Create two new telemetry packets to hold all of the MM data.
This patch also splits the telemetry structures out of ao.h
Signed-off-by: Keith Packard <keithp@keithp.com>
void
ao_spi_slave(void);
-/*
- * ao_telemetry.c
- */
-#define AO_MAX_CALLSIGN 8
-#define AO_MAX_VERSION 8
-#if LEGACY_MONITOR
-#define AO_MAX_TELEMETRY 128
-#else
-#define AO_MAX_TELEMETRY 32
-#endif
-
-struct ao_telemetry_generic {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
- uint8_t payload[27]; /* 5 */
- /* 32 */
-};
-
-#define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01
-#define AO_TELEMETRY_SENSOR_TELEMINI 0x02
-#define AO_TELEMETRY_SENSOR_TELENANO 0x03
-#define AO_TELEMETRY_SENSOR_MEGAMETRUM 0x08
-
-struct ao_telemetry_sensor {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
-
- uint8_t state; /* 5 flight state */
- int16_t accel; /* 6 accelerometer (TM only) */
- int16_t pres; /* 8 pressure sensor */
- int16_t temp; /* 10 temperature sensor */
- int16_t v_batt; /* 12 battery voltage */
- int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */
- int16_t sense_m; /* 16 main continuity sense (TM/Tm) */
-
- int16_t acceleration; /* 18 m/s² * 16 */
- int16_t speed; /* 20 m/s * 16 */
- int16_t height; /* 22 m */
-
- int16_t ground_pres; /* 24 average pres on pad */
- int16_t ground_accel; /* 26 average accel on pad */
- int16_t accel_plus_g; /* 28 accel calibration at +1g */
- int16_t accel_minus_g; /* 30 accel calibration at -1g */
- /* 32 */
-};
-
-#define AO_TELEMETRY_CONFIGURATION 0x04
-
-struct ao_telemetry_configuration {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
-
- uint8_t device; /* 5 device type */
- uint16_t flight; /* 6 flight number */
- uint8_t config_major; /* 8 Config major version */
- uint8_t config_minor; /* 9 Config minor version */
- uint16_t apogee_delay; /* 10 Apogee deploy delay in seconds */
- uint16_t main_deploy; /* 12 Main deploy alt in meters */
- uint16_t flight_log_max; /* 14 Maximum flight log size in kB */
- char callsign[AO_MAX_CALLSIGN]; /* 16 Radio operator identity */
- char version[AO_MAX_VERSION]; /* 24 Software version */
- /* 32 */
-};
-
-#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'
-
-struct ao_telemetry_location {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
-
- uint8_t flags; /* 5 Number of sats and other flags */
- int16_t altitude; /* 6 GPS reported altitude (m) */
- int32_t latitude; /* 8 latitude (degrees * 10⁷) */
- int32_t longitude; /* 12 longitude (degrees * 10⁷) */
- uint8_t year; /* 16 (- 2000) */
- uint8_t month; /* 17 (1-12) */
- uint8_t day; /* 18 (1-31) */
- uint8_t hour; /* 19 (0-23) */
- uint8_t minute; /* 20 (0-59) */
- uint8_t second; /* 21 (0-59) */
- uint8_t pdop; /* 22 (m * 5) */
- uint8_t hdop; /* 23 (m * 5) */
- uint8_t vdop; /* 24 (m * 5) */
- uint8_t mode; /* 25 */
- uint16_t ground_speed; /* 26 cm/s */
- int16_t climb_rate; /* 28 cm/s */
- uint8_t course; /* 30 degrees / 2 */
- uint8_t unused[1]; /* 31 */
- /* 32 */
-};
-
-#define AO_TELEMETRY_SATELLITE 0x06
-
-struct ao_telemetry_satellite_info {
- uint8_t svid;
- uint8_t c_n_1;
-};
-
-struct ao_telemetry_satellite {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
- uint8_t channels; /* 5 number of reported sats */
-
- struct ao_telemetry_satellite_info sats[12]; /* 6 */
- uint8_t unused[2]; /* 30 */
- /* 32 */
-};
-
-#define AO_TELEMETRY_COMPANION 0x07
-
-#define AO_COMPANION_MAX_CHANNELS 12
-
-struct ao_telemetry_companion {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
- uint8_t board_id; /* 5 */
-
- uint8_t update_period; /* 6 */
- uint8_t channels; /* 7 */
- uint16_t companion_data[AO_COMPANION_MAX_CHANNELS]; /* 8 */
- /* 32 */
-};
-
-/* #define AO_SEND_ALL_BARO */
-
-#define AO_TELEMETRY_BARO 0x80
-
-/*
- * This packet allows the full sampling rate baro
- * data to be captured over the RF link so that the
- * flight software can be tested using 'real' data.
