X-Git-Url: https://git.gag.com/?a=blobdiff_plain;f=src%2Fkernel%2Fao_telemetry.h;h=b718085f8e11eb83d295322c135416bc785ec852;hb=876a0f9d2a3324e2591e21bcf2dafcfb6009c081;hp=672d23175f71598f8341bc4ff0cf217068215ef4;hpb=643c2fb03833d658320f476ef731bbb06fe3cc31;p=fw%2Faltos

diff --git a/src/kernel/ao_telemetry.h b/src/kernel/ao_telemetry.h
index 672d2317..b718085f 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
@@ -175,7 +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 */
@@ -197,8 +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 */
 };
 
@@ -269,7 +271,8 @@ struct ao_telemetry_metrum_data {
 	/* 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 */
@@ -294,6 +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
@@ -331,6 +361,7 @@ 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];