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Use slightly flatter directory structure since some developers did not
like too many folders. Extracted code from some files into separate files to fit with the new layout.
This commit is contained in:
Dominic Clifton
parent
39adc34278
commit
3bd4cd2ed2
84 changed files with 732 additions and 645 deletions
276
src/telemetry_hott.c
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276
src/telemetry_hott.c
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/*
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* telemetry_hott.c
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*
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* Created on: 6 Apr 2014
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* Authors:
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* Dominic Clifton - Hydra - Software Serial, Electronics, Hardware Integration and debugging, HoTT Code cleanup and fixes, general telemetry improvements.
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* Carsten Giesen - cGiesen - Baseflight port
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* Oliver Bayer - oBayer - MultiWii-HoTT, HoTT reverse engineering
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*
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* It should be noted that the initial cut of code that deals with the handling of requests and formatting and
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* sending of responses comes from the MultiWii-Meets-HoTT and MultiHoTT-module projects
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*
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* https://github.com/obayer/MultiWii-HoTT
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* https://github.com/oBayer/MultiHoTT-Module
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*
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* HoTT is implemented in Graupner equipment using a bi-directional protocol over a single wire.
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*
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* Generally the receiver sends a single request byte out using normal uart signals, then waits a short period for a
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* multiple byte response and checksum byte before it sends out the next request byte.
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* Each response byte must be send with a protocol specific delay between them.
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*
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* Serial ports use two wires but HoTT uses a single wire so some electronics are required so that
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* the signals don't get mixed up. When baseflight transmits it should not receive it's own transmission.
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*
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* Connect as follows:
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* HoTT TX/RX -> Serial RX (connect directly)
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* Serial TX -> 1N4148 Diode -(| )-> HoTT TX/RX (connect via diode)
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*
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* The diode should be arranged to allow the data signals to flow the right way
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* -(| )- == Diode, | indicates cathode marker.
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*
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* As noticed by Skrebber the GR-12 (and probably GR-16/24, too) are based on a PIC 24FJ64GA-002, which digitals pins are 5V tolerant.
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*
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* Note: The softserial ports are not listed as 5V tolerant in the STM32F103xx data sheet pinouts and pin description
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* section. Verify if you require a 5v/3.3v level shifters. The softserial port should not be inverted.
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*
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* Technically it is possible to use less components and disable softserial RX when transmitting but that is
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* not currently supported.
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*
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* There is a technical discussion (in German) about HoTT here
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* http://www.rc-network.de/forum/showthread.php/281496-Graupner-HoTT-Telemetrie-Sensoren-Eigenbau-DIY-Telemetrie-Protokoll-entschl%C3%BCsselt/page21
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*/
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#include "board.h"
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#include "mw.h"
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#include "telemetry_hott.h"
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const uint8_t kHoTTv4BinaryPacketSize = 45;
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const uint8_t kHoTTv4TextPacketSize = 173;
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static HoTTV4GPSModule_t HoTTV4GPSModule;
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static HoTTV4ElectricAirModule_t HoTTV4ElectricAirModule;
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static void hottV4SerialWrite(uint8_t c);
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static void hottV4Respond(uint8_t *data, uint8_t size);
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static void hottV4FormatAndSendGPSResponse(void);
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static void hottV4GPSUpdate(void);
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static void hottV4FormatAndSendEAMResponse(void);
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static void hottV4EAMUpdateBattery(void);
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static void hottV4EAMUpdateTemperatures(void);
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bool batteryWarning;
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/*
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* Sends HoTTv4 capable GPS telemetry frame.
