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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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organize all telemetry drivers in subdirectory
This commit is contained in:
Daniel Agar
committed by
Lorenz Meier
Lorenz Meier
parent
681e351f62
commit
c459a04b9b
@@ -0,0 +1,45 @@
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############################################################################
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#
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# Copyright (c) 2015 PX4 Development Team. All rights reserved.
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#
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# 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
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# POSSIBILITY OF SUCH DAMAGE.
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#
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############################################################################
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px4_add_module(
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MODULE drivers__frsky_telemetry
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MAIN frsky_telemetry
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STACK_MAIN 1200
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COMPILE_FLAGS
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SRCS
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frsky_data.c
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sPort_data.c
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frsky_telemetry.c
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DEPENDS
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platforms__common
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)
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# vim: set noet ft=cmake fenc=utf-8 ff=unix :
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@@ -0,0 +1,81 @@
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/****************************************************************************
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*
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* Copyright (c) 2017 PX4 Development Team. All rights reserved.
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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
|
||||
* are met:
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||||
*
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||||
* 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.
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||||
* 3. Neither the name PX4 nor the names of its contributors may be
|
||||
* 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
|
||||
* 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,
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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 common.h
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*
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* common declarations
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*
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*/
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#pragma once
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#include <stdint.h>
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/* FrSky sensor hub data IDs */
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#define FRSKY_ID_GPS_ALT_BP 0x01
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#define FRSKY_ID_TEMP1 0x02
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#define FRSKY_ID_RPM 0x03
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#define FRSKY_ID_FUEL 0x04
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#define FRSKY_ID_TEMP2 0x05
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#define FRSKY_ID_VOLTS 0x06
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#define FRSKY_ID_GPS_ALT_AP 0x09
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#define FRSKY_ID_BARO_ALT_BP 0x10
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#define FRSKY_ID_GPS_SPEED_BP 0x11
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#define FRSKY_ID_GPS_LONG_BP 0x12
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#define FRSKY_ID_GPS_LAT_BP 0x13
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#define FRSKY_ID_GPS_COURS_BP 0x14
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#define FRSKY_ID_GPS_DAY_MONTH 0x15
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#define FRSKY_ID_GPS_YEAR 0x16
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#define FRSKY_ID_GPS_HOUR_MIN 0x17
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#define FRSKY_ID_GPS_SEC 0x18
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#define FRSKY_ID_GPS_SPEED_AP 0x19
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#define FRSKY_ID_GPS_LONG_AP 0x1A
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#define FRSKY_ID_GPS_LAT_AP 0x1B
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#define FRSKY_ID_GPS_COURS_AP 0x1C
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#define FRSKY_ID_BARO_ALT_AP 0x21
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#define FRSKY_ID_GPS_LONG_EW 0x22
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#define FRSKY_ID_GPS_LAT_NS 0x23
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#define FRSKY_ID_ACCEL_X 0x24
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#define FRSKY_ID_ACCEL_Y 0x25
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#define FRSKY_ID_ACCEL_Z 0x26
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#define FRSKY_ID_CURRENT 0x28
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#define FRSKY_ID_VARIO 0x30
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#define FRSKY_ID_VFAS 0x39
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#define FRSKY_ID_VOLTS_BP 0x3A
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#define FRSKY_ID_VOLTS_AP 0x3B
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/**
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* Map the PX4 flight mode (vehicle_status_s::nav_state) to the telemetry flight mode
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*/
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uint16_t get_telemetry_flight_mode(int px4_flight_mode);
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@@ -0,0 +1,390 @@
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/****************************************************************************
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*
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* Copyright (c) 2013-2017 PX4 Development Team. All rights reserved.
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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
|
||||
* 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.
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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
|
||||
* 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
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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 frsky_data.c
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*
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* @author Stefan Rado <px4@sradonia.net>
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*
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* FrSky telemetry implementation.
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*
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*/
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#include "frsky_data.h"
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#include "common.h"
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#include <stdlib.h>
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#include <stdio.h>
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#include <string.h>
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#include <stdbool.h>
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#include <arch/math.h>
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#include <geo/geo.h>
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#include <stdbool.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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#include <uORB/topics/vehicle_global_position.h>
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#include <uORB/topics/vehicle_gps_position.h>
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#include <uORB/topics/vehicle_status.h>
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#include <drivers/drv_hrt.h>
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#define frac(f) (f - (int)f)
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struct frsky_subscription_data_s {
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struct battery_status_s battery_status;
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struct vehicle_global_position_s global_pos;
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struct sensor_combined_s sensor_combined;
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struct vehicle_gps_position_s vehicle_gps_position;
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uint8_t current_flight_mode; // == vehicle_status.nav_state
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int battery_status_sub;
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int vehicle_global_position_sub;
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int sensor_sub;
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int vehicle_gps_position_sub;
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int vehicle_status_sub;
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};
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static struct frsky_subscription_data_s *subscription_data = NULL;
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/**
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* Initializes the uORB subscriptions.
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*/
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bool frsky_init()
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{
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subscription_data = (struct frsky_subscription_data_s *)calloc(1, sizeof(struct frsky_subscription_data_s));
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if (!subscription_data) {
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return false;
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}
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subscription_data->battery_status_sub = orb_subscribe(ORB_ID(battery_status));
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subscription_data->vehicle_global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position));
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subscription_data->sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
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subscription_data->vehicle_gps_position_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
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subscription_data->vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
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return true;
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}
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void frsky_deinit()
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{
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if (subscription_data) {
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orb_unsubscribe(subscription_data->battery_status_sub);
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orb_unsubscribe(subscription_data->vehicle_global_position_sub);
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orb_unsubscribe(subscription_data->sensor_sub);
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orb_unsubscribe(subscription_data->vehicle_gps_position_sub);
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orb_unsubscribe(subscription_data->vehicle_status_sub);
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free(subscription_data);
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subscription_data = NULL;
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}
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}
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/**
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* Sends a 0x5E start/stop byte.
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*/
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static void frsky_send_startstop(int uart)
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{
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static const uint8_t c = 0x5E;
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write(uart, &c, sizeof(c));
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}
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/**
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* Sends one byte, performing byte-stuffing if necessary.
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*/
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static void frsky_send_byte(int uart, uint8_t value)
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{
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const uint8_t x5E[] = { 0x5D, 0x3E };
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const uint8_t x5D[] = { 0x5D, 0x3D };
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switch (value) {
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case 0x5E:
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write(uart, x5E, sizeof(x5E));
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break;
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case 0x5D:
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write(uart, x5D, sizeof(x5D));
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break;
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default:
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write(uart, &value, sizeof(value));
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break;
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}
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}
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/**
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* Sends one data id/value pair.
