altos: Remove *_TO_DATA macros

[fw/altos] / src / kernel / ao_telemetry.c

diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c
index e70791792d5644c30ab5745ee2d8a7966648beda..8ff28fdef78eeed8d042f2213db10c3a5c33d8c2 100644 (file)
--- a/src/kernel/ao_telemetry.c
+++ b/src/kernel/ao_telemetry.c
@@ -141,7 +141,7 @@ ao_send_mega_sensor(void)
        telemetry.generic.tick = packet->tick;
        telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR;
 
-#if HAS_MPU6000
+#if HAS_MPU6000 || HAS_MPU9250
        telemetry.mega_sensor.orient = ao_sample_orient;
 #endif
        telemetry.mega_sensor.accel = ao_data_accel(packet);
@@ -160,8 +160,22 @@ ao_send_mega_sensor(void)
 
 #if HAS_HMC5883
        telemetry.mega_sensor.mag_x = packet->hmc5883.x;
-       telemetry.mega_sensor.mag_y = packet->hmc5883.y;
        telemetry.mega_sensor.mag_z = packet->hmc5883.z;
+       telemetry.mega_sensor.mag_y = packet->hmc5883.y;
+#endif
+
+#if HAS_MPU9250
+       telemetry.mega_sensor.accel_x = packet->mpu9250.accel_x;
+       telemetry.mega_sensor.accel_y = packet->mpu9250.accel_y;
+       telemetry.mega_sensor.accel_z = packet->mpu9250.accel_z;
+
+       telemetry.mega_sensor.gyro_x = packet->mpu9250.gyro_x;
+       telemetry.mega_sensor.gyro_y = packet->mpu9250.gyro_y;
+       telemetry.mega_sensor.gyro_z = packet->mpu9250.gyro_z;
+
+       telemetry.mega_sensor.mag_x = packet->mpu9250.mag_x;
+       telemetry.mega_sensor.mag_z = packet->mpu9250.mag_z;
+       telemetry.mega_sensor.mag_y = packet->mpu9250.mag_y;
 #endif
 
        ao_telemetry_send();
@@ -270,7 +284,7 @@ ao_send_mini(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_MINI;
+       telemetry.generic.type = AO_SEND_MINI;
 
        telemetry.mini.state = ao_flight_state;
 
@@ -294,6 +308,11 @@ ao_send_mini(void)
 
 static __pdata int8_t ao_telemetry_config_max;
 static __pdata int8_t ao_telemetry_config_cur;
+static __pdata uint16_t ao_telemetry_flight_number;
+
+#ifndef ao_telemetry_battery_convert
+#define ao_telemetry_battery_convert(a) (a)
+#endif
 
 static void
 ao_send_configuration(void)
@@ -302,16 +321,12 @@ ao_send_configuration(void)
        {
                telemetry.generic.type = AO_TELEMETRY_CONFIGURATION;
                telemetry.configuration.device = AO_idProduct_NUMBER;
-#if HAS_LOG
-               telemetry.configuration.flight = ao_log_full() ? 0 : ao_flight_number;
-#else
-               telemetry.configuration.flight = ao_flight_number;
-#endif
+               telemetry.configuration.flight = ao_telemetry_flight_number;
                telemetry.configuration.config_major = AO_CONFIG_MAJOR;
                telemetry.configuration.config_minor = AO_CONFIG_MINOR;
 #if AO_idProduct_NUMBER == 0x25 && HAS_ADC
                /* TeleGPS gets battery voltage instead of apogee delay */
-               telemetry.configuration.apogee_delay = ao_data_ring[ao_data_ring_prev(ao_data_head)].adc.v_batt;
+               telemetry.configuration.apogee_delay = ao_telemetry_battery_convert(ao_data_ring[ao_data_ring_prev(ao_data_head)].adc.v_batt);
 #else
                telemetry.configuration.apogee_delay = ao_config.apogee_delay;
                telemetry.configuration.main_deploy = ao_config.main_deploy;
@@ -322,7 +337,7 @@ ao_send_configuration(void)
                            ao_config.callsign,
                            AO_MAX_CALLSIGN);
                ao_xmemcpy (telemetry.configuration.version,
-                           CODE_TO_XDATA(ao_version),
+                           ao_version,
                            AO_MAX_VERSION);
                ao_telemetry_config_cur = ao_telemetry_config_max;
                ao_telemetry_send();
@@ -406,6 +421,11 @@ ao_telemetry(void)
        while (!ao_flight_number)
                ao_sleep(&ao_flight_number);
 
+       ao_telemetry_flight_number = ao_flight_number;
+#if HAS_LOG
+       if (ao_log_full())
+               ao_telemetry_flight_number = 0;
+#endif
        telemetry.generic.serial = ao_serial_number;
        for (;;) {
                while (ao_telemetry_interval == 0)