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+/****************************************************************************
+ *
+ * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
+ * Author: Simon Wilks <sjwilks@gmail.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in
+ * the documentation and/or other materials provided with the
+ * distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ * used to endorse or promote products derived from this software
+ * without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file messages.h
+ * @author Simon Wilks <sjwilks@gmail.com>
+ *
+ * Graupner HoTT Telemetry message generation.
+ *
+ */
+#ifndef MESSAGES_H_
+#define MESSAGES_H
+
+#include <stdlib.h>
+
+/* The HoTT receiver demands a minimum 5ms period of silence after delivering its request.
+ * Note that the value specified here is lower than 5000 (5ms) as time is lost constucting
+ * the message after the read which takes some milliseconds.
+ */
+#define POST_READ_DELAY_IN_USECS 4000
+/* A pause of 3ms is required between each uint8_t sent back to the HoTT receiver. Much lower
+ * values can be used in practise though.
+ */
+#define POST_WRITE_DELAY_IN_USECS 2000
+
+// Protocol constants.
+#define BINARY_MODE_REQUEST_ID 0x80 // Binary mode request.
+#define START_BYTE 0x7c
+#define STOP_BYTE 0x7d
+#define TEMP_ZERO_CELSIUS 0x14
+
+/* The GAM Module poll message. */
+struct gam_module_poll_msg {
+ uint8_t mode;
+ uint8_t id;
+};
+
+/* Electric Air Module (EAM) constants. */
+#define EAM_SENSOR_ID 0x8e
+#define EAM_SENSOR_TEXT_ID 0xe0
+
+/* The Electric Air Module message. */
+struct eam_module_msg {
+ uint8_t start; /**< Start byte */
+ uint8_t eam_sensor_id; /**< EAM sensor */
+ uint8_t warning;
+ uint8_t sensor_text_id;
+ uint8_t alarm_inverse1;
+ uint8_t alarm_inverse2;
+ uint8_t cell1_L; /**< Lipo cell voltages. Not supported. */
+ 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;
+ uint8_t cell2_H;
+ uint8_t cell3_H;
+ uint8_t cell4_H;
+ uint8_t cell5_H;
+ uint8_t cell6_H;
+ uint8_t cell7_H;
+ uint8_t batt1_voltage_L; /**< Battery 1 voltage, lower 8-bits in steps of 0.02V */
+ uint8_t batt1_voltage_H;
+ uint8_t batt2_voltage_L; /**< Battery 2 voltage, lower 8-bits in steps of 0.02V */
+ uint8_t batt2_voltage_H;
+ uint8_t temperature1; /**< Temperature sensor 1. 20 = 0 degrees */
+ uint8_t temperature2;
+ uint8_t altitude_L; /**< Attitude (meters) lower 8-bits. 500 = 0 meters */
+ uint8_t altitude_H;
+ uint8_t current_L; /**< Current (mAh) lower 8-bits in steps of 0.1V */
+ uint8_t current_H;
+ uint8_t main_voltage_L; /**< Main power voltage lower 8-bits in steps of 0.1V */
+ uint8_t main_voltage_H;
+ uint8_t battery_capacity_L; /**< Used battery capacity in steps of 10mAh */
+ uint8_t battery_capacity_H;
+ uint8_t climbrate_L; /**< Climb rate in 0.01m/s. 0m/s = 30000 */
+ uint8_t climbrate_H;
+ uint8_t climbrate_3s; /**< Climb rate in m/3sec. 0m/3sec = 120 */
+ uint8_t rpm_L; /**< RPM Lower 8-bits In steps of 10 U/min */