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*/
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void hottV4FormatAndSendGPSResponse(void)
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{
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memset(&HoTTV4GPSModule, 0, sizeof(HoTTV4GPSModule));
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// Minimum data set for EAM
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HoTTV4GPSModule.startByte = 0x7C;
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HoTTV4GPSModule.sensorID = HOTTV4_GPS_SENSOR_ID;
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HoTTV4GPSModule.sensorTextID = HOTTV4_GPS_SENSOR_TEXT_ID;
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HoTTV4GPSModule.endByte = 0x7D;
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// Reset alarms
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HoTTV4GPSModule.alarmTone = 0x0;
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HoTTV4GPSModule.alarmInverse1 = 0x0;
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hottV4GPSUpdate();
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hottV4Respond((uint8_t*)&HoTTV4GPSModule, sizeof(HoTTV4GPSModule));
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}
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void hottV4GPSUpdate(void)
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{
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// Number of Satelites
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HoTTV4GPSModule.GPSNumSat=GPS_numSat;
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if (f.GPS_FIX > 0) {
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// GPS fix
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HoTTV4GPSModule.GPS_fix = 0x66; // Displays a 'f' for fix
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// latitude
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HoTTV4GPSModule.LatitudeNS=(GPS_coord[LAT]<0);
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uint8_t deg = GPS_coord[LAT] / 100000;
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uint32_t sec = (GPS_coord[LAT] - (deg * 100000)) * 6;
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uint8_t min = sec / 10000;
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sec = sec % 10000;
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uint16_t degMin = (deg * 100) + min;
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HoTTV4GPSModule.LatitudeMinLow = degMin;
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HoTTV4GPSModule.LatitudeMinHigh = degMin >> 8;
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HoTTV4GPSModule.LatitudeSecLow = sec;
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HoTTV4GPSModule.LatitudeSecHigh = sec >> 8;
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// longitude
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HoTTV4GPSModule.longitudeEW=(GPS_coord[LON]<0);
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deg = GPS_coord[LON] / 100000;
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sec = (GPS_coord[LON] - (deg * 100000)) * 6;
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min = sec / 10000;
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sec = sec % 10000;
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degMin = (deg * 100) + min;
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HoTTV4GPSModule.longitudeMinLow = degMin;
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HoTTV4GPSModule.longitudeMinHigh = degMin >> 8;
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HoTTV4GPSModule.longitudeSecLow = sec;
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HoTTV4GPSModule.longitudeSecHigh = sec >> 8;
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// GPS Speed in km/h
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uint16_t speed = (GPS_speed / 100) * 36; // 0.1m/s * 0.36 = km/h
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HoTTV4GPSModule.GPSSpeedLow = speed & 0x00FF;
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HoTTV4GPSModule.GPSSpeedHigh = speed >> 8;
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// Distance to home
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HoTTV4GPSModule.distanceLow = GPS_distanceToHome & 0x00FF;
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HoTTV4GPSModule.distanceHigh = GPS_distanceToHome >> 8;
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// Altitude
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HoTTV4GPSModule.altitudeLow = GPS_altitude & 0x00FF;
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HoTTV4GPSModule.altitudeHigh = GPS_altitude >> 8;
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// Direction to home
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HoTTV4GPSModule.HomeDirection = GPS_directionToHome;
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} else {
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HoTTV4GPSModule.GPS_fix = 0x20; // Displays a ' ' to show nothing or clear the old value
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}
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}
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/**
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* Writes cell 1-4 high, low values and if not available
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* calculates vbat.
