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initial variable buffer software #83

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2349e80
initial variable buffer software
KaustubhKhulbe Sep 6, 2023
30efa48
formatting and change idx to short
KaustubhKhulbe Sep 6, 2023
b54b4e6
add ground parsing
KaustubhKhulbe Sep 6, 2023
1b1fb0c
print zeroes
KaustubhKhulbe Sep 13, 2023
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33 changes: 31 additions & 2 deletions TARS/src/mcu_main/telemetry.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -159,9 +159,26 @@ void Telemetry::transmit() {
digitalWrite(LED_BLUE, blue_state);
blue_state = !blue_state;

TelemetryPacket packet = makePacket(dataLogger.read());
Packets packet;

auto rocket_state = dataLogger.read().rocketState_data.rocketStates[0];
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@gautamdayal gautamdayal Sep 14, 2023

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Let's avoid using auto lol

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@gautamdayal gautamdayal Sep 14, 2023

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Also I might be wrong, but I think you can also use the getActiveFSM() function to get the state, it would make this line a little more clear. See how it's obtained in Controller::ActiveControl_ON() in ActiveControl.cpp

if (rocket_state == FSM_State::STATE_INIT || rocket_state == FSM_State::STATE_IDLE) {
packet.compact_packet = makeCompactPacket(dataLogger.read());
packet.type = Packets::COMPACT;
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@gautamdayal gautamdayal Sep 14, 2023

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Would appreciate if this section were commented

} else {
packet.default_packet = makePacket(dataLogger.read());
packet.type = Packets::DEFAULT;
}

#ifndef ENABLE_SILSIM_MODE
rf95.send((uint8_t *)&packet, sizeof(packet));
switch (packet.type) {
case (Packets::DEFAULT):
rf95.send((uint8_t *)&packet, sizeof(packet.default_packet));
break;
case (Packets::COMPACT):
rf95.send((uint8_t *)&packet, sizeof(packet.compact_packet));
break;
}

chThdSleepMilliseconds(170);

Expand Down Expand Up @@ -392,6 +409,18 @@ TelemetryPacket Telemetry::makePacket(const sensorDataStruct_t &data_struct) {
return packet;
}

CompactTelemetryPacket Telemetry::makeCompactPacket(const sensorDataStruct_t &data_struct) {
CompactTelemetryPacket packet{};
packet.gps_lat = data_struct.gps_data.latitude;
packet.gps_long = data_struct.gps_data.longitude;
packet.gps_alt = data_struct.gps_data.altitude;

packet.voltage_battery = inv_convert_range<uint8_t>(data_struct.voltage_data.v_battery, 16);
packet.barometer_temp = inv_convert_range<int16_t>(data_struct.barometer_data.temperature, 256);

return packet;
}

void Telemetry::bufferData() {
#ifdef ENABLE_TELEMETRY
#ifndef TLM_DEBUG
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22 changes: 22 additions & 0 deletions TARS/src/mcu_main/telemetry.h
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Expand Up @@ -37,6 +37,7 @@ struct TelemetryDataLite {
};

struct TelemetryPacket {
unsigned short idx = 0;
TelemetryDataLite datapoints[4];
float gps_lat;
float gps_long;
Expand Down Expand Up @@ -68,6 +69,25 @@ struct TelemetryPacket {
int16_t barometer_temp; //[-128, 128]
};

struct CompactTelemetryPacket {
unsigned short idx = 1;
float gps_lat;
float gps_long;
float gps_alt;
uint8_t voltage_battery; //[0, 16]
int16_t barometer_temp; //[-128, 128]
};

struct Packets {
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@gautamdayal gautamdayal Sep 14, 2023

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Clarify the reasoning for having both possible messages defined in this singular struct in a comment. Another possibility would just be to separate the structs completely, but this does seem nice so a comment describing the design would help.

enum {
COMPACT,
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@gautamdayal gautamdayal Sep 14, 2023

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nit: Since in the future we may define more packet types, let's make the names a bit more descriptive. For example, COMPACT could be named PAD_LANDED and DEFAULT could be named MAIN_FLIGHT etc.

