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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.c
* @author Simon Wilks <sjwilks@gmail.com>
*/
#include "messages.h"
#include <string.h>
#include <systemlib/systemlib.h>
#include <unistd.h>
#include <uORB/topics/airspeed.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/sensor_combined.h>
static int airspeed_sub = -1;
static int battery_sub = -1;
static int sensor_sub = -1;
void messages_init(void)
{
battery_sub = orb_subscribe(ORB_ID(battery_status));
sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
airspeed_sub = orb_subscribe(ORB_ID(airspeed));
}
void build_eam_response(uint8_t *buffer, int *size)
{
/* get a local copy of the current sensor values */
struct sensor_combined_s raw;
memset(&raw, 0, sizeof(raw));
orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
/* get a local copy of the battery data */
struct battery_status_s battery;
memset(&battery, 0, sizeof(battery));
orb_copy(ORB_ID(battery_status), battery_sub, &battery);
struct eam_module_msg msg;
*size = sizeof(msg);
memset(&msg, 0, *size);
msg.start = START_BYTE;
msg.eam_sensor_id = ELECTRIC_AIR_MODULE;
msg.sensor_id = EAM_SENSOR_ID;
msg.temperature1 = (uint8_t)(raw.baro_temp_celcius + 20);
msg.temperature2 = TEMP_ZERO_CELSIUS;
msg.main_voltage_L = (uint8_t)(battery.voltage_v * 10);
uint16_t alt = (uint16_t)(raw.baro_alt_meter + 500);
msg.altitude_L = (uint8_t)alt & 0xff;
msg.altitude_H = (uint8_t)(alt >> 8) & 0xff;
/* get a local copy of the current sensor values */
struct airspeed_s airspeed;
memset(&airspeed, 0, sizeof(airspeed));
orb_copy(ORB_ID(airspeed), airspeed_sub, &airspeed);
uint16_t speed = (uint16_t)(airspeed.indicated_airspeed_m_s * 3.6);
msg.speed_L = (uint8_t)speed & 0xff;
msg.speed_H = (uint8_t)(speed >> 8) & 0xff;
msg.stop = STOP_BYTE;
memcpy(buffer, &msg, *size);
}
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