altos: Switch telemetrum over to kalman filter

[fw/altos] / src / ao.h

diff --git a/src/ao.h b/src/ao.h
index 00c395d6437663195721aa9991eacec4b19d2f81..b88bef1f0adc5707de57ab47c2167236b08576c6 100644 (file)
--- a/src/ao.h
+++ b/src/ao.h
@@ -34,7 +34,7 @@
 /* Stack runs from above the allocated __data space to 0xfe, which avoids
  * writing to 0xff as that triggers the stack overflow indicator
  */
-#define AO_STACK_START 0x80
+#define AO_STACK_START 0x90
 #define AO_STACK_END   0xfe
 #define AO_STACK_SIZE  (AO_STACK_END - AO_STACK_START + 1)
 
@@ -470,7 +470,7 @@ extern __xdata uint16_t ao_storage_unit;
 
 /* Initialize above values. Can only be called once the OS is running */
 void
-ao_storage_setup(void);
+ao_storage_setup(void) __reentrant;
 
 /* Write data. Returns 0 on failure, 1 on success */
 uint8_t
@@ -698,21 +698,19 @@ enum ao_flight_state {
 extern __data uint8_t                  ao_flight_adc;
 extern __pdata enum ao_flight_state    ao_flight_state;
 extern __pdata uint16_t                        ao_flight_tick;
-extern __pdata int16_t                 ao_flight_accel;
-extern __pdata int16_t                 ao_flight_pres;
-extern __pdata int32_t                 ao_flight_vel;
-extern __pdata int16_t                 ao_ground_pres;
+extern __xdata int16_t                 ao_ground_pres;
 extern __pdata int16_t                 ao_ground_accel;
-extern __pdata int16_t                 ao_min_pres;
 extern __pdata uint16_t                        ao_launch_time;
 extern __xdata uint8_t                 ao_flight_force_idle;
-#ifdef USE_KALMAN
 extern __pdata int16_t                 ao_ground_height;
-extern __pdata int32_t                 ao_k_max_height;
-extern __pdata int32_t                 ao_k_height;
-extern __pdata int32_t                 ao_k_speed;
-extern __pdata int32_t                 ao_k_accel;
-#endif
+extern __pdata int16_t                 ao_max_height;
+extern __pdata int16_t                 ao_height;      /* meters */
+extern __pdata int16_t                 ao_speed;       /* m/s * 16 */
+extern __pdata int16_t                 ao_accel;       /* m/s² * 16 */
+
+#define AO_M_TO_HEIGHT(m)      ((int16_t) (m))
+#define AO_MS_TO_SPEED(ms)     ((int16_t) ((ms) * 16))
+#define AO_MSS_TO_ACCEL(mss)   ((int16_t) ((mss) * 16))
 
 /* Flight thread */
 void
@@ -841,6 +839,7 @@ 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;
 
@@ -905,17 +904,22 @@ 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;
        uint16_t                flight;
        uint8_t                 flight_state;
-       int16_t                 flight_accel;
+       int16_t                 accel;
        int16_t                 ground_accel;
-       int32_t                 flight_vel;
-       int16_t                 flight_pres;
+       union {
+               struct {
+                       int16_t                 speed;
+                       int16_t                 unused;
+               } k;
+               int32_t         flight_vel;
+       } u;
+       int16_t                 height;
        int16_t                 ground_pres;
        int16_t                 accel_plus_g;
        int16_t                 accel_minus_g;
@@ -925,6 +929,18 @@ 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 +950,16 @@ 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 +971,9 @@ ao_rdf_set(uint8_t rdf);
 void
 ao_telemetry_init(void);
 
+void
+ao_telemetry_tiny_init(void);
+
 /*
  * ao_radio.c
  */
@@ -962,18 +987,12 @@ void
 ao_radio_general_isr(void) __interrupt 16;
 
 void
-ao_radio_get(void);
+ao_radio_get(uint8_t len);
 
 #define ao_radio_put() ao_mutex_put(&ao_radio_mutex)
 
 void
-ao_radio_set_fixed_pkt(size_t size);
-
-#define ao_radio_set_telemetry() \
-        ao_radio_set_fixed_pkt(sizeof (struct ao_telemetry))
-
-#define ao_radio_set_packet() \
-        ao_radio_set_fixed_pkt(sizeof (struct ao_packet))
+ao_radio_set_packet(void);
 
 void
 ao_radio_send(__xdata void *data, uint8_t size) __reentrant;
@@ -1005,6 +1024,10 @@ 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);