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138 lines
3.8 KiB
138 lines
3.8 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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DEVO Telemetry library |
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*/ |
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#include "AP_Devo_Telem.h" |
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#if AP_DEVO_TELEM_ENABLED |
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#include <AP_AHRS/AP_AHRS.h> |
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#include <AP_GPS/AP_GPS.h> |
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#include <AP_BattMonitor/AP_BattMonitor.h> |
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#include <GCS_MAVLink/GCS.h> |
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#define DEVOM_SYNC_BYTE 0xAA |
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#define AP_SERIALMANAGER_DEVO_TELEM_BAUD 38400 |
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#define AP_SERIALMANAGER_DEVO_BUFSIZE_RX 0 |
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#define AP_SERIALMANAGER_DEVO_BUFSIZE_TX 32 |
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extern const AP_HAL::HAL& hal; |
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void AP_DEVO_Telem::init() |
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{ |
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const AP_SerialManager& serial_manager = AP::serialmanager(); |
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// check for DEVO_DPort |
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if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Devo_Telem, 0))) { |
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_port->set_flow_control(AP_HAL::UARTDriver::FLOW_CONTROL_DISABLE); |
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// initialise uart |
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_port->begin(AP_SERIALMANAGER_DEVO_TELEM_BAUD, AP_SERIALMANAGER_DEVO_BUFSIZE_RX, AP_SERIALMANAGER_DEVO_BUFSIZE_TX); |
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hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&AP_DEVO_Telem::tick, void)); |
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} |
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} |
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uint32_t AP_DEVO_Telem::gpsDdToDmsFormat(int32_t ddm) |
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{ |
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int32_t deg = (int32_t)(ddm * 1e-7); |
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float mm = (ddm * 1.0e-7 - deg) * 60.0f; |
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mm = ((float)deg * 100.0f + mm) /100.0f; |
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if ((mm < -180.0f) || (mm > 180.0f)) { |
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mm = 0.0f; |
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} |
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return mm * 1.0e7f; |
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} |
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/* |
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send_frames - sends updates down telemetry link |
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should be called at 1hz |
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*/ |
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#define DEVO_SPEED_FACTOR 0.0194384f |
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void AP_DEVO_Telem::send_frames() |
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{ |
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// return immediately if not initialised |
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if (_port == nullptr) { |
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return; |
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} |
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struct PACKED { |
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uint8_t header; ///< 0xAA for a valid packet |
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int32_t lon; |
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int32_t lat; |
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int32_t alt; |
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int16_t speed; |
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int16_t temp; |
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int16_t volt; |
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uint8_t checksum8; |
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} devoPacket{}; |
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devoPacket.header = DEVOM_SYNC_BYTE; |
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const AP_AHRS &_ahrs = AP::ahrs(); |
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const AP_GPS &gps = AP::gps(); |
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Location loc; |
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if (_ahrs.get_location(loc)) { |
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devoPacket.lat = gpsDdToDmsFormat(loc.lat); |
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devoPacket.lon = gpsDdToDmsFormat(loc.lng); |
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devoPacket.speed = (int16_t)(gps.ground_speed() * DEVO_SPEED_FACTOR * 100.0f); // * 100 for cm |
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/* |
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Note that this isn't actually barometric altitude, it is the |
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inertial nav estimate of altitude above home. |
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*/ |
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float alt; |
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_ahrs.get_relative_position_D_home(alt); |
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devoPacket.alt = alt * -100.0f; // coordinates was in NED, so it needs to change sign. Protocol requires in cm! |
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} |
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devoPacket.volt = roundf(AP::battery().voltage() * 10.0f); |
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devoPacket.temp = gcs().custom_mode(); // Send mode as temperature |
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// emit the packet to the port byte-by-byte, calculating checksum |
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// as we go. Note we are stepping backwards through the structure |
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// - presumably to get endianness correct on the entries! |
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uint8_t *b = (uint8_t *)&devoPacket; |
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for (uint8_t i = sizeof(devoPacket)-1; i !=0; i--) { |
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_port->write(b, 1); |
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devoPacket.checksum8 += *b++; // Add Checksum |
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} |
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_port->write(&devoPacket.checksum8, 1); |
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} |
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void AP_DEVO_Telem::tick(void) |
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{ |
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uint32_t now = AP_HAL::millis(); |
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if (now - _last_frame_ms > 1000) { |
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_last_frame_ms = now; |
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send_frames(); |
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} |
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} |
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#endif
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