339 lines
9.7 KiB
C
339 lines
9.7 KiB
C
/*
|
|
* Copyright © 2011 Keith Packard <keithp@keithp.com>
|
|
*
|
|
* 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; 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
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
|
|
* General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License along
|
|
* with this program; if not, write to the Free Software Foundation, Inc.,
|
|
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
|
|
*/
|
|
|
|
#ifndef _CC_TELEMETRY_H_
|
|
#define _CC_TELEMETRY_H_
|
|
/*
|
|
* ao_telemetry.c
|
|
*/
|
|
#define AO_MAX_CALLSIGN 8
|
|
#define AO_MAX_VERSION 8
|
|
#define AO_MAX_TELEMETRY 128
|
|
|
|
struct ao_telemetry_generic {
|
|
uint16_t serial; /* 0 */
|
|
uint16_t tick; /* 2 */
|
|
uint8_t type; /* 4 */
|
|
uint8_t payload[27]; /* 5 */
|
|
uint8_t rssi; /* 32 */
|
|
uint8_t status; /* 33 */
|
|
/* 34 */
|
|
};
|
|
|
|
#define AO_TELEMETRY_SENSOR_TELEMETRUM 0x01
|
|
#define AO_TELEMETRY_SENSOR_TELEMINI 0x02
|
|
#define AO_TELEMETRY_SENSOR_TELENANO 0x03
|
|
|
|
struct ao_telemetry_sensor {
|
|
uint16_t serial; /* 0 */
|
|
uint16_t tick; /* 2 */
|
|
uint8_t type; /* 4 */
|
|
|
|
uint8_t state; /* 5 flight state */
|
|
int16_t accel; /* 6 accelerometer (TM only) */
|
|
int16_t pres; /* 8 pressure sensor */
|
|
int16_t temp; /* 10 temperature sensor */
|
|
int16_t v_batt; /* 12 battery voltage */
|
|
int16_t sense_d; /* 14 drogue continuity sense (TM/Tm) */
|
|
int16_t sense_m; /* 16 main continuity sense (TM/Tm) */
|
|
|
|
int16_t acceleration; /* 18 m/s² * 16 */
|
|
int16_t speed; /* 20 m/s * 16 */
|
|
int16_t height; /* 22 m */
|
|
|
|
int16_t ground_pres; /* 24 average pres on pad */
|
|
int16_t ground_accel; /* 26 average accel on pad */
|
|
int16_t accel_plus_g; /* 28 accel calibration at +1g */
|
|
int16_t accel_minus_g; /* 30 accel calibration at -1g */
|
|
/* 32 */
|
|
};
|
|
|
|
#define AO_TELEMETRY_CONFIGURATION 0x04
|
|
|
|
struct ao_telemetry_configuration {
|
|
uint16_t serial; /* 0 */
|
|
uint16_t tick; /* 2 */
|
|
uint8_t type; /* 4 */
|
|
|
|
uint8_t device; /* 5 device type */
|
|
uint16_t flight; /* 6 flight number */
|
|
uint8_t config_major; /* 8 Config major version */
|
|
uint8_t config_minor; /* 9 Config minor version */
|
|
uint16_t apogee_delay; /* 10 Apogee deploy delay in seconds */
|
|
uint16_t main_deploy; /* 12 Main deploy alt in meters */
|
|
uint16_t flight_log_max; /* 14 Maximum flight log size in kB */
|
|
char callsign[AO_MAX_CALLSIGN]; /* 16 Radio operator identity */
|
|
char version[AO_MAX_VERSION]; /* 24 Software version */
|
|
/* 32 */
|
|
};
|
|
|
|
#define AO_TELEMETRY_LOCATION 0x05
|
|
|
|
#define AO_GPS_MODE_NOT_VALID 'N'
|
|
#define AO_GPS_MODE_AUTONOMOUS 'A'
|
|
#define AO_GPS_MODE_DIFFERENTIAL 'D'
|
|
#define AO_GPS_MODE_ESTIMATED 'E'
|
|
#define AO_GPS_MODE_MANUAL 'M'
|
|
