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author | Lorenz Meier <lm@inf.ethz.ch> | 2013-06-06 07:57:31 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-06-06 07:57:31 +0200 |
commit | 8ad3aa315f09c32cc3e1a85e89f8f6bb9017676c (patch) | |
tree | a8f0c7e23f5d64c715cfeade003fd878e3ef027a /src/drivers | |
parent | 971e8103014412d8453b010063318cf46e996288 (diff) | |
parent | 68931f38d56c82c67d7d01e4db3157fac5815258 (diff) | |
download | px4-firmware-8ad3aa315f09c32cc3e1a85e89f8f6bb9017676c.tar.gz px4-firmware-8ad3aa315f09c32cc3e1a85e89f8f6bb9017676c.tar.bz2 px4-firmware-8ad3aa315f09c32cc3e1a85e89f8f6bb9017676c.zip |
Merged master
Diffstat (limited to 'src/drivers')
-rw-r--r-- | src/drivers/gps/ubx.cpp | 2 | ||||
-rw-r--r-- | src/drivers/hott_telemetry/hott_telemetry_main.c | 134 | ||||
-rw-r--r-- | src/drivers/hott_telemetry/messages.c | 172 | ||||
-rw-r--r-- | src/drivers/hott_telemetry/messages.h | 122 | ||||
-rw-r--r-- | src/drivers/px4io/px4io.cpp | 71 |
5 files changed, 378 insertions, 123 deletions
diff --git a/src/drivers/gps/ubx.cpp b/src/drivers/gps/ubx.cpp index b3093b0f6..f2e7ca67d 100644 --- a/src/drivers/gps/ubx.cpp +++ b/src/drivers/gps/ubx.cpp @@ -739,7 +739,7 @@ UBX::configure_message_rate(uint8_t msg_class, uint8_t msg_id, uint8_t rate) msg.msg_class = msg_class; msg.msg_id = msg_id; msg.rate = rate; - send_message(CFG, UBX_MESSAGE_CFG_MSG, &msg, sizeof(msg)); + send_message(UBX_CLASS_CFG, UBX_MESSAGE_CFG_MSG, &msg, sizeof(msg)); } void diff --git a/src/drivers/hott_telemetry/hott_telemetry_main.c b/src/drivers/hott_telemetry/hott_telemetry_main.c index 60f3f3e96..4699ce5bf 100644 --- a/src/drivers/hott_telemetry/hott_telemetry_main.c +++ b/src/drivers/hott_telemetry/hott_telemetry_main.c @@ -53,6 +53,7 @@ #include <termios.h> #include <sys/ioctl.h> #include <unistd.h> +#include <systemlib/err.h> #include <systemlib/systemlib.h> #include "messages.h" @@ -60,56 +61,44 @@ static int thread_should_exit = false; /**< Deamon exit flag */ static int thread_running = false; /**< Deamon status flag */ static int deamon_task; /**< Handle of deamon task / thread */ -static char *daemon_name = "hott_telemetry"; -static char *commandline_usage = "usage: hott_telemetry start|status|stop [-d <device>]"; +static const char daemon_name[] = "hott_telemetry"; +static const char commandline_usage[] = "usage: hott_telemetry start|status|stop [-d <device>]"; - -/* A little console messaging experiment - console helper macro */ -#define FATAL_MSG(_msg) fprintf(stderr, "[%s] %s\n", daemon_name, _msg); exit(1); -#define ERROR_MSG(_msg) fprintf(stderr, "[%s] %s\n", daemon_name, _msg); -#define INFO_MSG(_msg) printf("[%s] %s\n", daemon_name, _msg); /** * Deamon management function. */ __EXPORT int hott_telemetry_main(int argc, char *argv[]); /** - * Mainloop of deamon. + * Mainloop of daemon. */ int hott_telemetry_thread_main(int argc, char *argv[]); -static int read_data(int uart, int *id); -static int send_data(int uart, uint8_t *buffer, int size); +static int recv_req_id(int uart, uint8_t *id); +static int send_data(int uart, uint8_t *buffer, size_t size); -static int open_uart(const char *device, struct termios *uart_config_original) +static int +open_uart(const char *device, struct termios *uart_config_original) { /* baud rate */ - int speed = B19200; - int uart; + static const speed_t speed = B19200; /* open uart */ - uart = open(device, O_RDWR | O_NOCTTY); + const int uart = open(device, O_RDWR | O_NOCTTY); if (uart < 0) { - char msg[80]; - sprintf(msg, "Error opening port: %s\n", device); - FATAL_MSG(msg); + err(1, "Error