From: Keith Packard <keithp@keithp.com>
Date: Sun, 19 Sep 2021 21:53:47 +0000 (-0700)
Subject: altos: Add normalized telemetry support
X-Git-Tag: 1.9.8~1^2~20
X-Git-Url: https://git.gag.com/?p=fw%2Faltos;a=commitdiff_plain;h=876a0f9d2a3324e2591e21bcf2dafcfb6009c081

altos: Add normalized telemetry support

Just like logs

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

diff --git a/src/kernel/ao_telemetry.c b/src/kernel/ao_telemetry.c
index c2b2eb5a..3074e479 100644
--- a/src/kernel/ao_telemetry.c
+++ b/src/kernel/ao_telemetry.c
@@ -136,9 +136,41 @@ ao_send_sensor(void)
 static void
 ao_send_mega_sensor(void)
 {
-		struct ao_data *packet = (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;
+#if AO_LOG_NORMALIZED
+#if AO_LOG_FORMAT == AO_LOG_FORMAT_TELEMEGA_5
+	telemetry.generic.type = AO_TELEMETRY_MEGA_NORM_MPU6000_MMC5983;
+#else
+#error unknown normalized log type
+#endif
+
+#if HAS_GYRO
+	telemetry.mega_norm.orient = ao_sample_orient;
+#endif
+	telemetry.mega_norm.accel = ao_data_accel(packet);
+	telemetry.mega_norm.pres = ao_data_pres(packet);
+	telemetry.mega_norm.temp = ao_data_temp(packet);
+
+#if HAS_MPU6000
+	telemetry.mega_norm.accel_along = ao_data_along(packet);
+	telemetry.mega_norm.accel_across = ao_data_across(packet);
+	telemetry.mega_norm.accel_through = ao_data_through(packet);
+
+	telemetry.mega_norm.gyro_roll = ao_data_roll(packet);
+	telemetry.mega_norm.gyro_pitch = ao_data_pitch(packet);
+	telemetry.mega_norm.gyro_yaw = ao_data_yaw(packet);
+#endif
+
+#if HAS_MMC5983
+	telemetry.mega_norm.mag_along = ao_data_mag_along(packet);
+	telemetry.mega_norm.mag_across = ao_data_mag_across(packet);
+	telemetry.mega_norm.mag_through = ao_data_mag_through(packet);
+#endif
+
+#else
+
 #if HAS_BMX160
 	telemetry.generic.type = AO_TELEMETRY_MEGA_SENSOR_BMX160;
 #else
@@ -199,7 +231,7 @@ ao_send_mega_sensor(void)
 	telemetry.mega_sensor.mag_z = packet->bmx160.mag_z;
 	telemetry.mega_sensor.mag_y = packet->bmx160.mag_y;
 #endif
-
+#endif
 	ao_telemetry_send();
 }
 
diff --git a/src/kernel/ao_telemetry.h b/src/kernel/ao_telemetry.h
index c7aebe59..b718085f 100644
--- a/src/kernel/ao_telemetry.h
+++ b/src/kernel/ao_telemetry.h
@@ -297,6 +297,33 @@ struct ao_telemetry_mini {
 	/* 32 */
 };
 
+#define AO_TELEMETRY_MEGA_NORM_MPU6000_MMC5983	0x13
+
+struct ao_telemetry_mega_norm {
+	uint16_t	serial;		/*  0 */
+	uint16_t	tick;		/*  2 */
+	uint8_t		type;		/*  4 */
+
+	uint8_t		orient;		/*  5 angle from vertical */
+	int16_t		accel;		/*  6 Z axis */
+
+	int32_t		pres;		/*  8 Pa * 10 */
+	int16_t		temp;		/* 12 °C * 100 */
+
+	int16_t		accel_along;	/* 14 */
+	int16_t		accel_across;	/* 16 */
+	int16_t		accel_through;	/* 18 */
+
+	int16_t		gyro_roll;	/* 20 */
+	int16_t		gyro_pitch;	/* 22 */
+	int16_t		gyro_yaw;	/* 24 */
+
+	int16_t		mag_along;	/* 26 */
+	int16_t		mag_across;	/* 28 */
+	int16_t		mag_through;	/* 30 */
+	/* 32 */
+};
+
 /* #define AO_SEND_ALL_BARO */
 
 #define AO_TELEMETRY_BARO		0x80
@@ -334,6 +361,7 @@ union ao_telemetry_all {
 	struct ao_telemetry_metrum_data		metrum_data;
 	struct ao_telemetry_mini		mini;
 	struct ao_telemetry_baro		baro;
+	struct ao_telemetry_mega_norm		mega_norm;
 };
 
 typedef char ao_check_telemetry_size[sizeof(union ao_telemetry_all) == 32 ? 1 : -1];