mirror of
https://github.com/betaflight/betaflight.git
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Re-organize files by topic
Keil project not updated, I have no way to verify it. Note, mw.c, drv_pwm.c and drv_system.c contain code for too many topics. Later commits will relocate the code as appropriate. Not even looked at utils yet. 'Utils' is a bad naming practice and is a synonym for 'too lazy to find the right file/name'.
This commit is contained in:
Dominic Clifton
parent
a8f383077c
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9fa99cf9f5
61 changed files with 76 additions and 6363 deletions
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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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