opening port: %s", device); } - - /* Try to set baud rate */ - struct termios uart_config; + + /* Back up the original uart configuration to restore it after exit */ int termios_state; - - /* Back up the original uart configuration to restore it after exit */ - char msg[80]; - if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) { - sprintf(msg, "Error getting baudrate / termios config for %s: %d\n", device, termios_state); close(uart); - FATAL_MSG(msg); + err(1, "Error getting baudrate / termios config for %s: %d", device, termios_state); } /* Fill the struct for the new configuration */ + struct termios uart_config; tcgetattr(uart, &uart_config); /* Clear ONLCR flag (which appends a CR for every LF) */ @@ -117,16 +106,14 @@ static int open_uart(const char *device, struct termios *uart_config_original) /* Set baud rate */ if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) { - sprintf(msg, "Error setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", - device, termios_state); close(uart); - FATAL_MSG(msg); + err(1, "Error setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)", + device, termios_state); } if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) { - sprintf(msg, "Error setting baudrate / termios config for %s (tcsetattr)\n", device); close(uart); - FATAL_MSG(msg); + err(1, "Error setting baudrate / termios config for %s (tcsetattr)", device); } /* Activate single wire mode */ @@ -135,39 +122,41 @@ static int open_uart(const char *device, struct termios *uart_config_original) return uart; } -int read_data(int uart, int *id) +int +recv_req_id(int uart, uint8_t *id) { - const int timeout = 1000; + static const int timeout_ms = 1000; // TODO make it a define struct pollfd fds[] = { { .fd = uart, .events = POLLIN } }; - char mode; + uint8_t mode; - if (poll(fds, 1, timeout) > 0) { + if (poll(fds, 1, timeout_ms) > 0) { /* Get the mode: binary or text */ - read(uart, &mode, 1); - /* Read the device ID being polled */ - read(uart, id, 1); + read(uart, &mode, sizeof(mode)); /* if we have a binary mode request */ if (mode != BINARY_MODE_REQUEST_ID) { return ERROR; } + /* Read the device ID being polled */ + read(uart, id, sizeof(*id)); } else { - ERROR_MSG("UART timeout on TX/RX port"); + warnx("UART timeout on TX/RX port"); return ERROR; } return OK; } -int send_data(int uart, uint8_t *buffer, int size) +int +send_data(int uart, uint8_t *buffer, size_t size) { usleep(POST_READ_DELAY_IN_USECS); uint16_t checksum = 0; - for (int i = 0; i < size; i++) { + for (size_t i = 0; i < size; i++) { if (i == size - 1) { /* Set the checksum: the first uint8_t is taken as the checksum. */ buffer[i] = checksum & 0xff; @@ -176,7 +165,7 @@ int send_data(int uart, uint8_t *buffer, int size) checksum += buffer[i]; } - write(uart, &buffer[i], 1); + write(uart, &buffer[i], sizeof(buffer[i])); /* Sleep before sending the next byte. */ usleep(POST_WRITE_DELAY_IN_USECS); @@ -190,13 +179,14 @@ int send_data(int uart, uint8_t *buffer, int size) return OK; } -int hott_telemetry_thread_main(int argc, char *argv[]) +int +hott_telemetry_thread_main(int argc, char *argv[]) { - INFO_MSG("starting"); + warnx("starting"); thread_running = true; - char *device = "/dev/ttyS1"; /**< Default telemetry port: USART2 */ + const char *device = "/dev/ttyS1"; /**< Default telemetry port: USART2 */ /* read commandline arguments */ for (int i = 0; i < argc && argv[i]; i++) { @@ -206,45 +196,55 @@ int hott_telemetry_thread_main(int argc, char *argv[]) } else { thread_running = false; - ERROR_MSG("missing parameter to -d"); - ERROR_MSG(commandline_usage); - exit(1); + errx(1, "missing parameter to -d\n%s", commandline_usage); } } } /* enable UART, writes potentially an empty buffer, but multiplexing is disabled */ struct termios uart_config_original; - int uart = open_uart(device, &uart_config_original); + const int uart = open_uart(device, &uart_config_original); if (uart < 0) { - ERROR_MSG("Failed opening HoTT UART, exiting."); + errx(1, "Failed opening HoTT UART, exiting."); thread_running = false; - exit(ERROR); } messages_init(); uint8_t buffer[MESSAGE_BUFFER_SIZE]; - int size = 0; - int id = 0; + size_t size = 0; + uint8_t id = 0; + bool connected = true; while (!thread_should_exit) { - if (read_data(uart, &id) == OK) { + if (recv_req_id(uart, &id) == OK) { + if (!connected) { + connected = true; + warnx("OK"); + } + switch (id) { - case ELECTRIC_AIR_MODULE: + case EAM_SENSOR_ID: build_eam_response(buffer, &size); break; + case GPS_SENSOR_ID: + build_gps_response(buffer, &size); + break; + default: continue; // Not a module we support. } send_data(uart, buffer, size); + } else { + connected = false; + warnx("syncing"); } } - INFO_MSG("exiting"); + warnx("exiting"); close(uart); @@ -256,23 +256,22 @@ int hott_telemetry_thread_main(int argc, char *argv[]) /** * Process command line arguments and tart the daemon. */ -int hott_telemetry_main(int argc, char *argv[]) +int +hott_telemetry_main(int argc, char *argv[]) { if (argc < 1) { - ERROR_MSG("missing command"); - ERROR_MSG(commandline_usage); - exit(1); + errx(1, "missing command\n%s", commandline_usage); } if (!strcmp(argv[1], "start")) { if (thread_running) { - INFO_MSG("deamon already running"); + warnx("deamon already running"); exit(0); } thread_should_exit = false; - deamon_task = task_spawn_cmd("hott_telemetry", + deamon_task = task_spawn_cmd(daemon_name, SCHED_DEFAULT, SCHED_PRIORITY_MAX - 40, 2048, @@ -288,19 +287,14 @@ int hott_telemetry_main(int argc, char *argv[]) if (!strcmp(argv[1], "status")) { if (thread_running) { - INFO_MSG("daemon is running"); + warnx("daemon is running"); } else { - INFO_MSG("daemon not started"); + warnx("daemon not started"); } exit(0); } - ERROR_MSG("unrecognized command"); - ERROR_MSG(commandline_usage); - exit(1); + errx(1, "unrecognized command\n%s", commandline_usage); } - - - diff --git a/src/drivers/hott_telemetry/messages.c b/src/drivers/hott_telemetry/messages.c index f0f32d244..369070f8c 100644 --- a/src/drivers/hott_telemetry/messages.c +++ b/src/drivers/hott_telemetry/messages.c @@ -1,7 +1,7 @@ /**************************************************************************** * - * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved. - * Author: Simon Wilks <sjwilks@gmail.com> + * 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 @@ -34,30 +34,44 @@ /** * @file messages.c - * @author Simon Wilks <sjwilks@gmail.com> + * */ #include "messages.h" +#include <math.h> +#include <stdio.h> #include <string.h> -#include <systemlib/systemlib.h> +#include <systemlib/geo/geo.h> #include <unistd.h> -#include <uORB/topics/airspeed.h> #include <uORB/topics/battery_status.h> +#include <uORB/topics/home_position.h> #include <uORB/topics/sensor_combined.h> +#include <uORB/topics/vehicle_gps_position.h> + +/* The board is very roughly 5 deg warmer than the surrounding air */ +#define BOARD_TEMP_OFFSET_DEG 5 -static int airspeed_sub = -1; static int battery_sub = -1; +static int gps_sub = -1; +static int home_sub = -1; static int sensor_sub = -1; -void messages_init(void) +static bool home_position_set = false; +static double home_lat = 0.0d; +static double home_lon = 0.0d; + +void +messages_init(void) { battery_sub = orb_subscribe(ORB_ID(battery_status)); + gps_sub = orb_subscribe(ORB_ID(vehicle_gps_position)); + home_sub = orb_subscribe(ORB_ID(home_position)); sensor_sub = orb_subscribe(ORB_ID(sensor_combined)); - airspeed_sub = orb_subscribe(ORB_ID(airspeed)); } -void build_eam_response(uint8_t *buffer, int *size) +void +build_eam_response(uint8_t *buffer, size_t *size) { /* get a local copy of the current sensor values */ struct sensor_combined_s raw; @@ -74,26 +88,144 @@ void build_eam_response(uint8_t *buffer, int *size) memset(&msg, 0, *size); msg.start = START_BYTE; - msg.eam_sensor_id = ELECTRIC_AIR_MODULE; - msg.sensor_id = EAM_SENSOR_ID; + msg.eam_sensor_id = EAM_SENSOR_ID; + msg.sensor_id = EAM_SENSOR_TEXT_ID; + msg.temperature1 = (uint8_t)(raw.baro_temp_celcius + 20); - msg.temperature2 = TEMP_ZERO_CELSIUS; + msg.temperature2 = msg.temperature1 - BOARD_TEMP_OFFSET_DEG; + 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; + msg.stop = STOP_BYTE; + memcpy(buffer, &msg, *size); +} + +void +build_gps_response(uint8_t *buffer, size_t *size) +{ /* 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); + struct sensor_combined_s raw; + memset(&raw, 0, sizeof(raw)); + orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw); - 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; + /* get a local copy of the battery data */ + struct vehicle_gps_position_s gps; + memset(&gps, 0, sizeof(gps)); + orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps); - msg.stop = STOP_BYTE; + struct gps_module_msg msg = { 0 }; + *size = sizeof(msg); + memset(&msg, 0, *size); + + msg.start = START_BYTE; + msg.sensor_id = GPS_SENSOR_ID; + msg.sensor_text_id = GPS_SENSOR_TEXT_ID; + + msg.gps_num_sat = gps.satellites_visible; + + /* The GPS fix type: 0 = none, 2 = 2D, 3 = 3D */ + msg.gps_fix_char = (uint8_t)(gps.fix_type + 48); + msg.gps_fix = (uint8_t)(gps.fix_type + 48); + /* No point collecting more data if we don't have a 3D fix yet */ + if (gps.fix_type > 2) { + /* Current flight direction */ + msg.flight_direction = (uint8_t)(gps.cog_rad * M_RAD_TO_DEG_F); + + /* GPS speed */ + uint16_t speed = (uint16_t)(gps.vel_m_s * 3.6); + msg.gps_speed_L = (uint8_t)speed & 0xff; + msg.gps_speed_H = (uint8_t)(speed >> 8) & 0xff; + + /* Get latitude in degrees, minutes and seconds */ + double lat = ((double)(gps.lat))*1e-7d; + + /* Set the N or S specifier */ + msg.latitude_ns = 0; + if (lat < 0) { + msg.latitude_ns = 1; + lat = abs(lat); + } + + int deg; + int min; + int sec; + convert_to_degrees_minutes_seconds(lat, °, &min, &sec); + + uint16_t lat_min = (uint16_t)(deg * 100 + min); + msg.latitude_min_L = (uint8_t)lat_min & 0xff; + msg.latitude_min_H = (uint8_t)(lat_min >> 8) & 0xff; + uint16_t lat_sec = (uint16_t)(sec); + msg.latitude_sec_L = (uint8_t)lat_sec & 0xff; + msg.latitude_sec_H = (uint8_t)(lat_sec >> 8) & 0xff; + + /* Get longitude in degrees, minutes and seconds */ + double lon = ((double)(gps.lon))*1e-7d; + + /* Set the E or W specifier */ + msg.longitude_ew = 0; + if (lon < 0) { + msg.longitude_ew = 1; + lon = abs(lon); + } + + convert_to_degrees_minutes_seconds(lon, °, &min, &sec); + + uint16_t lon_min = (uint16_t)(deg * 100 + min); + msg.longitude_min_L = (uint8_t)lon_min & 0xff; + msg.longitude_min_H = (uint8_t)(lon_min >> 8) & 0xff; + uint16_t lon_sec = (uint16_t)(sec); + msg.longitude_sec_L = (uint8_t)lon_sec & 0xff; + msg.longitude_sec_H = (uint8_t)(lon_sec >> 8) & 0xff; + + /* Altitude */ + uint16_t alt = (uint16_t)(gps.alt*1e-3 + 500.0f); + msg.altitude_L = (uint8_t)alt & 