Simon Wilks
12 years ago
8 changed files with 1306 additions and 0 deletions
@ -0,0 +1,106 @@
@@ -0,0 +1,106 @@
|
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/****************************************************************************
|
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* |
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* Copyright (c) 2013 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
||||
* modification, are permitted provided that the following conditions |
||||
* are met: |
||||
* |
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* 1. Redistributions of source code must retain the above copyright |
||||
* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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|
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/**
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* @file comms.c |
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* @author Simon Wilks <sjwilks@gmail.com> |
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* |
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*/ |
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#include "comms.h" |
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#include <fcntl.h> |
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#include <nuttx/config.h> |
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#include <poll.h> |
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#include <stdlib.h> |
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#include <stdio.h> |
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#include <string.h> |
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#include <sys/ioctl.h> |
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#include <unistd.h> |
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#include <systemlib/err.h> |
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#include <systemlib/systemlib.h> |
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int |
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open_uart(const char *device, struct termios *uart_config_original) |
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{ |
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/* baud rate */ |
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static const speed_t speed = B19200; |
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/* open uart */ |
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const int uart = open(device, O_RDWR | O_NOCTTY); |
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if (uart < 0) { |
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err(1, "Error opening port: %s", device); |
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} |
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/* Back up the original uart configuration to restore it after exit */
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int termios_state; |
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if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) { |
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close(uart); |
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err(1, "Error getting baudrate / termios config for %s: %d", device, termios_state); |
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} |
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/* Fill the struct for the new configuration */ |
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struct termios uart_config; |
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tcgetattr(uart, &uart_config); |
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/* Clear ONLCR flag (which appends a CR for every LF) */ |
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uart_config.c_oflag &= ~ONLCR; |
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/* Set baud rate */ |
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if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { |
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close(uart); |
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err(1, "Error setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)", |
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device, termios_state); |
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} |
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if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) { |
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close(uart); |
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err(1, "Error setting baudrate / termios config for %s (tcsetattr)", device); |
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} |
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/* Activate single wire mode */ |
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ioctl(uart, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED); |
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return uart; |
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} |
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@ -0,0 +1,58 @@
@@ -0,0 +1,58 @@
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/****************************************************************************
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* |
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* Copyright (c) 2013 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
||||
* modification, are permitted provided that the following conditions |
||||
* are met: |
||||
* |
||||
* 1. Redistributions of source code must retain the above copyright |
||||
* notice, this list of conditions and the following disclaimer. |
||||
* 2. Redistributions in binary form must reproduce the above copyright |
||||
* notice, this list of conditions and the following disclaimer in |
||||
* the documentation and/or other materials provided with the |
||||
* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
||||
* used to endorse or promote products derived from this software |
||||
* without specific prior written permission. |
||||
* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/**
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* @file comms.h |
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* @author Simon Wilks <sjwilks@gmail.com> |
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* |
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*/ |
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#ifndef COMMS_H_ |
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#define COMMS_H |
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#include <termios.h> |
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int open_uart(const char *device, struct termios *uart_config_original); |
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#endif /* COMMS_H_ */ |
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@ -0,0 +1,232 @@
@@ -0,0 +1,232 @@
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/****************************************************************************
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* |
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* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. |
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* Author: Simon Wilks <sjwilks@gmail.com> |
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* |
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* Redistribution and use in source and binary forms, with or without |
||||
* modification, are permitted provided that the following conditions |
||||
* are met: |
||||
* |
||||
* 1. Redistributions of source code must retain the above copyright |
||||
* notice, this list of conditions and the following disclaimer. |
||||
* 2. Redistributions in binary form must reproduce the above copyright |
||||
* notice, this list of conditions and the following disclaimer in |
||||
* the documentation and/or other materials provided with the |
||||
* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
||||
* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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/**
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* @file hott_sensors.c |
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* @author Simon Wilks <sjwilks@gmail.com> |
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* |
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* Graupner HoTT sensor driver implementation. |
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* |
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* Poll any sensors connected to the PX4 via the telemetry wire. |
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*/ |
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#include <fcntl.h> |
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#include <nuttx/config.h> |
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#include <poll.h> |
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#include <stdlib.h> |
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#include <stdio.h> |
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#include <string.h> |
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#include <termios.h> |
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#include <sys/ioctl.h> |
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#include <unistd.h> |
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#include <systemlib/err.h> |
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#include <systemlib/systemlib.h> |
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#include "../comms.h" |
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#include "../messages.h" |
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static int thread_should_exit = false; /**< Deamon exit flag */ |
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static int thread_running = false; /**< Deamon status flag */ |
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static int deamon_task; /**< Handle of deamon task / thread */ |
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static const char daemon_name[] = "hott_sensors"; |
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static const char commandline_usage[] = "usage: hott_sensor start|status|stop [-d <device>]"; |
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/**
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* Deamon management function. |
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*/ |
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__EXPORT int hott_sensors_main(int argc, char *argv[]); |
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/**
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* Mainloop of daemon. |
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*/ |
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int hott_sensors_thread_main(int argc, char *argv[]); |
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static int recv_data(int uart, uint8_t *buffer, size_t *size, uint8_t *id); |
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static int send_poll(int uart, uint8_t *buffer, size_t size); |
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int |
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send_poll(int uart, uint8_t *buffer, size_t size) |
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{ |
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for (size_t i = 0; i < size; i++) { |
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write(uart, &buffer[i], sizeof(buffer[i])); |
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/* Sleep before sending the next byte. */ |
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usleep(POST_WRITE_DELAY_IN_USECS); |
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} |
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/* A hack the reads out what was written so the next read from the receiver doesn't get it. */ |
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/* TODO: Fix this!! */ |
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uint8_t dummy[size]; |
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read(uart, &dummy, size); |
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return OK; |
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} |
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int |
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recv_data(int uart, uint8_t *buffer, size_t *size, uint8_t *id) |
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{ |
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usleep(5000); |
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static const int timeout_ms = 1000; |
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struct pollfd fds[] = { { .fd = uart, .events = POLLIN } }; |
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// XXX should this poll be inside the while loop???
