Refactoring of the hott telemetry driver and added functionality to read from a HoTT sensor.

1 files changed, 0 insertions, 228 deletions

diff --git a/src/drivers/hott_telemetry/messages.h b/src/drivers/hott_telemetry/messages.h
deleted file mode 100644
index e1a4262a1..000000000
--- a/src/drivers/hott_telemetry/messages.h
+++ /dev/null
@@ -1,228 +0,0 @@
-/****************************************************************************
- *
- *   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
-
-#define ESC_SENSOR_ID			0x8e
-
-/* The ESC Module poll message. */
-struct esc_module_poll_msg {
-	uint8_t mode;
-	uint8_t id;
-};
-
-/* The Electric Air Module message. */
-struct esc_module_msg {
-	uint8_t start;			/**< Start byte */
-	uint8_t sensor_id;
-	uint8_t warning;
-	uint8_t sensor_text_id;
-	uint8_t alarm_inverse1;
-	uint8_t alarm_inverse2;
-	uint8_t temperature1;		/**< Temperature sensor 1. 20 = 0 degrees */
-	uint8_t temperature2;
-	uint8_t current_L;		/**< Current (mAh) lower 8-bits in steps of 0.1V */
-	uint8_t current_H;
-	uint8_t rpm_L;			/**< RPM Lower 8-bits In steps of 10 U/min */
-	uint8_t rpm_H;
-	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. */
-};
-
-/* 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. */
-};
-
-/** 
- * The maximum buffer size required to store a HoTT message.
- */
-#define EAM_MESSAGE_BUFFER_SIZE sizeof(union { 	\
-    struct eam_module_msg eam; 			\
-})
-
-/* 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;		/**< Byte 3: 0…= warning beeps */
-	uint8_t sensor_text_id;		/**< GPS Sensor text mode ID */
-	uint8_t alarm_inverse1;		/**< Byte 5: 01 inverse status */
-	uint8_t alarm_inverse2;		/**< Byte 6: 00 inverse status status 1 = no GPS Signal */
-	uint8_t flight_direction;	/**< Byte 7: 119 = Flightdir./dir. 1 = 2°; 0° (North), 9 0° (East), 180° (South), 270° (West) */
-	uint8_t gps_speed_L;		/**< Byte 8: 8 = /GPS speed low byte 8km/h */
-	uint8_t gps_speed_H;		/**< Byte 9: 0 = /GPS speed high byte */
-	  
-	uint8_t latitude_ns;		/**< Byte 10: 000 = N = 48°39’988 */
-	uint8_t latitude_min_L;		/**< Byte 11: 231 0xE7 = 0x12E7 = 4839 */
-	uint8_t latitude_min_H;		/**< Byte 12: 018 18 = 0x12 */
-	uint8_t latitude_sec_L;		/**< Byte 13: 171 220 = 0xDC = 0x03DC =0988 */
-	uint8_t latitude_sec_H;		/**< Byte 14: 016 3 = 0x03 */
-	 
-	uint8_t longitude_ew;		/**< Byte 15: 000  = E= 9° 25’9360 */
-	uint8_t longitude_min_L;	/**< Byte 16: 150 157 = 0x9D = 0x039D = 0925 */
-	uint8_t longitude_min_H;	/**< Byte 17: 003 3 = 0x03 */
-	uint8_t longitude_sec_L;	/**< Byte 18: 056 144 = 0x90 0x2490 = 9360*/
-	uint8_t longitude_sec_H;	/**< Byte 19: 004 36 = 0x24 */
-	  
-	uint8_t distance_L;			/**< Byte 20: 027 123 = /distance low byte 6 = 6 m */
-	uint8_t distance_H;			/**< Byte 21: 036 35 = /distance high byte */
-	uint8_t altitude_L;			/**< Byte 22: 243 244 = /Altitude low byte 500 = 0m */
-	uint8_t altitude_H;			/**< Byte 23: 001 1 = /Altitude high byte */
-	uint8_t resolution_L;		/**< Byte 24: 48 = Low Byte m/s resolution 0.01m 48 = 30000 = 0.00m/s (1=0.01m/s) */
-	uint8_t resolution_H;		/**< Byte 25: 117 = High Byte m/s resolution 0.01m */
-	uint8_t unknown1;			/**< Byte 26: 120 = 0m/3s */
-	uint8_t gps_num_sat;		/**< Byte 27: GPS.Satellites (number of satelites) (1 byte) */
-	uint8_t gps_fix_char;		/**< Byte 28: GPS.FixChar. (GPS fix character. display, if DGPS, 2D oder 3D) (1 byte) */
-	uint8_t home_direction;		/**< Byte 29: HomeDirection (direction from starting point to Model position) (1 byte) */
-	uint8_t angle_x_direction;	/**< Byte 30: angle x-direction (1 byte) */
-	uint8_t angle_y_direction;	/**< Byte 31: angle y-direction (1 byte) */
-	uint8_t angle_z_direction;	/**< Byte 32: angle z-direction (1 byte) */
-	uint8_t gyro_x_L;			/**< Byte 33: gyro x low byte (2 bytes) */
-	uint8_t gyro_x_H;			/**< Byte 34: gyro x high byte */
-	uint8_t gyro_y_L;			/**< Byte 35: gyro y low byte (2 bytes) */
-	uint8_t gyro_y_H;			/**< Byte 36: gyro y high byte */
-	uint8_t gyro_z_L;			/**< Byte 37: gyro z low byte (2 bytes) */
-	uint8_t gyro_z_H;			/**< Byte 38: gyro z high byte */
-	uint8_t vibration;			/**< Byte 39: vibration (1 bytes) */
-	uint8_t ascii4;				/**< Byte 40: 00 ASCII Free Character [4] */
-	uint8_t ascii5;				/**< Byte 41: 00 ASCII Free Character [5] */
-	uint8_t gps_fix;			/**< Byte 42: 00 ASCII Free Character [6], we use it for GPS FIX */
-	uint8_t version;			/**< Byte 43: 00 version number */
-	uint8_t stop;				/**< Byte 44: 0x7D Ende byte */
-	uint8_t checksum;			/**< Byte 45: Parity Byte */
-};
-
-/** 
- * The maximum buffer size required to store a HoTT message.
- */
-#define GPS_MESSAGE_BUFFER_SIZE sizeof(union { 	\
-    struct gps_module_msg gps; 			\
-})
-
-#define MESSAGE_BUFFER_SIZE GPS_MESSAGE_BUFFER_SIZE
-
-void messages_init(void);
-void build_esc_request(uint8_t *buffer, size_t *size);
-void extract_esc_message(const uint8_t *buffer);
-void build_eam_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_ */