0xff; + msg.altitude_H = (uint8_t)(alt >> 8) & 0xff; + + /* Get any (and probably only ever one) home_sub postion report */ + bool updated; + orb_check(home_sub, &updated); + if (updated) { + /* get a local copy of the home position data */ + struct home_position_s home; + memset(&home, 0, sizeof(home)); + orb_copy(ORB_ID(home_position), home_sub, &home); + + home_lat = ((double)(home.lat))*1e-7d; + home_lon = ((double)(home.lon))*1e-7d; + home_position_set = true; + } + + /* Distance from home */ + if (home_position_set) { + uint16_t dist = (uint16_t)get_distance_to_next_waypoint(home_lat, home_lon, lat, lon); + + msg.distance_L = (uint8_t)dist & 0xff; + msg.distance_H = (uint8_t)(dist >> 8) & 0xff; + + /* Direction back to home */ + uint16_t bearing = (uint16_t)(get_bearing_to_next_waypoint(home_lat, home_lon, lat, lon) * M_RAD_TO_DEG_F); + msg.home_direction = (uint8_t)bearing >> 1; + } + } + + msg.stop = STOP_BYTE; memcpy(buffer, &msg, *size); -}
\ No newline at end of file +} + +void +convert_to_degrees_minutes_seconds(double val, int *deg, int *min, int *sec) +{ + *deg = (int)val; + + double delta = val - *deg; + const double min_d = delta * 60.0d; + *min = (int)min_d; + delta = min_d - *min; + *sec = (int)(delta * 10000.0d); +} diff --git a/src/drivers/hott_telemetry/messages.h b/src/drivers/hott_telemetry/messages.h index dd38075fa..e6d5cc723 100644 --- a/src/drivers/hott_telemetry/messages.h +++ b/src/drivers/hott_telemetry/messages.h @@ -44,11 +44,6 @@ #include <stdlib.h> -/* The buffer size used to store messages. This must be at least as big as the number of - * fields in the largest message struct. - */ -#define MESSAGE_BUFFER_SIZE 50 - /* 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. @@ -66,18 +61,18 @@ #define TEMP_ZERO_CELSIUS 0x14 /* Electric Air Module (EAM) constants. */ -#define ELECTRIC_AIR_MODULE 0x8e -#define EAM_SENSOR_ID 0xe0 +#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 ID */ + uint8_t start; /**< Start byte */ + uint8_t eam_sensor_id; /**< EAM sensor */ uint8_t warning; - uint8_t sensor_id; /**< Sensor ID, why different? */ + 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 cell1_L; /**< Lipo cell voltages. Not supported. */ uint8_t cell2_L; uint8_t cell3_L; uint8_t cell4_L; @@ -95,30 +90,107 @@ struct eam_module_msg { 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 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_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_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_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_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_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 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 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. */ + 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 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; \ +}) + void messages_init(void); -void build_eam_response(uint8_t *buffer, int *size); +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_ */ diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 8b2fae12b..0934e614b 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -106,7 +106,7 @@ public: * @param rate The rate in Hz actuator outpus are sent to IO. * Min 10 Hz, max 400 Hz */ - int set_update_rate(int rate); + int set_update_rate(int rate); /** * Set the battery current scaling and bias @@ -114,7 +114,15 @@ public: * @param amp_per_volt * @param amp_bias */ - void set_battery_current_scaling(float amp_per_volt, float amp_bias); + void set_battery_current_scaling(float