Introducing an initial implementation of HoTT telemetry support.

1 files changed, 113 insertions, 0 deletions

diff --git a/apps/hott_telemetry/messages.h b/apps/hott_telemetry/messages.h
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+++ b/apps/hott_telemetry/messages.h
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+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *   Author: @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
+ *
+ * Graupner HoTT Telemetry message generator.
+ *
+ */
+#ifndef MESSAGES_H_
+#define MESSAGES_H
+
+#include <stdlib.h>
+
+// The HoTT receiver demands a minimum 5ms period of silence after delivering its request. 
+#define POST_READ_DELAY_IN_USECS	4500 
+// 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	1500
+
+// Protocol constants.
+#define BINARY_MODE_REQUEST_ID	0x80	// Binary mode request.
+#define START_BYTE		0x7c
+#define STOP_BYTE		0x7d
+#define TEMP_ZERO_CELSIUS	0x14
+
+// Electric Air Module (EAM) constants.
+#define ELECTRIC_AIR_MODULE	0x8e
+#define EAM_SENSOR_ID		0xe0
+
+struct eam_module_msg {
+	uint8_t start;			/**< Start byte   				*/
+	uint8_t eam_sensor_id;		/**< EAM sensor ID 				*/
+	uint8_t warning;
+	uint8_t sensor_id;		/**< Sensor ID, why different? 			*/
+	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. 			*/
+};
+
+void messages_init(void);
+void build_eam_response(struct eam_module_msg *msg);
+
+#endif /* MESSAGES_H_ */