/* * This file is part of Cleanflight. * * Cleanflight is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * * Cleanflight is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with Cleanflight. If not, see . */ /* * Authors: * Dominic Clifton/Hydra * Carsten Giesen * Adam Majerczyk (majerczyk.adam@gmail.com) * Texmode add-on by Michi (mamaretti32@gmail.com) */ #pragma once #define HOTTV4_RXTX 4 #define HOTTV4_TEXT_MODE_REQUEST_ID 0x7f #define HOTTV4_BINARY_MODE_REQUEST_ID 0x80 #define HOTTV4_BUTTON_DEC 0xEB #define HOTTV4_BUTTON_INC 0xED #define HOTTV4_BUTTON_SET 0xE9 #define HOTTV4_BUTTON_NIL 0x0F #define HOTTV4_BUTTON_NEXT 0xEE #define HOTTV4_BUTTON_PREV 0xE7 #define HOTT_EAM_OFFSET_HEIGHT 500 #define HOTT_EAM_OFFSET_M2S 72 #define HOTT_EAM_OFFSET_M3S 120 #define HOTT_EAM_OFFSET_TEMPERATURE 20 #define HOTT_GPS_ALTITUDE_OFFSET 500 typedef enum { HOTT_EAM_ALARM1_FLAG_NONE = 0, HOTT_EAM_ALARM1_FLAG_MAH = (1 << 0), HOTT_EAM_ALARM1_FLAG_BATTERY_1 = (1 << 1), HOTT_EAM_ALARM1_FLAG_BATTERY_2 = (1 << 2), HOTT_EAM_ALARM1_FLAG_TEMPERATURE_1 = (1 << 3), HOTT_EAM_ALARM1_FLAG_TEMPERATURE_2 = (1 << 4), HOTT_EAM_ALARM1_FLAG_ALTITUDE = (1 << 5), HOTT_EAM_ALARM1_FLAG_CURRENT = (1 << 6), HOTT_EAM_ALARM1_FLAG_MAIN_VOLTAGE = (1 << 7), } hottEamAlarm1Flag_e; typedef enum { HOTT_EAM_ALARM2_FLAG_NONE = 0, HOTT_EAM_ALARM2_FLAG_MS = (1 << 0), HOTT_EAM_ALARM2_FLAG_M3S = (1 << 1), HOTT_EAM_ALARM2_FLAG_ALTITUDE_DUPLICATE = (1 << 2), HOTT_EAM_ALARM2_FLAG_MS_DUPLICATE = (1 << 3), HOTT_EAM_ALARM2_FLAG_M3S_DUPLICATE = (1 << 4), HOTT_EAM_ALARM2_FLAG_UNKNOWN_1 = (1 << 5), HOTT_EAM_ALARM2_FLAG_UNKNOWN_2 = (1 << 6), HOTT_EAM_ALARM2_FLAG_ON_SIGN_OR_TEXT_ACTIVE = (1 << 7), } hottEamAlarm2Flag_e; // // Messages // #define HOTT_TEXT_MODE_REQUEST_ID 0x7f #define HOTT_BINARY_MODE_REQUEST_ID 0x80 //Sensor Ids //Id 0x80 is used when no sensor has been found during the bus scan // additionaly meaning? #define HOTT_TELEMETRY_NO_SENSOR_ID 0x80 //Graupner #33601 Vario Module #define HOTT_TELEMETRY_VARIO_SENSOR_ID 0x89 //Graupner #33600 GPS Module #define HOTT_TELEMETRY_GPS_SENSOR_ID 0x8a //Graupner #337xx Air ESC #define HOTT_TELEMETRY_AIRESC_SENSOR_ID 0x8c //Graupner #33611 General Air Module #define HOTT_TELEMETRY_GAM_SENSOR_ID 0x8d //Graupner #33620 Electric Air Module #define HOTT_TELEMETRY_EAM_SENSOR_ID 0x8e #define HOTT_EAM_SENSOR_TEXT_ID 0xE0 // Electric Air Module ID #define HOTT_GPS_SENSOR_TEXT_ID 0xA0 // GPS Module ID #define HOTT_TEXTMODE_MSG_TEXT_LEN 168 //Text mode msgs type struct HOTT_TEXTMODE_MSG { uint8_t start_byte; //#01 constant value 0x7b uint8_t fill1; //#02 constant value 0x00 uint8_t warning_beeps;//#03 1=A 2=B ... uint8_t msg_txt[HOTT_TEXTMODE_MSG_TEXT_LEN]; //#04 ASCII text to display to // Bit 7 = 1 -> Inverse character display // Display 21x8 uint8_t stop_byte; //#171 constant value 0x7d }; typedef struct HOTT_GAM_MSG_s { uint8_t start_byte; //#01 start uint8_t constant value 0x7c uint8_t gam_sensor_id; //#02 EAM sensort id. constat value 0x8d uint8_t warning_beeps; //#03 1=A 2=B ... 