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Diffstat (limited to 'ao-tools/lib/cc-telemetry.h')
| -rw-r--r-- | ao-tools/lib/cc-telemetry.h | 243 |
1 files changed, 243 insertions, 0 deletions
diff --git a/ao-tools/lib/cc-telemetry.h b/ao-tools/lib/cc-telemetry.h new file mode 100644 index 00000000..e849cd3b --- /dev/null +++ b/ao-tools/lib/cc-telemetry.h @@ -0,0 +1,243 @@ +/* + * 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; version 2 of the License. + * + * 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' + +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; /* 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 */ + uint8_t unused[1]; /* 31 */ + /* 32 */ +}; + +#define AO_TELEMETRY_SATELLITE 0x06 + +struct ao_telemetry_satellite_info { + uint8_t svid; + uint8_t c_n_1; +}; + +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[12]; /* 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 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 + +/* + * 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_baro baro; +}; + +int +cc_telemetry_parse(const char *input_line, union ao_telemetry_all *telemetry); + +#endif |