Make m10spg use int32 vectors instead of floats

A temporary measure to ensure no floating point math is preventing gps data from getting through
CarletonURocketry · Jun 7, 2024 · ca2fed7 · ca2fed7
1 parent 40b21eb
commit ca2fed7
Show file tree

Hide file tree

Showing 3 changed files with 32 additions and 16 deletions.
diff --git a/src/collectors/m10spg_clctr.c b/src/collectors/m10spg_clctr.c
@@ -58,14 +58,17 @@ void *m10spg_collector(void *args) {
         err = m10spg_send_command(&loc, UBX_NAV_POSLLH, &buf, sizeof(UBXNavPositionPayload));
         if (err == EOK) {
             msg.type = TAG_COORDS;
-            msg.data.VEC2D.x = ((float)buf.pos.lat / LAT_SCALE_TO_DEGREES);
-            msg.data.VEC2D.y = ((float)buf.pos.lon / LON_SCALE_TO_DEGREES);
+            // Floating point math to conver to degrees
+            // msg.data.VEC2D.x = (((float)buf.pos.lat) / LAT_SCALE_TO_DEGREES);
+            // msg.data.VEC2D.y = (((float)buf.pos.lon) / LON_SCALE_TO_DEGREES);
+            msg.data.VEC2D_I32.x = buf.pos.lat;
+            msg.data.VEC2D_I32.y = buf.pos.lon;
 
             if (mq_send(sensor_q, (char *)&msg, sizeof(msg), 0) == -1) {
                 fprintf(stderr, "M10SPG couldn't send message: %s.\n", strerror(errno));
             }
             msg.type = TAG_ALTITUDE_SEA;
-            msg.data.FLOAT = ((float)buf.pos.hMSL / ALT_SCALE_TO_METERS);
+            msg.data.FLOAT = (((float)buf.pos.hMSL) / ALT_SCALE_TO_METERS);
             if (mq_send(sensor_q, (char *)&msg, sizeof(msg), 0) == -1) {
                 fprintf(stderr, "M10SPG couldn't send message: %s.\n", strerror(errno));
             }

diff --git a/src/drivers/sensor_api.c b/src/drivers/sensor_api.c
@@ -65,10 +65,10 @@ const SensorTagData SENSOR_TAG_DATA[] = {
                          .dtype = TYPE_VEC3D,
                          .has_id = 0},
     [TAG_COORDS] = {.name = "Lat/Long",
-                    .unit = "deg",
-                    .fmt_str = "%.2fX, %.2fY",
-                    .dsize = sizeof(vec2d_t),
-                    .dtype = TYPE_VEC2D,
+                    .unit = "0.1udeg",
+                    .fmt_str = "%dX, %dY",
+                    .dsize = sizeof(vec2d_i32_t),
+                    .dtype = TYPE_VEC2D_I32,
                     .has_id = 0},
     [TAG_VOLTAGE] =
         {.name = "Voltage", .unit = "mV", .fmt_str = "%d", .dsize = sizeof(int16_t), .dtype = TYPE_I16, .has_id = 1},
@@ -216,5 +216,8 @@ void sensor_write_data(FILE *stream, const SensorTag tag, const void *data) {
         fprintf(stream, format_str, SENSOR_TAG_DATA[tag].name, drefcast(const vec2d_t, data).x,
                 drefcast(const vec2d_t, data).y, SENSOR_TAG_DATA[tag].unit);
         break;
+    case TYPE_VEC2D_I32:
+        fprintf(stream, format_str, SENSOR_TAG_DATA[tag].name, drefcast(const vec2d_i32_t, data).x,
+                drefcast(const vec2d_i32_t, data).y, SENSOR_TAG_DATA[tag].unit);
     }
 }
diff --git a/src/drivers/sensor_api.h b/src/drivers/sensor_api.h
@@ -22,6 +22,14 @@ typedef struct {
     float y;
 } vec2d_t;
 
+/** Type for a 2 dimensional vector with integer x, y components */
+typedef struct {
+    /** X component */
+    int32_t x;
+    /** Y component */
+    int32_t y;
+} vec2d_i32_t;
+
 /** Type for a 3 dimensional vector with x, y, z components. */
 typedef struct {
     /** X component. */
@@ -50,15 +58,16 @@ typedef enum {
 
 /** Describes the data type of the data associated with a tag. */
 typedef enum {
-    TYPE_FLOAT, /**< float */
-    TYPE_U32,   /**< uint32_t */
-    TYPE_U16,   /**< uint16_t */
-    TYPE_U8,    /**< uint8_t */
-    TYPE_I32,   /**< int32_t */
-    TYPE_I16,   /**< int16_t */
-    TYPE_I8,    /**< int8_t */
-    TYPE_VEC3D, /**< vec3d_t */
-    TYPE_VEC2D, /**< vec2d_t */
+    TYPE_FLOAT,     /**< float */
+    TYPE_U32,       /**< uint32_t */
+    TYPE_U16,       /**< uint16_t */
+    TYPE_U8,        /**< uint8_t */
+    TYPE_I32,       /**< int32_t */
+    TYPE_I16,       /**< int16_t */
+    TYPE_I8,        /**< int8_t */
+    TYPE_VEC3D,     /**< vec3d_t */
+    TYPE_VEC2D_I32, /**< vec2d_u32 */
+    TYPE_VEC2D,     /**< vec2d_t */
 } SensorTagDType;
 
 /** Describes a message that can be sent on a message queue and recognized by both fetcher and packager */
@@ -73,6 +82,7 @@ typedef struct {
         int16_t I16;
         int8_t I8;
         vec3d_t VEC3D;
+        vec2d_i32_t VEC2D_I32;
         vec2d_t VEC2D;
     } data; /**< The way the contents of this struct should be interpreted */
 } common_t;