From: Keith Packard <keithp@keithp.com>
Date: Thu, 21 Jun 2012 16:51:17 +0000 (-0700)
Subject: ao-tools: Support MM telemetry packets in ao-telem
X-Git-Tag: 1.0.9.6~49
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=0b5548d6ced67201311e1072d37fbedd3d9929c9

ao-tools: Support MM telemetry packets in ao-telem

Parse the new packet formats

Signed-off-by: Keith Packard <keithp@keithp.com>
---

diff --git a/ao-tools/ao-telem/ao-telem.c b/ao-tools/ao-telem/ao-telem.c
index 384b2fc8..e7fc8e26 100644
--- a/ao-tools/ao-telem/ao-telem.c
+++ b/ao-tools/ao-telem/ao-telem.c
@@ -82,7 +82,6 @@ main (int argc, char **argv)
 				case AO_TELEMETRY_SENSOR_TELEMETRUM:
 				case AO_TELEMETRY_SENSOR_TELEMINI:
 				case AO_TELEMETRY_SENSOR_TELENANO:
-				case AO_TELEMETRY_SENSOR_MEGAMETRUM:
 					printf ("state %1d accel %5d pres %5d ",
 						telem.sensor.state, telem.sensor.accel, telem.sensor.pres);
 					printf ("accel %6.2f speed %6.2f height %5d ",
@@ -152,6 +151,43 @@ main (int argc, char **argv)
 							telem.satellite.sats[c].c_n_1);
 					}
 					printf ("\n");
+					break;
+				case AO_TELEMETRY_MEGA_SENSOR:
+					printf ("accel %5d pres %9d temp %5d accel_x %5d accel_y %5d accel_z %5d gyro_x %5d gyro_y %5d gyro_z %5d mag_x %5d mag_y %5d mag_z %5d\n",
+						telem.mega_sensor.accel,
+						telem.mega_sensor.pres,
+						telem.mega_sensor.temp,
+						telem.mega_sensor.accel_x,
+						telem.mega_sensor.accel_y,
+						telem.mega_sensor.accel_z,
+						telem.mega_sensor.gyro_x,
+						telem.mega_sensor.gyro_y,
+						telem.mega_sensor.gyro_z,
+						telem.mega_sensor.mag_x,
+						telem.mega_sensor.mag_y,
+						telem.mega_sensor.mag_z);
+					break;
+				case AO_TELEMETRY_MEGA_DATA:
+					printf ("state %1d v_batt %5d v_pyro %5d ",
+						telem.mega_data.state,
+						telem.mega_data.v_batt,
+						telem.mega_data.v_pyro);
+					for (c = 0; c < 6; c++)
+						printf ("s%1d %5d ", c,
+							telem.mega_data.sense[c] |
+							(telem.mega_data.sense[c] << 8));
+					
+					printf ("ground_pres %5d ground_accel %5d accel_plus %5d accel_minus %5d ",
+						telem.mega_data.ground_pres,
+						telem.mega_data.ground_accel,
+						telem.mega_data.accel_plus_g,
+						telem.mega_data.accel_minus_g);
+
+					printf ("accel %6.2f speed %6.2f height %5d\n",
+						telem.mega_data.acceleration / 16.0,
+						telem.mega_data.speed / 16.0,
+						telem.mega_data.height);
+
 					break;
 				default:
 					printf("\n");
diff --git a/ao-tools/lib/cc-telemetry.h b/ao-tools/lib/cc-telemetry.h
index 4e064a97..e849cd3b 100644
--- a/ao-tools/lib/cc-telemetry.h
+++ b/ao-tools/lib/cc-telemetry.h
@@ -37,7 +37,6 @@ struct ao_telemetry_generic {
 #define AO_TELEMETRY_SENSOR_TELEMETRUM	0x01
 #define AO_TELEMETRY_SENSOR_TELEMINI	0x02
 #define AO_TELEMETRY_SENSOR_TELENANO	0x03
-#define AO_TELEMETRY_SENSOR_MEGAMETRUM	0x08
 
 struct ao_telemetry_sensor {
 	uint16_t	serial;		/*  0 */
@@ -151,6 +150,57 @@ struct ao_telemetry_companion {
 	/* 32 */
 };
 	
+#define AO_TELEMETRY_MEGA_SENSOR	0x08
+
+struct ao_telemetry_mega_sensor {
+	uint16_t	serial;		/*  0 */
+	uint16_t	tick;		/*  2 */
+	uint8_t		type;		/*  4 */
+
+	uint8_t		pad5;		/*  5 */
+	int16_t		accel;		/*  6 Z axis */
+
+	int32_t		pres;		/*  8 Pa * 10 */
+	int16_t		temp;		/* 12 °C * 100 */
+
+	int16_t		accel_x;	/* 14 */
+	int16_t		accel_y;	/* 16 */
+	int16_t		accel_z;	/* 18 */
+
+	int16_t		gyro_x;		/* 20 */
+	int16_t		gyro_y;		/* 22 */
+	int16_t		gyro_z;		/* 24 */
+
+	int16_t		mag_x;		/* 26 */
+	int16_t		mag_y;		/* 28 */
+	int16_t		mag_z;		/* 30 */
+	/* 32 */
+};
+	
+#define AO_TELEMETRY_MEGA_DATA		0x09
+
+struct ao_telemetry_mega_data {
+	uint16_t	serial;		/*  0 */
+	uint16_t	tick;		/*  2 */
+	uint8_t		type;		/*  4 */
+
+	uint8_t         state;          /*  5 flight state */
+
+	int16_t		v_batt;		/*  6 battery voltage */
+	int16_t		v_pyro;		/*  8 pyro battery voltage */
+	int8_t		sense[6];	/* 10 continuity sense */
+
+	int32_t		ground_pres;	/* 16 average pres on pad */
+	int16_t		ground_accel;	/* 20 average accel on pad */
+	int16_t		accel_plus_g;	/* 22 accel calibration at +1g */
+	int16_t		accel_minus_g;	/* 24 accel calibration at -1g */
+
+	int16_t         acceleration;   /* 26 m/s² * 16 */
+	int16_t         speed;          /* 28 m/s * 16 */
+	int16_t         height;         /* 30 m */
+	/* 32 */
+};
+
 /* #define AO_SEND_ALL_BARO */
 
 #define AO_TELEMETRY_BARO		0x80
@@ -182,6 +232,8 @@ union ao_telemetry_all {
 	struct ao_telemetry_location		location;
 	struct ao_telemetry_satellite		satellite;
 	struct ao_telemetry_companion		companion;
+	struct ao_telemetry_mega_sensor		mega_sensor;
+	struct ao_telemetry_mega_data		mega_data;
 	struct ao_telemetry_baro		baro;
 };