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/****************************************************************************
*
* 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 frsky_data.c
* @author Stefan Rado <px4@sradonia.net>
*
* FrSky telemetry implementation.
*
*/
#include "frsky_data.h"
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <arch/math.h>
#include <geo/geo.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_global_position.h>
static int battery_sub = -1;
static int sensor_sub = -1;
static int global_position_sub = -1;
/**
* Initializes the uORB subscriptions.
*/
void frsky_init()
{
battery_sub = orb_subscribe(ORB_ID(battery_status));
global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position));
sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
}
/**
* Sends a 0x5E start/stop byte.
*/
static void
frsky_send_startstop(int uart)
{
static const uint8_t c = 0x5E;
write(uart, &c, sizeof(c));
}
/**
* Sends one byte, performing byte-stuffing if necessary.
*/
static void
frsky_send_byte(int uart, uint8_t value)
{
const uint8_t x5E[] = {0x5D, 0x3E};
const uint8_t x5D[] = {0x5D, 0x3D};
switch (value)
{
case 0x5E:
write(uart, x5E, sizeof(x5E));
break;
case 0x5D:
write(uart, x5D, sizeof(x5D));
break;
default:
write(uart, &value, sizeof(value));
break;
}
}
/**
* Sends one data id/value pair.
*/
static void
frsky_send_data(int uart, uint8_t id, uint16_t data)
{
frsky_send_startstop(uart);
frsky_send_byte(uart, id);
frsky_send_byte(uart, data); /* Low */
frsky_send_byte(uart, data >> 8); /* High */
}
/**
* Sends frame 1 (every 200ms):
* acceleration values, altitude (vario), temperatures, current & voltages, RPM
*/
void frsky_send_frame1(int uart)
{
/* 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);
/* send formatted frame */
// TODO
frsky_send_data(uart, FRSKY_ID_ACCEL_X, raw.accelerometer_m_s2[0] * 100);
frsky_send_data(uart, FRSKY_ID_ACCEL_Y, raw.accelerometer_m_s2[1] * 100);
frsky_send_data(uart, FRSKY_ID_ACCEL_Z, raw.accelerometer_m_s2[2] * 100);
frsky_send_data(uart, FRSKY_ID_BARO_ALT_BP, raw.baro_alt_meter);
frsky_send_data(uart, FRSKY_ID_BARO_ALT_AP, (raw.baro_alt_meter - (int)raw.baro_alt_meter) * 1000.0f);
frsky_send_data(uart, FRSKY_ID_TEMP1, raw.baro_temp_celcius);
frsky_send_data(uart, FRSKY_ID_TEMP2, 0);
frsky_send_data(uart, FRSKY_ID_VOLTS, 0); /* cell voltage. 4 bits cell number, 12 bits voltage in 0.2V steps, scale 0-4.2V */
frsky_send_data(uart, FRSKY_ID_CURRENT, battery.current_a);
frsky_send_data(uart, FRSKY_ID_VOLTS_BP, battery.voltage_v);
frsky_send_data(uart, FRSKY_ID_VOLTS_AP, (battery.voltage_v - (int)battery.voltage_v) * 1000.0f);
frsky_send_data(uart, FRSKY_ID_RPM, 0);
frsky_send_startstop(uart);
}
/**
* Sends frame 2 (every 1000ms):
* course, latitude, longitude, speed, altitude (GPS), fuel level
*/
void frsky_send_frame2(int uart)
{
/* get a local copy of the battery data */
struct vehicle_global_position_s global_pos;
memset(&global_pos, 0, sizeof(global_pos));
orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_pos);
/* send formatted frame */
// TODO
float course = 0, lat = 0, lon = 0, speed = 0, alt = 0, sec = 0;
if (global_pos.valid)
{
course = (global_pos.yaw + M_PI_F) / M_PI_F * 180.0f;
// TODO: latitude, longitude
speed = sqrtf(global_pos.vx * global_pos.vx + global_pos.vy * global_pos.vy);
alt = global_pos.alt;
}
frsky_send_data(uart, FRSKY_ID_GPS_COURS_BP, course);
frsky_send_data(uart, FRSKY_ID_GPS_COURS_AP, (course - (int)course) * 100.0f);
frsky_send_data(uart, FRSKY_ID_GPS_LAT_BP, 0);
frsky_send_data(uart, FRSKY_ID_GPS_LAT_AP, 0);
frsky_send_data(uart, FRSKY_ID_GPS_LAT_NS, 0);
frsky_send_data(uart, FRSKY_ID_GPS_LONG_BP, 0);
frsky_send_data(uart, FRSKY_ID_GPS_LONG_AP, 0);
frsky_send_data(uart, FRSKY_ID_GPS_LONG_EW, 0);
frsky_send_data(uart, FRSKY_ID_GPS_SPEED_BP, speed);
frsky_send_data(uart, FRSKY_ID_GPS_SPEED_AP, (speed - (int)speed) * 100.0f);
frsky_send_data(uart, FRSKY_ID_GPS_ALT_BP, alt);
frsky_send_data(uart, FRSKY_ID_GPS_ALT_AP, (alt - (int)alt) * 100.0f);
frsky_send_data(uart, FRSKY_ID_FUEL, 0);
frsky_send_data(uart, FRSKY_ID_GPS_SEC, 0);
frsky_send_startstop(uart);
}
/**
* Sends frame 3 (every 5000ms):
* date, time
*/
void frsky_send_frame3(int uart)
{
/* get a local copy of the battery data */
struct vehicle_global_position_s global_pos;
memset(&global_pos, 0, sizeof(global_pos));
orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_pos);
/* send formatted frame */
// TODO
frsky_send_data(uart, FRSKY_ID_GPS_DAY_MONTH, 0);
frsky_send_data(uart, FRSKY_ID_GPS_YEAR, 0);
frsky_send_data(uart, FRSKY_ID_GPS_HOUR_MIN, 0);
frsky_send_data(uart, FRSKY_ID_GPS_SEC, 0);
frsky_send_startstop(uart);
}
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