#define AO_GPS_MODE_SIMULATED 'S'
|
|
|
|
#define AO_GPS_MODE_ALTITUDE_24 (1 << 0) /* reports 24-bits of altitude */
|
|
|
|
struct ao_telemetry_location {
|
|
uint16_t serial; /* 0 */
|
|
uint16_t tick; /* 2 */
|
|
uint8_t type; /* 4 */
|
|
|
|
uint8_t flags; /* 5 Number of sats and other flags */
|
|
int16_t altitude_low; /* 6 GPS reported altitude (m) */
|
|
int32_t latitude; /* 8 latitude (degrees * 10⁷) */
|
|
int32_t longitude; /* 12 longitude (degrees * 10⁷) */
|
|
uint8_t year; /* 16 (- 2000) */
|
|
uint8_t month; /* 17 (1-12) */
|
|
uint8_t day; /* 18 (1-31) */
|
|
uint8_t hour; /* 19 (0-23) */
|
|
uint8_t minute; /* 20 (0-59) */
|
|
uint8_t second; /* 21 (0-59) */
|
|
uint8_t pdop; /* 22 (m * 5) */
|
|
uint8_t hdop; /* 23 (m * 5) */
|
|
uint8_t vdop; /* 24 (m * 5) */
|
|
uint8_t mode; /* 25 */
|
|
uint16_t ground_speed; /* 26 cm/s */
|
|
int16_t climb_rate; /* 28 cm/s */
|
|
uint8_t course; /* 30 degrees / 2 */
|
|
int8_t altitude_high; /* 31 */
|
|
/* 32 */
|
|
};
|
|
|
|
typedef int32_t gps_alt_t;
|
|
#define AO_TELEMETRY_LOCATION_ALTITUDE(l) \
|
|
((l)->altitude_low | (((l)->mode & AO_GPS_MODE_ALTITUDE_24) ? \
|
|
((gps_alt_t) (l)->altitude_high << 16) : 0))
|
|
|
|
#define AO_TELEMETRY_SATELLITE 0x06
|
|
|
|
struct ao_telemetry_satellite_info {
|
|
uint8_t svid;
|
|
uint8_t c_n_1;
|
|
};
|
|
|
|
#define AO_TELEMETRY_SATELLITE_MAX_SAT 12
|
|
|
|
|
|
struct ao_telemetry_satellite {
|
|
uint16_t serial; /* 0 */
|
|
uint16_t tick; /* 2 */
|
|
uint8_t type; /* 4 */
|
|
uint8_t channels; /* 5 number of reported sats */
|
|
|
|
struct ao_telemetry_satellite_info sats[AO_TELEMETRY_SATELLITE_MAX_SAT]; /* 6 */
|
|
uint8_t unused[2]; /* 30 */
|
|
/* 32 */
|
|
};
|
|
|
|
#define AO_TELEMETRY_COMPANION 0x07
|
|
|
|
#define AO_COMPANION_MAX_CHANNELS 12
|
|
|
|
struct ao_telemetry_companion {
|
|
uint16_t serial; /* 0 */
|
|
uint16_t tick; /* 2 */
|
|
uint8_t type; /* 4 */
|
|
uint8_t board_id; /* 5 */
|
|
|
|
uint8_t update_period; /* 6 */
|
|
uint8_t channels; /* 7 */
|
|
uint16_t companion_data[AO_COMPANION_MAX_CHANNELS]; /* 8 */
|
|
/* 32 */
|
|
};
|
|
|
|
#define AO_TELEMETRY_MEGA_SENSOR_MPU 0x08 /* Invensense IMU */
|
|
#define AO_TELEMETRY_MEGA_SENSOR_BMX160 0x12 /* BMX160 IMU */
|
|
|
|
struct ao_telemetry_mega_sensor {
|
|
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_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_z; /* 30 */
|
|
int16_t mag_y; /* 28 */
|
|
/* 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_TELEMETRY_METRUM_SENSOR 0x0A
|
|
|
|
struct ao_telemetry_metrum_sensor {
|
|
uint16_t serial; /* 0 */
|
|
uint16_t tick; /* 2 */
|
|
uint8_t type; /* 4 */
|
|
|
|
uint8_t state; /* 5 flight state */
|
|
int16_t accel; /* 6 Z axis */
|
|
|
|
int32_t pres; /* 8 Pa * 10 */
|
|
int16_t temp; /* 12 °C * 100 */
|
|
|
|
int16_t acceleration; /* 14 m/s² * 16 */
|
|
int16_t speed; /* 16 m/s * 16 */
