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380 lines
18 KiB
C
380 lines
18 KiB
C
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/**
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******************************************************************************
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* @addtogroup Modules
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* @{
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* @addtogroup UAVOHoTTBridge UAVO to HoTT Bridge Telemetry Module
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* @{
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*
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* @file uavohottbridge.h
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* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017.
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* Tau Labs, http://taulabs.org, Copyright (C) 2013
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* @brief sends telemery data on HoTT request
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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// timing variables
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#define IDLE_TIME 10 // idle line delay to prevent data crashes on telemetry line.
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#define DATA_TIME 3 // time between 2 transmitted bytes
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// sizes and lengths
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#define climbratesize 50 // defines size of ring buffer for climbrate calculation
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#define statussize 21 // number of characters in status line
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#define HOTT_MAX_MESSAGE_LENGTH 200
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// scale factors
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#define M_TO_CM 100 // scale m to cm or m/s to cm/s
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#define MS_TO_KMH 3.6f // scale m/s to km/h
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#define DEG_TO_UINT 0.5f // devide degrees by 2. then the value fits into a byte.
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// offsets. used to make transmitted values unsigned.
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#define OFFSET_ALTITUDE 500 // 500m
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#define OFFSET_CLIMBRATE 30000 // 30000cm/s or 300m/s
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#define OFFSET_CLIMBRATE3S 120 // 120m/s
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#define OFFSET_TEMPERATURE 20 // 20 degrees
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// Bits to invert display areas or values
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#define VARIO_INVERT_ALT (1 << 0) // altitude
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#define VARIO_INVERT_MAX (1 << 1) // max altitude
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#define VARIO_INVERT_MIN (1 << 2) // min altitude
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#define VARIO_INVERT_CR1S (1 << 3) // climbrate 1s
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#define VARIO_INVERT_CR3S (1 << 4) // climbrate 3s
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#define VARIO_INVERT_CR10S (1 << 5) // climbrate 10s
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#define GPS_INVERT_HDIST (1 << 0) // home distance
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#define GPS_INVERT_SPEED (1 << 1) // speed (kmh)
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#define GPS_INVERT_ALT (1 << 2) // altitude
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#define GPS_INVERT_CR1S (1 << 3) // climbrate 1s
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#define GPS_INVERT_CR3S (1 << 4) // climbrate 3s
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#define GPS_INVERT2_POS (1 << 0) // GPS postion values
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#define GAM_INVERT_CELL (1 << 0) // cell voltage
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#define GAM_INVERT_BATT1 (1 << 1) // battery 1 voltage
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#define GAM_INVERT_BATT2 (1 << 2) // battery 1 voltage
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#define GAM_INVERT_TEMP1 (1 << 3) // temperature 1
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#define GAM_INVERT_TEMP2 (1 << 4) // temperature 2
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#define GAM_INVERT_FUEL (1 << 5) // fuel
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#define GAM_INVERT2_CURRENT (1 << 0) // current
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#define GAM_INVERT2_VOLTAGE (1 << 1) // voltage
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#define GAM_INVERT2_ALT (1 << 2) // altitude
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#define GAM_INVERT2_CR1S (1 << 3) // climbrate 1s
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#define GAM_INVERT2_CR3S (1 << 4) // climbrate 3s
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#define EAM_INVERT_CAPACITY (1 << 0) // capacity
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#define EAM_INVERT_BATT1 (1 << 1) // battery 1 voltage
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#define EAM_INVERT_BATT2 (1 << 2) // battery 1 voltage
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#define EAM_INVERT_TEMP1 (1 << 3) // temperature 1
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#define EAM_INVERT_TEMP2 (1 << 4) // temperature 2
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#define EAM_INVERT_ALT (1 << 5) // altitude
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#define EAM_INVERT_CURRENT (1 << 6) // current
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#define EAM_INVERT_VOLTAGE (1 << 7) // voltage
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#define EAM_INVERT2_ALT (1 << 2) // altitude