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if (poll(fds, 1, timeout_ms) > 0) { |
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int i = 0; |
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bool stop_byte_read = false; |
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while (true) { |
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read(uart, &buffer[i], sizeof(buffer[i])); |
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//printf("[%d]: %d\n", i, buffer[i]);
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if (stop_byte_read) { |
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// XXX process checksum
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*size = ++i; |
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return OK; |
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} |
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// XXX can some other field not have the STOP BYTE value?
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if (buffer[i] == STOP_BYTE) { |
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*id = buffer[1]; |
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stop_byte_read = true; |
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} |
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i++; |
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} |
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} |
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return ERROR; |
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} |
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int |
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hott_sensors_thread_main(int argc, char *argv[]) |
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{ |
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warnx("starting"); |
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thread_running = true; |
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const char *device = "/dev/ttyS2"; /**< Default telemetry port: USART5 */ |
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/* read commandline arguments */ |
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for (int i = 0; i < argc && argv[i]; i++) { |
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if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { //device set
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if (argc > i + 1) { |
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device = argv[i + 1]; |
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} else { |
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thread_running = false; |
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errx(1, "missing parameter to -d\n%s", commandline_usage); |
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} |
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} |
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} |
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/* enable UART, writes potentially an empty buffer, but multiplexing is disabled */ |
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struct termios uart_config_original; |
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const int uart = open_uart(device, &uart_config_original); |
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if (uart < 0) { |
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errx(1, "Failed opening HoTT UART, exiting."); |
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thread_running = false; |
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} |
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uint8_t buffer[MESSAGE_BUFFER_SIZE]; |
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size_t size = 0; |
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uint8_t id = 0; |
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bool connected = true; |
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while (!thread_should_exit) { |
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// Currently we only support a General Air Module sensor.
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build_gam_request(&buffer, &size); |
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send_poll(uart, buffer, size); |
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recv_data(uart, &buffer, &size, &id); |
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// Determine which moduel sent it and process accordingly.
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if (id == GAM_SENSOR_ID) { |
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//warnx("extract");
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extract_gam_message(buffer); |
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} else { |
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warnx("Unknown sensor ID received: %d", id); |
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}
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} |
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warnx("exiting"); |
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close(uart); |
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thread_running = false; |
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return 0; |
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} |
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/**
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* Process command line arguments and start the daemon. |
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*/ |
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int |
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hott_sensors_main(int argc, char *argv[]) |
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{ |
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if (argc < 1) { |
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errx(1, "missing command\n%s", commandline_usage); |
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} |
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if (!strcmp(argv[1], "start")) { |
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if (thread_running) { |
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warnx("deamon already running"); |
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exit(0); |
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} |
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thread_should_exit = false; |
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deamon_task = task_spawn(daemon_name, |
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SCHED_DEFAULT, |
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SCHED_PRIORITY_MAX - 40, |
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2048, |
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hott_sensors_thread_main, |
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(argv) ? (const char **)&argv[2] : (const char **)NULL); |
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exit(0); |
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} |
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if (!strcmp(argv[1], "stop")) { |
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thread_should_exit = true; |
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exit(0); |
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} |
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if (!strcmp(argv[1], "status")) { |
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if (thread_running) { |
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warnx("daemon is running"); |
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} else { |
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warnx("daemon not started"); |
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} |
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exit(0); |
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} |
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errx(1, "unrecognized command\n%s", commandline_usage); |
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} |
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@ -0,0 +1,42 @@
@@ -0,0 +1,42 @@
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############################################################################
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#
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# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
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#
|
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# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
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############################################################################
|
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|
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#
|
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# Graupner HoTT Sensors application.
|
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#
|
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|
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MODULE_COMMAND = hott_sensors
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SRCS = hott_sensors.c \
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../messages.c \
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../comms.c
|
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@ -0,0 +1,287 @@
@@ -0,0 +1,287 @@
|
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/****************************************************************************
|
||||
* |
||||
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. |
||||
* Author: Simon Wilks <sjwilks@gmail.com> |
||||
* |
||||
* Redistribution and use in source and binary forms, with or without |
||||
* modification, are permitted provided that the following conditions |
||||
* are met: |
||||
* |
||||
* 1. Redistributions of source code must retain the above copyright |
||||
* notice, this list of conditions and the following disclaimer. |
||||
* 2. Redistributions in binary form must reproduce the above copyright |
||||
* notice, this list of conditions and the following disclaimer in |
||||
* the documentation and/or other materials provided with the |
||||
* distribution. |
||||
* 3. Neither the name PX4 nor the names of its contributors may be |
||||
* used to endorse or promote products derived from this software |
||||
* without specific prior written permission. |
||||
* |
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||||
* POSSIBILITY OF SUCH DAMAGE. |
||||
* |
||||
****************************************************************************/ |
||||
|
||||
/**
|
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* @file hott_telemetry_main.c |
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* @author Simon Wilks <sjwilks@gmail.com> |
||||
* |
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* Graupner HoTT Telemetry implementation. |
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* |
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* The HoTT receiver polls each device at a regular interval at which point |
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* a data packet can be returned if necessary. |
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* |
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*/ |
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|
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#include <fcntl.h> |
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#include <nuttx/config.h> |
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#include <poll.h> |
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#include <stdlib.h> |
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#include <stdio.h> |
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#include <string.h> |
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#include <termios.h> |
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#include <sys/ioctl.h> |
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#include <unistd.h> |
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#include <systemlib/err.h> |
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#include <systemlib/systemlib.h> |
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|
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#include "../comms.h" |
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#include "../messages.h" |
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|
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static int thread_should_exit = false; /**< Deamon exit flag */ |
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static int thread_running = false; /**< Deamon status flag */ |
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static int deamon_task; /**< Handle of deamon task / thread */ |
||||
static const char daemon_name[] = "hott_telemetry"; |
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static const char commandline_usage[] = "usage: hott_telemetry start|status|stop [-d <device>]"; |
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|
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/**
|
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* Deamon management function. |
||||
*/ |
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__EXPORT int hott_telemetry_main(int argc, char *argv[]); |
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|
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/**
|
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* Mainloop of daemon. |
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*/ |
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int hott_telemetry_thread_main(int argc, char *argv[]); |
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|
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static int recv_req_id(int uart, uint8_t *id); |
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static int send_data(int uart, uint8_t *buffer, size_t size); |
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|
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int |
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recv_req_id(int uart, uint8_t *id) |
||||
{ |
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static const int timeout_ms = 1000; // TODO make it a define
|
||||
struct pollfd fds[] = { { .fd = uart, .events = POLLIN } }; |
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|
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uint8_t mode; |
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|
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if (poll(fds, 1, timeout_ms) > 0) { |
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/* Get the mode: binary or text */ |
||||
read(uart, &mode, sizeof(mode)); |
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|
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/* if we have a binary mode request */ |
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if (mode != BINARY_MODE_REQUEST_ID) { |
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return ERROR; |
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} |
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|
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/* Read the device ID being polled */ |
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read(uart, id, sizeof(*id)); |
||||
} else { |
||||
warnx("UART timeout on TX/RX port"); |
||||
return ERROR; |
||||
} |
||||
|
||||
return OK; |
||||
} |
||||
|
||||
int |
||||
recv_data(int uart, uint8_t *buffer, size_t *size, uint8_t *id) |
||||
{ |
||||
usleep(5000); |
||||
|
||||
static const int timeout_ms = 1000; |
||||
struct pollfd fds[] = { { .fd = uart, .events = POLLIN } }; |
||||
|
||||
|
||||
// XXX should this poll be inside the while loop???
