Enable single wire via ioctl calls and pull the battery voltage from the battery status topic.

2 files changed, 11 insertions, 36 deletions

diff --git a/apps/hott_telemetry/hott_telemetry_main.c b/apps/hott_telemetry/hott_telemetry_main.c
index ae6c69b99..d67ab06a9 100644
--- a/apps/hott_telemetry/hott_telemetry_main.c
+++ b/apps/hott_telemetry/hott_telemetry_main.c
@@ -134,41 +134,8 @@ static int open_uart(const char *device, struct termios *uart_config_original)
 		FATAL_MSG(msg);
 	}
 
-	/* Get the appropriate GPIO pin and control register */
-	uint32_t gpio_uart = GPIO_USART2_TX;;
-	uint32_t uart_cr3 = STM32_USART2_CR3;
-
-	switch (device[strlen(device) - 1]) {
-	case '0':
-		gpio_uart = GPIO_USART1_TX;
-		uart_cr3 = STM32_USART1_CR3;
-		break;
-
-	case '1':
-		gpio_uart = GPIO_USART2_TX;
-		uart_cr3 = STM32_USART2_CR3;
-		break;
-
-	case '3':
-		gpio_uart = GPIO_USART6_TX;
-		uart_cr3 = STM32_USART6_CR3;
-		break;
-
-	default:
-		sprintf(msg, "%s is not supported.\n", device);
-		close(uart);
-		FATAL_MSG(msg);
-		break;
-	}
-
-	/* Change the TX port to be open-drain */
-	stm32_configgpio(gpio_uart | GPIO_OPENDRAIN);
-
-	/* Turn on half-duplex mode */
-	uint32_t cr;
-	cr = getreg32(uart_cr3);
-	cr |= (USART_CR3_HDSEL);
-	putreg32(cr, uart_cr3);
+	/* Activate single wire mode */
+	ioctl(uart, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
 
 	return uart;
 }
diff --git a/apps/hott_telemetry/messages.c b/apps/hott_telemetry/messages.c
index dce16f371..8bfb99773 100644
--- a/apps/hott_telemetry/messages.c
+++ b/apps/hott_telemetry/messages.c
@@ -42,12 +42,15 @@
 #include <string.h>
 #include <systemlib/systemlib.h>
 #include <unistd.h>
+#include <uORB/topics/battery_status.h>
 #include <uORB/topics/sensor_combined.h>
 
+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));
 }
 
@@ -58,6 +61,11 @@ void build_eam_response(uint8_t *buffer, int *size)
 	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);
@@ -67,7 +75,7 @@ void build_eam_response(uint8_t *buffer, int *size)
 	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)(raw.battery_voltage_v * 10);
+	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;