Ghost protocol

ghst: add ghost protocol
2026-11-11 22:21:36 +08:00 · 2021-02-20 11:29:57 +01:00
parent 711a69854b
commit 64342f568d
12 changed files with 781 additions and 32 deletions
@@ -0,0 +1,85 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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 ghst_telemetry.cpp
+ *
+ * IRC Ghost (Immersion RC Ghost) telemetry.
+ *
+ * @author Igor Misic <igy1000mb@gmail.com>
+ * @author Juraj Ciberlin <jciberlin1@gmail.com>
+ */
+
+#include "ghst_telemetry.h"
+#include <lib/rc/ghst.h>
+
+GHSTTelemetry::GHSTTelemetry(int uart_fd) :
+	_uart_fd(uart_fd)
+{
+}
+
+bool GHSTTelemetry::update(const hrt_abstime &now)
+{
+	const int update_rate_hz = 10;
+
+	if (now - _last_update <= 1_s / (update_rate_hz * num_data_types)) {
+		return false;
+	}
+
+	bool sent = false;
+
+	switch (_next_type) {
+	case 0:
+		sent = send_battery_status();
+		break;
+	}
+
+	_last_update = now;
+	_next_type = (_next_type + 1) % num_data_types;
+
+	return sent;
+}
+
+bool GHSTTelemetry::send_battery_status()
+{
+	battery_status_s battery_status;
+
+	if (!_battery_status_sub.update(&battery_status)) {
+		return false;
+	}
+
+	uint16_t voltage = battery_status.voltage_filtered_v * 10;
+	uint16_t current = battery_status.current_filtered_a * 10;
+	uint16_t fuel = battery_status.discharged_mah;
+	return ghst_send_telemetry_battery(_uart_fd, voltage, current, fuel);
+}