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Merge pull request #337 from sjwilks/hott-esc

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Driver for the reading Graupner HoTT sensors (such as their ESC range) via the telemetry port
This commit is contained in:
Lorenz Meier 2013-07-13 16:09:35 -07:00
commit 60ce9759d9
10 changed files with 650 additions and 126 deletions
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3
makefiles/config_px4fmu-v1_default.mk
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@ -27,7 +27,8 @@ MODULES += drivers/ms5611
MODULES += drivers/mb12xx
MODULES += drivers/gps
MODULES += drivers/hil
MODULES += drivers/hott_telemetry
MODULES += drivers/hott/hott_telemetry
MODULES += drivers/hott/hott_sensors
MODULES += drivers/blinkm
MODULES += drivers/mkblctrl
MODULES += drivers/md25

92
src/drivers/hott/comms.cpp Normal file
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@ -0,0 +1,92 @@
/****************************************************************************
*
* Copyright (c) 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.
*
****************************************************************************/
/**
* @file comms.c
* @author Simon Wilks <sjwilks@gmail.com>
*
*/
#include "comms.h"
#include <fcntl.h>
#include <stdio.h>
#include <sys/ioctl.h>
#include <systemlib/err.h>
#include <termios.h>
int
open_uart(const char *device)
{
/* baud rate */
static const speed_t speed = B19200;
/* open uart */
const int uart = open(device, O_RDWR | O_NOCTTY);
if (uart < 0) {
err(1, "Error opening port: %s", device);
}
/* Back up the original uart configuration to restore it after exit */
int termios_state;
struct termios uart_config_original;
if ((termios_state = tcgetattr(uart, &uart_config_original)) < 0) {
close(uart);
err(1, "Error getting baudrate / termios config for %s: %d", device, termios_state);
}
/* Fill the struct for the new configuration */
struct termios uart_config;
tcgetattr(uart, &uart_config);
/* Clear ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag &= ~ONLCR;
/* Set baud rate */
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
close(uart);
err(1, "Error setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)",
device, termios_state);
}
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
close(uart);
err(1, "Error setting baudrate / termios config for %s (tcsetattr)", device);
}
/* Activate single wire mode */
ioctl(uart, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
return uart;
}

46
src/drivers/hott/comms.h Normal file
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@ -0,0 +1,46 @@
/****************************************************************************
*
* Copyright (c) 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.
*
****************************************************************************/
/**
* @file comms.h
* @author Simon Wilks <sjwilks@gmail.com>
*
*/
#ifndef COMMS_H_
#define COMMS_H
int open_uart(const char *device);
#endif /* COMMS_H_ */

238
src/drivers/hott/hott_sensors/hott_sensors.cpp Normal file
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@ -0,0 +1,238 @@
/****************************************************************************
*
* 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 hott_sensors.c
* @author Simon Wilks <sjwilks@gmail.com>
*
* Graupner HoTT sensor driver implementation.
*
* Poll any sensors connected to the PX4 via the telemetry wire.
*/
#include <fcntl.h>
#include <nuttx/config.h>
#include <poll.h>
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
#include "../comms.h"
#include "../messages.h"
#define DEFAULT_UART "/dev/ttyS0"; /**< USART1 */
/* Oddly, ERROR is not defined for C++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
static int thread_should_exit = false; /**< Deamon exit flag */
static int thread_running = false; /**< Deamon status flag */
static int deamon_task; /**< Handle of deamon task / thread */
static const char daemon_name[] = "hott_sensors";
static const char commandline_usage[] = "usage: hott_sensors start|status|stop [-d <device>]";
/**
* Deamon management function.
*/
extern "C" __EXPORT int hott_sensors_main(int argc, char *argv[]);
/**
* Mainloop of daemon.
*/
int hott_sensors_thread_main(int argc, char *argv[]);
static int recv_data(int uart, uint8_t *buffer, size_t *size, uint8_t *id);
static int send_poll(int uart, uint8_t *buffer, size_t size);
int
send_poll(int uart, uint8_t *buffer, size_t size)
{
for (size_t i = 0; i < size; 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
recv_data(int uart, uint8_t *buffer, size_t *size, uint8_t *id)
{
static const int timeout_ms = 1000;
struct pollfd fds;
fds.fd = uart;
fds.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]));
if (stop_byte_read) {
// XXX 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
hott_sensors_thread_main(int argc, char *argv[])
{
warnx("starting");
thread_running = true;
const char *device = DEFAULT_UART;
/* 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 */
const int uart = open_uart(device);
if (uart < 0) {
errx(1, "Failed opening HoTT UART, exiting.");
thread_running = false;
}
init_pub_messages();
uint8_t buffer[MAX_MESSAGE_BUFFER_SIZE];
size_t size = 0;
uint8_t id = 0;
while (!thread_should_exit) {
// Currently we only support a General Air Module sensor.
build_gam_request(&buffer[0], &size);
send_poll(uart, buffer, size);
// The sensor will need a little time before it starts sending.
usleep(5000);
recv_data(uart, &buffer[0], &size, &id);
// Determine which moduel sent it and process accordingly.
if (id == GAM_SENSOR_ID) {
publish_gam_message(buffer);
} else {
warnx("Unknown sensor ID: %d", id);
}
}
warnx("exiting");
close(uart);
thread_running = false;
return 0;
}
/**
* Process command line arguments and start the daemon.
*/
int
hott_sensors_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_cmd(daemon_name,
SCHED_DEFAULT,
SCHED_PRIORITY_MAX - 40,
1024,
hott_sensors_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);
}

