diff options
Diffstat (limited to 'src/drivers/hott_telemetry/messages.h')
| -rw-r--r-- | src/drivers/hott_telemetry/messages.h | 62 |
1 files changed, 47 insertions, 15 deletions
diff --git a/src/drivers/hott_telemetry/messages.h b/src/drivers/hott_telemetry/messages.h index e6d5cc723..e1a4262a1 100644 --- a/src/drivers/hott_telemetry/messages.h +++ b/src/drivers/hott_telemetry/messages.h @@ -60,19 +60,47 @@ #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 start; /**< Start byte */ uint8_t eam_sensor_id; /**< EAM sensor */ uint8_t warning; - uint8_t sensor_id; /**< Sensor ID, why different? */ + uint8_t sensor_text_id; 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; @@ -92,9 +120,9 @@ struct eam_module_msg { 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_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_H; @@ -103,21 +131,21 @@ struct eam_module_msg { 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_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_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; \ +#define EAM_MESSAGE_BUFFER_SIZE sizeof(union { \ + struct eam_module_msg eam; \ }) /* GPS sensor constants. */ @@ -129,9 +157,9 @@ struct eam_module_msg { * 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 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 */ @@ -183,10 +211,14 @@ struct gps_module_msg { * The maximum buffer size required to store a HoTT message. */ #define GPS_MESSAGE_BUFFER_SIZE sizeof(union { \ - struct gps_module_msg gps; \ + 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); |