X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_telemetry.c;h=24dd967905a9b4f7a327ae48f66c9005aa827442;hb=86bd5f53ba4b13df502ec1bc70512f30cac94010;hp=ae33173fb3aae92eee14aaf13c5f996c526181cf;hpb=c11427819ca24bb77523496309b5b6f699d126c5;p=fw%2Faltos

diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c
index ae33173f..24dd9679 100644
--- a/src/kernel/ao_telemetry.c
+++ b/src/kernel/ao_telemetry.c
@@ -40,16 +40,16 @@ static uint16_t ao_telemetry_desired_interval;
 #define RDF_SPACE	
 #else
 #define RDF_SPACE	
-static uint16_t ao_telemetry_time;
+static AO_TICK_TYPE	ao_telemetry_time;
 #endif
 
 #if HAS_RDF
 static RDF_SPACE uint8_t ao_rdf = 0;
-static RDF_SPACE uint16_t ao_rdf_time;
+static RDF_SPACE AO_TICK_TYPE	ao_rdf_time;
 #endif
 
 #if HAS_APRS
-static uint16_t ao_aprs_time;
+static AO_TICK_TYPE ao_aprs_time;
 
 #include <ao_aprs.h>
 #endif
@@ -58,7 +58,7 @@ static uint16_t ao_aprs_time;
 #define AO_SEND_MEGA	1
 #endif
 
-#if defined (TELEMETRUM_V_2_0)
+#if defined (TELEMETRUM_V_2_0) || defined (TELEMETRUM_V_3_0)
 #define AO_SEND_METRUM	1
 #endif
 
@@ -136,12 +136,52 @@ ao_send_sensor(void)
 static void
 ao_send_mega_sensor(void)
 {
-		struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+	struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 
 	telemetry.generic.tick = packet->tick;
-	telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR;
+#if AO_LOG_NORMALIZED
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_5
+	telemetry.generic.type = AO_TELEMETRY_MEGA_NORM_MPU6000_MMC5983;
+#else
+#error unknown normalized log type
+#endif
+
+#if HAS_GYRO
+	telemetry.mega_norm.orient = ao_sample_orient;
+#endif
+	telemetry.mega_norm.accel = ao_data_accel(packet);
+	telemetry.mega_norm.pres = ao_data_pres(packet);
+	telemetry.mega_norm.temp = ao_data_temp(packet);
+
+#if HAS_MPU6000
+	telemetry.mega_norm.accel_along = ao_data_along(packet);
+	telemetry.mega_norm.accel_across = ao_data_across(packet);
+	telemetry.mega_norm.accel_through = ao_data_through(packet);
+
+	telemetry.mega_norm.gyro_roll = ao_data_roll(packet);
+	telemetry.mega_norm.gyro_pitch = ao_data_pitch(packet);
+	telemetry.mega_norm.gyro_yaw = ao_data_yaw(packet);
+#endif
 
+#if HAS_MMC5983
+	telemetry.mega_norm.mag_along = ao_data_mag_along(packet);
+	telemetry.mega_norm.mag_across = ao_data_mag_across(packet);
+	telemetry.mega_norm.mag_through = ao_data_mag_through(packet);
+#endif
+
+#else
+
+#if HAS_BMX160
+	telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR_BMX160;
+#else
 #if HAS_MPU6000 || HAS_MPU9250
+	telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR_MPU;
+#else
+#error unknown IMU
+#endif
+#endif
+
+#if HAS_GYRO
 	telemetry.mega_sensor.orient = ao_sample_orient;
 #endif
 	telemetry.mega_sensor.accel = ao_data_accel(packet);
@@ -178,6 +218,20 @@ ao_send_mega_sensor(void)
 	telemetry.mega_sensor.mag_y = packet->mpu9250.mag_y;
 #endif
 
+#if HAS_BMX160
+	telemetry.mega_sensor.accel_x = packet->bmx160.acc_x;
+	telemetry.mega_sensor.accel_y = packet->bmx160.acc_y;
+	telemetry.mega_sensor.accel_z = packet->bmx160.acc_z;
+
+	telemetry.mega_sensor.gyro_x = packet->bmx160.gyr_x;
+	telemetry.mega_sensor.gyro_y = packet->bmx160.gyr_y;
+	telemetry.mega_sensor.gyro_z = packet->bmx160.gyr_z;
+
+	telemetry.mega_sensor.mag_x = packet->bmx160.mag_x;
+	telemetry.mega_sensor.mag_z = packet->bmx160.mag_z;
+	telemetry.mega_sensor.mag_y = packet->bmx160.mag_y;
+#endif
+#endif
 	ao_telemetry_send();
 }
 