0x1a=Z 0 = no alarm // Q Min cell voltage sensor 1 // R Min Battery 1 voltage sensor 1 // J Max Battery 1 voltage sensor 1 // F Min temperature sensor 1 // H Max temperature sensor 1 // S Min Battery 2 voltage sensor 2 // K Max Battery 2 voltage sensor 2 // G Min temperature sensor 2 // I Max temperature sensor 2 // W Max current // V Max capacity mAh // P Min main power voltage // X Max main power voltage // O Min altitude // Z Max altitude // C negative difference m/s too high // A negative difference m/3s too high // N positive difference m/s too high // L positive difference m/3s too high // T Minimum RPM // Y Maximum RPM uint8_t sensor_id; //#04 constant value 0xd0 uint8_t alarm_invers1; //#05 alarm bitmask. Value is displayed inverted //Bit# Alarm field // 0 all cell voltage // 1 Battery 1 // 2 Battery 2 // 3 Temperature 1 // 4 Temperature 2 // 5 Fuel // 6 mAh // 7 Altitude uint8_t alarm_invers2; //#06 alarm bitmask. Value is displayed inverted //Bit# Alarm Field // 0 main power current // 1 main power voltage // 2 Altitude // 3 m/s // 4 m/3s // 5 unknown // 6 unknown // 7 "ON" sign/text msg active uint8_t cell1; //#07 cell 1 voltage lower value. 0.02V steps, 124=2.48V uint8_t cell2; //#08 uint8_t cell3; //#09 uint8_t cell4; //#10 uint8_t cell5; //#11 uint8_t cell6; //#12 uint8_t batt1_L; //#13 battery 1 voltage LSB value. 0.1V steps. 50 = 5.5V uint8_t batt1_H; //#14 uint8_t batt2_L; //#15 battery 2 voltage LSB value. 0.1V steps. 50 = 5.5V uint8_t batt2_H; //#16 uint8_t temperature1; //#17 temperature 1. offset of 20. a value of 20 = 0�C uint8_t temperature2; //#18 temperature 2. offset of 20. a value of 20 = 0�C uint8_t fuel_procent; //#19 Fuel capacity in %. Values 0--100 // graphical display ranges: 0-25% 50% 75% 100% uint8_t fuel_ml_L; //#20 Fuel in ml scale. Full = 65535! uint8_t fuel_ml_H; //#21 uint8_t rpm_L; //#22 RPM in 10 RPM steps. 300 = 3000rpm uint8_t rpm_H; //#23 uint8_t altitude_L; //#24 altitude in meters. offset of 500, 500 = 0m uint8_t altitude_H; //#25 uint8_t climbrate_L; //#26 climb rate in 0.01m/s. Value of 30000 = 0.00 m/s uint8_t climbrate_H; //#27 uint8_t climbrate3s; //#28 climb rate in m/3sec. Value of 120 = 0m/3sec uint8_t current_L; //#29 current in 0.1A steps uint8_t current_H; //#30 uint8_t main_voltage_L; //#31 Main power voltage using 0.1V steps uint8_t main_voltage_H; //#32 uint8_t batt_cap_L; //#33 used battery capacity in 10mAh steps uint8_t batt_cap_H; //#34 uint8_t speed_L; //#35 (air?) speed in km/h(?) we are using ground speed here per default uint8_t speed_H; //#36 uint8_t min_cell_volt; //#37 minimum cell voltage in 2mV steps. 124 = 2,48V uint8_t min_cell_volt_num; //#38 number of the cell with the lowest voltage uint8_t rpm2_L; //#39 RPM in 10 RPM steps. 300 = 3000rpm uint8_t rpm2_H; //#40 uint8_t general_error_number;//#41 Voice error == 12. TODO: more docu uint8_t pressure; //#42 Pressure up to 16bar. 0,1bar scale. 20 = 2bar uint8_t version; //#43 version number TODO: more info? uint8_t stop_byte; //#44 stop uint8_t } OTT_GAM_MSG_t; #define HOTT_VARIO_MSG_TEXT_LEN 21 typedef struct HOTT_VARIO_MSG_s { uint8_t start_byte; //#01 start uint8_t constant value 0x7c uint8_t vario_sensor_id; //#02 VARIO sensort id. constat value 0x89 uint8_t warning_beeps; //#03 1=A 2=B ... // Q Min cell voltage sensor 1 // R Min Battery 1 voltage sensor 1 // J Max Battery 1 voltage sensor 1 // F Min temperature sensor 1 // H Max temperature sensor 1 // S Min Battery voltage sensor 2 // K Max Battery voltage sensor 2 // G Min temperature sensor 2 // I Max temperature sensor 2 // W Max current // V Max capacity mAh // P Min main power voltage // X Max main power voltage // O Min altitude // Z Max altitude // T Minimum RPM // Y Maximum RPM // C m/s negative difference // A m/3s negative difference uint8_t sensor_id; //#04 constant value 0x90 uint8_t alarm_invers1; //#05 Inverse display (alarm?) bitmask //TODO: more info uint8_t altitude_L; //#06 Altitude low uint8_t. In meters. A value of 500 means 0m uint8_t altitude_H; //#07 Altitude high uint8_t uint8_t altitude_max_L; //#08 Max. measured altitude low uint8_t. In meters. A value of 500 means 0m uint8_t altitude_max_H; //#09 Max. measured altitude high uint8_t uint8_t altitude_min_L; //#10 Min. measured altitude low uint8_t. In meters. A value of 500 means 0m uint8_t altitude_min_H; //#11 Min. measured altitude high uint8_t uint8_t climbrate_L; //#12 Climb rate in m/s. Steps of 0.01m/s. Value of 30000 = 0.00 m/s uint8_t climbrate_H; //#13 Climb rate in m/s uint8_t climbrate3s_L; //#14 Climb rate in m/3s. Steps of 0.01m/3s. Value of 30000 = 0.00 m/3s uint8_t climbrate3s_H; //#15 Climb rate m/3s low uint8_t uint8_t climbrate10s_L; //#16 Climb rate m/10s. Steps of 0.01m/10s. Value of 30000 = 0.00 m/10s uint8_t climbrate10s_H; //#17 Climb rate m/10s low uint8_t uint8_t text_msg[HOTT_VARIO_MSG_TEXT_LEN]; //#18 Free ASCII text message uint8_t free_char1; //#39 Free ASCII character. appears right to home distance uint8_t free_char2; //#40 Free ASCII character. appears right to home direction uint8_t free_char3; //#41 Free ASCII character. appears? TODO: Check where this char appears uint8_t compass_direction; //#42 Compass heading in 2� steps. 1 = 2� uint8_t version; //#43 version number TODO: more info? uint8_t stop_byte; //#44 stop uint8_t, constant value 0x7d } HOTT_VARIO_MSG_t; typedef struct HOTT_EAM_MSG_s { uint8_t start_byte; //#01 start uint8_t uint8_t eam_sensor_id; //#02 EAM sensort id. constat value 0x8e uint8_t warning_beeps; //#03 1=A 2=B ... or 'A' - 0x40 = 1 // Q Min cell voltage sensor 1 // R Min Battery 1 voltage sensor 1 // J Max Battery 1 voltage sensor 1 // F Mim temperature sensor 1 // H Max temperature sensor 1 // S Min cell voltage sensor 2 // K Max cell voltage sensor 2 // G Min temperature sensor 2 // I Max temperature sensor 2 // W Max current // V Max capacity mAh // P Min main power voltage // X Max main power voltage // O Min altitude // Z Max altitude // C (negative) sink rate m/sec to high // B (negative) sink rate m/3sec to high // N climb rate m/sec to high // M climb rate m/3sec to high uint8_t sensor_id; //#04 constant value 0xe0 uint8_t alarm_invers1; //#05 alarm bitmask. Value is displayed inverted //Bit# Alarm field // 0 mAh // 1 Battery 1 // 2 Battery 2 // 3 Temperature 1 // 4 Temperature 2 // 5 Altitude // 6 Current // 7 Main power voltage uint8_t alarm_invers2; //#06 alarm bitmask. Value is displayed inverted //Bit# Alarm Field // 0 m/s // 1 m/3s // 2 Altitude (duplicate?) // 3 m/s (duplicate?) // 4 m/3s (duplicate?) // 5 unknown/unused // 6 unknown/unused // 7 "ON" sign/text msg active uint8_t cell1_L; //#07 cell 1 voltage lower value. 