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*/
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static void frsky_send_data(int uart, uint8_t id, int16_t data)
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{
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/* Cast data to unsigned, because signed shift might behave incorrectly */
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uint16_t udata = data;
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frsky_send_startstop(uart);
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frsky_send_byte(uart, id);
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frsky_send_byte(uart, udata); /* LSB */
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frsky_send_byte(uart, udata >> 8); /* MSB */
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}
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void frsky_update_topics()
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{
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struct frsky_subscription_data_s *subs = subscription_data;
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bool updated;
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/* get a local copy of the current sensor values */
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orb_check(subs->sensor_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(sensor_combined), subs->sensor_sub, &subs->sensor_combined);
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}
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/* get a local copy of the vehicle status */
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orb_check(subs->vehicle_status_sub, &updated);
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if (updated) {
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struct vehicle_status_s vehicle_status;
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orb_copy(ORB_ID(vehicle_status), subs->vehicle_status_sub, &vehicle_status);
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subs->current_flight_mode = vehicle_status.nav_state;
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}
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/* get a local copy of the battery data */
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orb_check(subs->battery_status_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(battery_status), subs->battery_status_sub, &subs->battery_status);
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}
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/* get a local copy of the global position data */
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orb_check(subs->vehicle_global_position_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(vehicle_global_position), subs->vehicle_global_position_sub, &subs->global_pos);
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}
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/* get a local copy of the raw GPS data */
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orb_check(subs->vehicle_gps_position_sub, &updated);
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if (updated) {
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orb_copy(ORB_ID(vehicle_gps_position), subs->vehicle_gps_position_sub, &subs->vehicle_gps_position);
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}
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}
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/**
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* Sends frame 1 (every 200ms):
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* acceleration values, barometer altitude, temperature, battery voltage & current
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*/
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void frsky_send_frame1(int uart)
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{
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struct frsky_subscription_data_s *subs = subscription_data;
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/* send formatted frame */
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frsky_send_data(uart, FRSKY_ID_ACCEL_X, roundf(subs->sensor_combined.accelerometer_m_s2[0] * 1000.0f));
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frsky_send_data(uart, FRSKY_ID_ACCEL_Y, roundf(subs->sensor_combined.accelerometer_m_s2[1] * 1000.0f));
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frsky_send_data(uart, FRSKY_ID_ACCEL_Z, roundf(subs->sensor_combined.accelerometer_m_s2[2] * 1000.0f));
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frsky_send_data(uart, FRSKY_ID_BARO_ALT_BP,
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subs->sensor_combined.baro_alt_meter);
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frsky_send_data(uart, FRSKY_ID_BARO_ALT_AP,
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roundf(frac(subs->sensor_combined.baro_alt_meter) * 100.0f));
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frsky_send_data(uart, FRSKY_ID_VFAS,
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roundf(subs->battery_status.voltage_v * 10.0f));
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frsky_send_data(uart, FRSKY_ID_CURRENT,
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(subs->battery_status.current_a < 0) ? 0 : roundf(subs->battery_status.current_a * 10.0f));
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int16_t telem_flight_mode = get_telemetry_flight_mode(subs->current_flight_mode);
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frsky_send_data(uart, FRSKY_ID_TEMP1, telem_flight_mode); // send flight mode as TEMP1. This matches with OpenTX & APM
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frsky_send_data(uart, FRSKY_ID_TEMP2, subs->vehicle_gps_position.satellites_used * 10 +
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subs->vehicle_gps_position.fix_type);
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frsky_send_startstop(uart);
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}
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/**
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* Formats the decimal latitude/longitude to the required degrees/minutes.
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*/
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static float frsky_format_gps(float dec)
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{
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float dm_deg = (int) dec;
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return (dm_deg * 100.0f) + (dec - dm_deg) * 60;
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}
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/**
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* Sends frame 2 (every 1000ms):
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* GPS course, latitude, longitude, ground speed, GPS altitude, remaining battery level
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*/
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void frsky_send_frame2(int uart)
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{
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struct vehicle_global_position_s *global_pos = &subscription_data->global_pos;
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struct battery_status_s *battery_status = &subscription_data->battery_status;
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struct vehicle_gps_position_s *gps = &subscription_data->vehicle_gps_position;
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/* send formatted frame */
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float course = 0, lat = 0, lon = 0, speed = 0, alt = 0;
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char lat_ns = 0, lon_ew = 0;
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int sec = 0;
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if (global_pos->timestamp != 0 && hrt_absolute_time() < global_pos->timestamp + 20000) {
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course = global_pos->yaw / M_PI_F * 180.0f;
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if (course < 0.f) { // course is in range [0, 360], 0=north, CW
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course += 360.f;
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}
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lat = frsky_format_gps(fabsf(global_pos->lat));
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lat_ns = (global_pos->lat < 0) ? 'S' : 'N';
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lon = frsky_format_gps(fabsf(global_pos->lon));
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lon_ew = (global_pos->lon < 0) ? 'W' : 'E';
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speed = sqrtf(global_pos->vel_n * global_pos->vel_n + global_pos->vel_e * global_pos->vel_e)
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* 25.0f / 46.0f;
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alt = global_pos->alt;
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}
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if (gps->timestamp != 0 && hrt_absolute_time() < gps->timestamp + 20000) {
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time_t time_gps = gps->time_utc_usec / 1000000ULL;
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struct tm *tm_gps = gmtime(&time_gps);
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sec = tm_gps->tm_sec;
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}
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frsky_send_data(uart, FRSKY_ID_GPS_COURS_BP, course);
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frsky_send_data(uart, FRSKY_ID_GPS_COURS_AP, frac(course) * 1000.0f);
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frsky_send_data(uart, FRSKY_ID_GPS_LAT_BP, lat);
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frsky_send_data(uart, FRSKY_ID_GPS_LAT_AP, frac(lat) * 10000.0f);
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frsky_send_data(uart, FRSKY_ID_GPS_LAT_NS, lat_ns);
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frsky_send_data(uart, FRSKY_ID_GPS_LONG_BP, lon);
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frsky_send_data(uart, FRSKY_ID_GPS_LONG_AP, frac(lon) * 10000.0f);
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frsky_send_data(uart, FRSKY_ID_GPS_LONG_EW, lon_ew);
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frsky_send_data(uart, FRSKY_ID_GPS_SPEED_BP, speed);
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frsky_send_data(uart, FRSKY_ID_GPS_SPEED_AP, frac(speed) * 100.0f);
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frsky_send_data(uart, FRSKY_ID_GPS_ALT_BP, alt);
|
||||
frsky_send_data(uart, FRSKY_ID_GPS_ALT_AP, frac(alt) * 100.0f);
|
||||
|
||||
frsky_send_data(uart, FRSKY_ID_FUEL,
|
||||
roundf(battery_status->remaining * 100.0f));
|
||||
|
||||
frsky_send_data(uart, FRSKY_ID_GPS_SEC, sec);
|
||||
|
||||
frsky_send_startstop(uart);
|
||||
}
|
||||
|
||||
/**
|
||||
* Sends frame 3 (every 5000ms):
|
||||
* GPS date & time
|
||||
*/
|
||||
void frsky_send_frame3(int uart)
|
||||
{
|
||||
/* send formatted frame */
|
||||
time_t time_gps = subscription_data->vehicle_gps_position.time_utc_usec / 1000000ULL;
|
||||
struct tm *tm_gps = gmtime(&time_gps);
|
||||
uint16_t hour_min = (tm_gps->tm_min << 8) | (tm_gps->tm_hour & 0xff);
|
||||
frsky_send_data(uart, FRSKY_ID_GPS_DAY_MONTH, tm_gps->tm_mday);
|
||||
frsky_send_data(uart, FRSKY_ID_GPS_YEAR, tm_gps->tm_year);
|
||||
frsky_send_data(uart, FRSKY_ID_GPS_HOUR_MIN, hour_min);
|
||||
frsky_send_data(uart, FRSKY_ID_GPS_SEC, tm_gps->tm_sec);
|
||||
|
||||
frsky_send_startstop(uart);
|
||||
}
|
||||
|
||||
/* parse 11 byte frames */
|
||||
bool frsky_parse_host(uint8_t *sbuf, int nbytes, struct adc_linkquality *v)
|
||||
{
|
||||
bool data_ready = false;
|
||||
static int dcount = 0;
|
||||
static uint8_t type = 0;
|
||||
static uint8_t data[11];
|
||||
static enum {
|
||||
HEADER = 0,
|
||||
TYPE,
|
||||
DATA,
|
||||
TRAILER
|
||||
} state = HEADER;
|
||||
|
||||
for (int i = 0; i < nbytes; i++) {
|
||||
switch (state) {
|
||||
case HEADER:
|
||||
if (sbuf[i] == 0x7E) {
|
||||
state = TYPE;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case TYPE:
|
||||
if (sbuf[i] != 0x7E) {
|
||||
state = DATA;
|
||||
type = sbuf[i];
|
||||
dcount = 0;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case DATA:
|
||||
|
||||
/* read 8 data bytes */
|
||||
if (dcount < 7) {
|
||||
data[dcount++] = sbuf[i];
|
||||
|
||||
} else {
|
||||
/* received all data bytes */
|
||||
state = TRAILER;
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case TRAILER:
|
||||
state = HEADER;
|
||||
|
||||
if (sbuf[i] != 0x7E) {
|
||||
// warnx("host packet error: %x", sbuf[i]);
|
||||
|
||||
} else {
|
||||
data_ready = true;
|
||||
|
||||
if (type == 0xFE) {
|
||||
/* this is an adc_linkquality packet */
|
||||
v->ad1 = data[0];
|
||||
v->ad2 = data[1];
|
||||
v->linkq = data[2];
|
||||
}
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
return data_ready;
|
||||
}
|
||||
@@ -0,0 +1,62 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
|
||||
* Author: Stefan Rado <px4@sradonia.net>
|
||||
*
|
||||
* 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 frsky_data.h
|
||||
* @author Stefan Rado <px4@sradonia.net>
|
||||
*
|
||||
* FrSky telemetry implementation.