|
||||
if (poll(fds, 1, timeout_ms) > 0) { |
||||
int i = 0; |
||||
bool stop_byte_read = false; |
||||
while (true) { |
||||
read(uart, &buffer[i], sizeof(buffer[i])); |
||||
//printf("[%d]: %d\n", i, buffer[i]);
|
||||
|
||||
if (stop_byte_read) { |
||||
// process checksum
|
||||
*size = ++i; |
||||
return OK; |
||||
} |
||||
// XXX can some other field not have the STOP BYTE value?
|
||||
if (buffer[i] == STOP_BYTE) { |
||||
*id = buffer[1]; |
||||
stop_byte_read = true; |
||||
} |
||||
i++; |
||||
} |
||||
} |
||||
return ERROR; |
||||
} |
||||
|
||||
int |
||||
send_data(int uart, uint8_t *buffer, size_t size) |
||||
{ |
||||
usleep(POST_READ_DELAY_IN_USECS); |
||||
|
||||
uint16_t checksum = 0; |
||||
for (size_t i = 0; i < size; i++) { |
||||
if (i == size - 1) { |
||||
/* Set the checksum: the first uint8_t is taken as the checksum. */ |
||||
buffer[i] = checksum & 0xff; |
||||
|
||||
} else { |
||||
checksum += buffer[i]; |
||||
} |
||||
|
||||
write(uart, &buffer[i], sizeof(buffer[i])); |
||||
|
||||
/* Sleep before sending the next byte. */ |
||||
usleep(POST_WRITE_DELAY_IN_USECS); |
||||
} |
||||
|
||||
/* A hack the reads out what was written so the next read from the receiver doesn't get it. */ |
||||
/* TODO: Fix this!! */ |
||||
uint8_t dummy[size]; |
||||
read(uart, &dummy, size); |
||||
|
||||
return OK; |
||||
} |
||||
|
||||
int |
||||
hott_telemetry_thread_main(int argc, char *argv[]) |
||||
{ |
||||
warnx("starting"); |
||||
|
||||
thread_running = true; |
||||
|
||||
const char *device = "/dev/ttyS1"; /**< Default telemetry port: USART2 */ |
||||
|
||||
/* read commandline arguments */ |
||||
for (int i = 0; i < argc && argv[i]; i++) { |
||||
if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { //device set
|
||||
if (argc > i + 1) { |
||||
device = argv[i + 1]; |
||||
|
||||
} else { |
||||
thread_running = false; |
||||
errx(1, "missing parameter to -d\n%s", commandline_usage); |
||||
} |
||||
} |
||||
} |
||||
|
||||
/* enable UART, writes potentially an empty buffer, but multiplexing is disabled */ |
||||
struct termios uart_config_original; |
||||
const int uart = open_uart(device, &uart_config_original); |
||||
|
||||
if (uart < 0) { |
||||
errx(1, "Failed opening HoTT UART, exiting."); |
||||
thread_running = false; |
||||
} |
||||
|
||||
messages_init(); |
||||
|
||||
uint8_t buffer[MESSAGE_BUFFER_SIZE]; |
||||
size_t size = 0; |
||||
uint8_t id = 0; |
||||
bool connected = true; |
||||
while (!thread_should_exit) { |
||||
// Listen for and serve poll from the receiver.
|
||||
if (recv_req_id(uart, &id) == OK) { |
||||
if (!connected) { |
||||
connected = true; |
||||
warnx("OK"); |
||||
} |
||||
|
||||
switch (id) { |
||||
case EAM_SENSOR_ID: |
||||
build_eam_response(buffer, &size); |
||||
break; |
||||
|
||||
case GPS_SENSOR_ID: |
||||
build_gps_response(buffer, &size); |
||||
break; |
||||
|
||||
default: |
||||
continue; // Not a module we support.
