X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=blobdiff_plain;f=src%2Fkernel%2Fao_telemetry.c;h=8ff28fdef78eeed8d042f2213db10c3a5c33d8c2;hp=16363f75a4c26efde892b06d843a354c67e7c376;hb=6023ff81f1bbd240169b9548209133d3b02d475f;hpb=4344bf3de532f54e0185421975c3c8dff1ac8bc2

diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c
index 16363f75..8ff28fde 100644
--- a/src/kernel/ao_telemetry.c
+++ b/src/kernel/ao_telemetry.c
@@ -3,7 +3,8 @@
  *
  * This program is free software; you can redistribute it and/or modify
  * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; version 2 of the License.
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
  *
  * This program is distributed in the hope that it will be useful, but
  * WITHOUT ANY WARRANTY; without even the implied warranty of
@@ -140,7 +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);
@@ -159,8 +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();
@@ -269,7 +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;
 
@@ -293,6 +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)
@@ -301,16 +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;
@@ -321,7 +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();
@@ -405,6 +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)