+ uint8_t rpm_H;
+ uint8_t electric_min; /**< Flight time in minutes. */
+ uint8_t electric_sec; /**< Flight time in seconds. */
+ uint8_t speed_L; /**< Airspeed in km/h in steps of 1 km/h */
+ uint8_t speed_H;
+ uint8_t stop; /**< Stop byte */
+ uint8_t checksum; /**< Lower 8-bits of all bytes summed. */
+};
+
+
+/* General Air Module (GAM) constants. */
+#define GAM_SENSOR_ID 0x8d
+#define GAM_SENSOR_TEXT_ID 0xd0
+
+struct gam_module_msg {
+ uint8_t start; /**< Start byte */
+ uint8_t gam_sensor_id; /**< GAM sensor id */
+ uint8_t warning_beeps;
+ uint8_t sensor_text_id;
+ uint8_t alarm_invers1;
+ uint8_t alarm_invers2;
+ uint8_t cell1; /**< Lipo cell voltages. Not supported. */
+ uint8_t cell2;
+ uint8_t cell3;
+ uint8_t cell4;
+ uint8_t cell5;
+ uint8_t cell6;
+ uint8_t batt1_L; /**< Battery 1 voltage LSB value. 0.1V steps. 50 = 5.5V */
+ uint8_t batt1_H;
+ uint8_t batt2_L; /**< Battery 2 voltage LSB value. 0.1V steps. 50 = 5.5V */
+ uint8_t batt2_H;
+ uint8_t temperature1; /**< Temperature 1. offset of 20. a value of 20 = 0°C */
+ uint8_t temperature2; /**< Temperature 2. offset of 20. a value of 20 = 0°C */
+ uint8_t fuel_procent; /**< Fuel capacity in %. Values 0 - 100 */
+ /**< Graphical display ranges: 0 25% 50% 75% 100% */
+ uint8_t fuel_ml_L; /**< Fuel in ml scale. Full = 65535 */
+ uint8_t fuel_ml_H;
+ uint8_t rpm_L; /**< RPM in 10 RPM steps. 300 = 3000rpm */
+ uint8_t rpm_H;
+ uint8_t altitude_L; /**< Altitude in meters. offset of 500, 500 = 0m */
+ uint8_t altitude_H;
+ uint8_t climbrate_L; /**< Climb rate in 0.01m/s. Value of 30000 = 0.00 m/s */
+ uint8_t climbrate_H;
+ uint8_t climbrate3s; /**< Climb rate in m/3sec. Value of 120 = 0m/3sec */
+ uint8_t current_L; /**< Current in 0.1A steps */
+ uint8_t current_H;
+ uint8_t main_voltage_L; /**< Main power voltage using 0.1V steps */
+ uint8_t main_voltage_H;
+ uint8_t batt_cap_L; /**< Used battery capacity in 10mAh steps */
+ uint8_t batt_cap_H;
+ uint8_t speed_L; /**< Speed in km/h */
+ uint8_t speed_H;
+ uint8_t min_cell_volt; /**< Minimum cell voltage in 2mV steps. 124 = 2,48V */
+ uint8_t min_cell_volt_num; /**< Number of the cell with the lowest voltage */
+ uint8_t rpm2_L; /**< RPM in 10 RPM steps. 300 = 3000rpm */
+ uint8_t rpm2_H;
+ uint8_t general_error_number; /**< Voice error == 12. TODO: more docu */
+ uint8_t pressure; /**< Pressure up to 16bar. 0,1bar scale. 20 = 2bar */
+ uint8_t version;
+ uint8_t stop; /**< Stop byte */
+ uint8_t checksum; /**< Lower 8-bits of all bytes summed */
+};
+
+/* GPS sensor constants. */
+#define GPS_SENSOR_ID 0x8a
+#define GPS_SENSOR_TEXT_ID 0xa0
+
+/**
+ * The GPS sensor message
+ * Struct based on: https://code.google.com/p/diy-hott-gps/downloads
+ */
+struct gps_module_msg {
+ 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; /**< 01 inverse status */
+ uint8_t alarm_inverse2; /**< 00 inverse status status 1 = no GPS Signal */