|
||||
} |
||||
|
||||
send_data(uart, buffer, size); |
||||
} else { |
||||
connected = false; |
||||
warnx("syncing"); |
||||
} |
||||
} |
||||
|
||||
warnx("exiting"); |
||||
|
||||
close(uart); |
||||
|
||||
thread_running = false; |
||||
|
||||
return 0; |
||||
} |
||||
|
||||
/**
|
||||
* Process command line arguments and start the daemon. |
||||
*/ |
||||
int |
||||
hott_telemetry_main(int argc, char *argv[]) |
||||
{ |
||||
if (argc < 1) { |
||||
errx(1, "missing command\n%s", commandline_usage); |
||||
} |
||||
|
||||
if (!strcmp(argv[1], "start")) { |
||||
|
||||
if (thread_running) { |
||||
warnx("deamon already running"); |
||||
exit(0); |
||||
} |
||||
|
||||
thread_should_exit = false; |
||||
deamon_task = task_spawn(daemon_name, |
||||
SCHED_DEFAULT, |
||||
SCHED_PRIORITY_MAX - 40, |
||||
2048, |
||||
hott_telemetry_thread_main, |
||||
(argv) ? (const char **)&argv[2] : (const char **)NULL); |
||||
exit(0); |
||||
} |
||||
|
||||
if (!strcmp(argv[1], "stop")) { |
||||
thread_should_exit = true; |
||||
exit(0); |
||||
} |
||||
|
||||
if (!strcmp(argv[1], "status")) { |
||||
if (thread_running) { |
||||
warnx("daemon is running"); |
||||
|
||||
} else { |
||||
warnx("daemon not started"); |
||||
} |
||||
|
||||
exit(0); |
||||
} |
||||
|
||||
errx(1, "unrecognized command\n%s", commandline_usage); |
||||
} |
||||
@ -0,0 +1,42 @@
@@ -0,0 +1,42 @@
|
||||
############################################################################
|
||||
#
|
||||
# Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# Redistribution and use in source and binary forms, with or without
|
||||
# modification, are permitted provided that the following conditions
|
||||
# are met:
|
||||
#
|
||||
# 1. Redistributions of source code must retain the above copyright
|
||||
# notice, this list of conditions and the following disclaimer.
|
||||
# 2. Redistributions in binary form must reproduce the above copyright
|
||||
# notice, this list of conditions and the following disclaimer in
|
||||
# the documentation and/or other materials provided with the
|
||||
# distribution.
|
||||
# 3. Neither the name PX4 nor the names of its contributors may be
|
||||
# used to endorse or promote products derived from this software
|
||||
# without specific prior written permission.
|
||||
#
|
||||
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
|
||||
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
|
||||
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
|
||||
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
|
||||
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
|
||||
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
||||
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
||||
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
|
||||
# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
|
||||
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
|
||||
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
# POSSIBILITY OF SUCH DAMAGE.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Graupner HoTT Telemetry applications.
|
||||
#
|
||||
|
||||
MODULE_COMMAND = hott_telemetry
|
||||
|
||||
SRCS = hott_telemetry.c \
|
||||
../messages.c \
|
||||
../comms.c
|
||||
@ -0,0 +1,271 @@
@@ -0,0 +1,271 @@
|
||||
/****************************************************************************
|
||||
* |
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved. |
||||
* Author: @author Simon Wilks <sjwilks@gmail.com> |
||||
* |
||||
* Redistribution and use in source and binary forms, with or without |
||||
* modification, are permitted provided that the following conditions |
||||
* are met: |
||||
* |
||||
* 1. Redistributions of source code must retain the above copyright |
||||
* notice, this list of conditions and the following disclaimer. |
||||
* 2. Redistributions in binary form must reproduce the above copyright |
||||
* notice, this list of conditions and the following disclaimer in |
||||
* the documentation and/or other materials provided with the |
||||
* distribution. |
||||
* 3. Neither the name PX4 nor the names of its contributors may be |
||||
* used to endorse or promote products derived from this software |
||||
* without specific prior written permission. |
||||
* |
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||||
* POSSIBILITY OF SUCH DAMAGE. |
||||
* |
||||
****************************************************************************/ |
||||
|
||||
/**
|
||||
* @file messages.c |
||||
* |
||||
*/ |
||||
|
||||
#include "messages.h" |
||||
|
||||
#include <math.h> |
||||
#include <stdio.h> |
||||
#include <string.h> |
||||
#include <systemlib/geo/geo.h> |
||||
#include <unistd.h> |
||||
#include <uORB/topics/airspeed.h> |
||||
#include <uORB/topics/battery_status.h> |
||||
#include <uORB/topics/home_position.h> |
||||
#include <uORB/topics/sensor_combined.h> |
||||
#include <uORB/topics/vehicle_gps_position.h> |
||||
|
||||
/* The board is very roughly 5 deg warmer than the surrounding air */ |
||||
#define BOARD_TEMP_OFFSET_DEG 5 |
||||
|
||||
static int battery_sub = -1; |
||||
static int gps_sub = -1; |
||||
static int home_sub = -1; |
||||
static int sensor_sub = -1; |
||||
static int airspeed_sub = -1; |
||||
|
||||
static bool home_position_set = false; |
||||
static double home_lat = 0.0d; |
||||
static double home_lon = 0.0d; |
||||
|
||||
void
|
||||
messages_init(void) |
||||
{ |
||||
battery_sub = orb_subscribe(ORB_ID(battery_status)); |
||||
gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); |
||||
home_sub = orb_subscribe(ORB_ID(home_position)); |
||||
sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); |
||||
airspeed_sub = orb_subscribe(ORB_ID(airspeed)); |
||||
} |
||||
|
||||
void |
||||
build_gam_request(uint8_t *buffer, size_t *size) |
||||
{ |
||||
struct gam_module_poll_msg msg; |
||||
*size = sizeof(msg); |
||||
memset(&msg, 0, *size); |
||||
|
||||
msg.mode = BINARY_MODE_REQUEST_ID; |
||||
msg.id = GAM_SENSOR_ID; |
||||
|
||||
memcpy(buffer, &msg, *size); |
||||
} |
||||
|
||||
void |
||||
extract_gam_message(const uint8_t *buffer) |
||||
{ |
||||
struct gam_module_msg msg; |
||||
size_t size = sizeof(msg); |
||||
memset(&msg, 0, size); |
||||
memcpy(&msg, buffer, size); |
||||
|
||||
// Publish it.