- *
- * Along with this telemetry packet, the flight
- * code is modified to send full-rate telemetry all the time
- * and never send an RDF tone; this ensure that the full radio
- * link is available.
- */
-struct ao_telemetry_baro {
- uint16_t serial; /* 0 */
- uint16_t tick; /* 2 */
- uint8_t type; /* 4 */
- uint8_t samples; /* 5 number samples */
-
- int16_t baro[12]; /* 6 samples */
- /* 32 */
-};
-
-union ao_telemetry_all {
- struct ao_telemetry_generic generic;
- struct ao_telemetry_sensor sensor;
- struct ao_telemetry_configuration configuration;
- struct ao_telemetry_location location;
- struct ao_telemetry_satellite satellite;
- struct ao_telemetry_companion companion;
- struct ao_telemetry_baro baro;
-};
-
-struct ao_telemetry_all_recv {
- union ao_telemetry_all telemetry;
- int8_t rssi;
- uint8_t status;
-};
-
+#include <ao_telemetry.h>
/*
* ao_gps.c
*/
struct ao_adc adc;
#endif
#if HAS_MS5607
- struct ao_ms5607_sample ms5607;
+ struct ao_ms5607_sample ms5607_raw;
+ struct ao_ms5607_value ms5607_cooked;
#endif
#if HAS_MPU6000
struct ao_mpu6000_sample mpu6000;
typedef int32_t pres_t;
typedef int32_t alt_t;
-static inline pres_t ao_data_pres(struct ao_data *packet)
-{
- struct ao_ms5607_value value;
+#define ao_data_pres_cook(packet) ao_ms5607_convert(&packet->ms5607_raw, &packet->ms5607_cooked)
- ao_ms5607_convert(&packet->ms5607, &value);
- return value.pres;
-}
+#define ao_data_pres(packet) ((packet)->ms5607_cooked.pres)
+#define ao_data_temp(packet) ((packet)->ms5607_cooked.temp)
#define pres_to_altitude(p) ao_pa_to_altitude(p)
-#else
+#else /* HAS_MS5607 */
typedef int16_t pres_t;
typedef int16_t alt_t;
#define ao_data_pres(packet) ((packet)->adc.pres)
+#define ao_data_temp(packet) ((packet)->adc.temp)
#define pres_to_altitude(p) ao_pres_to_altitude(p)
+#define ao_data_pres_cook(p)
-#endif
+#endif /* else HAS_MS5607 */
/*
* Need a few macros to pull data from the sensors:
/* MPU6000 is hooked up so that positive y is positive acceleration */
#define ao_data_accel(packet) ((packet)->mpu6000.accel_y)
-#define ao_data_accel_sample(packet) (-ao_data_accel(packet))
+#define ao_data_accel_cook(packet) (-(packet)->mpu6000.accel_y)
#define ao_data_set_accel(packet, accel) ((packet)->mpu6000.accel_y = (accel))
#define ao_data_accel_invert(a) (-(a))
-#else
+#else /* HAS_MPU6000 && !HAS_HIGHG_ACCEL */
typedef int16_t accel_t;
#define ao_data_accel(packet) ((packet)->adc.accel)
* provides 11 bits of data, we haven't actually lost any precision,
* just dropped a bit of noise off the low end.
