diff options
| -rw-r--r-- | ao-tools/ao-telem/ao-telem.c | 38 | ||||
| -rw-r--r-- | ao-tools/lib/cc-telemetry.h | 54 |
2 files changed, 90 insertions, 2 deletions
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 ", @@ -153,6 +152,43 @@ main (int argc, char **argv) } 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; }; |