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302 lines
7.9 KiB
C
302 lines
7.9 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup OSDOUTPUTModule OSDOutput Module
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* @brief On screen display support
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* @{
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*
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* @file osdoutput.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Interfacing with OSD module
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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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#include "openpilot.h"
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#if FLIGHTBATTERYSTATE_SUPPORTED
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#include "flightbatterystate.h"
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#endif
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#if POSITIONACTUAL_SUPPORTED
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#include "positionstate.h"
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#endif
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#include "systemalarms.h"
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#include "attitudestate.h"
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#include "hwsettings.h"
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#include "flightstatus.h"
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#include <pios_board_io.h>
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static bool osdoutputEnabled;
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enum osd_hk_sync {
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OSD_HK_SYNC_A = 0xCB, OSD_HK_SYNC_B = 0x34,
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};
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enum osd_hk_pkt_type {
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OSD_HK_PKT_TYPE_MISC = 0, OSD_HK_PKT_TYPE_NAV = 1, OSD_HK_PKT_TYPE_MAINT = 2, OSD_HK_PKT_TYPE_ATT = 3, OSD_HK_PKT_TYPE_MODE = 4,
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};
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enum osd_hk_control_mode {
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OSD_HK_CONTROL_MODE_MANUAL = 0, OSD_HK_CONTROL_MODE_STABILIZED = 1, OSD_HK_CONTROL_MODE_AUTO = 2,
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};
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struct osd_hk_blob_misc {
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uint8_t type; /* Always OSD_HK_PKT_TYPE_MISC */
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int16_t roll;
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int16_t pitch;
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// uint16_t home; /* Big Endian */
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enum osd_hk_control_mode control_mode;
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uint8_t low_battery;
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uint16_t current; /* Big Endian */
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} __attribute__((packed));
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struct osd_hk_blob_att {
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uint8_t type; /* Always OSD_HK_PKT_TYPE_ATT */
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int16_t roll;
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int16_t pitch;
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int16_t yaw;
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int16_t speed; /* Big Endian */
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} __attribute__((packed));
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struct osd_hk_blob_nav {
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uint8_t type; /* Always OSD_HK_PKT_TYPE_NAV */
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uint32_t gps_lat; /* Big Endian */
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uint32_t gps_lon; /* Big Endian */
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} __attribute__((packed));
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struct osd_hk_blob_maint {
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uint8_t type; /* Always OSD_HK_PKT_TYPE_MAINT */
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uint8_t gps_speed;
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uint16_t gps_alt; /* Big Endian */
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uint16_t gps_dis; /* Big Endian */
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uint8_t status;
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uint8_t config;
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uint8_t emerg;
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} __attribute__((packed));
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struct osd_hk_blob_mode {
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uint8_t type; /* Always OSD_HK_PKT_TYPE_MODE */
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uint8_t fltmode;
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uint16_t gps_alt; /* Big Endian */
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uint16_t gps_dis; /* Big Endian */
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uint8_t armed;
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uint8_t config;
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uint8_t emerg;
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} __attribute__((packed));
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union osd_hk_pkt_blobs {
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struct osd_hk_blob_misc misc;
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struct osd_hk_blob_nav nav;
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struct osd_hk_blob_maint maint;
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struct osd_hk_blob_att att;
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struct osd_hk_blob_mode mode;
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} __attribute__((packed));
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struct osd_hk_msg {
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enum osd_hk_sync sync;
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enum osd_hk_pkt_type t;
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union osd_hk_pkt_blobs v;
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} __attribute__((packed));
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static struct osd_hk_msg osd_hk_msg_buf;
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static volatile bool newPositionStateData = false;
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static volatile bool newBattData = false;
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static volatile bool newAttitudeData = false;
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static volatile bool newAlarmData = false;
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static uint32_t osd_hk_com_id;
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static uint8_t osd_hk_msg_dropped;
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static uint8_t osd_packet;
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static void send_update(__attribute__((unused)) UAVObjEvent *ev)
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{
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static enum osd_hk_sync sync = OSD_HK_SYNC_A;
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struct osd_hk_msg *msg = &osd_hk_msg_buf;
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union osd_hk_pkt_blobs *blob = &(osd_hk_msg_buf.v);
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/* Make sure we have a COM port bound */
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if (!osd_hk_com_id) {
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return;
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}
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FlightStatusData flightStatus;
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/*
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* Set up the message
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*/
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msg->sync = sync;
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switch (osd_packet) {
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case OSD_HK_PKT_TYPE_MISC:
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break;
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case OSD_HK_PKT_TYPE_NAV:
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break;
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case OSD_HK_PKT_TYPE_MAINT:
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break;
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case OSD_HK_PKT_TYPE_ATT:
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msg->t = OSD_HK_PKT_TYPE_ATT;
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float roll;
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AttitudeStateRollGet(&roll);
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blob->att.roll = (int16_t)(roll * 10);