|
|
int16_t height; /* 18 m */
|
|
|
|
int16_t v_batt; /* 20 battery voltage */
|
|
int16_t sense_a; /* 22 apogee continuity sense */
|
|
int16_t sense_m; /* 24 main continuity sense */
|
|
|
|
uint8_t pad[6]; /* 26 */
|
|
/* 32 */
|
|
};
|
|
|
|
#define AO_TELEMETRY_METRUM_DATA 0x0B
|
|
|
|
struct ao_telemetry_metrum_data {
|
|
uint16_t serial; /* 0 */
|
|
uint16_t tick; /* 2 */
|
|
uint8_t type; /* 4 */
|
|
uint8_t pad5[3]; /* 5 */
|
|
|
|
int32_t ground_pres; /* 8 average pres on pad */
|
|
int16_t ground_accel; /* 12 average accel on pad */
|
|
int16_t accel_plus_g; /* 14 accel calibration at +1g */
|
|
int16_t accel_minus_g; /* 16 accel calibration at -1g */
|
|
|
|
uint8_t pad18[14]; /* 18 */
|
|
/* 32 */
|
|
};
|
|
|
|
#define AO_TELEMETRY_MINI 0x10
|
|
#define AO_TELEMETRY_MINI3 0x11
|
|
|
|
struct ao_telemetry_mini {
|
|
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 sense_a; /* 8 apogee continuity */
|
|
int16_t sense_m; /* 10 main continuity */
|
|
|
|
int32_t pres; /* 12 Pa * 10 */
|
|
int16_t temp; /* 16 °C * 100 */
|
|
|
|
int16_t acceleration; /* 18 m/s² * 16 */
|
|
int16_t speed; /* 20 m/s * 16 */
|
|
int16_t height; /* 22 m */
|
|
|
|
int32_t ground_pres; /* 24 average pres on pad */
|
|
|
|
int32_t pad28; /* 28 */
|
|
/* 32 */
|
|
};
|
|
|
|
/* #define AO_SEND_ALL_BARO */
|
|
|
|
#define AO_TELEMETRY_BARO 0x80
|
|
|
|
/*
|
|
* This packet allows the full sampling rate baro
|
|
* data to be captured over the RF link so that the
|
|
* flight software can be tested using 'real' data.
|
|
*
|
|
* Along with this telemetry packet, the flight
|
|
* code is modified to send full-rate telemetry all the time
|
|
* and never send an RDF tone; this ensure that the full radio
|
|
* link is available.
|
|
*/
|
|
struct ao_telemetry_baro {
|
|
uint16_t serial; /* 0 */
|
|
uint16_t tick; /* 2 */
|
|
uint8_t type; /* 4 */
|
|
uint8_t samples; /* 5 number samples */
|
|
|
|
int16_t baro[12]; /* 6 samples */
|
|
/* 32 */
|
|
};
|
|
|
|
union ao_telemetry_all {
|
|
struct ao_telemetry_generic generic;
|
|
struct ao_telemetry_sensor sensor;
|
|
struct ao_telemetry_configuration configuration;
|
|
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_metrum_sensor metrum_sensor;
|
|
struct ao_telemetry_metrum_data metrum_data;
|
|
struct ao_telemetry_mini mini;
|
|
struct ao_telemetry_baro baro;
|
|
};
|
|
|
|
#define CC_TELEMETRY_HEADER "TELEM"
|
|
|
|
/* "TELEM " 1 byte length 32 data bytes 1 rssi 1 status 1 checksum 1 null */
|
|
|
|
#define CC_TELEMETRY_BUFSIZE (6 + (1 + 32 + 3) * 2 + 1)
|
|
|
|
int
|
|
cc_telemetry_parse(const char *input_line, union ao_telemetry_all *telemetry);
|
|
|
|
uint8_t
|
|
cc_telemetry_cksum(const union ao_telemetry_all *telemetry);
|
|
|
|
void
|
|
cc_telemetry_unparse(const union ao_telemetry_all *telemetry, char output_line[CC_TELEMETRY_BUFSIZE]);
|
|
|
|
#endif
|