|
||||
*
|
||||
*/
|
||||
#ifndef _FRSKY_DATA_H
|
||||
#define _FRSKY_DATA_H
|
||||
|
||||
#include <stdbool.h>
|
||||
|
||||
// Public functions
|
||||
bool frsky_init(void);
|
||||
void frsky_deinit(void);
|
||||
void frsky_update_topics(void);
|
||||
void frsky_send_frame1(int uart);
|
||||
void frsky_send_frame2(int uart);
|
||||
void frsky_send_frame3(int uart);
|
||||
|
||||
struct adc_linkquality {
|
||||
uint8_t ad1;
|
||||
uint8_t ad2;
|
||||
uint8_t linkq;
|
||||
};
|
||||
bool frsky_parse_host(uint8_t *sbuf, int nbytes, struct adc_linkquality *v);
|
||||
|
||||
#endif /* _FRSKY_TELEMETRY_H */
|
||||
@@ -0,0 +1,707 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
|
||||
* Author: Stefan Rado <px4@sradonia.net>
|
||||
*
|
||||
* 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 frsky_telemetry.c
|
||||
* @author Stefan Rado <px4@sradonia.net>
|
||||
* @author Mark Whitehorn <kd0aij@github.com>
|
||||
*
|
||||
* FrSky D8 mode and SmartPort (D16 mode) telemetry implementation.
|
||||
*
|
||||
* This daemon emulates the FrSky Sensor Hub for D8 mode.
|
||||
* For X series receivers (D16 mode) it emulates SmartPort sensors by responding to polling
|
||||
* packets received from an attached FrSky X series receiver.
|
||||
*
|
||||
*/
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <stdbool.h>
|
||||
#include <string.h>
|
||||
#include <sys/types.h>
|
||||
#include <poll.h>
|
||||
#include <fcntl.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <px4_tasks.h>
|
||||
#include <px4_module.h>
|
||||
#include <systemlib/err.h>
|
||||
#include <termios.h>
|
||||
#include <drivers/drv_hrt.h>
|
||||
#include <uORB/topics/sensor_baro.h>
|
||||
#include <math.h> // NAN
|
||||
|
||||
#include "sPort_data.h"
|
||||
#include "frsky_data.h"
|
||||
#include "common.h"
|
||||
|
||||
|
||||
/* thread state */
|
||||
static volatile bool thread_should_exit = false;
|
||||
static volatile bool thread_running = false;
|
||||
static int frsky_task;
|
||||
typedef enum { SCANNING, SPORT, DTYPE } frsky_state_t;
|
||||
static frsky_state_t frsky_state = SCANNING;
|
||||
|
||||
/* functions */
|
||||
static int sPort_open_uart(const char *uart_name, struct termios *uart_config, struct termios *uart_config_original);
|
||||
static int set_uart_speed(int uart, struct termios *uart_config, speed_t speed);
|
||||
static void usage(void);
|
||||
static int frsky_telemetry_thread_main(int argc, char *argv[]);
|
||||
__EXPORT int frsky_telemetry_main(int argc, char *argv[]);
|
||||
|
||||
|
||||
uint16_t get_telemetry_flight_mode(int px4_flight_mode)
|
||||
{
|
||||
// map the flight modes (see https://github.com/ilihack/LuaPilot_Taranis_Telemetry/blob/master/SCRIPTS/TELEMETRY/LuaPil.lua#L790)
|
||||
switch (px4_flight_mode) {
|
||||
case 0: return 18; // manual
|
||||
|
||||
case 1: return 23; // alt control
|
||||
|
||||
case 2: return 22; // pos control
|
||||
|
||||
case 3: return 27; // mission
|
||||
|
||||
case 4: return 26; // loiter
|
||||
|
||||
case 5:
|
||||
case 6:
|
||||
case 7: return 28; // rtl
|
||||
|
||||
case 10: return 19; // acro
|
||||
|
||||
case 14: return 24; // offboard
|
||||
|
||||
case 15: return 20; // stabilized
|
||||
|
||||
case 16: return 21; // rattitude
|
||||
|
||||
case 17: return 25; // takeoff
|
||||
|
||||
case 8:
|
||||
case 9:
|
||||
case 18: return 29; // land
|
||||
|
||||
case 19: return 30; // follow target
|
||||
}
|
||||
|
||||
return -1;
|
||||
}
|
||||
|
||||
/**
|
||||
* Opens the UART device and sets all required serial parameters.
|
||||
*/
|
||||
static int sPort_open_uart(const char *uart_name, struct termios *uart_config, struct termios *uart_config_original)
|
||||
{
|
||||
/* Open UART */
|
||||
const int uart = open(uart_name, O_RDWR | O_NOCTTY | O_NONBLOCK);
|
||||
|
||||
if (uart < 0) {
|
||||
err(1, "Error opening port: %s", uart_name);
|
||||
}
|
||||
|
||||
/* Back up the original UART configuration to restore it after exit */
|
||||
int termios_state;
|
||||
|
||||
if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
|
||||
warnx("ERR: tcgetattr%s: %d\n", uart_name, termios_state);
|
||||
close(uart);
|
||||
return -1;
|
||||
}
|
||||
|
||||
/* Fill the struct for the new configuration */
|
||||
tcgetattr(uart, uart_config);
|
||||
|
||||
/* Disable output post-processing */
|
||||
uart_config->c_oflag &= ~OPOST;
|
||||
|
||||
/* Set baud rate */
|
||||
const speed_t speed = B9600;
|
||||
|
||||
if (cfsetispeed(uart_config, speed) < 0 || cfsetospeed(uart_config, speed) < 0) {
|
||||
warnx("ERR: %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
|
||||
close(uart);
|
||||
return -1;
|
||||
}
|
||||
|
||||
if ((termios_state = tcsetattr(uart, TCSANOW, uart_config)) < 0) {
|
||||
warnx("ERR: %s (tcsetattr)\n", uart_name);
|
||||
close(uart);
|
||||
return -1;
|
||||
}
|
||||
|
||||
return uart;
|
||||
}
|
||||
|
||||
static int set_uart_speed(int uart, struct termios *uart_config, speed_t speed)
|
||||
{
|
||||
|
||||
if (cfsetispeed(uart_config, speed) < 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
if (tcsetattr(uart, TCSANOW, uart_config) < 0) {
|
||||
return -1;
|
||||
}
|
||||
|
||||
return uart;
|
||||
}
|
||||
|
||||
/**
|
||||
* Print command usage information
|
||||
*/
|
||||
static void usage()
|
||||
{
|
||||
PRINT_MODULE_DESCRIPTION("FrSky Telemetry support. Auto-detects D or S.PORT protocol.");
|
||||
|
||||
PRINT_MODULE_USAGE_NAME("frsky_telemetry", "communication");
|
||||
PRINT_MODULE_USAGE_COMMAND("start");
|
||||
PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS6", "<file:dev>", "Select Serial Device", true);
|
||||
PRINT_MODULE_USAGE_COMMAND("stop");
|
||||
PRINT_MODULE_USAGE_COMMAND("status");
|
||||
exit(1);
|
||||
}
|
||||
|
||||
/**
|
||||
* The daemon thread.
