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87 lines
3.0 KiB
87 lines
3.0 KiB
/**************************************************************************** |
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* |
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* Copyright (C) 2012 PX4 Development Team. All rights reserved. |
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* Author: @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 |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* 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 |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* 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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* @file messages.c |
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* |
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*/ |
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#include "messages.h" |
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#include <string.h> |
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#include <systemlib/systemlib.h> |
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#include <unistd.h> |
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#include <uORB/topics/battery_status.h> |
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#include <uORB/topics/sensor_combined.h> |
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static int battery_sub = -1; |
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static int sensor_sub = -1; |
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void messages_init(void) |
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{ |
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battery_sub = orb_subscribe(ORB_ID(battery_status)); |
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sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); |
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} |
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void build_eam_response(uint8_t *buffer, int *size) |
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{ |
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/* get a local copy of the current sensor values */ |
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struct sensor_combined_s raw; |
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memset(&raw, 0, sizeof(raw)); |
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orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw); |
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/* get a local copy of the battery data */ |
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struct battery_status_s battery; |
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memset(&battery, 0, sizeof(battery)); |
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orb_copy(ORB_ID(battery_status), battery_sub, &battery); |
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struct eam_module_msg msg; |
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*size = sizeof(msg); |
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memset(&msg, 0, *size); |
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msg.start = START_BYTE; |
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msg.eam_sensor_id = ELECTRIC_AIR_MODULE; |
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msg.sensor_id = EAM_SENSOR_ID; |
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msg.temperature1 = (uint8_t)(raw.baro_temp_celcius + 20); |
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msg.temperature2 = TEMP_ZERO_CELSIUS; |
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msg.main_voltage_L = (uint8_t)(battery.voltage_v * 10); |
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uint16_t alt = (uint16_t)(raw.baro_alt_meter + 500); |
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msg.altitude_L = (uint8_t)alt & 0xff; |
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msg.altitude_H = (uint8_t)(alt >> 8) & 0xff; |
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msg.stop = STOP_BYTE; |
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memcpy(buffer, &msg, *size); |
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} |