHT	AO_MS_TO_TICKS(100)
 #define AO_TELEMETRY_INTERVAL_RECOVER	AO_MS_TO_TICKS(1000)
+#endif
 
 void
 ao_telemetry_set_interval(uint16_t interval);