42
src/drivers/hott/hott_sensors/module.mk Normal file
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@ -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 Sensors application.
#
MODULE_COMMAND = hott_sensors
SRCS = hott_sensors.cpp \
../messages.cpp \
../comms.cpp

86
src/drivers/hott_telemetry/hott_telemetry_main.c → src/drivers/hott/hott_telemetry/hott_telemetry.cpp
View File

@ -41,7 +41,6 @@
* The HoTT receiver polls each device at a regular interval at which point
* a data packet can be returned if necessary.
*
* TODO: Add support for at least the vario and GPS sensor data.
*/
#include <fcntl.h>
@ -50,13 +49,21 @@
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <termios.h>
#include <sys/ioctl.h>
#include <unistd.h>
#include <systemlib/err.h>
#include <systemlib/systemlib.h>
#include "messages.h"
#include "../comms.h"
#include "../messages.h"
#define DEFAULT_UART "/dev/ttyS0"; /**< USART1 */
/* Oddly, ERROR is not defined for C++ */
#ifdef ERROR
# undef ERROR
#endif
static const int ERROR = -1;
static int thread_should_exit = false; /**< Deamon exit flag */
static int thread_running = false; /**< Deamon status flag */
@ -67,7 +74,7 @@ static const char commandline_usage[] = "usage: hott_telemetry start|status|stop
/**
* Deamon management function.
*/
__EXPORT int hott_telemetry_main(int argc, char *argv[]);
extern "C" __EXPORT int hott_telemetry_main(int argc, char *argv[]);
/**
* Mainloop of daemon.
@ -77,60 +84,18 @@ int hott_telemetry_thread_main(int argc, char *argv[]);
static int recv_req_id(int uart, uint8_t *id);
static int send_data(int uart, uint8_t *buffer, size_t size);
static int
open_uart(const char *device, struct termios *uart_config_original)
{
/* baud rate */
static const speed_t speed = B19200;
/* open uart */
const int uart = open(device, O_RDWR | O_NOCTTY);
if (uart < 0) {
err(1, "Error opening port: %s", device);
}
/* Back up the original uart configuration to restore it after exit */
int termios_state;
if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
close(uart);
err(1, "Error getting baudrate / termios config for %s: %d", device, termios_state);
}
/* Fill the struct for the new configuration */
struct termios uart_config;
tcgetattr(uart, &uart_config);
/* Clear ONLCR flag (which appends a CR for every LF) */
uart_config.c_oflag &= ~ONLCR;
/* Set baud rate */
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
close(uart);
err(1, "Error setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)",
device, termios_state);
}
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
close(uart);
err(1, "Error setting baudrate / termios config for %s (tcsetattr)", device);
}
/* Activate single wire mode */
ioctl(uart, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
return uart;
}
int
recv_req_id(int uart, uint8_t *id)
{
static const int timeout_ms = 1000; // TODO make it a define
struct pollfd fds[] = { { .fd = uart, .events = POLLIN } };
uint8_t mode;
struct pollfd fds;
fds.fd = uart;
fds.events = POLLIN;
if (poll(fds, 1, timeout_ms) > 0) {
if (poll(&fds, 1, timeout_ms) > 0) {
/* Get the mode: binary or text */
read(uart, &mode, sizeof(mode));
@ -155,7 +120,6 @@ 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. */
@ -186,7 +150,7 @@ hott_telemetry_thread_main(int argc, char *argv[])
thread_running = true;
const char *device = "/dev/ttyS1"; /**< Default telemetry port: USART2 */
const char *device = DEFAULT_UART;
/* read commandline arguments */
for (int i = 0; i < argc && argv[i]; i++) {
@ -202,22 +166,20 @@ hott_telemetry_thread_main(int argc, char *argv[])
}
/* 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);
const int uart = open_uart(device);
if (uart < 0) {
errx(1, "Failed opening HoTT UART, exiting.");
thread_running = false;
}
messages_init();
init_sub_messages();
uint8_t buffer[MESSAGE_BUFFER_SIZE];
uint8_t buffer[MAX_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;
@ -228,7 +190,9 @@ hott_telemetry_thread_main(int argc, char *argv[])
case EAM_SENSOR_ID:
build_eam_response(buffer, &size);
break;
case GAM_SENSOR_ID:
build_gam_response(buffer, &size);
break;
case GPS_SENSOR_ID:
build_gps_response(buffer, &size);
break;
@ -254,7 +218,7 @@ hott_telemetry_thread_main(int argc, char *argv[])
}
/**
* Process command line arguments and tart the daemon.
* Process command line arguments and start the daemon.
*/
int
hott_telemetry_main(int argc, char *argv[])

