X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_telemetry.c;h=3074e4791dfc4c89e305ee924b4cc0ca00591d73;hb=d225adc3af9e5726d436cbbdbf8dcc5837e50804;hp=ae33173fb3aae92eee14aaf13c5f996c526181cf;hpb=c11427819ca24bb77523496309b5b6f699d126c5;p=fw%2Faltos diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c index ae33173f..3074e479 100644 --- a/src/kernel/ao_telemetry.c +++ b/src/kernel/ao_telemetry.c @@ -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); @@ -409,6 +475,28 @@ 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) { @@ -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); @@ -505,7 +594,7 @@ 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)