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#define EAM_INVERT2_CR1S (1 << 3) // climbrate 1s
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#define EAM_INVERT2_CR3S (1 << 4) // climbrate 3s
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#define ESC_INVERT_VOLTAGE (1 << 0) // voltage
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#define ESC_INVERT_TEMP1 (1 << 1) // temperature 1
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#define ESC_INVERT_TEMP2 (1 << 2) // temperature 2
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#define ESC_INVERT_CURRENT (1 << 3) // current
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#define ESC_INVERT_RPM (1 << 4) // rpm
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#define ESC_INVERT_CAPACITY (1 << 5) // capacity
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#define ESC_INVERT_MAXCURRENT (1 << 6) // maximum current
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// message codes
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#define HOTT_TEXT_ID 0x7f // Text request
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#define HOTT_BINARY_ID 0x80 // Binary request
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#define HOTT_VARIO_ID 0x89 // Vario Module ID
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#define HOTT_VARIO_TEXT_ID 0x90 // Vario Module TEXT ID
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#define HOTT_GPS_ID 0x8a // GPS Module ID
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#define HOTT_GPS_TEXT_ID 0xa0 // GPS Module TEXT ID
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#define HOTT_ESC_ID 0x8c // ESC Module ID
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#define HOTT_ESC_TEXT_ID 0xc0 // ESC Module TEXT ID
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#define HOTT_GAM_ID 0x8d // General Air Module ID
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#define HOTT_GAM_TEXT_ID 0xd0 // General Air Module TEXT ID
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#define HOTT_EAM_ID 0x8e // Electric Air Module ID
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#define HOTT_EAM_TEXT_ID 0xe0 // Electric Air Module TEXT ID
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#define HOTT_TEXT_START 0x7b // Start byte Text mode
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#define HOTT_START 0x7c // Start byte Binary mode
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#define HOTT_STOP 0x7d // End byte
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#define HOTT_BUTTON_DEC 0xEB // minus button
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#define HOTT_BUTTON_INC 0xED // plus button
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#define HOTT_BUTTON_SET 0xE9 // set button
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#define HOTT_BUTTON_NIL 0x0F // esc button
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#define HOTT_BUTTON_NEXT 0xEE // next button
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#define HOTT_BUTTON_PREV 0xE7 // previous button
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// prefined signal tones or spoken announcments
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#define HOTT_TONE_A 1 // minimum speed
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#define HOTT_TONE_B 2 // sink rate 3 seconds
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#define HOTT_TONE_C 3 // sink rate 1 second
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#define HOTT_TONE_D 4 // maximum distance
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#define HOTT_TONE_E 5 // -
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#define HOTT_TONE_F 6 // minimum temperature sensor 1
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#define HOTT_TONE_G 7 // minimum temperature sensor 2
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#define HOTT_TONE_H 8 // maximum temperature sensor 1
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#define HOTT_TONE_I 9 // maximum temperature sensor 2
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#define HOTT_TONE_J 10 // overvoltage sensor 1
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#define HOTT_TONE_K 11 // overvoltage sensor 2
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#define HOTT_TONE_L 12 // maximum speed
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#define HOTT_TONE_M 13 // climb rate 3 seconds
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#define HOTT_TONE_N 14 // climb rate 1 second
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#define HOTT_TONE_O 15 // minimum height
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#define HOTT_TONE_P 16 // minimum input voltage
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#define HOTT_TONE_Q 17 // minimum cell voltage
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#define HOTT_TONE_R 18 // undervoltage sensor 1
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#define HOTT_TONE_S 19 // undervoltage sensor 2
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#define HOTT_TONE_T 20 // minimum rpm
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#define HOTT_TONE_U 21 // fuel reserve
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#define HOTT_TONE_V 22 // capacity
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#define HOTT_TONE_W 23 // maximum current
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#define HOTT_TONE_X 24 // maximum input voltage
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#define HOTT_TONE_Y 25 // maximum rpm
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#define HOTT_TONE_Z 26 // maximum height
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#define HOTT_TONE_20M 37 // 20 meters
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#define HOTT_TONE_40M 38 // 40 meters
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#define HOTT_TONE_60M 39 // 60 meters
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#define HOTT_TONE_80M 40 // 80 meters