+ uint8_t flight_direction; /**< 119 = Flightdir./dir. 1 = 2°; 0° (North), 9 0° (East), 180° (South), 270° (West) */
+ uint8_t gps_speed_L; /**< 8 = /GPS speed low byte 8km/h */
+ uint8_t gps_speed_H; /**< 0 = /GPS speed high byte */
+
+ uint8_t latitude_ns; /**< 000 = N = 48°39’988 */
+ uint8_t latitude_min_L; /**< 231 0xE7 = 0x12E7 = 4839 */
+ uint8_t latitude_min_H; /**< 018 18 = 0x12 */
+ uint8_t latitude_sec_L; /**< 171 220 = 0xDC = 0x03DC =0988 */
+ uint8_t latitude_sec_H; /**< 016 3 = 0x03 */
+
+ uint8_t longitude_ew; /**< 000 = E= 9° 25’9360 */
+ uint8_t longitude_min_L; /**< 150 157 = 0x9D = 0x039D = 0925 */
+ uint8_t longitude_min_H; /**< 003 3 = 0x03 */
+ uint8_t longitude_sec_L; /**< 056 144 = 0x90 0x2490 = 9360 */
+ uint8_t longitude_sec_H; /**< 004 36 = 0x24 */
+
+ uint8_t distance_L; /**< 027 123 = /distance low byte 6 = 6 m */
+ uint8_t distance_H; /**< 036 35 = /distance high byte */
+ uint8_t altitude_L; /**< 243 244 = /Altitude low byte 500 = 0m */
+ uint8_t altitude_H; /**< 001 1 = /Altitude high byte */
+ uint8_t resolution_L; /**< 48 = Low Byte m/s resolution 0.01m 48 = 30000 = 0.00m/s (1=0.01m/s) */
+ uint8_t resolution_H; /**< 117 = High Byte m/s resolution 0.01m */
+ uint8_t unknown1; /**< 120 = 0m/3s */
+ uint8_t gps_num_sat; /**< GPS.Satellites (number of satelites) (1 byte) */
+ uint8_t gps_fix_char; /**< GPS.FixChar. (GPS fix character. display, if DGPS, 2D oder 3D) (1 byte) */
+ uint8_t home_direction; /**< HomeDirection (direction from starting point to Model position) (1 byte) */
+ uint8_t angle_x_direction; /**< angle x-direction (1 byte) */
+ uint8_t angle_y_direction; /**< angle y-direction (1 byte) */
+ uint8_t angle_z_direction; /**< angle z-direction (1 byte) */
+ uint8_t gyro_x_L; /**< gyro x low byte (2 bytes) */
+ uint8_t gyro_x_H; /**< gyro x high byte */
+ uint8_t gyro_y_L; /**< gyro y low byte (2 bytes) */
+ uint8_t gyro_y_H; /**< gyro y high byte */
+ uint8_t gyro_z_L; /**< gyro z low byte (2 bytes) */
+ uint8_t gyro_z_H; /**< gyro z high byte */
+ uint8_t vibration; /**< vibration (1 bytes) */
+ uint8_t ascii4; /**< 00 ASCII Free Character [4] */
+ uint8_t ascii5; /**< 00 ASCII Free Character [5] */
+ uint8_t gps_fix; /**< 00 ASCII Free Character [6], we use it for GPS FIX */
+ uint8_t version;
+ uint8_t stop; /**< Stop byte */
+ uint8_t checksum; /**< Lower 8-bits of all bytes summed */
+};
+
+// The maximum size of a message.
+#define MAX_MESSAGE_BUFFER_SIZE 45
+
+void init_sub_messages(void);
+void init_pub_messages(void);
+void build_gam_request(uint8_t *buffer, size_t *size);
+void publish_gam_message(const uint8_t *buffer);
+void build_eam_response(uint8_t *buffer, size_t *size);
+void build_gam_response(uint8_t *buffer, size_t *size);
+void build_gps_response(uint8_t *buffer, size_t *size);
+float _get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
+void convert_to_degrees_minutes_seconds(double lat, int *deg, int *min, int *sec);
+
+
+#endif /* MESSAGES_H_ */
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