DEFAULT,
} type;

TelemetryPacket default_packet;
CompactTelemetryPacket compact_packet;
};

// Commands transmitted from ground station to rocket
enum CommandType { SET_FREQ, SET_CALLSIGN, ABORT, TEST_FLAPS, EMPTY };

Expand Down Expand Up @@ -117,4 +137,6 @@ class Telemetry {
command_handler_struct freq_status = {};

TelemetryPacket makePacket(const sensorDataStruct_t& data_struct);

CompactTelemetryPacket makeCompactPacket(const sensorDataStruct_t& data_struct);
};
116 changes: 85 additions & 31 deletions ground/src/feather/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -76,6 +76,7 @@ struct TelemetryDataLite {

struct TelemetryPacket {
TelemetryDataLite datapoints[4];
unsigned int idx;
float gps_lat;
float gps_long;
float gps_alt;
Expand Down Expand Up @@ -138,6 +139,8 @@ struct FullTelemetryData {
float barometer_temp; //[-128, 128]
float freq;
int64_t print_time;

unsigned int idx;
};

enum class CommandType { SET_FREQ, SET_CALLSIGN, ABORT, TEST_FLAP, EMPTY };
Expand Down Expand Up @@ -182,14 +185,20 @@ void printFloat(float f, int precision = 5) {
}
}

void EnqueuePacket(const TelemetryPacket& packet, float frequency) {
if (packet.datapoint_count == 0) return;
void SetCompactData(const TelemetryPacket& packet, FullTelemetryData& item) {
item.barometer_temp = convert_range(packet.barometer_temp, 256);
item.gps_alt = packet.gps_alt;
item.gps_lat = packet.gps_lat;
item.gps_long = packet.gps_long;
item.voltage_battery = convert_range(packet.voltage_battery, 16);
print_queue.emplace(item);
}

void SetData(const TelemetryPacket& packet, FullTelemetryData& item, float frequency) {
int64_t start_timestamp = packet.datapoints[0].timestamp;
int64_t start_printing = millis();

for (int i = 0; i < packet.datapoint_count && i < 4; i++) {
FullTelemetryData item;
TelemetryDataLite data = packet.datapoints[i];
item.barometer_pressure = convert_range(data.barometer_pressure, 4096);
item.barometer_temp = convert_range(packet.barometer_temp, 256);
Expand Down Expand Up @@ -223,6 +232,18 @@ void EnqueuePacket(const TelemetryPacket& packet, float frequency) {
}
}

void EnqueuePacket(const TelemetryPacket& packet, float frequency) {
if (packet.datapoint_count == 0) return;

FullTelemetryData item;
item.idx = packet.idx;
if (packet.idx == 1) { // compact
SetCompactData(packet, item);
} else {
SetData(packet, item, frequency);
}
}

void printJSONField(const char* name, float val, bool comma = true) {
Serial.print('\"');
Serial.print(name);
Expand Down Expand Up @@ -250,34 +271,67 @@ void printJSONField(const char* name, const char* val, bool comma = true) {

