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123 lines
4.7 KiB
123 lines
4.7 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.h |
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* |
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* Graupner HoTT Telemetry message generation. |
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* |
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*/ |
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#ifndef MESSAGES_H_ |
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#define MESSAGES_H |
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#include <stdlib.h> |
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/* The buffer size used to store messages. This must be at least as big as the number of |
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* fields in the largest message struct. |
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*/ |
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#define MESSAGE_BUFFER_SIZE 50 |
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/* The HoTT receiver demands a minimum 5ms period of silence after delivering its request. |
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* Note that the value specified here is lower than 5000 (5ms) as time is lost constucting |
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* the message after the read which takes some milliseconds. |
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*/ |
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#define POST_READ_DELAY_IN_USECS 4000 |
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/* A pause of 3ms is required between each uint8_t sent back to the HoTT receiver. Much lower |
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* values can be used in practise though. |
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*/ |
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#define POST_WRITE_DELAY_IN_USECS 2000 |
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// Protocol constants. |
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#define BINARY_MODE_REQUEST_ID 0x80 // Binary mode request. |
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#define START_BYTE 0x7c |
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#define STOP_BYTE 0x7d |
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#define TEMP_ZERO_CELSIUS 0x14 |
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/* Electric Air Module (EAM) constants. */ |
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#define ELECTRIC_AIR_MODULE 0x8e |
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#define EAM_SENSOR_ID 0xe0 |
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/* The Electric Air Module message. */ |
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struct eam_module_msg { |
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uint8_t start; /**< Start byte */ |
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uint8_t eam_sensor_id; /**< EAM sensor ID */ |
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uint8_t warning; |
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uint8_t sensor_id; /**< Sensor ID, why different? */ |
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uint8_t alarm_inverse1; |
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uint8_t alarm_inverse2; |
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uint8_t cell1_L; /**< Lipo cell voltages. Not supported. */ |
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uint8_t cell2_L; |
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uint8_t cell3_L; |
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uint8_t cell4_L; |
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uint8_t cell5_L; |
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uint8_t cell6_L; |
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uint8_t cell7_L; |
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uint8_t cell1_H; |
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uint8_t cell2_H; |
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uint8_t cell3_H; |
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uint8_t cell4_H; |
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uint8_t cell5_H; |
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uint8_t cell6_H; |
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uint8_t cell7_H; |
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uint8_t batt1_voltage_L; /**< Battery 1 voltage, lower 8-bits in steps of 0.02V */ |
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uint8_t batt1_voltage_H; |
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uint8_t batt2_voltage_L; /**< Battery 2 voltage, lower 8-bits in steps of 0.02V */ |
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uint8_t batt2_voltage_H; |
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uint8_t temperature1; /**< Temperature sensor 1. 20 = 0 degrees */ |
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uint8_t temperature2; |
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uint8_t altitude_L; /**< Attitude (meters) lower 8-bits. 500 = 0 meters */ |
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uint8_t altitude_H; |
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uint8_t current_L; /**< Current (mAh) lower 8-bits in steps of 0.1V */ |
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uint8_t current_H; |
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uint8_t main_voltage_L; /**< Main power voltage lower 8-bits in steps of 0.1V */ |
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uint8_t main_voltage_H; |
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uint8_t battery_capacity_L; /**< Used battery capacity in steps of 10mAh */ |
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uint8_t battery_capacity_H; |
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uint8_t climbrate_L; /**< Climb rate in 0.01m/s. 0m/s = 30000 */ |
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uint8_t climbrate_H; |
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uint8_t climbrate_3s; /**< Climb rate in m/3sec. 0m/3sec = 120 */ |
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uint8_t rpm_L; /**< RPM Lower 8-bits In steps of 10 U/min */ |
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uint8_t rpm_H; |
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uint8_t electric_min; /**< Flight time in minutes. */ |
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uint8_t electric_sec; /**< Flight time in seconds. */ |
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uint8_t speed_L; /**< Airspeed in km/h in steps of 1 km/h */ |
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uint8_t speed_H; |
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uint8_t stop; /**< Stop byte */ |
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uint8_t checksum; /**< Lower 8-bits of all bytes summed. */ |
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}; |
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void messages_init(void); |
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void build_eam_response(uint8_t *buffer, int *size); |
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#endif /* MESSAGES_H_ */
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