0.02V steps, 124=2.48V uint8_t cell2_L; //#08 uint8_t cell3_L; //#09 uint8_t cell4_L; //#10 uint8_t cell5_L; //#11 uint8_t cell6_L; //#12 uint8_t cell7_L; //#13 uint8_t cell1_H; //#14 cell 1 voltage high value. 0.02V steps, 124=2.48V uint8_t cell2_H; //#15 uint8_t cell3_H; //#16 uint8_t cell4_H; //#17 uint8_t cell5_H; //#18 uint8_t cell6_H; //#19 uint8_t cell7_H; //#20 uint8_t batt1_voltage_L; //#21 battery 1 voltage lower value in 100mv steps, 50=5V. optionally cell8_L value 0.02V steps uint8_t batt1_voltage_H; //#22 uint8_t batt2_voltage_L; //#23 battery 2 voltage lower value in 100mv steps, 50=5V. optionally cell8_H value. 0.02V steps uint8_t batt2_voltage_H; //#24 uint8_t temp1; //#25 Temperature sensor 1. 20=0�, 46=26� - offset of 20. uint8_t temp2; //#26 temperature sensor 2 uint8_t altitude_L; //#27 Attitude lower value. unit: meters. Value of 500 = 0m uint8_t altitude_H; //#28 uint8_t current_L; //#29 Current in 0.1 steps uint8_t current_H; //#30 uint8_t main_voltage_L; //#31 Main power voltage (drive) in 0.1V steps uint8_t main_voltage_H; //#32 uint8_t batt_cap_L; //#33 used battery capacity in 10mAh steps uint8_t batt_cap_H; //#34 uint8_t climbrate_L; //#35 climb rate in 0.01m/s. Value of 30000 = 0.00 m/s uint8_t climbrate_H; //#36 uint8_t climbrate3s; //#37 climbrate in m/3sec. Value of 120 = 0m/3sec uint8_t rpm_L; //#38 RPM. Steps: 10 U/min uint8_t rpm_H; //#39 uint8_t electric_min; //#40 Electric minutes. Time does start, when motor current is > 3 A uint8_t electric_sec; //#41 uint8_t speed_L; //#42 (air?) speed in km/h. Steps 1km/h uint8_t speed_H; //#43 uint8_t stop_byte; //#44 stop uint8_t } HOTT_EAM_MSG_t; //HoTT GPS Sensor response to Receiver (?!not?! Smartbox) typedef struct HOTT_GPS_MSG_s { uint8_t start_byte; //#01 constant value 0x7c uint8_t gps_sensor_id; //#02 constant value 0x8a uint8_t warning_beeps; //#03 1=A 2=B ... // A Min Speed // L Max Speed // O Min Altitude // Z Max Altitude // C (negative) sink rate m/sec to high // B (negative) sink rate m/3sec to high // N climb rate m/sec to high // M climb rate m/3sec to high // D Max home distance // uint8_t sensor_id; //#04 constant (?) value 0xa0 uint8_t alarm_invers1; //#05 //TODO: more info uint8_t alarm_invers2; //#06 1 = No GPS signal //TODO: more info uint8_t flight_direction; //#07 flight direction in 2 degreees/step (1 = 2degrees); uint8_t gps_speed_L; //08 km/h uint8_t gps_speed_H; //#09 uint8_t pos_NS; //#10 north = 0, south = 1 uint8_t pos_NS_dm_L; //#11 degree minutes ie N48�39�988 uint8_t pos_NS_dm_H; //#12 uint8_t pos_NS_sec_L; //#13 position seconds uint8_t pos_NS_sec_H; //#14 uint8_t pos_EW; //#15 east = 0, west = 1 uint8_t pos_EW_dm_L; //#16 degree minutes ie. E9�25�9360 uint8_t pos_EW_dm_H; //#17 uint8_t pos_EW_sec_L; //#18 position seconds uint8_t pos_EW_sec_H; //#19 uint8_t home_distance_L; //#20 meters uint8_t home_distance_H; //#21 uint8_t altitude_L; //#22 meters. Value of 500 = 0m uint8_t altitude_H; //#23 uint8_t climbrate_L; //#24 m/s 0.01m/s resolution. Value of 30000 = 0.00 m/s uint8_t climbrate_H; //#25 uint8_t climbrate3s; //#26 climbrate in m/3s resolution, value of 120 = 0 m/3s uint8_t gps_satelites;//#27 sat count uint8_t gps_fix_char; //#28 GPS fix character. display, 'D' = DGPS, '2' = 2D, '3' = 3D, '-' = no fix. Where appears this char??? uint8_t home_direction;//#29 direction from starting point to Model position (2 degree steps) uint8_t angle_roll; //#30 angle roll in 2 degree steps uint8_t angle_nick; //#31 angle in 2degree steps uint8_t angle_compass; //#32 angle in 2degree steps. 