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*/
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static void hottV4EAMUpdateBattery(void)
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{
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#if 0
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HoTTV4ElectricAirModule.cell1L = 4.2f * 10 * 5; // 2mv step
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HoTTV4ElectricAirModule.cell1H = 0;
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HoTTV4ElectricAirModule.cell2L = 0;
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HoTTV4ElectricAirModule.cell2H = 0;
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HoTTV4ElectricAirModule.cell3L = 0;
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HoTTV4ElectricAirModule.cell3H = 0;
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HoTTV4ElectricAirModule.cell4L = 0;
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HoTTV4ElectricAirModule.cell4H = 0;
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#endif
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HoTTV4ElectricAirModule.driveVoltageLow = vbat & 0xFF;
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HoTTV4ElectricAirModule.driveVoltageHigh = vbat >> 8;
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HoTTV4ElectricAirModule.battery1Low = vbat & 0xFF;
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HoTTV4ElectricAirModule.battery1High = vbat >> 8;
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#if 0
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HoTTV4ElectricAirModule.battery2Low = 0 & 0xFF;
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HoTTV4ElectricAirModule.battery2High = 0 >> 8;
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if (batteryWarning) {
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HoTTV4ElectricAirModule.alarmTone = HoTTv4NotificationUndervoltage;
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HoTTV4ElectricAirModule.alarmInverse1 |= 0x80; // Invert Voltage display
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}
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#endif
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}
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static void hottV4EAMUpdateTemperatures(void)
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{
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HoTTV4ElectricAirModule.temp1 = 20 + 0;
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HoTTV4ElectricAirModule.temp2 = 20;
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#if 0
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if (HoTTV4ElectricAirModule.temp1 >= (20 + MultiHoTTModuleSettings.alarmTemp1)) {
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HoTTV4ElectricAirModule.alarmTone = HoTTv4NotificationMaxTemperature;
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HoTTV4ElectricAirModule.alarmInverse |= 0x8; // Invert Temp1 display
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}
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#endif
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}
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/**
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* Sends HoTTv4 capable EAM telemetry frame.
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*/
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void hottV4FormatAndSendEAMResponse(void)
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{
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memset(&HoTTV4ElectricAirModule, 0, sizeof(HoTTV4ElectricAirModule));
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// Minimum data set for EAM
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HoTTV4ElectricAirModule.startByte = 0x7C;
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HoTTV4ElectricAirModule.sensorID = HOTTV4_ELECTRICAL_AIR_SENSOR_ID;
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HoTTV4ElectricAirModule.sensorTextID = HOTTV4_ELECTRICAL_AIR_SENSOR_TEXT_ID;
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HoTTV4ElectricAirModule.endByte = 0x7D;
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// Reset alarms
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HoTTV4ElectricAirModule.alarmTone = 0x0;
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HoTTV4ElectricAirModule.alarmInverse1 = 0x0;
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hottV4EAMUpdateBattery();
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hottV4EAMUpdateTemperatures();
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HoTTV4ElectricAirModule.current = 0 / 10;
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HoTTV4ElectricAirModule.height = OFFSET_HEIGHT + 0;
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HoTTV4ElectricAirModule.m2s = OFFSET_M2S;
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HoTTV4ElectricAirModule.m3s = OFFSET_M3S;
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hottV4Respond((uint8_t*)&HoTTV4ElectricAirModule, sizeof(HoTTV4ElectricAirModule));
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}
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static void hottV4Respond(uint8_t *data, uint8_t size)
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{
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serialSetMode(core.telemport, MODE_TX);
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uint16_t crc = 0;
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uint8_t i;
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for (i = 0; i < size - 1; i++) {
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crc += data[i];
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hottV4SerialWrite(data[i]);
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// Protocol specific delay between each transmitted byte
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delayMicroseconds(HOTTV4_TX_DELAY);
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}
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hottV4SerialWrite(crc & 0xFF);
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delayMicroseconds(HOTTV4_TX_DELAY);
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serialSetMode(core.telemport, MODE_RX);
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}
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static void hottV4SerialWrite(uint8_t c)
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{
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serialWrite(core.telemport, c);
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}
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void configureHoTTTelemetryPort(void)
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{
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// TODO set speed here to 19200?
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serialSetMode(core.telemport, MODE_RX);
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}
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void freeHoTTTelemetryPort(void)
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{
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serialSetMode(core.telemport, MODE_RXTX);
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}
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void handleHoTTTelemetry(void)
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{
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uint8_t c;
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while (serialTotalBytesWaiting(core.telemport) > 0) {
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c = serialRead(core.telemport);
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// Protocol specific waiting time to avoid collisions
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delay(5);
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switch (c) {
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case 0x8A:
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if (sensors(SENSOR_GPS)) hottV4FormatAndSendGPSResponse();
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break;
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case 0x8E:
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hottV4FormatAndSendEAMResponse();
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break;
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}
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}
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}
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