altos: Complete new telemetry switchover

This involved rewriting the GPS code to use the telemetry structures
directly so that a memcpy could be used to transfer the data to the
telemetry packets, saving a bunch of code space, along with fixing up
the gps testing programs to deal with the structure changes.

In addition, the teledongle code needed to have the monitoring code
split into separate radio receiver and USB writer threads as the
packets are now back-to-back, and hence come too fast to wait for the
USB data to be sent to the host after each one.

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

1 files changed, 80 insertions, 82 deletions

diff --git a/src/ao.h b/src/ao.h
index 4d31f4f5..08f45275 100644
--- a/src/ao.h
+++ b/src/ao.h
@@ -965,80 +965,8 @@ void
 ao_spi_init(void);
 
 /*
- * ao_gps.c
+ * ao_telemetry.c
  */
-
-#define AO_GPS_NUM_SAT_MASK	(0xf << 0)
-#define AO_GPS_NUM_SAT_SHIFT	(0)
-
-#define AO_GPS_VALID		(1 << 4)
-#define AO_GPS_RUNNING		(1 << 5)
-#define AO_GPS_DATE_VALID	(1 << 6)
-#define AO_GPS_COURSE_VALID	(1 << 7)
-
-extern __xdata uint16_t ao_gps_tick;
-
-struct ao_gps_data {
-	uint8_t			year;
-	uint8_t			month;
-	uint8_t			day;
-	uint8_t			hour;
-	uint8_t			minute;
-	uint8_t			second;
-	uint8_t			flags;
-	int32_t			latitude;	/* degrees * 10⁷ */
-	int32_t			longitude;	/* degrees * 10⁷ */
-	int16_t			altitude;	/* m */
-	uint16_t		ground_speed;	/* cm/s */
-	uint8_t			course;		/* degrees / 2 */
-	uint8_t			hdop;		/* * 5 */
-	int16_t			climb_rate;	/* cm/s */
-	uint16_t		h_error;	/* m */
-	uint16_t		v_error;	/* m */
-};
-
-struct ao_gps_sat_data {
-	uint8_t		svid;
-	uint8_t		c_n_1;
-};
-
-#define AO_MAX_GPS_TRACKING	12
-
-struct ao_gps_tracking_data {
-	uint8_t			channels;
-	struct ao_gps_sat_data	sats[AO_MAX_GPS_TRACKING];
-};
-
-extern __xdata uint8_t ao_gps_mutex;
-extern __xdata struct ao_gps_data ao_gps_data;
-extern __xdata struct ao_gps_tracking_data ao_gps_tracking_data;
-
-void
-ao_gps(void);
-
-void
-ao_gps_print(__xdata struct ao_gps_data *gps_data);
-
-void
-ao_gps_tracking_print(__xdata struct ao_gps_tracking_data *gps_tracking_data);
-
-void
-ao_gps_init(void);
-
-/*
- * ao_gps_report.c
- */
-
-void
-ao_gps_report(void);
-
-void
-ao_gps_report_init(void);
-
-/*
- * ao_telemetry_orig.c
- */
-
 #define AO_MAX_CALLSIGN			8
 #define AO_MAX_VERSION			8
 #define AO_MAX_TELEMETRY		128
@@ -1126,12 +1054,13 @@ struct ao_telemetry_location {
 	uint8_t         vdop;		/* 24 (m * 5) */
 	uint8_t         mode;		/* 25 */
 	uint16_t	ground_speed;	/* 26 cm/s */
-	uint8_t		course;		/* 28 degrees / 2 */
-	uint8_t		unused[3];	/* 29 */
+	int16_t		climb_rate;	/* 28 cm/s */
+	uint8_t		course;		/* 30 degrees / 2 */
+	uint8_t		unused[1];	/* 31 */
 	/* 32 */
 };
 
-#define AO_TELEMETRY_SATELLITE		0x12
+#define AO_TELEMETRY_SATELLITE		0x06
 
 struct ao_telemetry_satellite_info {
 	uint8_t		svid;
@@ -1157,10 +1086,79 @@ union ao_telemetry_all {
 	struct ao_telemetry_satellite		satellite;
 };
 
-#define AO_SAT_0_SSID(s)	((s)[0] & 0x3f)
-#define AO_SAT_0_C_N_1(s)	((((s)[0] & 0xc0) >> 2) | ((s)[1] & 0x0f))
-#define AO_SAT_1_SSID(s)	((((s)[1] & 0xf0) >> 2) | ((s)[2] & 0x03))
-#define AO_SAT_1_C_N_1(s)	(((s)[2] & 0xfc) >> 2)
+/*
+ * ao_gps.c
+ */
+
+#define AO_GPS_NUM_SAT_MASK	(0xf << 0)
+#define AO_GPS_NUM_SAT_SHIFT	(0)
+
+#define AO_GPS_VALID		(1 << 4)
+#define AO_GPS_RUNNING		(1 << 5)
+#define AO_GPS_DATE_VALID	(1 << 6)
+#define AO_GPS_COURSE_VALID	(1 << 7)
+
+extern __xdata uint16_t ao_gps_tick;
+extern __xdata uint8_t ao_gps_mutex;
+extern __xdata struct ao_telemetry_location ao_gps_data;
+extern __xdata struct ao_telemetry_satellite ao_gps_tracking_data;
+
+struct ao_gps_orig {
+	uint8_t			year;
+	uint8_t			month;
+	uint8_t			day;
+	uint8_t			hour;
+	uint8_t			minute;
+	uint8_t			second;
+	uint8_t			flags;
+	int32_t			latitude;	/* degrees * 10⁷ */
+	int32_t			longitude;	/* degrees * 10⁷ */
+	int16_t			altitude;	/* m */
+	uint16_t		ground_speed;	/* cm/s */
+	uint8_t			course;		/* degrees / 2 */
+	uint8_t			hdop;		/* * 5 */
+	int16_t			climb_rate;	/* cm/s */
+	uint16_t		h_error;	/* m */
+	uint16_t		v_error;	/* m */
+};
+
+struct ao_gps_sat_orig {
+	uint8_t		svid;
+	uint8_t		c_n_1;
+};
+
+#define AO_MAX_GPS_TRACKING	12
+
+struct ao_gps_tracking_orig {
+	uint8_t			channels;
+	struct ao_gps_sat_orig	sats[AO_MAX_GPS_TRACKING];
+};
+
+void
+ao_gps(void);
+
+void
+ao_gps_print(__xdata struct ao_gps_orig *gps_data);
+
+void
+ao_gps_tracking_print(__xdata struct ao_gps_tracking_orig *gps_tracking_data);
+
+void
+ao_gps_init(void);
+
+/*
+ * ao_gps_report.c
+ */
+
+void
+ao_gps_report(void);
+
+void
+ao_gps_report_init(void);
+
+/*
+ * ao_telemetry_orig.c
+ */
 
 struct ao_telemetry_orig {
 	uint16_t		serial;
@@ -1180,9 +1178,9 @@ struct ao_telemetry_orig {
 	int16_t			accel_plus_g;
 	int16_t			accel_minus_g;
 	struct ao_adc		adc;
-	struct ao_gps_data	gps;
+	struct ao_gps_orig	gps;
 	char			callsign[AO_MAX_CALLSIGN];
-	struct ao_gps_tracking_data	gps_tracking;
+	struct ao_gps_tracking_orig	gps_tracking;
 };
 
 struct ao_telemetry_tiny {