7
src/drivers/hott_telemetry/module.mk → src/drivers/hott/hott_telemetry/module.mk
View File

@ -32,10 +32,11 @@
############################################################################
#
# Graupner HoTT Telemetry application.
# Graupner HoTT Telemetry applications.
#
MODULE_COMMAND = hott_telemetry
SRCS = hott_telemetry_main.c \
messages.c
SRCS = hott_telemetry.cpp \
../messages.cpp \
../comms.cpp

152
src/drivers/hott_telemetry/messages.c → src/drivers/hott/messages.cpp
View File

@ -46,6 +46,7 @@
#include <unistd.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/esc_status.h>
#include <uORB/topics/home_position.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_gps_position.h>
@ -53,24 +54,75 @@
/* 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 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 int _esc_sub = -1;
static bool home_position_set = false;
static double home_lat = 0.0d;
static double home_lon = 0.0d;
static orb_advert_t _esc_pub;
struct esc_status_s _esc;
static bool _home_position_set = false;
static double _home_lat = 0.0d;
static double _home_lon = 0.0d;
void
messages_init(void)
init_sub_messages(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));
_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));
_esc_sub = orb_subscribe(ORB_ID(esc_status));
}
void
init_pub_messages(void)
{
memset(&_esc, 0, sizeof(_esc));
_esc_pub = orb_advertise(ORB_ID(esc_status), &_esc);
}
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
publish_gam_message(const uint8_t *buffer)
{
struct gam_module_msg msg;
size_t size = sizeof(msg);
memset(&msg, 0, size);
memcpy(&msg, buffer, size);
/* announce the esc if needed, just publish else */
if (_esc_pub > 0) {
orb_publish(ORB_ID(esc_status), _esc_pub, &_esc);
} else {
_esc_pub = orb_advertise(ORB_ID(esc_status), &_esc);
}
// Publish it.
_esc.esc_count = 1;
_esc.esc_connectiontype = ESC_CONNECTION_TYPE_PPM;
_esc.esc[0].esc_vendor = ESC_VENDOR_GRAUPNER_HOTT;
_esc.esc[0].esc_rpm = (uint16_t)((msg.rpm_H << 8) | (msg.rpm_L & 0xff)) * 10;
_esc.esc[0].esc_temperature = msg.temperature1 - 20;
_esc.esc[0].esc_voltage = (uint16_t)((msg.main_voltage_H << 8) | (msg.main_voltage_L & 0xff));
_esc.esc[0].esc_current = (uint16_t)((msg.current_H << 8) | (msg.current_L & 0xff));
}
void
@ -79,12 +131,12 @@ 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);
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);
orb_copy(ORB_ID(battery_status), _battery_sub, &battery);
struct eam_module_msg msg;
*size = sizeof(msg);
@ -92,7 +144,7 @@ build_eam_response(uint8_t *buffer, size_t *size)
msg.start = START_BYTE;
msg.eam_sensor_id = EAM_SENSOR_ID;
msg.sensor_id = EAM_SENSOR_TEXT_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;
@ -106,12 +158,46 @@ build_eam_response(uint8_t *buffer, size_t *size)
/* 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);
orb_copy(ORB_ID(airspeed), _airspeed_sub, &airspeed);
uint16_t speed = (uint16_t)(airspeed.indicated_airspeed_m_s * 3.6f);
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_gam_response(uint8_t *buffer, size_t *size)
{
/* get a local copy of the ESC Status values */
struct esc_status_s esc;
memset(&esc, 0, sizeof(esc));
orb_copy(ORB_ID(esc_status), _esc_sub, &esc);
struct gam_module_msg msg;
*size = sizeof(msg);
memset(&msg, 0, *size);
msg.start = START_BYTE;
msg.gam_sensor_id = GAM_SENSOR_ID;
msg.sensor_text_id = GAM_SENSOR_TEXT_ID;
msg.temperature1 = (uint8_t)(esc.esc[0].esc_temperature + 20);
msg.temperature2 = 20; // 0 deg. C.
uint16_t voltage = (uint16_t)(esc.esc[0].esc_voltage);
msg.main_voltage_L = (uint8_t)voltage & 0xff;
msg.main_voltage_H = (uint8_t)(voltage >> 8) & 0xff;
uint16_t current = (uint16_t)(esc.esc[0].esc_current);
msg.current_L = (uint8_t)current & 0xff;
msg.current_H = (uint8_t)(current >> 8) & 0xff;
uint16_t rpm = (uint16_t)(esc.esc[0].esc_rpm * 0.1f);
msg.rpm_L = (uint8_t)rpm & 0xff;
msg.rpm_H = (uint8_t)(rpm >> 8) & 0xff;
msg.stop = STOP_BYTE;
memcpy(buffer, &msg, *size);
@ -123,14 +209,14 @@ 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);
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);
orb_copy(ORB_ID(vehicle_gps_position), _gps_sub, &gps);
struct gps_module_msg msg = { 0 };
struct gps_module_msg msg;
*size = sizeof(msg);
memset(&msg, 0, *size);
@ -150,7 +236,7 @@ build_gps_response(uint8_t *buffer, size_t *size)
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);
uint16_t speed = (uint16_t)(gps.vel_m_s * 3.6f);
msg.gps_speed_L = (uint8_t)speed & 0xff;
msg.gps_speed_H = (uint8_t)(speed >> 8) & 0xff;
@ -196,33 +282,33 @@ build_gps_response(uint8_t *buffer, size_t *size)
msg.longitude_sec_H = (uint8_t)(lon_sec >> 8) & 0xff;
/* Altitude */
uint16_t alt = (uint16_t)(gps.alt*1e-3 + 500.0f);
uint16_t alt = (uint16_t)(gps.alt*1e-3f + 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 */
/* Get any (and probably only ever one) _home_sub postion report */
bool updated;
orb_check(home_sub, &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);
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;
_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);
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);
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;
}
}

