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LibrePilot/flight/modules/UAVOHottBridge/inc/uavohottbridge.h

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