*/
+
#if HAS_ACCEL_REF
-#define ao_data_accel_sample(packet) \
+
+#define ao_data_accel_cook(packet) \
((uint16_t) ((((uint32_t) (packet)->adc.accel << 16) / ((packet)->adc.accel_ref << 1))) >> 1)
+
#else
-#define ao_data_accel_sample(packet) ((packet)->adc.accel)
+
+#define ao_data_accel_cook(packet) ((packet)->adc.accel)
+
#endif /* HAS_ACCEL_REF */
-#endif /* else some other pressure sensor */
+#endif /* else some other accel sensor */
#endif /* _AO_DATA_H_ */
log.tick = ao_data_ring[ao_log_data_pos].tick;
if ((int16_t) (log.tick - next_sensor) >= 0) {
log.type = AO_LOG_SENSOR;
- log.u.sensor.pres = ao_data_ring[ao_log_data_pos].ms5607.pres;
- log.u.sensor.temp = ao_data_ring[ao_log_data_pos].ms5607.temp;
+ log.u.sensor.pres = ao_data_ring[ao_log_data_pos].ms5607_raw.pres;
+ log.u.sensor.temp = ao_data_ring[ao_log_data_pos].ms5607_raw.temp;
log.u.sensor.accel_x = ao_data_ring[ao_log_data_pos].mpu6000.accel_x;
log.u.sensor.accel_y = ao_data_ring[ao_log_data_pos].mpu6000.accel_y;
log.u.sensor.accel_z = ao_data_ring[ao_log_data_pos].mpu6000.accel_z;
/* Capture a sample */
ao_data = (struct ao_data *) &ao_data_ring[ao_sample_data];
ao_sample_tick = ao_data->tick;
+
+ ao_data_pres_cook(ao_data);
ao_sample_pres = ao_data_pres(ao_data);
ao_sample_alt = pres_to_altitude(ao_sample_pres);
ao_sample_height = ao_sample_alt - ao_ground_height;
+
#if HAS_ACCEL
- ao_sample_accel = ao_data_accel_sample(ao_data);
+ ao_sample_accel = ao_data_accel_cook(ao_data);
if (ao_config.pad_orientation != AO_PAD_ORIENTATION_ANTENNA_UP)
ao_sample_accel = ao_data_accel_invert(ao_sample_accel);
ao_data_set_accel(ao_data, ao_sample_accel);
#include "ao_product.h"
static __pdata uint16_t ao_telemetry_interval;
-static __pdata int8_t ao_telemetry_config_max;
-static __pdata int8_t ao_telemetry_config_cur;
-#if HAS_GPS
-static __pdata int8_t ao_telemetry_loc_cur;
-static __pdata int8_t ao_telemetry_sat_cur;
-#endif
-#if HAS_COMPANION
-static __pdata int8_t ao_telemetry_companion_max;
-static __pdata int8_t ao_telemetry_companion_cur;
-#endif
static __pdata uint8_t ao_rdf = 0;
static __pdata uint16_t ao_rdf_time;
#define AO_RDF_LENGTH_MS 500
#if defined(MEGAMETRUM)
-#define AO_TELEMETRY_SENSOR AO_TELEMETRY_SENSOR_MEGAMETRUM
+#define AO_SEND_MEGA 1
#endif
#if defined(TELEMETRUM_V_0_1) || defined(TELEMETRUM_V_0_2) || defined(TELEMETRUM_V_1_0) || defined(TELEMETRUM_V_1_1) || defined(TELEBALLOON_V_1_1) || defined(TELEMETRUM_V_1_2)
static __xdata union ao_telemetry_all telemetry;
+#if defined AO_TELEMETRY_SENSOR
/* Send sensor packet */
static void
ao_send_sensor(void)
ao_radio_send(&telemetry, sizeof (telemetry));
}
+#endif
-static uint8_t ao_baro_sample;
+
+#ifdef AO_SEND_MEGA
+/* Send mega sensor packet */
+static void
+ao_send_mega_sensor(void)
+{
+ __xdata struct ao_data *packet = (__xdata 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.mega_sensor.accel = ao_data_accel(packet);
+ telemetry.mega_sensor.pres = ao_data_pres(packet);
+ telemetry.mega_sensor.temp = ao_data_temp(packet);
+
+ telemetry.mega_sensor.accel_x = packet->mpu6000.accel_x;
+ telemetry.mega_sensor.accel_y = packet->mpu6000.accel_y;
+ telemetry.mega_sensor.accel_z = packet->mpu6000.accel_z;
+
+ telemetry.mega_sensor.gyro_x = packet->mpu6000.gyro_x;
+ telemetry.mega_sensor.gyro_y = packet->mpu6000.gyro_y;
+ telemetry.mega_sensor.gyro_z = packet->mpu6000.gyro_z;
+