107
src/drivers/hott_telemetry/messages.h → src/drivers/hott/messages.h
View File

@ -60,19 +60,25 @@
#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 start; /**< Start byte */
uint8_t eam_sensor_id; /**< EAM sensor */
uint8_t warning;
uint8_t sensor_id; /**< Sensor ID, why different? */
uint8_t sensor_text_id;
uint8_t alarm_inverse1;
uint8_t alarm_inverse2;
uint8_t cell1_L; /**< Lipo cell voltages. Not supported. */
uint8_t cell1_L; /**< Lipo cell voltages. Not supported. */
uint8_t cell2_L;
uint8_t cell3_L;
uint8_t cell4_L;
@ -92,9 +98,9 @@ struct eam_module_msg {
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_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_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;
@ -103,35 +109,82 @@ struct eam_module_msg {
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_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_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. */
uint8_t stop; /**< Stop byte */
uint8_t checksum; /**< Lower 8-bits of all bytes summed. */
};
/**
* The maximum buffer size required to store a HoTT message.
*/
#define 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; // 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_text_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
};
/* GPS sensor constants. */
#define GPS_SENSOR_ID 0x8A
#define GPS_SENSOR_TEXT_ID 0xA0
#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 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 */
@ -179,15 +232,15 @@ struct gps_module_msg {
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; \
})
// The maximum size of a message.
#define MAX_MESSAGE_BUFFER_SIZE 45
void messages_init(void);
void init_sub_messages(void);
void init_pub_messages(void);
void build_gam_request(uint8_t *buffer, size_t *size);
void publish_gam_message(const uint8_t *buffer);
void build_eam_response(uint8_t *buffer, size_t *size);
void build_gam_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);

3
src/modules/uORB/topics/esc_status.h
View File

@ -63,7 +63,8 @@
enum ESC_VENDOR {
ESC_VENDOR_GENERIC = 0, /**< generic ESC */
ESC_VENDOR_MIKROKOPTER /**< Mikrokopter */
ESC_VENDOR_MIKROKOPTER, /**< Mikrokopter */
ESC_VENDOR_GRAUPNER_HOTT /**< Graupner HoTT ESC */
};
enum ESC_CONNECTION_TYPE {