X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_telemetry.c;h=d567f9c2a3604c0a3a073432b869bd7204d8f92e;hb=63c089e2e110a7fe501dd097bd7d26ce4feeb935;hp=9e1304f73feec119c0f85ab814088c948a93179a;hpb=0686a7b8aec524d81bda4c572549a3a068ce0eed;p=fw%2Faltos diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c index 9e1304f7..d567f9c2 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 #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 @@ -136,13 +136,53 @@ 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; + telemetry.generic.tick = (uint16_t) packet->tick; +#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 = (uint8_t) 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.mega_sensor.orient = ao_sample_orient; + telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR_MPU; +#else +#error unknown IMU +#endif +#endif + +#if HAS_GYRO + telemetry.mega_sensor.orient = (uint8_t) ao_sample_orient; #endif telemetry.mega_sensor.accel = ao_data_accel(packet); telemetry.mega_sensor.pres = ao_data_pres(packet); @@ -178,21 +218,35 @@ 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(); } -static int8_t ao_telemetry_mega_data_max; -static int8_t ao_telemetry_mega_data_cur; +static int16_t ao_telemetry_mega_data_max; +static int16_t ao_telemetry_mega_data_cur; /* Send mega data packet */ static void ao_send_mega_data(void) { if (--ao_telemetry_mega_data_cur <= 0) { - 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)]; uint8_t i; - telemetry.generic.tick = packet->tick; + telemetry.generic.tick = (uint16_t) packet->tick; telemetry.generic.type = AO_TELEMETRY_MEGA_DATA; telemetry.mega_data.state = ao_flight_state; @@ -201,16 +255,16 @@ ao_send_mega_data(void) /* ADC range is 0-4095, so shift by four to save the high 8 bits */ for (i = 0; i < AO_ADC_NUM_SENSE; i++) - telemetry.mega_data.sense[i] = packet->adc.sense[i] >> 4; + telemetry.mega_data.sense[i] = (int8_t) (packet->adc.sense[i] >> 4); telemetry.mega_data.ground_pres = ao_ground_pres; telemetry.mega_data.ground_accel = ao_ground_accel; telemetry.mega_data.accel_plus_g = ao_config.accel_plus_g; telemetry.mega_data.accel_minus_g = ao_config.accel_minus_g; - telemetry.mega_data.acceleration = ao_accel; - telemetry.mega_data.speed = ao_speed; - telemetry.mega_data.height = ao_height; + telemetry.mega_data.acceleration = (int16_t) ao_accel; + telemetry.mega_data.speed = (int16_t) ao_speed; + telemetry.mega_data.height = (int16_t) ao_height; ao_telemetry_mega_data_cur = ao_telemetry_mega_data_max; ao_telemetry_send(); @@ -223,9 +277,9 @@ ao_send_mega_data(void) static void ao_send_metrum_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.tick = (uint16_t) packet->tick; telemetry.generic.type = AO_TELEMETRY_METRUM_SENSOR; telemetry.metrum_sensor.state = ao_flight_state; @@ -235,9 +289,9 @@ ao_send_metrum_sensor(void) telemetry.metrum_sensor.pres = ao_data_pres(packet); telemetry.metrum_sensor.temp = ao_data_temp(packet); - telemetry.metrum_sensor.acceleration = ao_accel; - telemetry.metrum_sensor.speed = ao_speed; - telemetry.metrum_sensor.height = ao_height; + telemetry.metrum_sensor.acceleration = (int16_t) ao_accel; + telemetry.metrum_sensor.speed = (int16_t) ao_speed; + telemetry.metrum_sensor.height = (int16_t) ao_height; telemetry.metrum_sensor.v_batt = packet->adc.v_batt; telemetry.metrum_sensor.sense_a = packet->adc.sense_a; @@ -246,17 +300,17 @@ ao_send_metrum_sensor(void) ao_telemetry_send(); } -static int8_t ao_telemetry_metrum_data_max; -static int8_t ao_telemetry_metrum_data_cur; +static int16_t ao_telemetry_metrum_data_max; +static int16_t ao_telemetry_metrum_data_cur; /* Send telemetrum data packet */ static void ao_send_metrum_data(void) { if (--ao_telemetry_metrum_data_cur <= 0) { - 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.tick = (uint16_t) packet->tick; telemetry.generic.type = AO_TELEMETRY_METRUM_DATA; telemetry.metrum_data.ground_pres = ao_ground_pres; @@ -281,9 +335,9 @@ ao_send_metrum_data(void) static void ao_send_mini(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.tick = (uint16_t) packet->tick; telemetry.generic.type = AO_SEND_MINI; telemetry.mini.state = ao_flight_state; @@ -295,9 +349,9 @@ ao_send_mini(void) telemetry.mini.pres = ao_data_pres(packet); telemetry.mini.temp = ao_data_temp(packet); - telemetry.mini.acceleration = ao_accel; - telemetry.mini.speed = ao_speed; - telemetry.mini.height = ao_height; + telemetry.mini.acceleration = (int16_t) ao_accel; + telemetry.mini.speed = (int16_t) ao_speed; + telemetry.mini.height = (int16_t) ao_height; telemetry.mini.ground_pres = ao_ground_pres; @@ -306,8 +360,8 @@ ao_send_mini(void) #endif /* AO_SEND_MINI */ -static int8_t ao_telemetry_config_max; -static int8_t ao_telemetry_config_cur; +static int16_t ao_telemetry_config_max; +static int16_t ao_telemetry_config_cur; static uint16_t ao_telemetry_flight_number; #ifndef ao_telemetry_battery_convert @@ -326,19 +380,19 @@ ao_send_configuration(void) telemetry.configuration.config_minor = AO_CONFIG_MINOR; #if AO_idProduct_NUMBER == 0x25 && HAS_ADC /* TeleGPS gets battery voltage instead of apogee delay */ - telemetry.configuration.apogee_delay = ao_telemetry_battery_convert(ao_data_ring[ao_data_ring_prev(ao_data_head)].adc.v_batt); + telemetry.configuration.apogee_delay = (uint16_t) ao_telemetry_battery_convert(ao_data_ring[ao_data_ring_prev(ao_data_head)].adc.v_batt); #else telemetry.configuration.apogee_delay = ao_config.apogee_delay; telemetry.configuration.main_deploy = ao_config.main_deploy; #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); + telemetry.configuration.flight_log_max = (uint16_t) (ao_config.flight_log_max >> 10); + 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(); } @@ -346,9 +400,21 @@ ao_send_configuration(void) #if HAS_GPS -static int8_t ao_telemetry_gps_max; -static int8_t ao_telemetry_loc_cur; -static int8_t ao_telemetry_sat_cur; +static int16_t ao_telemetry_gps_max; +static int16_t ao_telemetry_loc_cur; +static int16_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 size_t +telemetry_size(void) +{ + return sizeof(struct ao_telemetry_location) - offsetof(struct ao_telemetry_location, flags); +} static void ao_send_location(void) @@ -357,10 +423,10 @@ 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); - telemetry.location.tick = ao_gps_tick; + memcpy(telemetry_bits(&telemetry.location), + telemetry_bits(&ao_gps_data), + telemetry_size()); + telemetry.location.tick = (uint16_t) ao_gps_tick; ao_mutex_put(&ao_gps_mutex); ao_telemetry_loc_cur = ao_telemetry_gps_max; ao_telemetry_send(); @@ -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); @@ -387,19 +453,19 @@ ao_send_satellite(void) #if HAS_COMPANION -static int8_t ao_telemetry_companion_max; -static int8_t ao_telemetry_companion_cur; +static int16_t ao_telemetry_companion_max; +static int16_t ao_telemetry_companion_cur; static void ao_send_companion(void) { if (--ao_telemetry_companion_cur <= 0) { telemetry.generic.type = AO_TELEMETRY_COMPANION; - telemetry.companion.board_id = ao_companion_setup.board_id; + telemetry.companion.board_id = (uint8_t) ao_companion_setup.board_id; 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 -void +#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); } } } @@ -531,7 +620,7 @@ ao_telemetry_reset_interval(void) void ao_telemetry_set_interval(uint16_t interval) { - int8_t cur = 0; + int16_t cur = 0; #if HAS_RADIO_RATE /* Limit max telemetry rate based on available radio bandwidth. @@ -557,7 +646,7 @@ ao_telemetry_set_interval(uint16_t interval) ao_telemetry_mega_data_cur = cur; #endif #if AO_SEND_METRUM - ao_telemetry_metrum_data_max = AO_SEC_TO_TICKS(1) / interval; + ao_telemetry_metrum_data_max = (int16_t) (AO_SEC_TO_TICKS(1) / interval); if (ao_telemetry_metrum_data_max > cur) cur++; ao_telemetry_metrum_data_cur = cur; @@ -566,14 +655,14 @@ ao_telemetry_set_interval(uint16_t interval) #if HAS_COMPANION if (!ao_companion_setup.update_period) ao_companion_setup.update_period = AO_SEC_TO_TICKS(1); - ao_telemetry_companion_max = ao_companion_setup.update_period / interval; + ao_telemetry_companion_max = (int16_t) (ao_companion_setup.update_period / interval); if (ao_telemetry_companion_max > cur) cur++; ao_telemetry_companion_cur = cur; #endif #if HAS_GPS - ao_telemetry_gps_max = AO_SEC_TO_TICKS(1) / interval; + ao_telemetry_gps_max = (int16_t) (AO_SEC_TO_TICKS(1) / interval); if (ao_telemetry_gps_max > cur) cur++; ao_telemetry_loc_cur = cur; @@ -582,7 +671,7 @@ ao_telemetry_set_interval(uint16_t interval) ao_telemetry_sat_cur = cur; #endif - ao_telemetry_config_max = AO_SEC_TO_TICKS(5) / interval; + ao_telemetry_config_max = (int16_t) (AO_SEC_TO_TICKS(5) / interval); if (ao_telemetry_config_max > cur) cur++; ao_telemetry_config_cur = cur;