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#define HOTT_TONE_100M 41 // 100 meters
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#define HOTT_TONE_42 42 // receiver voltage
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#define HOTT_TONE_43 43 // receiver temperature
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#define HOTT_TONE_200M 46 // 200 meters
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#define HOTT_TONE_400M 47 // 400 meters
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#define HOTT_TONE_600M 48 // 600 meters
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#define HOTT_TONE_800M 49 // 800 meters
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#define HOTT_TONE_1000M 50 // 10000 meters
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#define HOTT_TONE_51 51 // maximum servo temperature
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#define HOTT_TONE_52 52 // maximum servo position difference
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// Private types
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typedef struct {
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uint8_t l;
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uint8_t h;
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} uword_t;
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// Private structures
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struct telemetrydata {
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HoTTBridgeSettingsData Settings;
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AttitudeStateData Attitude;
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BaroSensorData Baro;
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FlightBatteryStateData Battery;
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FlightStatusData FlightStatus;
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GPSPositionSensorData GPS;
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GPSTimeData GPStime;
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GyroSensorData Gyro;
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HomeLocationData Home;
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PositionStateData Position;
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SystemAlarmsData SysAlarms;
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VelocityStateData Velocity;
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int16_t climbratebuffer[climbratesize];
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uint8_t climbrate_pointer;
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float altitude;
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float min_altitude;
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float max_altitude;
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float altitude_last;
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float climbrate1s;
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float climbrate3s;
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float climbrate10s;
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float homedistance;
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float homecourse;
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uint8_t last_armed;
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char statusline[statussize];
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};
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// VARIO Module message structure
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struct hott_vario_message {
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uint8_t start; // start byte
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uint8_t sensor_id; // VARIO sensor ID
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uint8_t warning; // 0…= warning beeps
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uint8_t sensor_text_id; // VARIO sensor text ID
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uint8_t alarm_inverse; // this inverts specific parts of display
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uword_t altitude; // altitude (meters), offset 500, 500 == 0m
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uword_t max_altitude; // max. altitude (meters)
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uword_t min_altitude; // min. altitude (meters)
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uword_t climbrate; // climb rate (0.01m/s), offset 30000, 30000 == 0.00m/s
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uword_t climbrate3s; // climb rate (0.01m/3s)
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uword_t climbrate10s; // climb rate (0.01m/10s)
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uint8_t ascii[21]; // 21 chars of text
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uint8_t ascii1; // ASCII Free character [1] (next to Alt)
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uint8_t ascii2; // ASCII Free character [2] (next to Dir)
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uint8_t ascii3; // ASCII Free character [3] (next to I)
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int8_t compass; // 1=2°, -1=-2°
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uint8_t version; // version number
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uint8_t stop; // stop byte
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uint8_t checksum; // Lower 8-bits of all bytes summed
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};
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// GPS Module message structure
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struct hott_gps_message {
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uint8_t start; // start byte
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uint8_t sensor_id; // GPS sensor ID
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uint8_t warning; // 0…= warning beeps
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uint8_t sensor_text_id; // GPS Sensor text mode ID