amp_per_volt, float amp_bias); + + /** + * Push failsafe values to IO. + * + * @param vals Failsafe control inputs: in us PPM (900 for zero, 1500 for centered, 2100 for full) + * @param len Number of channels, could up to 8 + */ + int set_failsafe_values(const uint16_t *vals, unsigned len); /** * Print the current status of IO @@ -326,11 +334,11 @@ PX4IO::PX4IO() : _to_actuators_effective(0), _to_outputs(0), _to_battery(0), + _primary_pwm_device(false), _battery_amp_per_volt(90.0f/5.0f), // this matches the 3DR current sensor _battery_amp_bias(0), _battery_mamphour_total(0), - _battery_last_timestamp(0), - _primary_pwm_device(false) + _battery_last_timestamp(0) { /* we need this potentially before it could be set in task_main */ g_dev = this; @@ -690,6 +698,19 @@ PX4IO::io_set_control_state() } int +PX4IO::set_failsafe_values(const uint16_t *vals, unsigned len) +{ + uint16_t regs[_max_actuators]; + + if (len > _max_actuators) + /* fail with error */ + return E2BIG; + + /* copy values to registers in IO */ + return io_reg_set(PX4IO_PAGE_FAILSAFE_PWM, 0, vals, len); +} + +int PX4IO::io_set_arming_state() { actuator_armed_s armed; ///< system armed state @@ -1250,7 +1271,7 @@ PX4IO::print_status() printf("%u bytes free\n", io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FREEMEM)); uint16_t flags = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_FLAGS); - printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s\n", + printf("status 0x%04x%s%s%s%s%s%s%s%s%s%s%s%s\n", flags, ((flags & PX4IO_P_STATUS_FLAGS_ARMED) ? " ARMED" : ""), ((flags & PX4IO_P_STATUS_FLAGS_OVERRIDE) ? " OVERRIDE" : ""), @@ -1262,7 +1283,8 @@ PX4IO::print_status() ((flags & PX4IO_P_STATUS_FLAGS_RAW_PWM) ? " RAW_PPM" : ""), ((flags & PX4IO_P_STATUS_FLAGS_MIXER_OK) ? " MIXER_OK" : " MIXER_FAIL"), ((flags & PX4IO_P_STATUS_FLAGS_ARM_SYNC) ? " ARM_SYNC" : " ARM_NO_SYNC"), - ((flags & PX4IO_P_STATUS_FLAGS_INIT_OK) ? " INIT_OK" : " INIT_FAIL")); + ((flags & PX4IO_P_STATUS_FLAGS_INIT_OK) ? " INIT_OK" : " INIT_FAIL"), + ((flags & PX4IO_P_STATUS_FLAGS_FAILSAFE) ? " FAILSAFE" : "")); uint16_t alarms = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_ALARMS); printf("alarms 0x%04x%s%s%s%s%s%s%s\n", alarms, @@ -1718,6 +1740,41 @@ px4io_main(int argc, char *argv[]) exit(0); } + if (!strcmp(argv[1], "failsafe")) { + + if (argc < 3) { + errx(1, "failsafe command needs at least one channel value (ppm)"); + } + + if (g_dev != nullptr) { + + /* set values for first 8 channels, fill unassigned channels with 1500. */ + uint16_t failsafe[8]; + + for (int i = 0; i < sizeof(failsafe) / sizeof(failsafe[0]); i++) + { + /* set channel to commanline argument or to 900 for non-provided channels */ + if (argc > i + 2) { + failsafe[i] = atoi(argv[i+2]); + if (failsafe[i] < 800 || failsafe[i] > 2200) { + errx(1, "value out of range of 800 < value < 2200. Aborting."); + } + } else { + /* a zero value will result in stopping to output any pulse */ + failsafe[i] = 0; + } + } + + int ret = g_dev->set_failsafe_values(failsafe, sizeof(failsafe) / sizeof(failsafe[0])); + + if (ret != OK) + errx(ret, "failed setting failsafe values"); + } else { + errx(1, "not loaded"); + } + exit(0); + } + if (!strcmp(argv[1], "recovery")) { if (g_dev != nullptr) { @@ -1845,5 +1902,5 @@ px4io_main(int argc, char *argv[]) monitor(); out: - errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug', 'recovery', 'limit', 'current' or 'update'"); + errx(1, "need a command, try 'start', 'stop', 'status', 'test', 'monitor', 'debug', 'recovery', 'limit', 'current', 'failsafe' or 'update'"); } |