X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_telemetry.h;h=23e3ed7db7c4a5309f4b76bc7d5db6da424a0a86;hb=HEAD;hp=83d432cf95f39db62dc9f602d8011c58a46f49ae;hpb=34d5be68ca23e8beb05db9a480faef63ecc911d0;p=fw%2Faltos

diff --git a/src/kernel/ao_telemetry.h b/src/kernel/ao_telemetry.h
index 83d432cf..983a99b8 100644
--- a/src/kernel/ao_telemetry.h
+++ b/src/kernel/ao_telemetry.h
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -116,18 +117,22 @@ struct ao_telemetry_location {
 	/* 32 */
 };
 
-#if HAS_GPS
-
 #ifndef HAS_WIDE_GPS
 #define HAS_WIDE_GPS	1
 #endif
 
+#ifdef HAS_TELEMETRY
+#ifndef HAS_RDF
+#define HAS_RDF		1
+#endif
+#endif
+
 #if HAS_WIDE_GPS
 typedef int32_t		gps_alt_t;
 #define AO_TELEMETRY_LOCATION_ALTITUDE(l) 	(((gps_alt_t) (l)->altitude_high << 16) | ((l)->altitude_low))
 #define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a) (((l)->mode |= AO_GPS_MODE_ALTITUDE_24), \
-						 ((l)->altitude_high = (a) >> 16), \
-						 ((l)->altitude_low = (a)))
+						 ((l)->altitude_high = (int8_t) ((a) >> 16)), \
+						 ((l)->altitude_low = (uint16_t) (a)))
 #else
 typedef int16_t		gps_alt_t;
 #define AO_TELEMETRY_LOCATION_ALTITUDE(l)	((gps_alt_t) (l)->altitude_low)
@@ -135,8 +140,6 @@ typedef int16_t		gps_alt_t;
 						  (l)->altitude_low = (a)))
 #endif /* HAS_WIDE_GPS */
 
-#endif /* HAS_GPS */
-
 #define AO_TELEMETRY_SATELLITE		0x06
 
 struct ao_telemetry_satellite_info {
@@ -173,7 +176,8 @@ struct ao_telemetry_companion {
 	/* 32 */
 };
 
-#define AO_TELEMETRY_MEGA_SENSOR	0x08
+#define AO_TELEMETRY_MEGA_SENSOR_MPU		0x08	/* Invensense IMU */
+#define AO_TELEMETRY_MEGA_SENSOR_BMX160		0x12	/* BMX160 IMU */
 
 struct ao_telemetry_mega_sensor {
 	uint16_t	serial;		/*  0 */
@@ -195,8 +199,8 @@ struct ao_telemetry_mega_sensor {
 	int16_t		gyro_z;		/* 24 */
 
 	int16_t		mag_x;		/* 26 */
-	int16_t		mag_y;		/* 28 */
-	int16_t		mag_z;		/* 30 */
+	int16_t		mag_z;		/* 28 */
+	int16_t		mag_y;		/* 30 */
 	/* 32 */
 };
 
@@ -256,17 +260,19 @@ struct ao_telemetry_metrum_data {
 	uint16_t	serial;		/*  0 */
 	uint16_t	tick;		/*  2 */
 	uint8_t		type;		/*  4 */
+	uint8_t		pad5[3];	/*  5 */
 
-	int32_t		ground_pres;	/* 8 average pres on pad */
+	int32_t		ground_pres;	/*  8 average pres on pad */
 	int16_t		ground_accel;	/* 12 average accel on pad */
 	int16_t		accel_plus_g;	/* 14 accel calibration at +1g */
 	int16_t		accel_minus_g;	/* 16 accel calibration at -1g */
 
-	uint8_t		pad[14];	/* 18 */
+	uint8_t		pad18[14];	/* 18 */
 	/* 32 */
 };
 
-#define AO_TELEMETRY_MINI		0x10
+#define AO_TELEMETRY_MINI2		0x10	/* CC1111 based */
+#define AO_TELEMETRY_MINI3		0x11	/* STMF042 based */
 
 struct ao_telemetry_mini {
 	uint16_t	serial;		/*  0 */
@@ -291,6 +297,34 @@ struct ao_telemetry_mini {
 	/* 32 */
 };
 
+#define AO_TELEMETRY_MEGA_NORM_MPU6000_MMC5983	0x13
+#define AO_TELEMETRY_MEGA_NORM_BMI088_MMC5983	0x14
+
+struct ao_telemetry_mega_norm {
+	uint16_t	serial;		/*  0 */
+	uint16_t	tick;		/*  2 */
+	uint8_t		type;		/*  4 */
+
+	uint8_t		orient;		/*  5 angle from vertical */
+	int16_t		accel;		/*  6 Z axis */
+
+	int32_t		pres;		/*  8 Pa * 10 */
+	int16_t		temp;		/* 12 °C * 100 */
+
+	int16_t		accel_along;	/* 14 */
+	int16_t		accel_across;	/* 16 */
+	int16_t		accel_through;	/* 18 */
+
+	int16_t		gyro_roll;	/* 20 */
+	int16_t		gyro_pitch;	/* 22 */
+	int16_t		gyro_yaw;	/* 24 */
+
+	int16_t		mag_along;	/* 26 */
+	int16_t		mag_across;	/* 28 */
+	int16_t		mag_through;	/* 30 */
+	/* 32 */
+};
+
 /* #define AO_SEND_ALL_BARO */
 
 #define AO_TELEMETRY_BARO		0x80
@@ -328,8 +362,11 @@ union ao_telemetry_all {
 	struct ao_telemetry_metrum_data		metrum_data;
 	struct ao_telemetry_mini		mini;
 	struct ao_telemetry_baro		baro;
+	struct ao_telemetry_mega_norm		mega_norm;
 };
 
+typedef char ao_check_telemetry_size[sizeof(union ao_telemetry_all) == 32 ? 1 : -1];
+
 struct ao_telemetry_all_recv {
 	union ao_telemetry_all		telemetry;
 	int8_t				rssi;