@@ -333,12 +387,12 @@ ao_send_configuration(void)
 #endif
 
 		telemetry.configuration.flight_log_max = ao_config.flight_log_max >> 10;
-		ao_xmemcpy (telemetry.configuration.callsign,
-			    ao_config.callsign,
-			    AO_MAX_CALLSIGN);
-		ao_xmemcpy (telemetry.configuration.version,
-			    ao_version,
-			    AO_MAX_VERSION);
+		memcpy (telemetry.configuration.callsign,
+			ao_config.callsign,
+			AO_MAX_CALLSIGN);
+		memcpy (telemetry.configuration.version,
+			ao_version,
+			AO_MAX_VERSION);
 		ao_telemetry_config_cur = ao_telemetry_config_max;
 		ao_telemetry_send();
 	}
@@ -350,6 +404,18 @@ static int8_t ao_telemetry_gps_max;
 static int8_t ao_telemetry_loc_cur;
 static int8_t ao_telemetry_sat_cur;
 
+static inline void *
+telemetry_bits(struct ao_telemetry_location *l)
+{
+	return ((uint8_t *) l) + offsetof(struct ao_telemetry_location, flags);
+}
+
+static inline int
+telemetry_size(void)
+{
+	return sizeof(struct ao_telemetry_location) - offsetof(struct ao_telemetry_location, flags);
+}
+
 static void
 ao_send_location(void)
 {
@@ -357,9 +423,9 @@ ao_send_location(void)
 	{
 		telemetry.generic.type = AO_TELEMETRY_LOCATION;
 		ao_mutex_get(&ao_gps_mutex);
-		ao_xmemcpy(&telemetry.location.flags,
-		       &ao_gps_data.flags,
-		       27);
+		memcpy(telemetry_bits(&telemetry.location),
+		       telemetry_bits(&ao_gps_data),
+		       telemetry_size());
 		telemetry.location.tick = ao_gps_tick;
 		ao_mutex_put(&ao_gps_mutex);
 		ao_telemetry_loc_cur = ao_telemetry_gps_max;
@@ -375,7 +441,7 @@ ao_send_satellite(void)
 		telemetry.generic.type = AO_TELEMETRY_SATELLITE;
 		ao_mutex_get(&ao_gps_mutex);
 		telemetry.satellite.channels = ao_gps_tracking_data.channels;
-		ao_xmemcpy(&telemetry.satellite.sats,
+		memcpy(&telemetry.satellite.sats,
 		       &ao_gps_tracking_data.sats,
 		       AO_MAX_GPS_TRACKING * sizeof (struct ao_telemetry_satellite_info));
 		ao_mutex_put(&ao_gps_mutex);
@@ -399,7 +465,7 @@ ao_send_companion(void)
 		telemetry.companion.update_period = ao_companion_setup.update_period;
 		telemetry.companion.channels = ao_companion_setup.channels;
 		ao_mutex_get(&ao_companion_mutex);
-		ao_xmemcpy(&telemetry.companion.companion_data,
+		memcpy(&telemetry.companion.companion_data,
 		       ao_companion_data,
 		       ao_companion_setup.channels * 2);
 		ao_mutex_put(&ao_companion_mutex);
@@ -409,11 +475,33 @@ ao_send_companion(void)
 }
 #endif
 
+#if HAS_APRS
+static void
+ao_set_aprs_time(void)
+{
+	uint16_t interval = ao_config.aprs_interval;
+
+	if ((ao_gps_data.flags & AO_GPS_DATE_VALID) && interval != 0) {
+		int second = (ao_gps_data.second / interval + 1) * interval + ao_config.aprs_offset;
+		int delta;
+		if (second >= 60) {
+			second = ao_config.aprs_offset;
+			delta = second + 60 - ao_gps_data.second;
+		} else {
+			delta = second - ao_gps_data.second;
+		}
+		ao_aprs_time = ao_gps_tick + AO_SEC_TO_TICKS(delta);
+	} else {
+		ao_aprs_time += AO_SEC_TO_TICKS(ao_config.aprs_interval);
+	}
+}
+#endif
+
 static void
 ao_telemetry(void)
 {
-	uint16_t	time;
-	int16_t		delay;
+	AO_TICK_TYPE	time;
+	AO_TICK_SIGNED	delay;
 
 	ao_config_get();
 	if (!ao_config.radio_enable)
@@ -437,6 +525,7 @@ ao_telemetry(void)
 #endif
 #if HAS_APRS
 		ao_aprs_time = time;
+		ao_set_aprs_time();
 #endif
 		while (ao_telemetry_interval) {
 			time = ao_time() + AO_SEC_TO_TICKS(100);
@@ -505,16 +594,16 @@ ao_telemetry(void)
 #if HAS_APRS
 			if (ao_config.aprs_interval != 0) {
 				if ((int16_t) (ao_time() - ao_aprs_time) >= 0) {
-					ao_aprs_time = ao_time() + AO_SEC_TO_TICKS(ao_config.aprs_interval);
+					ao_set_aprs_time();
 					ao_aprs_send();
 				}
 				if ((int16_t) (time - ao_aprs_time) > 0)
 					time = ao_aprs_time;
 			}
 #endif /* HAS_APRS */
-			delay = time - ao_time();
+			delay = (AO_TICK_SIGNED) (time - ao_time());
 			if (delay > 0) {
-				ao_sleep_for(&telemetry, delay);
+				ao_sleep_for(&telemetry, (AO_TICK_TYPE) delay);
 			}
 		}
 	}