From f435025d26f49d1d9069282aa72c7e1cb9201773 Mon Sep 17 00:00:00 2001 From: Simon Wilks Date: Tue, 4 Jun 2013 00:10:58 +0200 Subject: Completed main implementation and debugging --- src/drivers/hott_telemetry/hott_telemetry_main.c | 3 + src/drivers/hott_telemetry/messages.c | 194 +++++++++++++---------- src/drivers/hott_telemetry/messages.h | 1 + 3 files changed, 110 insertions(+), 88 deletions(-) (limited to 'src/drivers') diff --git a/src/drivers/hott_telemetry/hott_telemetry_main.c b/src/drivers/hott_telemetry/hott_telemetry_main.c index 827cb862a..4318244f8 100644 --- a/src/drivers/hott_telemetry/hott_telemetry_main.c +++ b/src/drivers/hott_telemetry/hott_telemetry_main.c @@ -138,6 +138,7 @@ recv_req_id(int uart, uint8_t *id) /* if we have a binary mode request */ if (mode != BINARY_MODE_REQUEST_ID) { + warnx("Non binary request ID detected: %d", mode); return ERROR; } @@ -232,6 +233,8 @@ hott_telemetry_thread_main(int argc, char *argv[]) } send_data(uart, buffer, size); + } else { + warnx("NOK"); } } diff --git a/src/drivers/hott_telemetry/messages.c b/src/drivers/hott_telemetry/messages.c index feec8998c..1d746506e 100644 --- a/src/drivers/hott_telemetry/messages.c +++ b/src/drivers/hott_telemetry/messages.c @@ -40,8 +40,9 @@ #include "messages.h" #include +#include #include -#include +#include #include #include #include @@ -51,11 +52,17 @@ /* The board is very roughly 5 deg warmer than the surrounding air */ #define BOARD_TEMP_OFFSET_DEG 5 +#define ALT_OFFSET 500.0f + static int battery_sub = -1; static int gps_sub = -1; static int home_sub = -1; static int sensor_sub = -1; +static bool home_position_set = false; +static double home_lat = 0.0d; +static double home_lon = 0.0d; + void messages_init(void) { @@ -69,15 +76,18 @@ void build_eam_response(uint8_t *buffer, size_t *size) { /* get a local copy of the current sensor values */ - struct sensor_combined_s raw = { 0 }; + 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 = { 0 }; + struct battery_status_s battery; + memset(&battery, 0, sizeof(battery)); orb_copy(ORB_ID(battery_status), battery_sub, &battery); - struct eam_module_msg msg = { 0 }; + struct eam_module_msg msg; *size = sizeof(msg); + memset(&msg, 0, *size); msg.start = START_BYTE; msg.eam_sensor_id = EAM_SENSOR_ID; @@ -92,12 +102,7 @@ build_eam_response(uint8_t *buffer, size_t *size) msg.altitude_L = (uint8_t)alt & 0xff; msg.altitude_H = (uint8_t)(alt >> 8) & 0xff; - // TODO: flight time - // TODO: climb rate - - msg.stop = STOP_BYTE; - memcpy(buffer, &msg, *size); } @@ -105,102 +110,113 @@ void build_gps_response(uint8_t *buffer, size_t *size) { /* get a local copy of the current sensor values */ - struct sensor_combined_s raw = { 0 }; + 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 = { 0 }; + 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; - /* 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; - - msg.latitude_ns = 0; - if (lat < 0) { - msg.latitude_ns = 1; - lat = -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; - - msg.longitude_ew = 0; - if (lon < 0) { - msg.longitude_ew = 1; - lon = -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; - - /* Distance from home */ - bool updated; - orb_check(home_sub, &updated); - if (updated) { - /* get a local copy of the home position data */ - struct home_position_s home = { 0 }; - orb_copy(ORB_ID(home_position), home_sub, &home); - - uint16_t dist = (uint16_t)get_distance_to_next_waypoint( - (double)home.lat*1e-7, (double)home.lon*1e-7, lat, lon); - warnx("dist %d home.lat %3.6f home.lon %3.6f lat %3.6f lon %3.6f ", - dist, (double)home.lat*1e-7d, (double)home.lon*1e-7d, 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( - (double)home.lat*1e-7, (double)home.lon*1e-7, lat, lon) * M_RAD_TO_DEG_F; - msg.home_direction = (uint8_t)bearing >> 1; - } - 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); - msg.stop = STOP_BYTE; + /* 