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Code Issues Releases Activity

LP-609 HoTT: Initial interactive menu version

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This commit is contained in:
Laurent Lalanne 2019-02-17 04:15:44 +01:00
parent 7c9f04d87c
commit 6d9b9eb08a
2 changed files with 270 additions and 21 deletions
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35
flight/modules/UAVOHottBridge/inc/uavohottbridge.h
View File

@ -6,7 +6,7 @@
* @{
*
* @file uavohottbridge.h
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017-2019.
* Tau Labs, http://taulabs.org, Copyright (C) 2013
* @brief sends telemery data on HoTT request
*
@ -31,7 +31,7 @@
// timing variables
#define IDLE_TIME 10 // idle line delay to prevent data crashes on telemetry line.
#define DATA_TIME 3 // time between 2 transmitted bytes
#define DATA_TIME 3 // time between 2 transmitted bytes
// sizes and lengths
#define climbratesize 50 // defines size of ring buffer for climbrate calculation
@ -161,6 +161,14 @@
#define HOTT_TONE_51 51 // maximum servo temperature
#define HOTT_TONE_52 52 // maximum servo position difference
#define HOTT_KEY_DEC 11
#define HOTT_KEY_INC 13
#define HOTT_KEY_NEXT 14
#define HOTT_KEY_PREV 7
#define HOTT_KEY_SET 9
#define HOTT_TEXT_LINES 8
#define HOTT_TEXT_COLUMNS 21
// Private types
typedef struct {
@ -198,6 +206,27 @@ struct telemetrydata {
char statusline[statussize];
};
// HoTT menu
static const char *const hottPageTitle[] = {
"***LIBREPILOT Hott***",
"-----VARIO PAGE------",
"------GPS PAGE-------",
"--GENERAL AIR PAGE---",
"--ELECTRIC AIR PAGE--",
"------ESC PAGE-------"
};
typedef enum {
HOTTPAGE_MAIN = 0,
HOTTPAGE_VARIO = 1,
HOTTPAGE_GPS = 2,
HOTTPAGE_GENERAL = 3,
HOTTPAGE_ELECTRIC = 4,
HOTTPAGE_ESC = 5,
} hottPageElem;
#define HOTTPAGE_NUMELEM 6
// VARIO Module message structure
struct hott_vario_message {
uint8_t start; // start byte
@ -368,7 +397,7 @@ 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)
char text[HOTT_TEXT_LINES][HOTT_TEXT_COLUMNS]; // 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.
};

256
flight/modules/UAVOHottBridge/uavohottbridge.c
View File

@ -6,7 +6,7 @@
* @{
*
* @file uavohottbridge.c
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017.
* @author The LibrePilot Project, http://www.librepilot.org Copyright (C) 2017-2019.
* Tau Labs, http://taulabs.org, Copyright (C) 2013-2014
* @brief sends telemery data on HoTT request
*
@ -52,6 +52,7 @@
#include "velocitystate.h"
#include "hottbridgestatus.h"
#include "hottbridgesettings.h"
#include "revosettings.h"
#include "objectpersistence.h"
#include "pios_sensors.h"
#include "uavohottbridge.h"
@ -81,7 +82,7 @@ static uint16_t build_GPS_message(struct hott_gps_message *msg);
static uint16_t build_GAM_message(struct hott_gam_message *msg);
static uint16_t build_EAM_message(struct hott_eam_message *msg);
static uint16_t build_ESC_message(struct hott_esc_message *msg);
static uint16_t build_TEXT_message(struct hott_text_message *msg);
static uint16_t build_TEXT_message(struct hott_text_message *msg, uint8_t page, uint8_t current_line, bool edit_line, bool exit_menu);
static uint8_t calc_checksum(uint8_t *data, uint16_t size);
static uint8_t generate_warning();
static void update_telemetrydata();
@ -201,17 +202,81 @@ static void uavoHoTTBridgeTask(__attribute__((unused)) void *parameters)
}
} else if (rx_buffer[1] == HOTT_TEXT_ID) {
// first received byte looks like a text request. check second received byte for a valid button.
