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Diffstat (limited to 'src/drivers/hott/messages.h')
-rw-r--r-- | src/drivers/hott/messages.h | 268 |
1 files changed, 268 insertions, 0 deletions
diff --git a/src/drivers/hott/messages.h b/src/drivers/hott/messages.h new file mode 100644 index 000000000..ecfad8569 --- /dev/null +++ b/src/drivers/hott/messages.h @@ -0,0 +1,268 @@ +/**************************************************************************** + * + * 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 + +/* The GAM Module poll message. */ +struct gam_module_poll_msg { + uint8_t mode; + uint8_t id; +}; + +/* 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 an Electric Air Module message. + */ +#define EAM_MESSAGE_BUFFER_SIZE sizeof(union { \ + struct eam_module_msg eam; \ +}) + + +/* General Air Module (GAM) constants. */ +#define GAM_SENSOR_ID 0x8d +#define GAM_SENSOR_TEXT_ID 0xd0 + +struct gam_module_msg { + uint8_t start_byte; // start byte constant value 0x7c + uint8_t gam_sensor_id; // EAM sensort id. constat value 0x8d + uint8_t warning_beeps; // 1=A 2=B ... 0x1a=Z 0 = no alarm + uint8_t sensor_id; // constant value 0xd0 + uint8_t alarm_invers1; // alarm bitmask. Value is displayed inverted + uint8_t alarm_invers2; // alarm bitmask. Value is displayed inverted + uint8_t cell1; // cell 1 voltage lower value. 0.02V steps, 124=2.48V + uint8_t cell2; + uint8_t cell3; + uint8_t cell4; + uint8_t cell5; + uint8_t cell6; + uint8_t batt1_L; // battery 1 voltage LSB value. 0.1V steps. 50 = 5.5V + uint8_t batt1_H; + uint8_t batt2_L; // battery 2 voltage LSB value. 0.1V steps. 50 = 5.5V + uint8_t batt2_H; + uint8_t temperature1; // temperature 1. offset of 20. a value of 20 = 0°C + uint8_t temperature2; // temperature 2. offset of 20. a value of 20 = 0°C + uint8_t fuel_procent; // Fuel capacity in %. Values 0--100 + // graphical display ranges: 0-25% 50% 75% 100% + uint8_t fuel_ml_L; // Fuel in ml scale. Full = 65535! + uint8_t fuel_ml_H; // + uint8_t rpm_L; // RPM in 10 RPM steps. 300 = 3000rpm + uint8_t rpm_H; // + uint8_t altitude_L; // altitude in meters. offset of 500, 500 = 0m + uint8_t altitude_H; // + uint8_t climbrate_L; // climb rate in 0.01m/s. Value of 30000 = 0.00 m/s + uint8_t climbrate_H; // + uint8_t climbrate3s; // climb rate in m/3sec. Value of 120 = 0m/3sec + uint8_t current_L; // current in 0.1A steps + uint8_t current_H; // + uint8_t main_voltage_L; // Main power voltage using 0.1V steps + uint8_t main_voltage_H; // + uint8_t batt_cap_L; // used battery capacity in 10mAh steps + uint8_t batt_cap_H; // + uint8_t speed_L; // (air?) speed in km/h(?) we are using ground speed here per default + uint8_t speed_H; // + uint8_t min_cell_volt; // minimum cell voltage in 2mV steps. 124 = 2,48V + uint8_t min_cell_volt_num; // number of the cell with the lowest voltage + uint8_t rpm2_L; // RPM in 10 RPM steps. 300 = 3000rpm + uint8_t rpm2_H; // + uint8_t general_error_number; // Voice error == 12. TODO: more docu + uint8_t pressure; // Pressure up to 16bar. 0,1bar scale. 20 = 2bar + uint8_t version; // version number TODO: more info? + uint8_t stop; // stop byte + uint8_t checksum; // checksum +}; + +/** + * The maximum buffer size required to store a General Air Module message. + */ +#define GAM_MESSAGE_BUFFER_SIZE sizeof(union { \ + struct gam_module_msg gam; \ +}) + + +/* 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_gam_request(uint8_t *buffer, size_t *size); +void extract_gam_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_ */ |