|
||||
*/
|
||||
static int frsky_telemetry_thread_main(int argc, char *argv[])
|
||||
{
|
||||
/* Default values for arguments */
|
||||
const char *device_name = "/dev/ttyS6"; /* USART8 */
|
||||
|
||||
/* Work around some stupidity in task_create's argv handling */
|
||||
argc -= 2;
|
||||
argv += 2;
|
||||
|
||||
int ch;
|
||||
|
||||
while ((ch = getopt(argc, argv, "d:")) != EOF) {
|
||||
switch (ch) {
|
||||
case 'd':
|
||||
device_name = optarg;
|
||||
break;
|
||||
|
||||
default:
|
||||
usage();
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/* Open UART assuming D type telemetry */
|
||||
struct termios uart_config_original;
|
||||
struct termios uart_config;
|
||||
const int uart = sPort_open_uart(device_name, &uart_config, &uart_config_original);
|
||||
|
||||
if (uart < 0) {
|
||||
warnx("could not open %s", device_name);
|
||||
err(1, "could not open %s", device_name);
|
||||
}
|
||||
|
||||
/* poll descriptor */
|
||||
struct pollfd fds[1];
|
||||
fds[0].fd = uart;
|
||||
fds[0].events = POLLIN;
|
||||
|
||||
thread_running = true;
|
||||
|
||||
/* Main thread loop */
|
||||
char sbuf[20];
|
||||
frsky_state = SCANNING;
|
||||
frsky_state_t baudRate = DTYPE;
|
||||
|
||||
while (!thread_should_exit && frsky_state == SCANNING) {
|
||||
/* 2 byte polling frames indicate SmartPort telemetry
|
||||
* 11 byte packets indicate D type telemetry
|
||||
*/
|
||||
int status = poll(fds, sizeof(fds) / sizeof(fds[0]), 3000);
|
||||
|
||||
if (status > 0) {
|
||||
/* traffic on the port, D type is 11 bytes per frame, SmartPort is only 2
|
||||
* Wait long enough for 11 bytes at 9600 baud
|
||||
*/
|
||||
usleep(12000);
|
||||
int nbytes = read(uart, &sbuf[0], sizeof(sbuf));
|
||||
PX4_DEBUG("frsky input: %d bytes: %x %x, speed: %d", nbytes, sbuf[0], sbuf[1], baudRate);
|
||||
|
||||
// look for valid header byte
|
||||
if (nbytes > 10) {
|
||||
if (baudRate == DTYPE) {
|
||||
// see if we got a valid D-type hostframe
|
||||
struct adc_linkquality host_frame;
|
||||
|
||||
if (frsky_parse_host((uint8_t *)&sbuf[0], nbytes, &host_frame)) {
|
||||
frsky_state = baudRate;
|
||||
break;
|
||||
}
|
||||
|
||||
} else {
|
||||
// check for alternating S.port start bytes
|
||||
int index = 0;
|
||||
|
||||
while (index < 2 && sbuf[index] != 0x7E) { index++; }
|
||||
|
||||
if (index < 2) {
|
||||
|
||||
int success = 1;
|
||||
|
||||
for (int i = index + 2; i < nbytes; i += 2) {
|
||||
if (sbuf[i] != 0x7E) { success = 0; break; }
|
||||
}
|
||||
|
||||
if (success) {
|
||||
frsky_state = baudRate;
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
// alternate between S.port and D-type baud rates
|
||||
if (baudRate == SPORT) {
|
||||
PX4_DEBUG("setting baud rate to %d", 9600);
|
||||
set_uart_speed(uart, &uart_config, B9600);
|
||||
baudRate = DTYPE;
|
||||
|
||||
} else {
|
||||
PX4_DEBUG("setting baud rate to %d", 57600);
|
||||
set_uart_speed(uart, &uart_config, B57600);
|
||||
baudRate = SPORT;
|
||||
|
||||
}
|
||||
|
||||
// wait a second
|
||||
usleep(1000000);
|
||||
// flush buffer
|
||||
read(uart, &sbuf[0], sizeof(sbuf));
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
if (frsky_state == SPORT) {
|
||||
/* Subscribe to topics */
|
||||
if (!sPort_init()) {
|
||||
err(1, "could not allocate memory");
|
||||
}
|
||||
|
||||
PX4_INFO("sending FrSky SmartPort telemetry");
|
||||
|
||||
struct sensor_baro_s *sensor_baro = malloc(sizeof(struct sensor_baro_s));
|
||||
|
||||
if (sensor_baro == NULL) {
|
||||
err(1, "could not allocate memory");
|
||||
}
|
||||
|
||||
float filtered_alt = NAN;
|
||||
float last_baro_alt = 0.f;
|
||||
int sensor_sub = orb_subscribe(ORB_ID(sensor_baro));
|
||||
|
||||
uint32_t lastBATV_ms = 0;
|
||||
uint32_t lastCUR_ms = 0;
|
||||
uint32_t lastALT_ms = 0;
|
||||
uint32_t lastSPD_ms = 0;
|
||||
uint32_t lastFUEL_ms = 0;
|
||||
uint32_t lastVSPD_ms = 0;
|
||||
uint32_t lastGPS_ms = 0;
|
||||
uint32_t lastNAV_STATE_ms = 0;
|
||||
uint32_t lastGPS_FIX_ms = 0;
|
||||
|
||||
/* send S.port telemetry */
|
||||
while (!thread_should_exit) {
|
||||
|
||||
/* wait for poll frame starting with value 0x7E
|
||||
* note that only the bus master is supposed to put a 0x7E on the bus.
|
||||
* slaves use byte stuffing to send 0x7E and 0x7D.
|
||||
* we expect a poll frame every 12msec
|
||||
*/
|
||||
int status = poll(fds, sizeof(fds) / sizeof(fds[0]), 50);
|
||||
|
||||
if (status < 1) { continue; }
|
||||
|
||||
// read 1 byte
|
||||
int newBytes = read(uart, &sbuf[0], 1);
|
||||
|
||||
if (newBytes < 1 || sbuf[0] != 0x7E) { continue; }
|
||||
|
||||
/* wait for ID byte */
|
||||
status = poll(fds, sizeof(fds) / sizeof(fds[0]), 50);
|
||||
|
||||
if (status < 1) { continue; }
|
||||
|
||||
uint32_t now_ms = hrt_absolute_time() / 1000;
|
||||
|
||||
newBytes = read(uart, &sbuf[1], 1);
|
||||
|
||||
/* get a local copy of the current sensor values
|
||||
* in order to apply a lowpass filter to baro pressure.