switch (rx_buffer[0]) {
case HOTT_BUTTON_DEC:
case HOTT_BUTTON_INC:
case HOTT_BUTTON_SET:
case HOTT_BUTTON_NIL:
case HOTT_BUTTON_NEXT:
case HOTT_BUTTON_PREV:
message_size = build_TEXT_message((struct hott_text_message *)tx_buffer);
uint8_t id_key = rx_buffer[0] & 0x0F;
uint8_t id_sensor = rx_buffer[0] >> 4;
bool exit_menu = false;
bool refresh = true;
bool edit_line = false;
// define allowed edited lines for Main, Vario, Gps, General, Electric and Esc pages
uint8_t min_line[] = { 2, 2, 0, 0, 0 };
uint8_t max_line[] = { 6, 2, 0, 0, 0 };
static uint8_t page = HOTTPAGE_MAIN;
static uint8_t last_page = 0;
static uint8_t current_line = 0;
// select page to display from text request
switch (id_sensor) {
case (HOTT_VARIO_ID & 0x0f):
page = HOTTPAGE_VARIO;
break;
default:
message_size = 0;
case (HOTT_GPS_ID & 0x0f):
page = HOTTPAGE_GPS;
break;
case (HOTT_GAM_ID & 0x0f):
page = HOTTPAGE_GENERAL;
break;
case (HOTT_EAM_ID & 0x0f):
page = HOTTPAGE_ELECTRIC;
break;
case (HOTT_ESC_ID & 0x0f):
page = HOTTPAGE_ESC;
}
// menu keys
switch (id_key) {
case HOTT_KEY_DEC: // up
current_line--;
break;
case HOTT_KEY_INC: // down
current_line++;
break;
case HOTT_KEY_PREV: // left
exit_menu = (page == 0) ? true : false;
page--;
break;
case HOTT_KEY_NEXT: // right
exit_menu = false;
current_line = 0;
page++;
break;
case HOTT_KEY_SET: // Set
edit_line = true;
break;
}
// keep current line between min/max limits
if (current_line > max_line[page]) {
current_line = max_line[page];
}
if (current_line < min_line[page]) {
current_line = min_line[page];
}
if (page > (HOTTPAGE_NUMELEM - 1)) {
page = HOTTPAGE_MAIN;
}
if (page != last_page) {
current_line = 0;
last_page = page;
}
// prevent double call and tx already in progress
if (refresh && (message_size == 0)) {
message_size = build_TEXT_message((struct hott_text_message *)tx_buffer, page, current_line, edit_line, exit_menu);
refresh = false;
}
}
@ -591,19 +656,174 @@ uint16_t build_ESC_message(struct hott_esc_message *msg)
return sizeof(*msg);
}
uint16_t build_TEXT_message(struct hott_text_message *msg)
uint16_t build_TEXT_message(struct hott_text_message *msg, uint8_t page, uint8_t current_line, bool edit_line, bool exit_menu)
{
update_telemetrydata();
// clear message buffer
memset(msg, 0, sizeof(*msg));
// message header
msg->start = HOTT_START;
msg->start = HOTT_TEXT_START;
msg->stop = HOTT_STOP;
msg->sensor_id = HOTT_TEXT_ID;
msg->sensor_id = (exit_menu == true) ? 0x01 : 0x00; // exit menu / normal
msg->warning = 0;
msg->checksum = calc_checksum((uint8_t *)msg, sizeof(*msg));
HoTTBridgeSettingsSensorData sensor;
RevoSettingsFusionAlgorithmOptions revoFusionAlgo;
bool ekf_enabled = false;
if (HoTTBridgeSettingsHandle() != NULL) {
