X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_telemetry.h;h=251a3fcda3fd36934d4e336617cbb20ef267fed9;hb=63c089e2e110a7fe501dd097bd7d26ce4feeb935;hp=be7d0340745352d20505dc265a00e1f8390cf8da;hpb=c5a7889a8da3da64deb0f118656784e0ee3fd511;p=fw%2Faltos

diff --git a/src/kernel/ao_telemetry.h b/src/kernel/ao_telemetry.h
index be7d0340..251a3fcd 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
@@ -86,12 +87,9 @@ struct ao_telemetry_configuration {
 
 #define AO_TELEMETRY_LOCATION		0x05
 
-#define AO_GPS_MODE_NOT_VALID		'N'
-#define AO_GPS_MODE_AUTONOMOUS		'A'
-#define AO_GPS_MODE_DIFFERENTIAL	'D'
-#define AO_GPS_MODE_ESTIMATED		'E'
-#define AO_GPS_MODE_MANUAL		'M'
-#define AO_GPS_MODE_SIMULATED		'S'
+/* Mode bits */
+
+#define AO_GPS_MODE_ALTITUDE_24		(1 << 0)	/* reports 24-bits of altitude */
 
 struct ao_telemetry_location {
 	uint16_t	serial;		/*  0 */
@@ -99,7 +97,7 @@ struct ao_telemetry_location {
 	uint8_t		type;		/*  4 */
 
 	uint8_t         flags;		/*  5 Number of sats and other flags */
-	int16_t         altitude;	/*  6 GPS reported altitude (m) */
+	uint16_t        altitude_low;	/*  6 GPS reported altitude (m) */
 	int32_t         latitude;	/*  8 latitude (degrees * 10⁷) */
 	int32_t         longitude;	/* 12 longitude (degrees * 10⁷) */
 	uint8_t         year;		/* 16 (- 2000) */
@@ -115,10 +113,33 @@ struct ao_telemetry_location {
 	uint16_t	ground_speed;	/* 26 cm/s */
 	int16_t		climb_rate;	/* 28 cm/s */
 	uint8_t		course;		/* 30 degrees / 2 */
-	uint8_t		unused;		/* 31 unused */
+	int8_t		altitude_high;	/* 31 high byte of altitude */
 	/* 32 */
 };
 
+#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 = (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)
+#define AO_TELEMETRY_LOCATION_SET_ALTITUDE(l,a)	(((l)->mode = 0, \
+						  (l)->altitude_low = (a)))
+#endif /* HAS_WIDE_GPS */
+
 #define AO_TELEMETRY_SATELLITE		0x06
 
 struct ao_telemetry_satellite_info {
@@ -155,7 +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 */
@@ -177,8 +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 */
 };
 
@@ -238,17 +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 */
@@ -273,6 +297,33 @@ struct ao_telemetry_mini {
 	/* 32 */
 };
 
+#define AO_TELEMETRY_MEGA_NORM_MPU6000_MMC5983	0x13
+
+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
@@ -310,8 +361,11 @@ 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;