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; + + /* Prepend 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; + + /* Prepend 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 + ALT_OFFSET ); + 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); } @@ -210,6 +226,8 @@ convert_to_degrees_minutes_seconds(double val, int *deg, int *min, int *sec) *deg = (int)val; double delta = val - *deg; - *min = (int)(delta * 60.0); - *sec = (int)(delta * 3600.0); + 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 5f7dd5c14..e6d5cc723 100644 --- a/src/drivers/hott_telemetry/messages.h +++ b/src/drivers/hott_telemetry/messages.h @@ -189,6 +189,7 @@ struct gps_module_msg { void messages_init(void); 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); -- cgit v1.2.3 From 30d17cf0ba9da7587a2087674c37cda5399ab851 Mon Sep 17 00:00:00 2001 From: Simon Wilks Date: Tue, 4 Jun 2013 00:18:23 +0200 Subject: Fix whitespace --- src/drivers/hott_telemetry/messages.c | 18 +++++++++--------- 1 file changed, 9 insertions(+), 9 deletions(-) (limited to 'src/drivers') diff --git a/src/drivers/hott_telemetry/messages.c b/src/drivers/hott_telemetry/messages.c index 1d746506e..e10a22dc4 100644 --- a/src/drivers/hott_telemetry/messages.c +++ b/src/drivers/hott_telemetry/messages.c @@ -193,7 +193,7 @@ build_gps_response(uint8_t *buffer, size_t *size) bool updated; orb_check(home_sub, &updated); if (updated) { - /* get a local copy of the home position data */ + /* 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); @@ -205,7 +205,7 @@ build_gps_response(uint8_t *buffer, size_t *size) /* Distance from home */ if (home_position_set) { - uint16_t dist = (uint16_t)get_distance_to_next_waypoint(home_lat, home_lon, lat, lon); + 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; @@ -213,7 +213,7 @@ build_gps_response(uint8_t *buffer, size_t *size) /* 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; @@ -223,11 +223,11 @@ build_gps_response(uint8_t *buffer, size_t *size) void convert_to_degrees_minutes_seconds(double val, int *deg, int *min, int *sec) { - *deg = (int)val; + *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); + double delta = val - *deg; + const double min_d = delta * 60.0d; + *min = (int)min_d; + delta = min_d - *min; + *sec = (int)(delta * 10000.0d); } -- cgit v1.2.3 From 9374e4b1f221d571d56686d7d92ecb6cabcca8b6 Mon Sep 17 00:00:00 2001 From: Simon Wilks Date: Tue, 4 Jun 2013 00:52:48 +0200 Subject: Formatting and comments --- src/drivers/hott_telemetry/messages.c | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) (limited to 'src/drivers') diff --git a/src/drivers/hott_telemetry/messages.c b/src/drivers/hott_telemetry/messages.c index e10a22dc4..369070f8c 100644 --- a/src/drivers/hott_telemetry/messages.c +++ b/src/drivers/hott_telemetry/messages.c @@ -52,8 +52,6 @@ /* The board is very roughly 5 deg warmer than the surrounding air */ #define BOARD_TEMP_OFFSET_DEG 5 -#define ALT_OFFSET 500.0f - static int battery_sub = -1; static int gps_sub = -1; static int home_sub = -1; @@ -146,7 +144,7 @@ build_gps_response(uint8_t *buffer, size_t *size) /* Get latitude in degrees, minutes and seconds */ double lat = ((double)(gps.lat))*1e-7d; - /* Prepend N or S specifier */ + /* Set the N or S specifier */ msg.latitude_ns = 0; if (lat < 0) { msg.latitude_ns = 1; @@ -168,7 +166,7 @@ build_gps_response(uint8_t *buffer, size_t *size) /* Get longitude in degrees, minutes and seconds */ double lon = ((double)(gps.lon))*1e-7d; - /* Prepend E or W specifier */ + /* Set the E or W specifier */ msg.longitude_ew = 0; if (lon < 0) { msg.longitude_ew = 1; @@ -185,7 +183,7 @@ build_gps_response(uint8_t *buffer, size_t *size) msg.longitude_sec_H = (uint8_t)(lon_sec >> 8) & 0xff; /* Altitude */ - uint16_t alt = (uint16_t)(gps.alt*1e-3 + ALT_OFFSET ); + 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; -- cgit v1.2.3