HoTTBridgeSettingsSensorGet(&sensor);
}
if (RevoSettingsHandle() != NULL) {
RevoSettingsFusionAlgorithmGet(&revoFusionAlgo);
}
char *txt_fusionalgo = "";
// page title
snprintf(msg->text[0], HOTT_TEXT_COLUMNS, "%s", hottPageTitle[page]); // line 1
// compute page content
switch (page) {
case HOTTPAGE_VARIO: // Vario page
// check current algo status
switch (revoFusionAlgo) {
case REVOSETTINGS_FUSIONALGORITHM_INS13INDOOR:
case REVOSETTINGS_FUSIONALGORITHM_TESTINGINSINDOORCF:
txt_fusionalgo = "* EKF INDOOR NOGPS * ";
ekf_enabled = true;
break;
case REVOSETTINGS_FUSIONALGORITHM_GPSNAVIGATIONINS13:
case REVOSETTINGS_FUSIONALGORITHM_GPSNAVIGATIONINS13CF:
txt_fusionalgo = " * EKF OUTDOOR GPS * ";
ekf_enabled = true;
break;
case REVOSETTINGS_FUSIONALGORITHM_BASICCOMPLEMENTARY:
case REVOSETTINGS_FUSIONALGORITHM_COMPLEMENTARYMAG:
case REVOSETTINGS_FUSIONALGORITHM_COMPLEMENTARYMAGGPSOUTDOOR:
default:
txt_fusionalgo = " * BASIC ALGO * ";
ekf_enabled = false;
}
if (edit_line && (current_line == 2)) {
// check if a GPS is available
bool gps_ok = (telestate->SysAlarms.Alarm.GPS != SYSTEMALARMS_ALARM_UNINITIALISED) && (telestate->SysAlarms.Alarm.GPS != SYSTEMALARMS_ALARM_ERROR);
if (gps_ok) {
if (ekf_enabled) {
revoFusionAlgo = REVOSETTINGS_FUSIONALGORITHM_BASICCOMPLEMENTARY; // move to Basic (no mag needed)
} else {
revoFusionAlgo = REVOSETTINGS_FUSIONALGORITHM_GPSNAVIGATIONINS13CF; // move to ekf
}
} else {
// without GPS
if (ekf_enabled) {
revoFusionAlgo = REVOSETTINGS_FUSIONALGORITHM_BASICCOMPLEMENTARY; // move to Basic (no mag needed)
} else {
revoFusionAlgo = REVOSETTINGS_FUSIONALGORITHM_TESTINGINSINDOORCF; // move to ekf
}
}
RevoSettingsFusionAlgorithmSet(&revoFusionAlgo);
UAVObjSave(RevoSettingsHandle(), 0);
}
char *ekf_status = (ekf_enabled) ? "*" : " ";
snprintf(msg->text[1], HOTT_TEXT_COLUMNS, " Use EKF algo [%1s] ", ekf_status); // line 2
snprintf(msg->text[2], HOTT_TEXT_COLUMNS, " "); // line 3
snprintf(msg->text[3], HOTT_TEXT_COLUMNS, "%s", txt_fusionalgo); // line 4
snprintf(msg->text[4], HOTT_TEXT_COLUMNS, " "); // line 5
snprintf(msg->text[5], HOTT_TEXT_COLUMNS, " WARNING!! "); // line 6
snprintf(msg->text[6], HOTT_TEXT_COLUMNS, " This overwrites "); // line 7
snprintf(msg->text[7], HOTT_TEXT_COLUMNS, " algo settings "); // line 8
if (current_line > 1) {
msg->text[current_line - 1][0] = '>';
}
break;
case HOTTPAGE_GPS: // GPS page
case HOTTPAGE_GENERAL: // General Air page
case HOTTPAGE_ELECTRIC: // Electric Air page
case HOTTPAGE_ESC: // Esc page
snprintf(msg->text[1], HOTT_TEXT_COLUMNS, " "); // line 2
snprintf(msg->text[2], HOTT_TEXT_COLUMNS, " "); // line 3
snprintf(msg->text[3], HOTT_TEXT_COLUMNS, " "); // line 4
snprintf(msg->text[4], HOTT_TEXT_COLUMNS, " "); // line 5