|
||||
*/
|
||||
bool sensor_updated;
|
||||
orb_check(sensor_sub, &sensor_updated);
|
||||
|
||||
if (sensor_updated) {
|
||||
orb_copy(ORB_ID(sensor_baro), sensor_sub, sensor_baro);
|
||||
|
||||
if (isnan(filtered_alt)) {
|
||||
filtered_alt = sensor_baro->altitude;
|
||||
|
||||
} else {
|
||||
filtered_alt = .05f * sensor_baro->altitude + .95f * filtered_alt;
|
||||
}
|
||||
}
|
||||
|
||||
// allow a minimum of 500usec before reply
|
||||
usleep(500);
|
||||
|
||||
sPort_update_topics();
|
||||
|
||||
|
||||
switch (sbuf[1]) {
|
||||
|
||||
case SMARTPORT_POLL_1:
|
||||
|
||||
/* report BATV at 1Hz */
|
||||
if (now_ms - lastBATV_ms > 1000) {
|
||||
lastBATV_ms = now_ms;
|
||||
/* send battery voltage */
|
||||
sPort_send_BATV(uart);
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
|
||||
case SMARTPORT_POLL_2:
|
||||
|
||||
/* report battery current at 5Hz */
|
||||
if (now_ms - lastCUR_ms > 200) {
|
||||
lastCUR_ms = now_ms;
|
||||
/* send battery current */
|
||||
sPort_send_CUR(uart);
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
|
||||
case SMARTPORT_POLL_3:
|
||||
|
||||
/* report altitude at 5Hz */
|
||||
if (now_ms - lastALT_ms > 200) {
|
||||
lastALT_ms = now_ms;
|
||||
/* send altitude */
|
||||
sPort_send_ALT(uart);
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
|
||||
case SMARTPORT_POLL_4:
|
||||
|
||||
/* report speed at 5Hz */
|
||||
if (now_ms - lastSPD_ms > 200) {
|
||||
lastSPD_ms = now_ms;
|
||||
/* send speed */
|
||||
sPort_send_SPD(uart);
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case SMARTPORT_POLL_5:
|
||||
|
||||
/* report fuel at 1Hz */
|
||||
if (now_ms - lastFUEL_ms > 1000) {
|
||||
lastFUEL_ms = now_ms;
|
||||
/* send fuel */
|
||||
sPort_send_FUEL(uart);
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case SMARTPORT_POLL_6:
|
||||
|
||||
/* report vertical speed at 10Hz */
|
||||
if (now_ms - lastVSPD_ms > 100) {
|
||||
/* estimate vertical speed using first difference and delta t */
|
||||
uint32_t dt = now_ms - lastVSPD_ms;
|
||||
float speed = (filtered_alt - last_baro_alt) / (1e-3f * (float)dt);
|
||||
|
||||
/* save current alt and timestamp */
|
||||
last_baro_alt = filtered_alt;
|
||||
lastVSPD_ms = now_ms;
|
||||
|
||||
sPort_send_VSPD(uart, speed);
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case SMARTPORT_POLL_7:
|
||||
|
||||
/* report GPS data elements at 5*5Hz */
|
||||
if (now_ms - lastGPS_ms > 100) {
|
||||
static int elementCount = 0;
|
||||
|
||||
switch (elementCount) {
|
||||
|
||||
case 0:
|
||||
sPort_send_GPS_LON(uart);
|
||||
elementCount++;
|
||||
break;
|
||||
|
||||
case 1:
|
||||
sPort_send_GPS_LAT(uart);
|
||||
elementCount++;
|
||||
break;
|
||||
|
||||
case 2:
|
||||
sPort_send_GPS_CRS(uart);
|
||||
elementCount++;
|
||||
break;
|
||||
|
||||
case 3:
|
||||
sPort_send_GPS_ALT(uart);
|
||||
elementCount++;
|
||||
break;
|
||||
|
||||
case 4:
|
||||
sPort_send_GPS_SPD(uart);
|
||||
elementCount++;
|
||||
break;
|
||||
|
||||
case 5:
|
||||
sPort_send_GPS_TIME(uart);
|
||||
elementCount = 0;
|
||||
break;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
/* FALLTHROUGH */
|
||||
|
||||
case SMARTPORT_POLL_8:
|
||||
|
||||
/* report nav_state as DIY_NAVSTATE 2Hz */
|
||||
if (now_ms - lastNAV_STATE_ms > 500) {
|
||||
lastNAV_STATE_ms = now_ms;
|
||||
/* send T1 */
|
||||
sPort_send_NAV_STATE(uart);
|
||||
}
|
||||
|
||||
/* report satcount and fix as DIY_GPSFIX at 2Hz */
|
||||
else if (now_ms - lastGPS_FIX_ms > 500) {
|
||||
lastGPS_FIX_ms = now_ms;
|
||||
/* send T2 */
|
||||
sPort_send_GPS_FIX(uart);
|
||||
}
|
||||
|
||||
break;
|
||||
|
||||
case SMARTPORT_SENSOR_ID_SP2UR: {
|
||||
static int elementCount = 0;
|
||||
|
||||
switch (elementCount++ % 2) {
|
||||
case 0:
|
||||
sPort_send_flight_mode(uart);
|
||||
break;
|
||||
|
||||
default:
|
||||
sPort_send_GPS_info(uart);
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
PX4_DEBUG("freeing sPort memory");
|
||||
sPort_deinit();
|
||||
free(sensor_baro);
|
||||
|
||||
/* either no traffic on the port (0=>timeout), or D type packet */
|
||||
|
||||
} else if (frsky_state == DTYPE) {
|
||||
/* detected D type telemetry: reconfigure UART */
|
||||
PX4_INFO("sending FrSky D type telemetry");
|
||||
int status = set_uart_speed(uart, &uart_config, B9600);
|
||||
|
||||
if (status < 0) {
|
||||
PX4_DEBUG("error setting speed for %s, quitting", device_name);
|
||||
/* Reset the UART flags to original state */
|
||||
tcsetattr(uart, TCSANOW, &uart_config_original);
|
||||
close(uart);
|
||||
|
||||
thread_running = false;
|
||||
return 0;
|
||||
}
|
||||
|
||||
int iteration = 0;
|
||||
|
||||
/* Subscribe to topics */
|
||||
if (!frsky_init()) {
|
||||
err(1, "could not allocate memory");
|
||||
}
|
||||
|
||||
struct adc_linkquality host_frame;
|
||||
|
||||
/* send D8 mode telemetry */
|
||||
while (!thread_should_exit) {
|
||||
|
||||
/* Sleep 100 ms */
|
||||
usleep(100000);
|
||||
|
||||
/* parse incoming data */
|
||||
int nbytes = read(uart, &sbuf[0], sizeof(sbuf));
|
||||
bool new_input = frsky_parse_host((uint8_t *)&sbuf[0], nbytes, &host_frame);
|
||||
|
||||
/* the RSSI value could be useful */
|
||||
if (new_input) {
|
||||
PX4_DEBUG("host frame: ad1:%u, ad2: %u, rssi: %u",
|
||||
host_frame.ad1, host_frame.ad2, host_frame.linkq);
|
||||
}
|
||||
|
||||
frsky_update_topics();
|
||||
|
||||
/* Send frame 1 (every 200ms): acceleration values, altitude (vario), temperatures, current & voltages, RPM */
|
||||
if (iteration % 2 == 0) {
|
||||
frsky_send_frame1(uart);
|
||||
}
|
||||
|
||||
/* Send frame 2 (every 1000ms): course, latitude, longitude, speed, altitude (GPS), fuel level */
|
||||
if (iteration % 10 == 0) {
|
||||
frsky_send_frame2(uart);
|
||||
}
|
||||
|
||||
/* Send frame 3 (every 5000ms): date, time */
|
||||
if (iteration % 50 == 0) {
|
||||
frsky_send_frame3(uart);
|
||||
|
||||
iteration = 0;
|
||||
}
|
||||
|
||||
iteration++;
|
||||
}
|
||||
|
||||
// /* TODO: flush the input buffer if in full duplex mode */
|
||||
// read(uart, &sbuf[0], sizeof(sbuf));
|
||||
PX4_DEBUG("freeing frsky memory");
|
||||
frsky_deinit();
|
||||
|
||||
}
|
||||
|
||||
/* Reset the UART flags to original state */
|
||||
tcsetattr(uart, TCSANOW, &uart_config_original);
|
||||
close(uart);
|
||||
|
||||
thread_running = false;
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* The main command function.