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uint8_t alarm_inverse1; // this inverts specific parts of display
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uint8_t alarm_inverse2;
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uint8_t flight_direction; // flight direction (1 = 2°; 0° = north, 90° = east , 180° = south , 270° west)
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uword_t gps_speed; // GPS speed (km/h)
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uint8_t latitude_ns; // GPS latitude north/south (0 = N)
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uword_t latitude_min; // GPS latitude (min)
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uword_t latitude_sec; // GPS latitude (sec)
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uint8_t longitude_ew; // GPS longitude east/west (0 = E)
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uword_t longitude_min; // GPS longitude (min)
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uword_t longitude_sec; // GPS longitude (sec)
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uword_t distance; // distance from home location (meters)
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uword_t altitude; // altitude (meters), offset 500, 500 == 0m
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uword_t climbrate; // climb rate (0.01m/s), offset of 30000, 30000 = 0.00 m/s
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uint8_t climbrate3s; // climb rate in (m/3s). offset of 120, 120 == 0m/3sec
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uint8_t gps_num_sat; // GPS number of satelites
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uint8_t gps_fix_char; // GPS FixChar ('D'=DGPS, '2'=2D, '3'=3D)
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uint8_t home_direction; // home direction (1=2°, direction from starting point to model position)
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int8_t angle_roll; // angle x-direction (roll 1=2°, 255=-2°)
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int8_t angle_nick; // angle y-direction (nick)
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int8_t angle_compass; // angle z-direction (yaw)
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uint8_t gps_hour; // GPS time hours
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uint8_t gps_min; // GPS time minutes
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uint8_t gps_sec; // GPS time seconds
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uint8_t gps_msec; // GPS time .sss
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uword_t msl; // MSL or NN altitude
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uint8_t vibration; // vibration
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uint8_t ascii4; // ASCII Free Character [4] (next to home distance)
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uint8_t ascii5; // ASCII Free Character [5] (next to home direction)
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uint8_t ascii6; // ASCII Free Character [6] (next to number of sats)
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uint8_t version; // version number (0=gps, 1=gyro, 255=multicopter)
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uint8_t stop; // stop byte
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uint8_t checksum; // Lower 8-bits of all bytes summed
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};
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// General Air Module message structure
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struct hott_gam_message {
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uint8_t start; // start byte
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uint8_t sensor_id; // GAM sensor ID
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uint8_t warning; // 0…= warning beeps
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uint8_t sensor_text_id; // EAM Sensor text mode ID
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uint8_t alarm_inverse1; // this inverts specific parts of display
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uint8_t alarm_inverse2;
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uint8_t cell1; // cell voltages in 0.02V steps, 210 == 4.2V
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uint8_t cell2;
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uint8_t cell3;
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uint8_t cell4;
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uint8_t cell5;
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uint8_t cell6;
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uword_t batt1_voltage; // battery sensor 1 in 0.1V steps, 50 == 5.5V
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uword_t batt2_voltage; // battery sensor 2 voltage
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uint8_t temperature1; // temperature 1 in °C, offset of 20, 20 == 0°C
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uint8_t temperature2; // temperature 2
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uint8_t fuel_procent; // fuel capacity in %, values from 0..100
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uword_t fuel_ml; // fuel capacity in ml, values from 0..65535
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uword_t rpm; // rpm, scale factor 10, 300 == 3000rpm
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uword_t altitude; // altitude in meters, offset of 500, 500 == 0m
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uword_t climbrate; // climb rate (0.01m/s), offset of 30000, 30000 = 0.00 m/s
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uint8_t climbrate3s; // climb rate (m/3sec). offset of 120, 120 == 0m/3sec
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uword_t current; // current in 0.1A steps
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uword_t voltage; // main power voltage in 0.1V steps