snprintf(msg->text[5], HOTT_TEXT_COLUMNS, " "); // line 6
snprintf(msg->text[6], HOTT_TEXT_COLUMNS, " "); // line 7
snprintf(msg->text[7], HOTT_TEXT_COLUMNS, " "); // line 8
break;
default:
case HOTTPAGE_MAIN: // Main page where HoTT modules can be started
if (edit_line) {
switch (current_line) {
case 2:
if (sensor.VARIO == HOTTBRIDGESETTINGS_SENSOR_DISABLED) {
sensor.VARIO = HOTTBRIDGESETTINGS_SENSOR_ENABLED;
} else {
sensor.VARIO = HOTTBRIDGESETTINGS_SENSOR_DISABLED;
}
break;
case 3:
if (sensor.GPS == HOTTBRIDGESETTINGS_SENSOR_DISABLED) {
sensor.GPS = HOTTBRIDGESETTINGS_SENSOR_ENABLED;
} else {
sensor.GPS = HOTTBRIDGESETTINGS_SENSOR_DISABLED;
}
break;
case 4:
if (sensor.EAM == HOTTBRIDGESETTINGS_SENSOR_DISABLED) {
sensor.EAM = HOTTBRIDGESETTINGS_SENSOR_ENABLED;
// no need to emulate General module
sensor.GAM = HOTTBRIDGESETTINGS_SENSOR_DISABLED;
} else {
sensor.EAM = HOTTBRIDGESETTINGS_SENSOR_DISABLED;
}
break;
case 5:
if (sensor.GAM == HOTTBRIDGESETTINGS_SENSOR_DISABLED) {
sensor.GAM = HOTTBRIDGESETTINGS_SENSOR_ENABLED;
// no need to emulate Electric module
sensor.EAM = HOTTBRIDGESETTINGS_SENSOR_DISABLED;
} else {
sensor.GAM = HOTTBRIDGESETTINGS_SENSOR_DISABLED;
}
break;
case 6:
if (sensor.ESC == HOTTBRIDGESETTINGS_SENSOR_DISABLED) {
sensor.ESC = HOTTBRIDGESETTINGS_SENSOR_ENABLED;
} else {
sensor.ESC = HOTTBRIDGESETTINGS_SENSOR_DISABLED;
}
}
HoTTBridgeSettingsSensorSet(&sensor);
UAVObjSave(HoTTBridgeSettingsHandle(), 0);
}
// check sensors status and set char
char *vario_status = (sensor.VARIO == HOTTBRIDGESETTINGS_SENSOR_DISABLED) ? " " : "*";
char *gps_status = (sensor.GPS == HOTTBRIDGESETTINGS_SENSOR_DISABLED) ? " " : "*";
char *gam_status = (sensor.GAM == HOTTBRIDGESETTINGS_SENSOR_DISABLED) ? " " : "*";
char *eam_status = (sensor.EAM == HOTTBRIDGESETTINGS_SENSOR_DISABLED) ? " " : "*";
char *esc_status = (sensor.ESC == HOTTBRIDGESETTINGS_SENSOR_DISABLED) ? " " : "*";
// create Main page content
snprintf(msg->text[1], HOTT_TEXT_COLUMNS, " VARIO module [%1s] ", vario_status); // line 2
snprintf(msg->text[2], HOTT_TEXT_COLUMNS, " GPS module [%1s] ", gps_status); // line 3
snprintf(msg->text[3], HOTT_TEXT_COLUMNS, " ELECTRIC module [%1s] ", eam_status); // line 4
snprintf(msg->text[4], HOTT_TEXT_COLUMNS, " GENERAL module [%1s] ", gam_status); // line 5
snprintf(msg->text[5], HOTT_TEXT_COLUMNS, " ESC module [%1s] ", esc_status); // line 6
snprintf(msg->text[6], HOTT_TEXT_COLUMNS, " Select module ");
snprintf(msg->text[7], HOTT_TEXT_COLUMNS, " to be emulated ");
if (current_line > 1) {
msg->text[current_line - 1][0] = '>';
}
// break;
}
msg->stop = HOTT_STOP;
msg->checksum = calc_checksum((uint8_t *)msg, sizeof(*msg));
return sizeof(*msg);
}