1 files changed, 271 insertions, 0 deletions
diff --git a/src/drivers/hott/messages.c b/src/drivers/hott/messages.c
new file mode 100644
index 000000000..1a29b7e73
--- /dev/null
+++ b/src/drivers/hott/messages.c
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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.c
+ *
+ */
+
+#include "messages.h"
+
+#include <math.h>
+#include <stdio.h>
+#include <string.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 battery_sub = -1;
+static int gps_sub = -1;
+static int home_sub = -1;
+static int sensor_sub = -1;
+static int airspeed_sub = -1;
+
+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_gam_request(uint8_t *buffer, size_t *size)
+{
+	struct gam_module_poll_msg msg;
+	*size = sizeof(msg);
+	memset(&msg, 0, *size);
+
+	msg.mode = BINARY_MODE_REQUEST_ID;
+	msg.id = GAM_SENSOR_ID;
+
+	memcpy(buffer, &msg, *size);
+}
+
+void
+extract_gam_message(const uint8_t *buffer)
+{
+	struct gam_module_msg msg;
+	size_t size = sizeof(msg);
+	memset(&msg, 0, size);
+	memcpy(&msg, buffer, size);
+
+	// Publish it.
+	uint16_t rpm = ((msg.rpm_H << 8) | (msg.rpm_L & 0xff)) * 10;
+	uint8_t temp = msg.temperature2 + 20;
+	float current = ((msg.current_H << 8) | (msg.current_L & 0xff)) * 0.1f;
+	printf("RPM: %d TEMP: %d A: %2.1f\n", rpm, temp, current);
+}
+
+void 
+build_eam_response(uint8_t *buffer, size_t *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 = EAM_SENSOR_ID;
+	msg.sensor_text_id = EAM_SENSOR_TEXT_ID;
+	
+	msg.temperature1 = (uint8_t)(raw.baro_temp_celcius - 20);
+	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;
+
+	/* get a local copy of the airspeed data */
+	struct airspeed_s airspeed;
+	memset(&airspeed, 0, sizeof(airspeed));
+	orb_copy(ORB_ID(airspeed), airspeed_sub, &airspeed);
+
+	uint16_t speed = (uint16_t)(airspeed.indicated_airspeed_m_s);
+	msg.speed_L = (uint8_t)speed & 0xff;
+	msg.speed_H = (uint8_t)(speed >> 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 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 vehicle_gps_position_s gps;
+	memset(&gps, 0, sizeof(gps));
+	orb_copy(ORB_ID(vehicle_gps_position), gps_sub, &gps);
+
+	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, &deg, &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, &deg, &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);
+}
+
+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);
+}