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uword_t capacity; // used battery capacity in 10mAh steps
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uword_t speed; // speed in km/h
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uint8_t min_cell_volt; // lowest cell voltage in 20mV steps. 124 == 2.48V
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uint8_t min_cell_volt_num; // number of the cell with the lowest voltage
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uword_t rpm2; // rpm2 in 10 rpm steps, 300 == 3000rpm
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uint8_t g_error_number; // general error number (Voice error == 12)
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uint8_t pressure; // pressure up to 15bar, 0.1bar steps
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uint8_t version; // version number
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uint8_t stop; // stop byte
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uint8_t checksum; // Lower 8-bits of all bytes summed
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};
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// Electric Air Module message structure
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struct hott_eam_message {
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uint8_t start; // Start byte
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uint8_t sensor_id; // EAM sensor id
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uint8_t warning;
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uint8_t sensor_text_id; // EAM Sensor text mode ID
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uint8_t alarm_inverse1; // this inverts specific parts of display
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uint8_t alarm_inverse2;
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uint8_t cell1_L; // cell voltages of the lower battery
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uint8_t cell2_L;
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uint8_t cell3_L;
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uint8_t cell4_L;
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uint8_t cell5_L;
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uint8_t cell6_L;
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uint8_t cell7_L;
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uint8_t cell1_H; // cell voltages of higher battery
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uint8_t cell2_H;
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uint8_t cell3_H;
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uint8_t cell4_H;
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uint8_t cell5_H;
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uint8_t cell6_H;
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uint8_t cell7_H;
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uword_t batt1_voltage; // battery sensor 1 voltage, in steps of 0.02V
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uword_t batt2_voltage; // battery sensor 2 voltage, in steps of 0.02V
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uint8_t temperature1; // temperature sensor 1. 20 = 0 degrees
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uint8_t temperature2; // temperature sensor 2. 20 = 0 degrees
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uword_t altitude; // altitude (meters). 500 = 0 meters
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uword_t current; // current (A) in steps of 0.1A
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uword_t voltage; // main power voltage in steps of 0.1V
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uword_t capacity; // used battery capacity in steps of 10mAh
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uword_t climbrate; // climb rate in 0.01m/s. 0m/s = 30000
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uint8_t climbrate3s; // climb rate in m/3sec. 0m/3sec = 120
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uword_t rpm; // rpm in steps of 10 rpm
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uint8_t electric_min; // estaminated flight time in minutes.
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uint8_t electric_sec; // estaminated flight time in seconds.
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uword_t speed; // speed in km/h in steps of 1 km/h
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uint8_t stop; // Stop byte
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uint8_t checksum; // Lower 8-bits of all bytes summed.
|
||
|
};
|
||
|
|
||
|
// ESC Module message structure
|
||
|
struct hott_esc_message {
|
||
|
uint8_t start; // Start byte
|
||
|
uint8_t sensor_id; // EAM sensor id
|
||
|
uint8_t warning;
|
||
|
uint8_t sensor_text_id; // ESC Sensor text mode ID
|
||
|
uint8_t alarm_inverse1;
|
||
|
uint8_t alarm_inverse2;
|
||
|
uword_t batt_voltage; // battery voltage in steps of 0.1V
|
||
|
uword_t min_batt_voltage; // min battery voltage
|
||
|
uword_t batt_capacity; // used battery capacity in steps of 10mAh
|
||
|
uint8_t temperatureESC; // temperature of ESC . 20 = 0 degrees
|
||
|
uint8_t max_temperatureESC; // max temperature of ESC
|
||
|
uword_t current; // Current in steps of 0.1A
|
||
|
uword_t max_current; // maximal current
|
||
|
uword_t rpm; // rpm in steps of 10 rpm
|
||
|
uword_t max_rpm; // max rpm
|
||
|
uint8_t temperatureMOT; // motor temperature
|
||
|
uint8_t max_temperatureMOT; // maximal motor temperature
|
||
|
uint8_t dummy[19]; // 19 dummy bytes
|
||
|
uint8_t stop; // Stop byte
|
||
|
uint8_t checksum; // Lower 8-bits of all bytes summed.
|
||
|
};
|
||
|
|
||
|
// TEXT message structure
|
||
|
struct hott_text_message {
|
||
|
uint8_t start; // Start byte
|
||
|
uint8_t sensor_id; // TEXT id
|
||
|
uint8_t warning;
|
||
|
uint8_t text[21][8]; // text field 21 columns and 8 rows (bit 7=1 for inverse display)
|
||
|
uint8_t stop; // Stop byte
|
||
|
uint8_t checksum; // Lower 8-bits of all bytes summed.
|
||
|
};
|
||
|
|
||
|
|
||
|
/**
|
||
|
* @}
|
||
|
* @}
|
||
|
*/
|