mirror of
https://bitbucket.org/librepilot/librepilot.git
synced 2024-12-12 20:08:48 +01:00
6c40edccf2
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@852 ebee16cc-31ac-478f-84a7-5cbb03baadba
348 lines
8.3 KiB
C
348 lines
8.3 KiB
C
/**
|
|
******************************************************************************
|
|
*
|
|
* @file MKSerial.c
|
|
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
|
|
* @brief Interfacing with MK via serial port
|
|
* @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
|
|
*/
|
|
|
|
#include "openpilot.h"
|
|
|
|
#include "flightbatterystate.h"
|
|
#include "positionactual.h"
|
|
|
|
|
|
|
|
//
|
|
// Configuration
|
|
//
|
|
#define DEBUG_PORT PIOS_COM_TELEM_RF
|
|
#define STACK_SIZE 1024
|
|
#define TASK_PRIORITY (tskIDLE_PRIORITY + 3)
|
|
#define ENABLE_DEBUG_MSG
|
|
//#define DUMP_CONFIG
|
|
|
|
|
|
//
|
|
// Private constants
|
|
//
|
|
|
|
#ifdef ENABLE_DEBUG_MSG
|
|
#define DEBUG_MSG(format, ...) PIOS_COM_SendFormattedString(DEBUG_PORT, format, ## __VA_ARGS__)
|
|
#else
|
|
#define DEBUG_MSG(format, ...)
|
|
#endif
|
|
|
|
#define CONFIG_LENGTH 6726
|
|
#define MIN(a,b) ((a)<(b)?(a):(b))
|
|
|
|
#define OSDMSG_V_LS_IDX 10
|
|
#define OSDMSG_V_MS_IDX 18
|
|
#define OSDMSG_LAT_IDX 33
|
|
#define OSDMSG_LON_IDX 37
|
|
#define OSDMSG_HOME_IDX 47
|
|
#define OSDMSG_ALT_IDX 49
|
|
#define OSDMSG_NB_SATS 58
|
|
#define OSDMSG_GPS_STAT 59
|
|
|
|
#define OSDMSG_GPS_STAT_NOFIX 0x03
|
|
#define OSDMSG_GPS_STAT_FIX 0x2B
|
|
#define OSDMSG_GPS_STAT_HB_FLAG 0x10
|
|
|
|
|
|
|
|
//
|
|
// Private types
|
|
//
|
|
|
|
//
|
|
// Private variables
|
|
//
|
|
|
|
// | Header / cmd?| | V | | V | | LAT: 37 57.0000 | LONG: 24 00.4590 | | Hom<-179| Alt 545.4 m | |#sat|stat|
|
|
// 00 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62
|
|
uint8_t msg[63] = {0x03,0x3F,0x03,0x00,0x00,0x00,0x00,0x00,0x90,0x0A,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFC,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x09,0x60,0x10,0x02,0x00,0x00,0x90,0x00,0x54,0x54,0x00,0x00,0x33,0x28,0x13,0x00,0x00,0x08,0x00,0x00,0x90,0x0A};
|
|
|
|
static volatile bool newPosData=FALSE;
|
|
static volatile bool newBattData=FALSE;
|
|
|
|
|
|
//
|
|
// Private functions
|
|
//
|
|
static void WriteToMsg8(uint8_t index, uint8_t value)
|
|
{
|
|
if (value>100)
|
|
value = 100;
|
|
|
|
msg[index] = ((value/10) << 4) + (value%10);
|
|
}
|
|
|
|
static void WriteToMsg16(uint8_t index, uint16_t value)
|
|
{
|
|
WriteToMsg8(index, value % 100);
|
|
WriteToMsg8(index+1, value / 100);
|
|
}
|
|
|
|
static void WriteToMsg24(uint8_t index, uint32_t value)
|
|
{
|
|
WriteToMsg16(index, value % 10000);
|
|
WriteToMsg8(index+2, value / 10000);