|
||||
* Processes command line arguments and starts the daemon.
|
||||
*/
|
||||
int frsky_telemetry_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 2) {
|
||||
warnx("missing command");
|
||||
usage();
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
/* this is not an error */
|
||||
if (thread_running) {
|
||||
errx(0, "frsky_telemetry already running");
|
||||
}
|
||||
|
||||
thread_should_exit = false;
|
||||
frsky_task = px4_task_spawn_cmd("frsky_telemetry",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_DEFAULT + 4,
|
||||
1268,
|
||||
frsky_telemetry_thread_main,
|
||||
(char *const *)argv);
|
||||
|
||||
while (!thread_running) {
|
||||
usleep(200);
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
|
||||
/* this is not an error */
|
||||
if (!thread_running) {
|
||||
errx(0, "frsky_telemetry already stopped");
|
||||
}
|
||||
|
||||
thread_should_exit = true;
|
||||
|
||||
while (thread_running) {
|
||||
usleep(1000000);
|
||||
warnx(".");
|
||||
}
|
||||
|
||||
warnx("terminated.");
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "status")) {
|
||||
if (thread_running) {
|
||||
switch (frsky_state) {
|
||||
case SCANNING:
|
||||
errx(0, "running: SCANNING");
|
||||
break;
|
||||
|
||||
case SPORT:
|
||||
errx(0, "running: SPORT");
|
||||
break;
|
||||
|
||||
case DTYPE:
|
||||
errx(0, "running: DTYPE");
|
||||
break;
|
||||
|
||||
}
|
||||
|
||||
} else {
|
||||
errx(1, "not running");
|
||||
}
|
||||
}
|
||||
|
||||
warnx("unrecognized command");
|
||||
usage();
|
||||
/* not getting here */
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,399 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
|
||||
* Author: Stefan Rado <px4@sradonia.net>
|
||||
*
|
||||
* 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 sPort_data.c
|
||||
* @author Stefan Rado <px4@sradonia.net>
|
||||
* @author Mark Whitehorn <kd0aij@github.com>
|
||||
*
|
||||
* FrSky SmartPort telemetry implementation.
|
||||
*
|
||||
*/
|
||||
|
||||
#include "sPort_data.h"
|
||||
#include "common.h"
|
||||
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <arch/math.h>
|
||||
#include <geo/geo.h>
|
||||
|
||||
#include <uORB/topics/battery_status.h>
|
||||
#include <uORB/topics/sensor_combined.h>
|
||||
#include <uORB/topics/vehicle_global_position.h>
|
||||
#include <uORB/topics/vehicle_local_position.h>
|
||||
#include <uORB/topics/vehicle_status.h>
|
||||
#include <uORB/topics/vehicle_gps_position.h>
|
||||
|
||||
|
||||
#include <drivers/drv_hrt.h>
|
||||
|
||||
#define frac(f) (f - (int)f)
|
||||
|
||||
struct s_port_subscription_data_s {
|
||||
int sensor_sub;
|
||||
int global_position_sub;
|
||||
int local_position_sub;
|
||||
int battery_status_sub;
|
||||
int vehicle_status_sub;
|
||||
int gps_position_sub;
|
||||
|
||||
struct sensor_combined_s sensor_combined;
|
||||
struct vehicle_global_position_s global_pos;
|
||||
struct vehicle_local_position_s local_pos;
|
||||
struct battery_status_s battery_status;
|
||||
struct vehicle_status_s vehicle_status;
|
||||
struct vehicle_gps_position_s gps_position;
|
||||
};
|
||||
|
||||
static struct s_port_subscription_data_s *s_port_subscription_data = NULL;
|
||||
|
||||
|
||||
/**
|
||||
* Initializes the uORB subscriptions.
|
||||
*/
|
||||
bool sPort_init()
|
||||
{
|
||||
s_port_subscription_data = (struct s_port_subscription_data_s *)calloc(1, sizeof(struct s_port_subscription_data_s));
|
||||
|
||||
if (s_port_subscription_data == NULL) {
|
||||
return false;
|
||||
}
|
||||
|
||||
|
||||
s_port_subscription_data->sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
|
||||
s_port_subscription_data->global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position));
|
||||
s_port_subscription_data->local_position_sub = orb_subscribe(ORB_ID(vehicle_local_position));
|
||||
s_port_subscription_data->battery_status_sub = orb_subscribe(ORB_ID(battery_status));
|
||||
s_port_subscription_data->vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
|
||||
s_port_subscription_data->gps_position_sub = orb_subscribe(ORB_ID(vehicle_gps_position));
|
||||
|
||||
return true;
|
||||
}
|
||||
|
||||
void sPort_deinit()
|
||||
{
|
||||
if (s_port_subscription_data) {
|
||||
orb_unsubscribe(s_port_subscription_data->sensor_sub);
|
||||
orb_unsubscribe(s_port_subscription_data->global_position_sub);
|
||||
orb_unsubscribe(s_port_subscription_data->local_position_sub);
|
||||
orb_unsubscribe(s_port_subscription_data->battery_status_sub);
|
||||
orb_unsubscribe(s_port_subscription_data->vehicle_status_sub);
|
||||
orb_unsubscribe(s_port_subscription_data->gps_position_sub);
|
||||
free(s_port_subscription_data);
|
||||
s_port_subscription_data = NULL;
|
||||
}
|
||||
}
|
||||
|
||||
void sPort_update_topics()
|
||||
{
|
||||
struct s_port_subscription_data_s *subs = s_port_subscription_data;
|
||||
|
||||
bool updated;
|
||||
/* get a local copy of the current sensor values */
|
||||
orb_check(subs->sensor_sub, &updated);
|
||||
|
||||
if (updated) {
|
||||
orb_copy(ORB_ID(sensor_combined), subs->sensor_sub, &subs->sensor_combined);
|
||||
}
|
||||
|
||||
/* get a local copy of the battery data */
|
||||
orb_check(subs->battery_status_sub, &updated);
|
||||
|
||||
if (updated) {
|
||||
orb_copy(ORB_ID(battery_status), subs->battery_status_sub, &subs->battery_status);
|
||||
}
|
||||
|
||||
/* get a local copy of the global position data */
|
||||
orb_check(subs->global_position_sub, &updated);
|
||||
|
||||
if (updated) {
|
||||
orb_copy(ORB_ID(vehicle_global_position), subs->global_position_sub, &subs->global_pos);
|
||||
}
|
||||
|
||||
/* get a local copy of the local position data */
|
||||
orb_check(subs->local_position_sub, &updated);
|
||||
|
||||
if (updated) {
|
||||
orb_copy(ORB_ID(vehicle_local_position), subs->local_position_sub, &subs->local_pos);
|
||||
}
|
||||
|
||||
/* get a local copy of the vehicle status data */
|
||||
orb_check(subs->vehicle_status_sub, &updated);
|
||||
|
||||
if (updated) {
|
||||
orb_copy(ORB_ID(vehicle_status), subs->vehicle_status_sub, &subs->vehicle_status);
|
||||
}
|
||||
|
||||
/* get a local copy of the gps position data */
|
||||
orb_check(subs->gps_position_sub, &updated);
|
||||
|
||||
if (updated) {
|
||||
orb_copy(ORB_ID(vehicle_gps_position), subs->gps_position_sub, &subs->gps_position);
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
static void update_crc(uint16_t *crc, unsigned char b)
|
||||
{
|
||||
*crc += b;
|
||||
*crc += *crc >> 8;
|
||||
*crc &= 0xFF;
|
||||
}
|
||||
|
||||
/**
|
||||
* Sends one byte, performing byte-stuffing if necessary.
