diff options
Diffstat (limited to 'apps/hott_telemetry')
| -rw-r--r-- | apps/hott_telemetry/Makefile | 45 | ||||
| -rw-r--r-- | apps/hott_telemetry/hott_telemetry_main.c | 312 | ||||
| -rw-r--r-- | apps/hott_telemetry/messages.c | 87 | ||||
| -rw-r--r-- | apps/hott_telemetry/messages.h | 123 |
4 files changed, 0 insertions, 567 deletions
diff --git a/apps/hott_telemetry/Makefile b/apps/hott_telemetry/Makefile deleted file mode 100644 index 8d5faa3b7..000000000 --- a/apps/hott_telemetry/Makefile +++ /dev/null @@ -1,45 +0,0 @@ -############################################################################ -# -# Copyright (C) 2012 PX4 Development Team. All rights reserved. -# -# 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. -# -############################################################################ - -# -# Graupner HoTT Telemetry application. -# - -# The following line is required for accessing UARTs directly. -INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common - -APPNAME = hott_telemetry -PRIORITY = SCHED_PRIORITY_DEFAULT -STACKSIZE = 2048 - -include $(APPDIR)/mk/app.mk diff --git a/apps/hott_telemetry/hott_telemetry_main.c b/apps/hott_telemetry/hott_telemetry_main.c deleted file mode 100644 index 31c9247aa..000000000 --- a/apps/hott_telemetry/hott_telemetry_main.c +++ /dev/null @@ -1,312 +0,0 @@ -/**************************************************************************** - * - * 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 hott_telemetry_main.c - * - * Graupner HoTT Telemetry implementation. - * - * The HoTT receiver polls each device at a regular interval at which point - * a data packet can be returned if necessary. - * - * TODO: Add support for at least the vario and GPS sensor data. - * - */ - -#include <fcntl.h> -#include <nuttx/config.h> -#include <poll.h> -#include <stdlib.h> -#include <stdio.h> -#include <string.h> -#include <termios.h> -#include <sys/ioctl.h> -#include <unistd.h> -#include <systemlib/systemlib.h> - -#include "messages.h" - -/* The following are equired for UART direct manipulation. */ -#include <arch/board/board.h> -#include "up_arch.h" -#include "chip.h" -#include "stm32_internal.h" - -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>]"; - - -/* 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. - */ -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 open_uart(const char *device, struct termios *uart_config_original) -{ - /* baud rate */ - int speed = B19200; - int uart; - - /* open uart */ - uart = open(device, O_RDWR | O_NOCTTY); - - if (uart < 0) { - char msg[80]; - sprintf(msg, "Error opening port: %s\n", device); - FATAL_MSG(msg); - } - - /* Try to set baud rate */ - struct termios uart_config; - 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); - } - - /* Fill the struct for the new configuration */ - tcgetattr(uart, &uart_config); - - /* Clear ONLCR flag (which appends a CR for every LF) */ - uart_config.c_oflag &= ~ONLCR; - - /* 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); - } - - 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); - } - - /* Activate single wire mode */ - ioctl(uart, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED); - - return uart; -} - -int read_data(int uart, int *id) -{ - const int timeout = 1000; - struct pollfd fds[] = { { .fd = uart, .events = POLLIN } }; - - char mode; - - if (poll(fds, 1, timeout) > 0) { - /* Get the mode: binary or text */ - read(uart, &mode, 1); - /* Read the device ID being polled */ - read(uart, id, 1); - - /* if we have a binary mode request */ - if (mode != BINARY_MODE_REQUEST_ID) { - return ERROR; - } - - } else { - ERROR_MSG("UART timeout on TX/RX port"); - return ERROR; - } - - return OK; -} - -int send_data(int uart, uint8_t *buffer, int size) -{ - usleep(POST_READ_DELAY_IN_USECS); - - uint16_t checksum = 0; - - for (int 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; - - } else { - checksum += buffer[i]; - } - - write(uart, &buffer[i], 1); - - /* Sleep before sending the next byte. */ - usleep(POST_WRITE_DELAY_IN_USECS); - } - - /* A hack the reads out what was written so the next read from the receiver doesn't get it. */ - /* TODO: Fix this!! */ - uint8_t dummy[size]; - read(uart, &dummy, size); - - return OK; -} - -int hott_telemetry_thread_main(int argc, char *argv[]) -{ - INFO_MSG("starting"); - - thread_running = true; - - char *device = "/dev/ttyS1"; /**< Default telemetry port: USART2 */ - - /* read commandline arguments */ - for (int i = 0; i < argc && argv[i]; i++) { - if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { //device set - if (argc > i + 1) { - device = argv[i + 1]; - - } else { - thread_running = false; - ERROR_MSG("missing parameter to -d"); - ERROR_MSG(commandline_usage); - exit(1); - } - } - } - - /* enable UART, writes potentially an empty buffer, but multiplexing is disabled */ - struct termios uart_config_original; - int uart = open_uart(device, &uart_config_original); - - if (uart < 0) { - ERROR_MSG("Failed opening HoTT UART, exiting."); - thread_running = false; - exit(ERROR); - } - - messages_init(); - - uint8_t buffer[MESSAGE_BUFFER_SIZE]; - int size = 0; - int id = 0; - - while (!thread_should_exit) { - if (read_data(uart, &id) == OK) { - switch (id) { - case ELECTRIC_AIR_MODULE: - build_eam_response(buffer, &size); - break; - - default: - continue; // Not a module we support. - } - - send_data(uart, buffer, size); - } - } - - INFO_MSG("exiting"); - - close(uart); - - thread_running = false; - - return 0; -} - -/** - * Process command line arguments and tart the daemon. - */ -int hott_telemetry_main(int argc, char *argv[]) -{ - if (argc < 1) { - ERROR_MSG("missing command"); - ERROR_MSG(commandline_usage); - exit(1); - } - - if (!strcmp(argv[1], "start")) { - - if (thread_running) { - INFO_MSG("deamon already running"); - exit(0); - } - - thread_should_exit = false; - deamon_task = task_spawn("hott_telemetry", - SCHED_DEFAULT, - SCHED_PRIORITY_MAX - 40, - 2048, - hott_telemetry_thread_main, - (argv) ? (const char **)&argv[2] : (const char **)NULL); - exit(0); - } - - if (!strcmp(argv[1], "stop")) { - thread_should_exit = true; - exit(0); - } - - if (!strcmp(argv[1], "status")) { - if (thread_running) { - INFO_MSG("daemon is running"); - - } else { - INFO_MSG("daemon not started"); - } - - exit(0); - } - - ERROR_MSG("unrecognized command"); - ERROR_MSG(commandline_usage); - exit(1); -} - - - diff --git a/apps/hott_telemetry/messages.c b/apps/hott_telemetry/messages.c deleted file mode 100644 index 8bfb99773..000000000 --- a/apps/hott_telemetry/messages.c +++ /dev/null @@ -1,87 +0,0 @@ -/**************************************************************************** - * - * 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.c - * - */ - -#include "messages.h" - -#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)); -} - -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; - - msg.stop = STOP_BYTE; - - memcpy(buffer, &msg, *size); -}
\ No newline at end of file diff --git a/apps/hott_telemetry/messages.h b/apps/hott_telemetry/messages.h deleted file mode 100644 index 44001e04f..000000000 --- a/apps/hott_telemetry/messages.h +++ /dev/null @@ -1,123 +0,0 @@ -/**************************************************************************** - * - * 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 generation. - * - */ -#ifndef MESSAGES_H_ -#define MESSAGES_H - -#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. - */ -#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 - -/* Electric Air Module (EAM) constants. */ -#define ELECTRIC_AIR_MODULE 0x8e -#define EAM_SENSOR_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 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(uint8_t *buffer, int *size); - -#endif /* MESSAGES_H_ */ |