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First steps to supporting GPS

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This commit is contained in:
Simon Wilks
2013-04-25 20:18:06 +02:00
parent 443c3f67d3
commit b666bbb55c
1 changed files with 82 additions and 17 deletions
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apps/hott_telemetry/messages.h
+82 -17
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@@ -65,13 +65,13 @@
/* The Electric Air Module message. */
struct eam_module_msg {
uint8_t start; /**< Start byte */
uint8_t eam_sensor_id; /**< EAM sensor */
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_id; /**< Sensor ID, why different? */
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;
@@ -89,27 +89,27 @@ struct eam_module_msg {
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 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_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_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_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 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 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. */
uint8_t stop; /**< Stop byte */
uint8_t checksum; /**< Lower 8-bits of all bytes summed. */
};
/**
@@ -119,7 +119,72 @@ struct eam_module_msg {
struct eam_module_msg eam; \
})
/* 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 gps_sensor_id; /**< EAM sensor */
uint8_t warning; /**< Byte 3: 0…= warning beeps */
uint8_t sensor_id; /**< Sensor ID, why different? */
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_in_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; \
})
void messages_init(void);
void build_eam_response(uint8_t *buffer, size_t *size);
void build_gps_response(uint8_t *buffer, size_t *size);
#endif /* MESSAGES_H_ */