|
||||
*/
|
||||
static void sPort_send_byte(int uart, uint8_t value)
|
||||
{
|
||||
const uint8_t x7E[] = { 0x7D, 0x5E };
|
||||
const uint8_t x7D[] = { 0x7D, 0x5D };
|
||||
|
||||
switch (value) {
|
||||
case 0x7E:
|
||||
write(uart, x7E, sizeof(x7E));
|
||||
break;
|
||||
|
||||
case 0x7D:
|
||||
write(uart, x7D, sizeof(x7D));
|
||||
break;
|
||||
|
||||
default:
|
||||
write(uart, &value, sizeof(value));
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Sends one data id/value pair.
|
||||
*/
|
||||
void sPort_send_data(int uart, uint16_t id, uint32_t data)
|
||||
{
|
||||
union {
|
||||
uint32_t word;
|
||||
uint8_t byte[4];
|
||||
} buf;
|
||||
|
||||
/* send start byte */
|
||||
const uint8_t c = 0x10;
|
||||
write(uart, &c, 1);
|
||||
|
||||
/* init crc */
|
||||
uint16_t crc = c;
|
||||
|
||||
buf.word = id;
|
||||
|
||||
for (int i = 0; i < 2; i++) {
|
||||
update_crc(&crc, buf.byte[i]);
|
||||
sPort_send_byte(uart, buf.byte[i]); /* LSB first */
|
||||
}
|
||||
|
||||
buf.word = data;
|
||||
|
||||
for (int i = 0; i < 4; i++) {
|
||||
update_crc(&crc, buf.byte[i]);
|
||||
sPort_send_byte(uart, buf.byte[i]); /* LSB first */
|
||||
}
|
||||
|
||||
sPort_send_byte(uart, 0xFF - crc);
|
||||
}
|
||||
|
||||
|
||||
// scaling correct with OpenTX 2.1.7
|
||||
void sPort_send_BATV(int uart)
|
||||
{
|
||||
/* send battery voltage as VFAS */
|
||||
uint32_t voltage = (int)(100 * s_port_subscription_data->battery_status.voltage_v);
|
||||
sPort_send_data(uart, SMARTPORT_ID_VFAS, voltage);
|
||||
}
|
||||
|
||||
// verified scaling
|
||||
void sPort_send_CUR(int uart)
|
||||
{
|
||||
/* send data */
|
||||
uint32_t current = (int)(10 * s_port_subscription_data->battery_status.current_a);
|
||||
sPort_send_data(uart, SMARTPORT_ID_CURR, current);
|
||||
}
|
||||
|
||||
// verified scaling for "custom" altitude option
|
||||
// OpenTX uses the initial reading as field elevation and displays
|
||||
// the difference (altitude - field)
|
||||
void sPort_send_ALT(int uart)
|
||||
{
|
||||
/* send data */
|
||||
uint32_t alt = (int)(100 * s_port_subscription_data->sensor_combined.baro_alt_meter);
|
||||
sPort_send_data(uart, SMARTPORT_ID_ALT, alt);
|
||||
}
|
||||
|
||||
// verified scaling for "calculated" option
|
||||
void sPort_send_SPD(int uart)
|
||||
{
|
||||
struct vehicle_global_position_s *global_pos = &s_port_subscription_data->global_pos;
|
||||
/* send data for A2 */
|
||||
float speed = sqrtf(global_pos->vel_n * global_pos->vel_n + global_pos->vel_e * global_pos->vel_e);
|
||||
uint32_t ispeed = (int)(10 * speed);
|
||||
sPort_send_data(uart, SMARTPORT_ID_GPS_SPD, ispeed);
|
||||
}
|
||||
|
||||
// TODO: verify scaling
|
||||
void sPort_send_VSPD(int uart, float speed)
|
||||
{
|
||||
/* send data for VARIO vertical speed: int16 cm/sec */
|
||||
int32_t ispeed = (int)(100 * speed);
|
||||
sPort_send_data(uart, SMARTPORT_ID_VARIO, ispeed);
|
||||
}
|
||||
|
||||
// verified scaling
|
||||
void sPort_send_FUEL(int uart)
|
||||
{
|
||||
/* send data */
|
||||
uint32_t fuel = (int)(100 * s_port_subscription_data->battery_status.remaining);
|
||||
sPort_send_data(uart, SMARTPORT_ID_FUEL, fuel);
|
||||
}
|
||||
|
||||
void sPort_send_GPS_LON(int uart)
|
||||
{
|
||||
/* send longitude */
|
||||
/* convert to 30 bit signed magnitude degrees*6E5 with MSb = 1 and bit 30=sign */
|
||||
/* precision is approximately 0.1m */
|
||||
uint32_t iLon = 6E-2 * fabs(s_port_subscription_data->gps_position.lon);
|
||||
|
||||
iLon |= (1 << 31);
|
||||
|
||||
if (s_port_subscription_data->gps_position.lon < 0) { iLon |= (1 << 30); }
|
||||
|
||||
sPort_send_data(uart, SMARTPORT_ID_GPS_LON_LAT, iLon);
|
||||
}
|
||||
|
||||
void sPort_send_GPS_LAT(int uart)
|
||||
{
|
||||
/* send latitude */
|
||||
/* convert to 30 bit signed magnitude degrees*6E5 with MSb = 0 and bit 30=sign */
|
||||
uint32_t iLat = 6E-2 * fabs(s_port_subscription_data->gps_position.lat);
|
||||
|
||||
if (s_port_subscription_data->gps_position.lat < 0) { iLat |= (1 << 30); }
|
||||
|
||||
sPort_send_data(uart, SMARTPORT_ID_GPS_LON_LAT, iLat);
|
||||
}
|
||||
|
||||
void sPort_send_GPS_ALT(int uart)
|
||||
{
|
||||
/* send altitude */
|
||||
uint32_t iAlt = s_port_subscription_data->gps_position.alt / 10;
|
||||
sPort_send_data(uart, SMARTPORT_ID_GPS_ALT, iAlt);
|
||||
}
|
||||
|
||||
void sPort_send_GPS_CRS(int uart)
|
||||
{
|
||||
/* send course */
|
||||
|
||||
/* convert to 30 bit signed magnitude degrees*6E5 with MSb = 1 and bit 30=sign */
|
||||
int32_t iYaw = s_port_subscription_data->local_pos.yaw * 18000.0f / M_PI_F;
|
||||
|
||||
if (iYaw < 0) { iYaw += 36000; }
|
||||
|
||||
sPort_send_data(uart, SMARTPORT_ID_GPS_CRS, iYaw);
|
||||
}
|
||||
|
||||
void sPort_send_GPS_TIME(int uart)
|
||||
{
|
||||
static int date = 0;
|
||||
|
||||
/* send formatted frame */
|
||||
time_t time_gps = s_port_subscription_data->gps_position.time_utc_usec / 1000000ULL;
|
||||
struct tm *tm_gps = gmtime(&time_gps);
|
||||
|
||||
if (date) {
|
||||
|
||||
sPort_send_data(uart, SMARTPORT_ID_GPS_TIME,
|
||||
(uint32_t) 0xff | (tm_gps->tm_mday << 8) | ((tm_gps->tm_mon + 1) << 16) | ((tm_gps->tm_year - 100) << 24));
|
||||
date = 0;
|
||||
|
||||
} else {
|
||||
|
||||
sPort_send_data(uart, SMARTPORT_ID_GPS_TIME,
|
||||