void printPacketJson(FullTelemetryData const& packet) {
Serial.print(R"({"type": "data", "value": {)");
printJSONField("response_ID", packet.response_ID);
printJSONField("gps_lat", packet.gps_lat);
printJSONField("gps_long", packet.gps_long);
printJSONField("gps_alt", packet.gps_alt);
printJSONField("KX_IMU_ax", packet.highG_ax);
printJSONField("KX_IMU_ay", packet.highG_ay);
printJSONField("KX_IMU_az", packet.highG_az);
printJSONField("IMU_gx", packet.gyro_x);
printJSONField("IMU_gy", packet.gyro_y);
printJSONField("IMU_gz", packet.gyro_z);
printJSONField("IMU_mx", packet.mag_x);
printJSONField("IMU_my", packet.mag_y);
printJSONField("IMU_mz", packet.mag_z);
printJSONField("FSM_state", packet.FSM_State);
printJSONField("sign", "NOSIGN");
printJSONField("RSSI", rf95.lastRssi());
printJSONField("Voltage", packet.voltage_battery);
printJSONField("frequency", packet.freq);
printJSONField("flap_extension", packet.flap_extension);
printJSONField("STE_ALT", packet.gnc_state_x);
printJSONField("STE_VEL", packet.gnc_state_vx);
printJSONField("STE_ACC", packet.gnc_state_ax);
printJSONField("STE_APO", packet.gnc_state_apo);
printJSONField("BNO_YAW", packet.bno_yaw);
printJSONField("BNO_PITCH", packet.bno_pitch);
printJSONField("BNO_ROLL", packet.bno_roll);
printJSONField("TEMP", packet.barometer_temp);
printJSONField("pressure", packet.barometer_pressure, false);
if (packet.idx == 1) { // compact
printJSONField("gps_lat", packet.gps_lat);
printJSONField("gps_long", packet.gps_long);
printJSONField("gps_alt", packet.gps_alt);
printJSONField("Voltage", packet.voltage_battery);
printJSONField("TEMP", packet.barometer_temp);

// TODO(replace with memset)
printJSONField("response_ID", 0);
printJSONField("KX_IMU_ax", 0);
printJSONField("KX_IMU_ay", 0);
printJSONField("KX_IMU_az", 0);
printJSONField("IMU_gx", 0);
printJSONField("IMU_gy", 0);
printJSONField("IMU_gz", 0);
printJSONField("IMU_mx", 0);
printJSONField("IMU_my", 0);
printJSONField("IMU_mz", 0);
printJSONField("FSM_state", 0);
printJSONField("sign", "NOSIGN");
printJSONField("RSSI", rf95.lastRssi());
printJSONField("frequency", 0);
printJSONField("flap_extension", 0);
printJSONField("STE_ALT", 0);
printJSONField("STE_VEL", 0);
printJSONField("STE_ACC", 0);
printJSONField("STE_APO", 0);
printJSONField("BNO_YAW", 0);
printJSONField("BNO_PITCH", 0);
printJSONField("BNO_ROLL", 0);
printJSONField("pressure", 0, false);
} else {
printJSONField("response_ID", packet.response_ID);
printJSONField("gps_lat", packet.gps_lat);
printJSONField("gps_long", packet.gps_long);
printJSONField("gps_alt", packet.gps_alt);
printJSONField("KX_IMU_ax", packet.highG_ax);
printJSONField("KX_IMU_ay", packet.highG_ay);
printJSONField("KX_IMU_az", packet.highG_az);
printJSONField("IMU_gx", packet.gyro_x);
printJSONField("IMU_gy", packet.gyro_y);
printJSONField("IMU_gz", packet.gyro_z);
printJSONField("IMU_mx", packet.mag_x);
printJSONField("IMU_my", packet.mag_y);
printJSONField("IMU_mz", packet.mag_z);
printJSONField("FSM_state", packet.FSM_State);
printJSONField("sign", "NOSIGN");
printJSONField("RSSI", rf95.lastRssi());
printJSONField("Voltage", packet.voltage_battery);
printJSONField("frequency", packet.freq);
printJSONField("flap_extension", packet.flap_extension);
printJSONField("STE_ALT", packet.gnc_state_x);
printJSONField("STE_VEL", packet.gnc_state_vx);
printJSONField("STE_ACC", packet.gnc_state_ax);
printJSONField("STE_APO", packet.gnc_state_apo);
printJSONField("BNO_YAW", packet.bno_yaw);
printJSONField("BNO_PITCH", packet.bno_pitch);
printJSONField("BNO_ROLL", packet.bno_roll);
printJSONField("TEMP", packet.barometer_temp);
printJSONField("pressure", packet.barometer_pressure, false);
}
Serial.println("}}");
}

Expand Down