projects / fw / altos / blobdiff
? search:
summary | shortlog | log | commit | commitdiff | tree
raw | inline | side by side
Merge branch 'master' of ssh://git.gag.com/scm/git/fw/altos
[fw/altos] / src / kernel / ao_telemetry.c
diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c
index fa8178240e45b97f60c71717eb77d76fd3e3e69c..9e1304f73feec119c0f85ab814088c948a93179a 100644 (file)
--- a/src/kernel/ao_telemetry.c
+++ b/src/kernel/ao_telemetry.c
@@ -20,10 +20,10 @@
 #include "ao_log.h"
 #include "ao_product.h"
 
-static __pdata uint16_t ao_telemetry_interval;
+static uint16_t ao_telemetry_interval;
 
 #if HAS_RADIO_RATE
-static __xdata uint16_t ao_telemetry_desired_interval;
+static uint16_t ao_telemetry_desired_interval;
 #endif
 
 /* TeleMetrum v1.0 just doesn't have enough space to
@@ -37,10 +37,10 @@ static __xdata uint16_t ao_telemetry_desired_interval;
 
 #ifdef SIMPLIFY
 #define ao_telemetry_time time
-#define RDF_SPACE      __pdata
+#define RDF_SPACE      
 #else
-#define RDF_SPACE      __xdata
-static __pdata uint16_t ao_telemetry_time;
+#define RDF_SPACE      
+static uint16_t ao_telemetry_time;
 #endif
 
 #if HAS_RDF
@@ -49,7 +49,7 @@ static RDF_SPACE uint16_t ao_rdf_time;
 #endif
 
 #if HAS_APRS
-static __pdata uint16_t ao_aprs_time;
+static uint16_t ao_aprs_time;
 
 #include <ao_aprs.h>
 #endif
@@ -74,7 +74,7 @@ static __pdata uint16_t ao_aprs_time;
 #define AO_TELEMETRY_SENSOR    AO_TELEMETRY_SENSOR_TELENANO
 #endif
 
-static __xdata union ao_telemetry_all  telemetry;
+static union ao_telemetry_all  telemetry;
 
 static void
 ao_telemetry_send(void)
@@ -88,7 +88,7 @@ ao_telemetry_send(void)
 static void
 ao_send_sensor(void)
 {
-       __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+               struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 
        telemetry.generic.tick = packet->tick;
        telemetry.generic.type = AO_TELEMETRY_SENSOR;
@@ -136,12 +136,12 @@ ao_send_sensor(void)
 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)];
+               struct ao_data *packet = (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;
 
-#if HAS_MPU6000
+#if HAS_MPU6000 || HAS_MPU9250
        telemetry.mega_sensor.orient = ao_sample_orient;
 #endif
        telemetry.mega_sensor.accel = ao_data_accel(packet);
@@ -160,22 +160,36 @@ 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();
 }
 
-static __pdata int8_t ao_telemetry_mega_data_max;
-static __pdata int8_t ao_telemetry_mega_data_cur;
+static int8_t ao_telemetry_mega_data_max;
+static 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)];
+                       struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
                uint8_t i;
 
                telemetry.generic.tick = packet->tick;
@@ -209,7 +223,7 @@ ao_send_mega_data(void)
 static void
 ao_send_metrum_sensor(void)
 {
-       __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+               struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 
        telemetry.generic.tick = packet->tick;
        telemetry.generic.type = AO_TELEMETRY_METRUM_SENSOR;
@@ -232,15 +246,15 @@ ao_send_metrum_sensor(void)
        ao_telemetry_send();
 }
 
-static __pdata int8_t ao_telemetry_metrum_data_max;
-static __pdata int8_t ao_telemetry_metrum_data_cur;
+static int8_t ao_telemetry_metrum_data_max;
+static int8_t ao_telemetry_metrum_data_cur;
 
 /* Send telemetrum data packet */
 static void
 ao_send_metrum_data(void)
 {
        if (--ao_telemetry_metrum_data_cur <= 0) {
-               __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+                       struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 
                telemetry.generic.tick = packet->tick;
                telemetry.generic.type = AO_TELEMETRY_METRUM_DATA;
@@ -267,7 +281,7 @@ ao_send_metrum_data(void)
 static void
 ao_send_mini(void)
 {
-       __xdata struct ao_data *packet = (__xdata struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
+               struct ao_data *packet = (struct ao_data *) &ao_data_ring[ao_data_ring_prev(ao_sample_data)];
 
        telemetry.generic.tick = packet->tick;
        telemetry.generic.type = AO_SEND_MINI;
@@ -292,9 +306,13 @@ ao_send_mini(void)
 
 #endif /* AO_SEND_MINI */
 
-static __pdata int8_t ao_telemetry_config_max;
-static __pdata int8_t ao_telemetry_config_cur;
-static __pdata uint16_t ao_telemetry_flight_number;
+static int8_t ao_telemetry_config_max;
+static int8_t ao_telemetry_config_cur;
+static 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)
@@ -308,7 +326,7 @@ ao_send_configuration(void)
                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;
@@ -319,7 +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();
@@ -328,9 +346,9 @@ ao_send_configuration(void)
 
 #if HAS_GPS
 
-static __pdata int8_t ao_telemetry_gps_max;
-static __pdata int8_t ao_telemetry_loc_cur;
-static __pdata int8_t ao_telemetry_sat_cur;
+static int8_t ao_telemetry_gps_max;
+static int8_t ao_telemetry_loc_cur;
+static int8_t ao_telemetry_sat_cur;
 
 static void
 ao_send_location(void)
@@ -369,8 +387,8 @@ ao_send_satellite(void)
 
 #if HAS_COMPANION
 
-static __pdata int8_t ao_telemetry_companion_max;
-static __pdata int8_t ao_telemetry_companion_cur;
+static int8_t ao_telemetry_companion_max;
+static int8_t ao_telemetry_companion_cur;
 
 static void
 ao_send_companion(void)
@@ -518,7 +536,7 @@ ao_telemetry_set_interval(uint16_t interval)
 #if HAS_RADIO_RATE
        /* Limit max telemetry rate based on available radio bandwidth.
         */
-       static __xdata const uint16_t min_interval[] = {
+       static const uint16_t min_interval[] = {
                /* [AO_RADIO_RATE_38400] = */ AO_MS_TO_TICKS(100),
                /* [AO_RADIO_RATE_9600] = */ AO_MS_TO_TICKS(500),
                /* [AO_RADIO_RATE_2400] = */ AO_MS_TO_TICKS(1000)
@@ -595,7 +613,7 @@ ao_rdf_set(uint8_t rdf)
 }
 #endif
 
-__xdata struct ao_task ao_telemetry_task;
+struct ao_task ao_telemetry_task;
 
 void
 ao_telemetry_init()
AltOS - the operating system for Altus Metrum products