|
|
}
|
|
|
|
static void WriteToMsg32(uint8_t index, uint32_t value)
|
|
{
|
|
WriteToMsg16(index, value % 10000);
|
|
WriteToMsg16(index+2, value / 10000);
|
|
}
|
|
|
|
static void SetCoord(uint8_t index, float coord)
|
|
{
|
|
uint32_t deg = (uint32_t)coord;
|
|
float sec = (coord-deg)*60;
|
|
|
|
WriteToMsg24(index, sec*10000);
|
|
WriteToMsg8(index+3, deg);
|
|
}
|
|
|
|
static void SetCourse(uint16_t dir)
|
|
{
|
|
WriteToMsg16(OSDMSG_HOME_IDX, dir);
|
|
}
|
|
|
|
static void SetAltitude(uint32_t altitudeMeter)
|
|
{
|
|
WriteToMsg32(OSDMSG_ALT_IDX, altitudeMeter*10);
|
|
}
|
|
|
|
static void SetVoltage(uint32_t milliVolt)
|
|
{
|
|
msg[OSDMSG_V_MS_IDX] = (milliVolt / 6444)<<4;
|
|
msg[OSDMSG_V_LS_IDX] = (milliVolt % 6444)*256/6444;
|
|
}
|
|
|
|
static void SetNbSats(uint8_t nb)
|
|
{
|
|
msg[OSDMSG_NB_SATS] = nb;
|
|
}
|
|
|
|
static void FlightBatteryStateUpdatedCb(UAVObjEvent* ev)
|
|
{
|
|
newBattData = TRUE;
|
|
}
|
|
|
|
static void PositionActualUpdatedCb(UAVObjEvent* ev)
|
|
{
|
|
newPosData = TRUE;
|
|
}
|
|
|
|
#ifdef DUMP_CONFIG
|
|
|
|
static bool Read(uint32_t start, uint8_t length, uint8_t* buffer)
|
|
{
|
|
bool res = FALSE;
|
|
|
|
if (PIOS_I2C_LockDevice(5000 / portTICK_RATE_MS))
|
|
{
|
|
uint8_t cmd[5];
|
|
|
|
cmd[0] = 0x02;
|
|
cmd[1] = 0x05;
|
|
cmd[2] = (uint8_t)(start & 0xFF);
|
|
cmd[3] = (uint8_t)(start >> 8);
|
|
cmd[4] = length;
|
|
|
|
PIOS_I2C_Transfer(I2C_Write_WithoutStop, 0x30<<1, cmd, 0);
|
|
|
|
if (PIOS_I2C_Transfer(I2C_Write_WithoutStop, 0x30<<1, cmd, 5) == 0)
|
|
{
|
|
if (PIOS_I2C_Transfer(I2C_Read, 0x30<<1, buffer, length) == 0)
|
|
{
|
|
res = TRUE;
|
|
}
|
|
}
|
|
PIOS_I2C_UnlockDevice();
|
|
}
|
|
|
|
return res;
|
|
}
|
|
|
|
|
|
|
|
static void DumpConfig(void)
|
|
{
|
|
uint8_t buf[50];
|
|
uint32_t addr=0;
|
|
uint32_t n;
|
|
uint32_t i;
|
|
bool ok;
|
|
|
|
while (addr<CONFIG_LENGTH)
|
|
{
|
|
n = MIN(CONFIG_LENGTH-addr, sizeof(buf));
|
|
ok = FALSE;
|
|
while (!ok)
|
|
{
|
|
if (Read(addr, n, buf))
|
|
{
|
|
#if 0
|
|
for(i=0; i<n; i++)
|
|
DEBUG_MSG("%02x ", buf[i]);
|
|
#else
|
|
PIOS_COM_SendBuffer(DEBUG_PORT, buf, n);
|
|
#endif
|
|
ok = TRUE;
|
|
}
|
|
}
|
|
//DEBUG_MSG("\n\r");
|
|
addr += n;
|
|
}
|
|
|
|
// {
|
|
// FILEINFO file;
|
|
// uint32_t res;
|
|
//
|
|
// res = DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t*)"\\a.txt", DFS_READ, PIOS_SDCARD_Sector, &file);
|
|
// if (res == DFS_OK)
|
|
// {
|
|
// DFS_Close(&file);
|
|
// }
|
|
// DEBUG_MSG("ReadFile = 0x%x\n", res);
|
|
//
|
|
// res = DFS_OpenFile(&PIOS_SDCARD_VolInfo, (uint8_t*)"\\ConfDump", DFS_WRITE, PIOS_SDCARD_Sector, &file);
|
|
// if ( res == DFS_OK )
|
|
// {
|
|
