telemetry.h

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/* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __TELEM_H
#define __TELEM_H
 
#ifdef __cplusplus
extern "C" {
#endif
 
/*------------------------------------------------------------------------------
 Standard Includes                                                                    
------------------------------------------------------------------------------*/
 
 
/*------------------------------------------------------------------------------
 Project Includes  
------------------------------------------------------------------------------*/
#include "error_sdr.h"
#include "commands.h"
#include "main.h"
 
#ifndef F1_TESTBED
#include "stm32h7xx_hal.h"
#include "sensor.h"
#endif
 
/*------------------------------------------------------------------------------
 Constants
------------------------------------------------------------------------------*/
#define LORA_INTERNAL_HEADER_SIZE 8U
#define LORA_PAYLOAD_SIZE 40U
#define TELEMETRY_MESSAGE_SIZE (LORA_INTERNAL_HEADER_SIZE + LORA_PAYLOAD_SIZE)
 
/*------------------------------------------------------------------------------
 Typedefs
------------------------------------------------------------------------------*/
 
/* Aliased types if it doesn't exist on this platform */
#ifndef FLIGHT_COMPUTER
typedef uint8_t FLIGHT_COMP_STATE_TYPE;
 
/* opaque structs to allow FC dependencies to be used on non-FC platforms*/
#ifdef F1_TESTBED
typedef struct {
    float imu_offset[ 6 ];
} IMU_OFFSET;
 
typedef struct {
    float baro_preset[ 2 ];
} BARO_PRESET;
 
typedef struct {
    uint8_t servo_preset[ 4 ];
} SERVO_PRESET;
#endif /* F1_TESTBED */
#endif
 
typedef uint32_t VERSION_INFO_TYPE; /* hw version : fw version : fw patch : fw prerelease */
                                    /* msb                                  lsb           */
 
typedef enum _TELEMETRY_MESSAGE_TYPES
    {
    TELEMETRY_MSG_VEHICLE_ID = 0x00000001,
    TELEMETRY_MSG_DASHBOARD_DATA = 0x00000002,
    TELEMETRY_MSG_CALIBRATION = 0x00000003,
    __TELEMETRY_MSG_FORCE_32BIT = 0xFFFFFFFF /* used to force this type size to 32 bits */
    } TELEMETRY_MESSAGE_TYPES;
    _Static_assert( sizeof(TELEMETRY_MESSAGE_TYPES) == 4, "TELEMETRY_MESSAGE_TYPES size invalid.");
 
/* UID serial number (packed struct inhibits padding) */
typedef struct __attribute__((packed)) _ST_UID_TYPE 
    {
    uint32_t wafer_coords;
    char lot_num_1[3];
    uint8_t wafer_num;
    char lot_num_2[4];
    } ST_UID_TYPE;
_Static_assert( sizeof(ST_UID_TYPE) == 12, "ST_UID_TYPE packing incorrect." );
 
typedef struct __attribute__((packed)) _LORA_INTERNAL_HEADER_TYPE
    {
    TELEMETRY_MESSAGE_TYPES mid; /* message identifier -- currently 32 bits but will reserve command/control bits later*/
    uint32_t timestamp; /* systick in ms */
    } LORA_INTERNAL_HEADER_TYPE;
    _Static_assert( sizeof(LORA_INTERNAL_HEADER_TYPE) == LORA_INTERNAL_HEADER_SIZE, "LORA_INTERNAL_HEADER size invalid.");
 
typedef struct __attribute((packed)) _TELEMETRY_MSG_VEHICLE_ID_TYPE
    {
    ST_UID_TYPE uid; /* unique identifier per stm32 MCU */
    uint8_t hw_opcode; /* hardware identifier as defined by connect command */
    uint8_t fw_opcode; /* firmware identifier as defined by connect command */
    VERSION_INFO_TYPE version; /* version string defined above */
    char flight_id[16]; /* a 16 character c-string for the current flight (future: configurable) */
    uint8_t explicit_padding[6]; /* pad the end of this struct so the union behaves as expected */
    } TELEMETRY_MSG_VEHICLE_ID_TYPE;
    _Static_assert( sizeof(TELEMETRY_MSG_VEHICLE_ID_TYPE) == LORA_PAYLOAD_SIZE, "TELEMETRY_MSG_VEHICLE_ID_TYPE size invalid.");
 
typedef struct __attribute__((packed)) _TELEMETRY_MSG_DASHBOARD_DUMP_TYPE
    {
    FLIGHT_COMP_STATE_TYPE fsm_state; /* current state of the flight computer */
    DASHBOARD_DUMP_TYPE data; /* the data used by the dashboard for location/orientation */
    uint8_t explicit_padding[3]; /* pad the end of this struct so the union behaves as expected */
    } TELEMETRY_MSG_DASHBOARD_DUMP_TYPE;
    _Static_assert( sizeof(TELEMETRY_MSG_DASHBOARD_DUMP_TYPE) == LORA_PAYLOAD_SIZE, "TELEMETRY_MSG_DASHBOARD_DUMP_TYPE size invalid.");
 
typedef struct __attribute__((packed)) _TELEMETRY_MSG_CALIBRATION_TYPE
    {
    IMU_OFFSET imu_offset;
    BARO_PRESET baro_preset;
    float       qfe_elevation;
    SERVO_PRESET servo_preset;
    } TELEMETRY_MSG_CALIBRATION_TYPE;
    _Static_assert( sizeof(TELEMETRY_MSG_CALIBRATION_TYPE) == LORA_PAYLOAD_SIZE, "TELEMETRY_MSG_CALIBRATION size invalid." );
 
/* struct is packed to inhibit padding */
typedef struct __attribute__((packed)) _TELEMETRY_MESSAGE
    {
    LORA_INTERNAL_HEADER_TYPE header; /* data common to every message */
    union _payload
        {
        TELEMETRY_MSG_VEHICLE_ID_TYPE vehicle_id; /* provide information about the transmitting device */
        TELEMETRY_MSG_DASHBOARD_DUMP_TYPE dashboard_dump; /* gives vehicle state info (location, orientation) */
        TELEMETRY_MSG_CALIBRATION_TYPE calibration;
        } payload;
    } TELEMETRY_MESSAGE;
    _Static_assert( sizeof(TELEMETRY_MESSAGE) == TELEMETRY_MESSAGE_SIZE, "LORA_PAYLOAD size invalid.");
 
/*------------------------------------------------------------------------------
 Inlines                                             
------------------------------------------------------------------------------*/

static inline void get_uid
    (
    ST_UID_TYPE* uid_buffer
    )
{
uint32_t uid[3];
uid[0] = HAL_GetUIDw0();
uid[1] = HAL_GetUIDw1();
uid[2] = HAL_GetUIDw2();
 
memcpy( uid_buffer, uid, sizeof( ST_UID_TYPE ) );
 
} /* get_uid */
 
 
/*------------------------------------------------------------------------------
 Function prototypes                                             
------------------------------------------------------------------------------*/

void telemetry_get_next_message
    (
    TELEMETRY_MESSAGE* payload
    );

void telemetry_build_payload
    (
    TELEMETRY_MESSAGE*       msg_buf,      /* o: buffer passed by caller        */
    TELEMETRY_MESSAGE_TYPES  message_type  /* i: what kind of message           */
    );
 
#ifdef __cplusplus
}
#endif
 
#endif /* __TELEM_H */
 
 
/*******************************************************************************
  * END OF FILE                                                                  *
  */