altos: New telemetry report format (version 4). Supports tiny telemetry.

[fw/altos] / src / ao.h

diff --git a/src/ao.h b/src/ao.h
index e076831d98ef8fff3f057590d820b8f9c15464b8..527390b05bc90e87b95d4a128476f29f914c789c 100644 (file)
--- a/src/ao.h
+++ b/src/ao.h
@@ -841,6 +841,7 @@ ao_spi_init(void);
 #define AO_GPS_VALID           (1 << 4)
 #define AO_GPS_RUNNING         (1 << 5)
 #define AO_GPS_DATE_VALID      (1 << 6)
+#define AO_GPS_COURSE_VALID    (1 << 7)
 
 extern __xdata uint16_t ao_gps_tick;
 
@@ -905,8 +906,7 @@ ao_gps_report_init(void);
  * ao_telemetry.c
  */
 
-#define AO_MAX_CALLSIGN                8
-#define AO_TELEMETRY_VERSION   3
+#define AO_MAX_CALLSIGN                        8
 
 struct ao_telemetry {
        uint16_t                serial;
@@ -925,6 +925,18 @@ struct ao_telemetry {
        struct ao_gps_tracking_data     gps_tracking;
 };
 
+struct ao_telemetry_tiny {
+       uint16_t                serial;
+       uint16_t                flight;
+       uint8_t                 flight_state;
+       int16_t                 height;         /* AGL in meters */
+       int16_t                 speed;          /* in m/s * 16 */
+       int16_t                 accel;          /* in m/s² * 16 */
+       int16_t                 ground_pres;    /* sensor units */
+       struct ao_adc           adc;            /* raw ADC readings */
+       char                    callsign[AO_MAX_CALLSIGN];
+};
+
 /*
  * ao_radio_recv tacks on rssi and status bytes
  */
@@ -934,10 +946,16 @@ struct ao_telemetry_recv {
        uint8_t                 status;
 };
 
+struct ao_telemetry_tiny_recv {
+       struct ao_telemetry_tiny        telemetry_tiny;
+       int8_t                          rssi;
+       uint8_t                         status;
+};
+
 /* Set delay between telemetry reports (0 to disable) */
 
 #define AO_TELEMETRY_INTERVAL_PAD      AO_MS_TO_TICKS(1000)
-#define AO_TELEMETRY_INTERVAL_FLIGHT   AO_MS_TO_TICKS(50)
+#define AO_TELEMETRY_INTERVAL_FLIGHT   AO_MS_TO_TICKS(100)
 #define AO_TELEMETRY_INTERVAL_RECOVER  AO_MS_TO_TICKS(1000)
 
 void
@@ -949,6 +967,9 @@ ao_rdf_set(uint8_t rdf);
 void
 ao_telemetry_init(void);
 
+void
+ao_telemetry_tiny_init(void);
+
 /*
  * ao_radio.c
  */
@@ -999,6 +1020,10 @@ extern const char const * const ao_state_names[];
 void
 ao_monitor(void);
 
+#define AO_MONITORING_OFF      0
+#define AO_MONITORING_FULL     1
+#define AO_MONITORING_TINY     2
+
 void
 ao_set_monitor(uint8_t monitoring);