1 = 2�, 255 = - 2� (1 uint8_t) North = 0� uint8_t gps_time_h; //#33 UTC time hours uint8_t gps_time_m; //#34 UTC time minutes uint8_t gps_time_s; //#35 UTC time seconds uint8_t gps_time_sss; //#36 UTC time milliseconds uint8_t msl_altitude_L;//#37 mean sea level altitude uint8_t msl_altitude_H;//#38 uint8_t vibration; //#39 vibrations level in % uint8_t free_char1; //#40 appears right to home distance uint8_t free_char2; //#41 appears right to home direction uint8_t free_char3; //#42 GPS ASCII D=DGPS 2=2D 3=3D -=No Fix uint8_t version; //#43 // 0 GPS Graupner #33600 // 1 Gyro Receiver // 255 Mikrokopter uint8_t stop_byte; //#44 constant value 0x7d } HOTT_GPS_MSG_t; typedef struct HOTT_AIRESC_MSG_s { uint8_t start_byte; //#01 constant value 0x7c uint8_t gps_sensor_id; //#02 constant value 0x8c uint8_t warning_beeps; //#03 1=A 2=B ... // A // L // O // Z // C // B // N // M // D // uint8_t sensor_id; //#04 constant value 0xc0 uint8_t alarm_invers1; //#05 TODO: more info uint8_t alarm_invers2; //#06 TODO: more info uint8_t input_v_L; //#07 Input voltage low byte uint8_t input_v_H; //#08 uint8_t input_v_min_L; //#09 Input min. voltage low byte uint8_t input_v_min_H; //#10 uint8_t batt_cap_L; //#11 battery capacity in 10mAh steps uint8_t batt_cap_H; //#12 uint8_t esc_temp; //#13 ESC temperature uint8_t esc_max_temp; //#14 ESC max. temperature uint8_t current_L; //#15 Current in 0.1 steps uint8_t current_H; //#16 uint8_t current_max_L; //#17 Current max. in 0.1 steps uint8_t current_max_H; //#18 uint8_t rpm_L; //#19 RPM in 10U/min steps uint8_t rpm_H; //#20 uint8_t rpm_max_L; //#21 RPM max uint8_t rpm_max_H; //#22 uint8_t throttle; //#23 throttle in % uint8_t speed_L; //#24 Speed uint8_t speed_H; //#25 uint8_t speed_max_L; //#26 Speed max uint8_t speed_max_H; //#27 uint8_t bec_v; //#28 BEC voltage uint8_t bec_min_v; //#29 BEC min. voltage uint8_t bec_current; //#30 BEC current uint8_t bec_current_max_L; //#31 BEC max. current uint8_t bec_current_max_H; //#32 TODO: not really clear why 2 bytes... uint8_t pwm; //#33 PWM uint8_t bec_temp; //#34 BEC temperature uint8_t bec_temp_max; //#35 BEC highest temperature uint8_t motor_temp; //#36 Motor or external sensor temperature uint8_t motor_temp_max; //#37 Highest motor or external sensor temperature uint8_t motor_rpm_L; //#38 Motor or external RPM sensor (without gear) uint8_t motor_rpm_H; //#39 uint8_t motor_timing; //#40 Motor timing uint8_t motor_timing_adv; //#41 Motor advanced timing uint8_t motor_highest_current; //#42 Motor number (1-x) with highest current uint8_t version; //#43 Version number (highest current motor 1-x) uint8_t stop_byte; //#44 constant value 0x7d } HOTT_AIRESC_MSG_t; void handleHoTTTelemetry(void); void checkHoTTTelemetryState(void); void initHoTTTelemetry(telemetryConfig_t *telemetryConfig); void configureHoTTTelemetryPort(void); void freeHoTTTelemetryPort(void); uint32_t getHoTTTelemetryProviderBaudRate(void); void hottPrepareGPSResponse(HOTT_GPS_MSG_t *hottGPSMessage);