|
||||
uint16_t rpm = ((msg.rpm_H << 8) | (msg.rpm_L & 0xff)) * 10; |
||||
uint8_t temp = msg.temperature2 + 20; |
||||
float current = ((msg.current_H << 8) | (msg.current_L & 0xff)) * 0.1f; |
||||
printf("RPM: %d TEMP: %d A: %2.1f\n", rpm, temp, current); |
||||
} |
||||
|
||||
void
|
||||
build_eam_response(uint8_t *buffer, size_t *size) |
||||
{ |
||||
/* get a local copy of the current sensor values */ |
||||
struct sensor_combined_s raw; |
||||
memset(&raw, 0, sizeof(raw)); |
||||
orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw); |
||||
|
||||
/* get a local copy of the battery data */ |
||||
struct battery_status_s battery; |
||||
memset(&battery, 0, sizeof(battery)); |
||||
orb_copy(ORB_ID(battery_status), battery_sub, &battery); |
||||
|
||||
struct eam_module_msg msg; |
||||
*size = sizeof(msg); |
||||
memset(&msg, 0, *size); |
||||
|
||||
msg.start = START_BYTE; |
||||
msg.eam_sensor_id = EAM_SENSOR_ID; |
||||
msg.sensor_text_id = EAM_SENSOR_TEXT_ID; |
||||
|
||||
msg.temperature1 = (uint8_t)(raw.baro_temp_celcius - 20); |
||||
msg.temperature2 = msg.temperature1 - BOARD_TEMP_OFFSET_DEG; |
||||
|
||||
msg.main_voltage_L = (uint8_t)(battery.voltage_v * 10); |
||||
|
||||
uint16_t alt = (uint16_t)(raw.baro_alt_meter + 500); |
||||
msg.altitude_L = (uint8_t)alt & 0xff; |
||||
msg.altitude_H = (uint8_t)(alt >> 8) & 0xff; |
||||
|
||||
/* get a local copy of the airspeed data */ |
||||
struct airspeed_s airspeed; |
||||
memset(&airspeed, 0, sizeof(airspeed)); |
||||
orb_copy(ORB_ID(airspeed), airspeed_sub, &airspeed); |
||||
|
||||
uint16_t speed = (uint16_t)(airspeed.indicated_airspeed_m_s); |
||||
msg.speed_L = (uint8_t)speed & 0xff; |
||||
msg.speed_H = (uint8_t)(speed >> 8) & 0xff; |
||||
|
||||
msg.stop = STOP_BYTE; |
||||
memcpy(buffer, &msg, *size); |
||||
} |
||||
|
||||
void
|
||||
build_gps_response(uint8_t *buffer, size_t *size) |
||||
{ |
||||
/* get a local copy of the current sensor values */ |
||||
struct sensor_combined_s raw; |
||||
memset(&raw, 0, sizeof(raw)); |
||||
orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw); |
||||
|
||||
/* get a local copy of the battery data */ |
||||
struct vehicle_gps_position_s gps; |
||||
memset(&gps, 0, sizeof(gps)); |
||||
orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps); |
||||
|
||||
struct gps_module_msg msg = { 0 }; |
||||
*size = sizeof(msg); |
||||
memset(&msg, 0, *size); |
||||
|
||||
msg.start = START_BYTE; |
||||
msg.sensor_id = GPS_SENSOR_ID; |
||||
msg.sensor_text_id = GPS_SENSOR_TEXT_ID; |
||||
|
||||
msg.gps_num_sat = gps.satellites_visible; |
||||
|
||||
/* The GPS fix type: 0 = none, 2 = 2D, 3 = 3D */ |
||||
msg.gps_fix_char = (uint8_t)(gps.fix_type + 48); |
||||
msg.gps_fix = (uint8_t)(gps.fix_type + 48); |
||||
|
||||
/* No point collecting more data if we don't have a 3D fix yet */ |
||||
if (gps.fix_type > 2) { |
||||
/* Current flight direction */ |
||||
msg.flight_direction = (uint8_t)(gps.cog_rad * M_RAD_TO_DEG_F); |
||||
|
||||
/* GPS speed */ |
||||
uint16_t speed = (uint16_t)(gps.vel_m_s * 3.6); |
||||
msg.gps_speed_L = (uint8_t)speed & 0xff; |
||||
msg.gps_speed_H = (uint8_t)(speed >> 8) & 0xff; |
||||
|
||||
/* Get latitude in degrees, minutes and seconds */ |
||||
double lat = ((double)(gps.lat))*1e-7d; |
||||
|
||||
/* Set the N or S specifier */
|
||||
msg.latitude_ns = 0; |
||||
if (lat < 0) { |
||||
msg.latitude_ns = 1; |
||||
lat = abs(lat); |
||||
} |
||||
|
||||
int deg; |
||||
int min; |
||||
int sec; |
||||
convert_to_degrees_minutes_seconds(lat, °, &min, &sec); |
||||
|
||||
uint16_t lat_min = (uint16_t)(deg * 100 + min); |
||||
msg.latitude_min_L = (uint8_t)lat_min & 0xff; |
||||
msg.latitude_min_H = (uint8_t)(lat_min >> 8) & 0xff; |
||||
uint16_t lat_sec = (uint16_t)(sec); |
||||
msg.latitude_sec_L = (uint8_t)lat_sec & 0xff; |
||||
msg.latitude_sec_H = (uint8_t)(lat_sec >> 8) & 0xff; |
||||
|
||||
/* Get longitude in degrees, minutes and seconds */ |
||||
double lon = ((double)(gps.lon))*1e-7d; |
||||
|
||||
/* Set the E or W specifier */ |
||||
msg.longitude_ew = 0; |
||||
if (lon < 0) { |
||||
msg.longitude_ew = 1; |
||||
lon = abs(lon); |
||||
} |
||||
|
||||
convert_to_degrees_minutes_seconds(lon, °, &min, &sec); |
||||
|
||||
uint16_t lon_min = (uint16_t)(deg * 100 + min); |
||||
msg.longitude_min_L = (uint8_t)lon_min & 0xff; |
||||
msg.longitude_min_H = (uint8_t)(lon_min >> 8) & 0xff; |
||||
uint16_t lon_sec = (uint16_t)(sec); |
||||
msg.longitude_sec_L = (uint8_t)lon_sec & 0xff; |
||||
msg.longitude_sec_H = (uint8_t)(lon_sec >> 8) & 0xff; |
||||
|
||||
/* Altitude */ |
||||
uint16_t alt = (uint16_t)(gps.alt*1e-3 + 500.0f); |
||||
msg.altitude_L = (uint8_t)alt & 0xff; |