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float pitch;
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AttitudeStatePitchGet(&pitch);
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blob->att.pitch = (int16_t)(pitch * 10);
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float yaw;
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AttitudeStateYawGet(&yaw);
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blob->att.yaw = (int16_t)(yaw * 10);
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break;
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case OSD_HK_PKT_TYPE_MODE:
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msg->t = OSD_HK_PKT_TYPE_MODE;
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FlightStatusGet(&flightStatus);
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blob->mode.fltmode = flightStatus.FlightMode;
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blob->mode.armed = flightStatus.Armed;
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break;
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default:
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break;
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}
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/* Field not supported yet */
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// blob->misc.control_mode = 0;
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/*if (newAlarmData) {
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SystemAlarmsData alarms;
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SystemAlarmsGet(&alarms);
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switch (alarms.Alarm[SYSTEMALARMS_ALARM_BATTERY]) {
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case SYSTEMALARMS_ALARM_UNINITIALISED:
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case SYSTEMALARMS_ALARM_OK:
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blob->misc.low_battery = 0;
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break;
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case SYSTEMALARMS_ALARM_WARNING:
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case SYSTEMALARMS_ALARM_ERROR:
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case SYSTEMALARMS_ALARM_CRITICAL:
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default:
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blob->misc.low_battery = 1;
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break;
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}
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newAlarmData = false;
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}*/
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#if FLIGHTBATTERYSUPPORTED
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if (newBattData) {
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float consumed_energy;
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FlightBatteryStateConsumedEnergyGet(&consumed_energy);
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uint16_t current = (uint16_t)(consumed_energy * 10);
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/* convert to big endian */
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blob->misc.current = (
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(current & 0xFF00 >> 8) |
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(current & 0x00FF << 8));
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newBattData = false;
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}
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#else
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// blob->misc.current = 0;
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#endif
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#if POSITIONACTUAL_SUPPORTED
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if (newPositionStateData) {
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PositionStateData position;
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PositionStateGet(&position);
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/* compute 3D distance */
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float d = sqrt(
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pow(position.North, 2) +
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pow(position.East, 2) +
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pow(position.Down, 2));
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/* convert from cm to dm (10ths of m) */
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uint16_t home = (uint16_t)(d / 10);
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/* convert to big endian */
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blob->misc.home = (
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(home & 0xFF00 >> 8) |
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(home & 0x00FF << 8));
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newPositionStateData = false;
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}
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#else
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// blob->misc.home = 0;
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#endif /* if POSITIONACTUAL_SUPPORTED */
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if (!PIOS_COM_SendBufferNonBlocking(osd_hk_com_id, (uint8_t *)&osd_hk_msg_buf, sizeof(osd_hk_msg_buf))) {
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/* Sent a packet, flip to the opposite sync */
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if (sync == OSD_HK_SYNC_A) {
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sync = OSD_HK_SYNC_B;
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} else {
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sync = OSD_HK_SYNC_A;
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}
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} else {
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/* Failed to send this update */
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osd_hk_msg_dropped++;
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}
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osd_packet++;
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if (osd_packet > OSD_HK_PKT_TYPE_MODE) {
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osd_packet = OSD_HK_PKT_TYPE_MISC;
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}
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}
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static UAVObjEvent ev;
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static int32_t osdoutputStart(void)
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{
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if (osdoutputEnabled) {
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/* Start a periodic timer to kick sending of an update */
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EventPeriodicCallbackCreate(&ev, send_update, 25 / portTICK_RATE_MS);
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return 0;
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}
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return -1;
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}
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static int32_t osdoutputInitialize(void)
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{
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osd_hk_com_id = PIOS_COM_OSDHK;
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#ifdef MODULE_OSDOUTPUT_BUILTIN
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osdoutputEnabled = 1;
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#else
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HwSettingsInitialize();
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HwSettingsOptionalModulesData optionalModules;
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HwSettingsOptionalModulesGet(&optionalModules);
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if (optionalModules.OsdHk == HWSETTINGS_OPTIONALMODULES_ENABLED) {
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osdoutputEnabled = 1;
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} else {
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osdoutputEnabled = 0;
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}
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#endif
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if (osdoutputEnabled && osd_hk_com_id) {
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PIOS_COM_ChangeBaud(osd_hk_com_id, 57600);
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}
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return 0;
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}
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MODULE_INITCALL(osdoutputInitialize, osdoutputStart);
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/**
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* @}
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* @}
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*/
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