X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_telemetry.c;h=c2b2eb5a1bad0569d909481c21caf20773269457;hb=07eecc0ff6e1104f911e5f83d67f3e14dc68c59c;hp=ae33173fb3aae92eee14aaf13c5f996c526181cf;hpb=c11427819ca24bb77523496309b5b6f699d126c5;p=fw%2Faltos

diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c
index ae33173f..c2b2eb5a 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
 
@@ -139,9 +139,17 @@ ao_send_mega_sensor(void)
 		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 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 +186,20 @@ 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
+
 	ao_telemetry_send();
 }
 
@@ -333,12 +355,12 @@ 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 +372,18 @@ 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 +391,9 @@ 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 +409,7 @@ 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 +433,7 @@ 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 +443,28 @@ 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 +493,7 @@ 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 +562,7 @@ 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)