||||
msg.altitude_H = (uint8_t)(alt >> 8) & 0xff; |
||||
|
||||
/* Get any (and probably only ever one) home_sub postion report */ |
||||
bool updated; |
||||
orb_check(home_sub, &updated); |
||||
if (updated) { |
||||
/* get a local copy of the home position data */ |
||||
struct home_position_s home; |
||||
memset(&home, 0, sizeof(home)); |
||||
orb_copy(ORB_ID(home_position), home_sub, &home); |
||||
|
||||
home_lat = ((double)(home.lat))*1e-7d; |
||||
home_lon = ((double)(home.lon))*1e-7d; |
||||
home_position_set = true; |
||||
} |
||||
|
||||
/* Distance from home */ |
||||
if (home_position_set) { |
||||
uint16_t dist = (uint16_t)get_distance_to_next_waypoint(home_lat, home_lon, lat, lon); |
||||
|
||||
msg.distance_L = (uint8_t)dist & 0xff; |
||||
msg.distance_H = (uint8_t)(dist >> 8) & 0xff; |
||||
|
||||
/* Direction back to home */ |
||||
uint16_t bearing = (uint16_t)(get_bearing_to_next_waypoint(home_lat, home_lon, lat, lon) * M_RAD_TO_DEG_F); |
||||
msg.home_direction = (uint8_t)bearing >> 1; |
||||
} |
||||
} |
||||
|
||||
msg.stop = STOP_BYTE; |
||||
memcpy(buffer, &msg, *size); |
||||
} |
||||
|
||||
void |
||||
convert_to_degrees_minutes_seconds(double val, int *deg, int *min, int *sec) |
||||
{ |
||||
*deg = (int)val; |
||||
|
||||
double delta = val - *deg; |
||||
const double min_d = delta * 60.0d; |
||||
*min = (int)min_d; |
||||
delta = min_d - *min; |
||||
*sec = (int)(delta * 10000.0d); |
||||
} |
||||
@ -0,0 +1,268 @@
@@ -0,0 +1,268 @@
|
||||
/****************************************************************************
|
||||
* |
||||
* Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. |
||||
* Author: Simon Wilks <sjwilks@gmail.com> |
||||
* |
||||
* Redistribution and use in source and binary forms, with or without |
||||
* modification, are permitted provided that the following conditions |
||||
* are met: |
||||
* |
||||
* 1. Redistributions of source code must retain the above copyright |
||||
* notice, this list of conditions and the following disclaimer. |
||||
* 2. Redistributions in binary form must reproduce the above copyright |
||||
* notice, this list of conditions and the following disclaimer in |
||||
* the documentation and/or other materials provided with the |
||||
* distribution. |
||||
* 3. Neither the name PX4 nor the names of its contributors may be |
||||
* used to endorse or promote products derived from this software |
||||
* without specific prior written permission. |
||||
* |
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
||||
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
||||
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
||||
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
||||
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
||||
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
||||
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
||||
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
||||
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
||||
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
||||
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
||||
* POSSIBILITY OF SUCH DAMAGE. |
||||
* |
||||
****************************************************************************/ |
||||
|
||||
/**
|
||||
* @file messages.h |
||||
* @author Simon Wilks <sjwilks@gmail.com> |
||||
* |
||||
* Graupner HoTT Telemetry message generation. |
||||
* |
||||
*/ |
||||
#ifndef MESSAGES_H_ |
||||
#define MESSAGES_H |
||||
|
||||
#include <stdlib.h> |
||||
|
||||
/* The HoTT receiver demands a minimum 5ms period of silence after delivering its request.
|
||||
* Note that the value specified here is lower than 5000 (5ms) as time is lost constucting |
||||
* the message after the read which takes some milliseconds. |
||||
*/ |
||||
#define POST_READ_DELAY_IN_USECS 4000 |
||||
/* A pause of 3ms is required between each uint8_t sent back to the HoTT receiver. Much lower
|
||||
* values can be used in practise though. |
||||
*/ |
||||
#define POST_WRITE_DELAY_IN_USECS 2000 |
||||
|
||||
// Protocol constants.
|
||||
#define BINARY_MODE_REQUEST_ID 0x80 // Binary mode request.
|
||||
#define START_BYTE 0x7c |
||||
#define STOP_BYTE 0x7d |
||||
#define TEMP_ZERO_CELSIUS 0x14 |
||||
|
||||
/* The GAM Module poll message. */ |
||||
struct gam_module_poll_msg { |
||||
uint8_t mode; |
||||
uint8_t id; |
||||
}; |
||||
|
||||
/* Electric Air Module (EAM) constants. */ |
||||
#define EAM_SENSOR_ID 0x8e |
||||
#define EAM_SENSOR_TEXT_ID 0xe0 |
||||
|
||||
/* The Electric Air Module message. */ |
||||
struct eam_module_msg { |
||||
uint8_t start; /**< Start byte */ |
||||
uint8_t eam_sensor_id; /**< EAM sensor */ |