// uint32_t bytesWritten;
|
|
// DEBUG_MSG("File Open\n");
|
|
// res = DFS_WriteFile(&file, PIOS_SDCARD_Sector, buf, &bytesWritten, 10);
|
|
//
|
|
// DEBUG_MSG("Write 0x%x\n", res);
|
|
// DFS_Close(&file);
|
|
// }
|
|
// else
|
|
// {
|
|
// DEBUG_MSG("Error Opening File %x\n", res);
|
|
// }
|
|
// }
|
|
}
|
|
#endif
|
|
|
|
|
|
static void Task(void* parameters)
|
|
{
|
|
uint32_t cnt = 0;
|
|
|
|
|
|
//PIOS_COM_ChangeBaud(DEBUG_PORT, 57600);
|
|
|
|
PositionActualConnectCallback(PositionActualUpdatedCb);
|
|
FlightBatteryStateConnectCallback(FlightBatteryStateUpdatedCb);
|
|
|
|
#ifdef DUMP_CONFIG
|
|
vTaskDelay(1000 / portTICK_RATE_MS);
|
|
DEBUG_MSG("DUMP Start\n");
|
|
DumpConfig();
|
|
DEBUG_MSG("DUMP End\n");
|
|
while(1)
|
|
vTaskDelay(100 / portTICK_RATE_MS);
|
|
#endif
|
|
|
|
DEBUG_MSG("OSD ET Std Started\n");
|
|
|
|
while (1)
|
|
{
|
|
DEBUG_MSG("%d\n\r", cnt);
|
|
if ( newBattData )
|
|
{
|
|
FlightBatteryStateData flightBatteryData;
|
|
|
|
FlightBatteryStateGet(&flightBatteryData);
|
|
|
|
DEBUG_MSG("%5d Batt: V=%dmV\n\r", cnt, flightBatteryData.Voltage);
|
|
|
|
SetVoltage(flightBatteryData.Voltage);
|
|
newBattData = FALSE;
|
|
}
|
|
|
|
if (newPosData)
|
|
{
|
|
PositionActualData positionData;
|
|
|
|
PositionActualGet(&positionData);
|
|
|
|
DEBUG_MSG("%5d Pos: #stat=%d #sats=%d alt=%d\n\r", cnt,
|
|
positionData.Status, positionData.Satellites, (uint32_t)positionData.Altitude);
|
|
|
|
// GPS Status
|
|
if (positionData.Status == POSITIONACTUAL_STATUS_FIX3D)
|
|
msg[OSDMSG_GPS_STAT] = OSDMSG_GPS_STAT_FIX;
|
|
else
|
|
msg[OSDMSG_GPS_STAT] = OSDMSG_GPS_STAT_NOFIX;
|
|
msg[OSDMSG_GPS_STAT] |= OSDMSG_GPS_STAT_HB_FLAG;
|
|
|
|
|
|
// GPS info
|
|
SetCoord(OSDMSG_LAT_IDX, positionData.Latitude);
|
|
SetCoord(OSDMSG_LON_IDX, positionData.Longitude);
|
|
SetAltitude(positionData.Altitude);
|
|
SetNbSats(positionData.Satellites);
|
|
SetCourse(positionData.Heading);
|
|
|
|
newPosData = FALSE;
|
|
}
|
|
else
|
|
{
|
|
msg[OSDMSG_GPS_STAT] &= ~OSDMSG_GPS_STAT_HB_FLAG;
|
|
}
|
|
|
|
DEBUG_MSG("SendMsg .");
|
|
if (PIOS_I2C_LockDevice(5000 / portTICK_RATE_MS))
|
|
{
|
|
DEBUG_MSG(".");
|
|
PIOS_I2C_Transfer(I2C_Write, 0x30<<1, msg, sizeof(msg));
|
|
DEBUG_MSG(".");
|
|
PIOS_I2C_UnlockDevice();
|
|
}
|
|
DEBUG_MSG("\n\r");
|
|
|
|
cnt++;
|
|
|
|
vTaskDelay(100 / portTICK_RATE_MS);
|
|
}
|
|
}
|
|
|
|
|
|
//
|
|
// Public functions
|
|
//
|
|
|
|
/**
|
|
* Initialise the module
|
|
* \return -1 if initialisation failed
|
|
* \return 0 on success
|
|
*/
|
|
int32_t OsdEtStdInitialize(void)
|
|
{
|
|
// Start gps task
|
|
xTaskCreate(Task, (signed char*) "Osd", STACK_SIZE, NULL, TASK_PRIORITY, NULL);
|
|
|
|
return 0;
|
|
}
|