(uint32_t) 0x00 | (tm_gps->tm_sec << 8) | (tm_gps->tm_min << 16) | (tm_gps->tm_hour << 24));
|
||||
date = 1;
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
void sPort_send_GPS_SPD(int uart)
|
||||
{
|
||||
struct vehicle_global_position_s *global_pos = &s_port_subscription_data->global_pos;
|
||||
/* send 100 * knots */
|
||||
float speed = sqrtf(global_pos->vel_n * global_pos->vel_n + global_pos->vel_e * global_pos->vel_e);
|
||||
uint32_t ispeed = (int)(1944 * speed);
|
||||
sPort_send_data(uart, SMARTPORT_ID_GPS_SPD, ispeed);
|
||||
}
|
||||
|
||||
/*
|
||||
* Sends nav_state + 128
|
||||
*/
|
||||
void sPort_send_NAV_STATE(int uart)
|
||||
{
|
||||
uint32_t navstate = (int)(128 + s_port_subscription_data->vehicle_status.nav_state);
|
||||
|
||||
/* send data */
|
||||
sPort_send_data(uart, SMARTPORT_ID_DIY_NAVSTATE, navstate);
|
||||
}
|
||||
|
||||
// verified scaling
|
||||
// sends number of sats and type of gps fix
|
||||
void sPort_send_GPS_FIX(int uart)
|
||||
{
|
||||
/* send data */
|
||||
uint32_t satcount = (int)(s_port_subscription_data->gps_position.satellites_used);
|
||||
uint32_t fixtype = (int)(s_port_subscription_data->gps_position.fix_type);
|
||||
uint32_t t2 = satcount * 10 + fixtype;
|
||||
sPort_send_data(uart, SMARTPORT_ID_DIY_GPSFIX, t2);
|
||||
}
|
||||
|
||||
|
||||
void sPort_send_flight_mode(int uart)
|
||||
{
|
||||
struct s_port_subscription_data_s *subs = s_port_subscription_data;
|
||||
int16_t telem_flight_mode = get_telemetry_flight_mode(subs->vehicle_status.nav_state);
|
||||
|
||||
sPort_send_data(uart, FRSKY_ID_TEMP1, telem_flight_mode); // send flight mode as TEMP1. This matches with OpenTX & APM
|
||||
|
||||
}
|
||||
|
||||
void sPort_send_GPS_info(int uart)
|
||||
{
|
||||
struct s_port_subscription_data_s *subs = s_port_subscription_data;
|
||||
sPort_send_data(uart, FRSKY_ID_TEMP2, subs->gps_position.satellites_used * 10 + subs->gps_position.fix_type);
|
||||
}
|
||||
@@ -0,0 +1,110 @@
|
||||
/****************************************************************************
|
||||
*
|
||||
* Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
|
||||
* Author: Stefan Rado <px4@sradonia.net>
|
||||
*
|
||||
* 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 sPort_data.h
|
||||
* @author Mark Whitehorn <kd0aij@github.com>
|
||||
*
|
||||
* FrSky SmartPort telemetry implementation.
|
||||
*
|
||||
*/
|
||||
#ifndef _SPORT_DATA_H
|
||||
#define _SPORT_DATA_H
|
||||
|
||||
#include <sys/types.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
/* FrSky SmartPort polling IDs captured from X4R */
|
||||
#define SMARTPORT_POLL_1 0x1B
|
||||
#define SMARTPORT_POLL_2 0x34
|
||||
#define SMARTPORT_POLL_3 0x95
|
||||
#define SMARTPORT_POLL_4 0x16
|
||||
#define SMARTPORT_POLL_5 0xB7
|
||||
#define SMARTPORT_POLL_6 0x00
|
||||
#define SMARTPORT_POLL_7 0x83
|
||||
#define SMARTPORT_POLL_8 0xBA
|
||||
#define SMARTPORT_SENSOR_ID_SP2UR 0xC6 // Sensor ID 6
|
||||
|
||||
/* FrSky SmartPort sensor IDs. See more here: https://github.com/opentx/opentx/blob/2.2/radio/src/telemetry/frsky.h */
|
||||
#define SMARTPORT_ID_RSSI 0xf101
|
||||
#define SMARTPORT_ID_RXA1 0xf102 // supplied by RX
|
||||
#define SMARTPORT_ID_RXA2 0xf103 // supplied by RX
|
||||
#define SMARTPORT_ID_BATV 0xf104
|
||||
#define SMARTPORT_ID_SWR 0xf105 // Standing Wave Ratio
|
||||
#define SMARTPORT_ID_T1 0x0400
|
||||
#define SMARTPORT_ID_T2 0x0410
|
||||
#define SMARTPORT_ID_RPM 0x0500
|
||||
#define SMARTPORT_ID_FUEL 0x0600
|
||||
#define SMARTPORT_ID_ALT 0x0100
|
||||
#define SMARTPORT_ID_VARIO 0x0110 //VSPEED
|
||||
#define SMARTPORT_ID_ACCX 0x0700
|
||||
#define SMARTPORT_ID_ACCY 0x0710
|
||||
#define SMARTPORT_ID_ACCZ 0x0720
|
||||
#define SMARTPORT_ID_CURR 0x0200
|
||||
#define SMARTPORT_ID_VFAS 0x0210 //Volt per Cell
|
||||
#define SMARTPORT_ID_CELLS 0x0300
|
||||
#define SMARTPORT_ID_GPS_LON_LAT 0x0800
|
||||
#define SMARTPORT_ID_GPS_ALT 0x0820
|
||||
#define SMARTPORT_ID_GPS_SPD 0x0830
|
||||
#define SMARTPORT_ID_GPS_CRS 0x0840
|
||||
#define SMARTPORT_ID_GPS_TIME 0x0850
|
||||
#define SMARTPORT_ID_DIY_FIRST 0x5000
|
||||
#define SMARTPORT_ID_DIY_LAST 0x50ff //We have 256 possible ID's for custom values :)
|
||||
#define SMARTPORT_ID_DIY_NAVSTATE 0x5000
|
||||
#define SMARTPORT_ID_DIY_GPSFIX 0x5001
|
||||
|
||||
// Public functions
|
||||
bool sPort_init(void);
|
||||
void sPort_deinit(void);
|
||||
void sPort_update_topics(void);
|
||||
void sPort_send_data(int uart, uint16_t id, uint32_t data);
|
||||
void sPort_send_BATV(int uart);
|
||||
void sPort_send_CUR(int uart);
|
||||
void sPort_send_ALT(int uart);
|
||||
void sPort_send_SPD(int uart);
|
||||
void sPort_send_VSPD(int uart, float speed);
|
||||
void sPort_send_FUEL(int uart);
|
||||
void sPort_send_GPS_LON(int uart);
|
||||
void sPort_send_GPS_LAT(int uart);
|
||||
void sPort_send_GPS_ALT(int uart);
|
||||
void sPort_send_GPS_SPD(int uart);
|
||||
void sPort_send_GPS_CRS(int uart);
|
||||
void sPort_send_GPS_TIME(int uart);
|
||||
void sPort_send_flight_mode(int uart);
|
||||
void sPort_send_GPS_info(int uart);
|
||||
|
||||
void sPort_send_NAV_STATE(int uart);
|
||||
void sPort_send_GPS_FIX(int uart);
|
||||
|
||||
#endif /* _SPORT_TELEMETRY_H */
|
||||
Reference in New Issue
Block a user