||||
uint8_t warning; |
||||
uint8_t sensor_text_id; |
||||
uint8_t alarm_inverse1; |
||||
uint8_t alarm_inverse2; |
||||
uint8_t cell1_L; /**< Lipo cell voltages. Not supported. */ |
||||
uint8_t cell2_L; |
||||
uint8_t cell3_L; |
||||
uint8_t cell4_L; |
||||
uint8_t cell5_L; |
||||
uint8_t cell6_L; |
||||
uint8_t cell7_L; |
||||
uint8_t cell1_H; |
||||
uint8_t cell2_H; |
||||
uint8_t cell3_H; |
||||
uint8_t cell4_H; |
||||
uint8_t cell5_H; |
||||
uint8_t cell6_H; |
||||
uint8_t cell7_H; |
||||
uint8_t batt1_voltage_L; /**< Battery 1 voltage, lower 8-bits in steps of 0.02V */ |
||||
uint8_t batt1_voltage_H; |
||||
uint8_t batt2_voltage_L; /**< Battery 2 voltage, lower 8-bits in steps of 0.02V */ |
||||
uint8_t batt2_voltage_H; |
||||
uint8_t temperature1; /**< Temperature sensor 1. 20 = 0 degrees */ |
||||
uint8_t temperature2; |
||||
uint8_t altitude_L; /**< Attitude (meters) lower 8-bits. 500 = 0 meters */ |
||||
uint8_t altitude_H; |
||||
uint8_t current_L; /**< Current (mAh) lower 8-bits in steps of 0.1V */ |
||||
uint8_t current_H; |
||||
uint8_t main_voltage_L; /**< Main power voltage lower 8-bits in steps of 0.1V */ |
||||
uint8_t main_voltage_H; |
||||
uint8_t battery_capacity_L; /**< Used battery capacity in steps of 10mAh */ |
||||
uint8_t battery_capacity_H; |
||||
uint8_t climbrate_L; /**< Climb rate in 0.01m/s. 0m/s = 30000 */ |
||||
uint8_t climbrate_H; |
||||
uint8_t climbrate_3s; /**< Climb rate in m/3sec. 0m/3sec = 120 */ |
||||
uint8_t rpm_L; /**< RPM Lower 8-bits In steps of 10 U/min */ |
||||
uint8_t rpm_H; |
||||
uint8_t electric_min; /**< Flight time in minutes. */ |
||||
uint8_t electric_sec; /**< Flight time in seconds. */ |
||||
uint8_t speed_L; /**< Airspeed in km/h in steps of 1 km/h */ |
||||
uint8_t speed_H; |
||||
uint8_t stop; /**< Stop byte */ |
||||
uint8_t checksum; /**< Lower 8-bits of all bytes summed. */ |
||||
}; |
||||
|
||||
/**
|
||||
* The maximum buffer size required to store an Electric Air Module message. |
||||
*/ |
||||
#define EAM_MESSAGE_BUFFER_SIZE sizeof(union { \ |
||||
struct eam_module_msg eam; \
|
||||
}) |
||||
|
||||
|
||||
/* General Air Module (GAM) constants. */ |
||||
#define GAM_SENSOR_ID 0x8d |
||||
#define GAM_SENSOR_TEXT_ID 0xd0 |
||||
|
||||
struct gam_module_msg { |
||||
uint8_t start_byte; // start byte constant value 0x7c
|
||||
uint8_t gam_sensor_id; // EAM sensort id. constat value 0x8d
|
||||
uint8_t warning_beeps; // 1=A 2=B ... 0x1a=Z 0 = no alarm
|
||||
uint8_t sensor_id; // constant value 0xd0
|
||||
uint8_t alarm_invers1; // alarm bitmask. Value is displayed inverted
|
||||
uint8_t alarm_invers2; // alarm bitmask. Value is displayed inverted
|
||||
uint8_t cell1; // cell 1 voltage lower value. 0.02V steps, 124=2.48V
|
||||
uint8_t cell2; |
||||
uint8_t cell3; |
||||
uint8_t cell4; |
||||
uint8_t cell5; |
||||
uint8_t cell6; |
||||
uint8_t batt1_L; // battery 1 voltage LSB value. 0.1V steps. 50 = 5.5V
|
||||
uint8_t batt1_H; |
||||
uint8_t batt2_L; // battery 2 voltage LSB value. 0.1V steps. 50 = 5.5V
|
||||
uint8_t batt2_H; |
||||
uint8_t temperature1; // temperature 1. offset of 20. a value of 20 = 0°C
|
||||
uint8_t temperature2; // temperature 2. offset of 20. a value of 20 = 0°C
|
||||
uint8_t fuel_procent; // Fuel capacity in %. Values 0--100
|
||||
// graphical display ranges: 0-25% 50% 75% 100%
|
||||
uint8_t fuel_ml_L; // Fuel in ml scale. Full = 65535!
|
||||
uint8_t fuel_ml_H; //
|
||||
uint8_t rpm_L; // RPM in 10 RPM steps. 300 = 3000rpm
|
||||
uint8_t rpm_H; //
|
||||
uint8_t altitude_L; // altitude in meters. offset of 500, 500 = 0m
|
||||
uint8_t altitude_H; //
|
||||
uint8_t climbrate_L; // climb rate in 0.01m/s. Value of 30000 = 0.00 m/s
|
||||
uint8_t climbrate_H; //
|
||||
uint8_t climbrate3s; // climb rate in m/3sec. Value of 120 = 0m/3sec
|
||||
uint8_t current_L; // current in 0.1A steps
|
||||
uint8_t current_H; //
|
||||
uint8_t main_voltage_L; // Main power voltage using 0.1V steps
|
||||
uint8_t main_voltage_H; //
|
||||
uint8_t batt_cap_L; // used battery capacity in 10mAh steps
|
||||
uint8_t batt_cap_H; //
|
||||
uint8_t speed_L; // (air?) speed in km/h(?) we are using ground speed here per default
|
||||
uint8_t speed_H; //
|
||||
uint8_t min_cell_volt; // minimum cell voltage in 2mV steps. 124 = 2,48V
|
||||
uint8_t min_cell_volt_num; // number of the cell with the lowest voltage
|
||||
uint8_t rpm2_L; // RPM in 10 RPM steps. 300 = 3000rpm
|
||||
uint8_t rpm2_H; //
|
||||
uint8_t general_error_number; // Voice error == 12. TODO: more docu
|
||||
uint8_t pressure; // Pressure up to 16bar. 0,1bar scale. 20 = 2bar
|
||||
uint8_t version; // version number TODO: more info?