+ telemetry.mega_sensor.mag_x = packet->hmc5883.x;
+ telemetry.mega_sensor.mag_y = packet->hmc5883.y;
+ telemetry.mega_sensor.mag_z = packet->hmc5883.z;
+
+ ao_radio_send(&telemetry, sizeof (telemetry));
+}
+
+static __pdata int8_t ao_telemetry_mega_data_max;
+static __pdata int8_t ao_telemetry_mega_data_cur;
+
+/* Send mega data packet */
+static void
+ao_send_mega_data(void)
+{
+ if (--ao_telemetry_mega_data_cur <= 0) {
+ __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+ uint8_t i;
+
+ telemetry.generic.tick = packet->tick;
+ telemetry.generic.type = AO_TELEMETRY_MEGA_DATA;
+
+ telemetry.mega_data.state = ao_flight_state;
+ telemetry.mega_data.v_batt = packet->adc.v_batt;
+ telemetry.mega_data.v_pyro = packet->adc.v_pbatt;
+
+ /* XXX figure out right shift value; 4 might suffice */
+ for (i = 0; i < AO_ADC_NUM_SENSE; i++)
+ telemetry.mega_data.sense[i] = packet->adc.sense[i] >> 8;
+
+ 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;
+
+ ao_radio_send(&telemetry, sizeof (telemetry));
+ ao_telemetry_mega_data_cur = ao_telemetry_mega_data_max;
+ }
+}
+#endif /* AO_SEND_MEGA */
#ifdef AO_SEND_ALL_BARO
+static uint8_t ao_baro_sample;
+
static void
ao_send_baro(void)
{
}
#endif
+static __pdata int8_t ao_telemetry_config_max;
+static __pdata int8_t ao_telemetry_config_cur;
+
static void
ao_send_configuration(void)
{
}
#if HAS_GPS
+
+static __pdata int8_t ao_telemetry_loc_cur;
+static __pdata int8_t ao_telemetry_sat_cur;
+
static void
ao_send_location(void)
{
#endif
#if HAS_COMPANION
+
+static __pdata int8_t ao_telemetry_companion_max;
+static __pdata int8_t ao_telemetry_companion_cur;
+
static void
ao_send_companion(void)
{
#ifdef AO_SEND_ALL_BARO
ao_send_baro();
#endif
+#ifdef AO_SEND_MEGA
+ ao_send_mega_sensor();
+ ao_send_mega_data();
+#else
ao_send_sensor();
+#endif
+
#if HAS_COMPANION
if (ao_companion_running)
ao_send_companion();
void
ao_telemetry_set_interval(uint16_t interval)
{
+ uint8_t cur = 0;
ao_telemetry_interval = interval;
+
+#if AO_SEND_MEGA
+ if (interval > 1)
+ ao_telemetry_mega_data_max = 1;
+ else
+ ao_telemetry_mega_data_max = 2;
+ if (ao_telemetry_mega_data_max > cur)
+ cur++;
+ ao_telemetry_mega_data_cur = cur;
+#endif
#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_cur = 1;
+ if (ao_telemetry_companion_max > cur)
+ cur++;
+ ao_telemetry_companion_cur = cur;
#endif
ao_telemetry_config_max = AO_SEC_TO_TICKS(1) / interval;
#if HAS_COMPANION
- ao_telemetry_config_cur = ao_telemetry_companion_cur;
- if (ao_telemetry_config_max > ao_telemetry_config_cur)
- ao_telemetry_config_cur++;
-#else
- ao_telemetry_config_cur = 1;
+ if (ao_telemetry_config_max > cur)
+ cur++;
+ ao_telemetry_config_cur = cur;
#endif
#if HAS_GPS
- ao_telemetry_loc_cur = ao_telemetry_config_cur;
- if (ao_telemetry_config_max > ao_telemetry_loc_cur)
- ao_telemetry_loc_cur++;
- ao_telemetry_sat_cur = ao_telemetry_loc_cur;
- if (ao_telemetry_config_max > ao_telemetry_sat_cur)
- ao_telemetry_sat_cur++;
+ if (ao_telemetry_config_max > cur)
+ cur++;
+ ao_telemetry_loc_cur = cur;
+ if (ao_telemetry_config_max > cur)
+ cur++;
+ ao_telemetry_sat_cur = cur;
#endif
ao_wakeup(&telemetry);
}
#if HAS_MS5607
if (!ao_ms5607_valid)
step = 0;
- ao_data_ring[ao_data_head].ms5607 = ao_ms5607_current;
+ ao_data_ring[ao_data_head].ms5607_raw = ao_ms5607_current;
#endif
#if HAS_HMC5883
if (!ao_hmc5883_valid)
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