|
||||
uint8_t stop; // stop byte
|
||||
uint8_t checksum; // checksum
|
||||
}; |
||||
|
||||
/**
|
||||
* The maximum buffer size required to store a General Air Module message. |
||||
*/ |
||||
#define GAM_MESSAGE_BUFFER_SIZE sizeof(union { \ |
||||
struct gam_module_msg gam; \
|
||||
}) |
||||
|
||||
|
||||
/* GPS sensor constants. */ |
||||
#define GPS_SENSOR_ID 0x8a |
||||
#define GPS_SENSOR_TEXT_ID 0xa0 |
||||
|
||||
/**
|
||||
* The GPS sensor message |
||||
* Struct based on: https://code.google.com/p/diy-hott-gps/downloads
|
||||
*/ |
||||
struct gps_module_msg {
|
||||
uint8_t start; /**< Start byte */ |
||||
uint8_t sensor_id; /**< GPS sensor ID*/ |
||||
uint8_t warning; /**< Byte 3: 0…= warning beeps */ |
||||
uint8_t sensor_text_id; /**< GPS Sensor text mode ID */ |
||||
uint8_t alarm_inverse1; /**< Byte 5: 01 inverse status */ |
||||
uint8_t alarm_inverse2; /**< Byte 6: 00 inverse status status 1 = no GPS Signal */ |
||||
uint8_t flight_direction; /**< Byte 7: 119 = Flightdir./dir. 1 = 2°; 0° (North), 9 0° (East), 180° (South), 270° (West) */ |
||||
uint8_t gps_speed_L; /**< Byte 8: 8 = /GPS speed low byte 8km/h */ |
||||
uint8_t gps_speed_H; /**< Byte 9: 0 = /GPS speed high byte */ |
||||
|
||||
uint8_t latitude_ns; /**< Byte 10: 000 = N = 48°39’988 */ |
||||
uint8_t latitude_min_L; /**< Byte 11: 231 0xE7 = 0x12E7 = 4839 */ |
||||
uint8_t latitude_min_H; /**< Byte 12: 018 18 = 0x12 */ |
||||
uint8_t latitude_sec_L; /**< Byte 13: 171 220 = 0xDC = 0x03DC =0988 */ |
||||
uint8_t latitude_sec_H; /**< Byte 14: 016 3 = 0x03 */ |
||||
|
||||
uint8_t longitude_ew; /**< Byte 15: 000 = E= 9° 25’9360 */ |
||||
uint8_t longitude_min_L; /**< Byte 16: 150 157 = 0x9D = 0x039D = 0925 */ |
||||
uint8_t longitude_min_H; /**< Byte 17: 003 3 = 0x03 */ |
||||
uint8_t longitude_sec_L; /**< Byte 18: 056 144 = 0x90 0x2490 = 9360*/ |
||||
uint8_t longitude_sec_H; /**< Byte 19: 004 36 = 0x24 */ |
||||
|
||||
uint8_t distance_L; /**< Byte 20: 027 123 = /distance low byte 6 = 6 m */ |
||||
uint8_t distance_H; /**< Byte 21: 036 35 = /distance high byte */ |
||||
uint8_t altitude_L; /**< Byte 22: 243 244 = /Altitude low byte 500 = 0m */ |
||||
uint8_t altitude_H; /**< Byte 23: 001 1 = /Altitude high byte */ |
||||
uint8_t resolution_L; /**< Byte 24: 48 = Low Byte m/s resolution 0.01m 48 = 30000 = 0.00m/s (1=0.01m/s) */ |
||||
uint8_t resolution_H; /**< Byte 25: 117 = High Byte m/s resolution 0.01m */ |
||||
uint8_t unknown1; /**< Byte 26: 120 = 0m/3s */ |
||||
uint8_t gps_num_sat; /**< Byte 27: GPS.Satellites (number of satelites) (1 byte) */ |
||||
uint8_t gps_fix_char; /**< Byte 28: GPS.FixChar. (GPS fix character. display, if DGPS, 2D oder 3D) (1 byte) */ |
||||
uint8_t home_direction; /**< Byte 29: HomeDirection (direction from starting point to Model position) (1 byte) */ |
||||
uint8_t angle_x_direction; /**< Byte 30: angle x-direction (1 byte) */ |
||||
uint8_t angle_y_direction; /**< Byte 31: angle y-direction (1 byte) */ |
||||
uint8_t angle_z_direction; /**< Byte 32: angle z-direction (1 byte) */ |
||||
uint8_t gyro_x_L; /**< Byte 33: gyro x low byte (2 bytes) */ |
||||
uint8_t gyro_x_H; /**< Byte 34: gyro x high byte */ |
||||
uint8_t gyro_y_L; /**< Byte 35: gyro y low byte (2 bytes) */ |
||||
uint8_t gyro_y_H; /**< Byte 36: gyro y high byte */ |
||||
uint8_t gyro_z_L; /**< Byte 37: gyro z low byte (2 bytes) */ |
||||
uint8_t gyro_z_H; /**< Byte 38: gyro z high byte */ |
||||
uint8_t vibration; /**< Byte 39: vibration (1 bytes) */ |
||||
uint8_t ascii4; /**< Byte 40: 00 ASCII Free Character [4] */ |
||||
uint8_t ascii5; /**< Byte 41: 00 ASCII Free Character [5] */ |
||||
uint8_t gps_fix; /**< Byte 42: 00 ASCII Free Character [6], we use it for GPS FIX */ |
||||
uint8_t version; /**< Byte 43: 00 version number */ |
||||
uint8_t stop; /**< Byte 44: 0x7D Ende byte */ |
||||
uint8_t checksum; /**< Byte 45: Parity Byte */ |
||||
}; |
||||
|
||||
/**
|
||||
* The maximum buffer size required to store a HoTT message. |
||||
*/ |
||||
#define GPS_MESSAGE_BUFFER_SIZE sizeof(union { \ |
||||
struct gps_module_msg gps; \
|
||||
}) |
||||
|
||||
#define MESSAGE_BUFFER_SIZE GPS_MESSAGE_BUFFER_SIZE |
||||
|
||||
void messages_init(void); |
||||
void build_gam_request(uint8_t *buffer, size_t *size); |
||||
void extract_gam_message(const uint8_t *buffer); |
||||
void build_eam_response(uint8_t *buffer, size_t *size); |
||||
void build_gps_response(uint8_t *buffer, size_t *size); |
||||
float _get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next); |
||||
void convert_to_degrees_minutes_seconds(double lat, int *deg, int *min, int *sec); |
||||
|
||||
|
||||
#endif /* MESSAGES_H_ */ |
||||
Loading…
Reference in new issue