mirror of https://github.com/ArduPilot/ardupilot
AP_Hott_Telem: added Hott telemetry implementation
This commit is contained in:
Andrew Tridgell
parent
a7b83b1e26
commit
143d069bca
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@ -0,0 +1,455 @@
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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Graupner Hott Telemetry library
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Hott telemetry runs at 19200 8N1 on a non-inverted half-duplex UART
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With thanks to Graupner and betaflight
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*/
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#include "AP_Hott_Telem.h"
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#if HAL_HOTT_TELEM_ENABLED
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_BattMonitor/AP_BattMonitor.h>
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#include <AP_Baro/AP_Baro.h>
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#include <AP_RPM/AP_RPM.h>
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#include <AP_Airspeed/AP_Airspeed.h>
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#include <AP_Stats/AP_Stats.h>
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#include <AP_GPS/AP_GPS.h>
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#include <AP_RTC/AP_RTC.h>
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#include <AP_Notify/AP_Notify.h>
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#include <AP_Mission/AP_Mission.h>
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#include <AP_InertialSensor/AP_InertialSensor.h>
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#include <stdio.h>
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#define PROT_BINARY 0x80
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#define PROT_ID_GAM 0x8D
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#define PROT_ID_EAM 0x8E
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#define PROT_ID_GPS 0x8A
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#define PROT_ID_VARIO 0x89
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#define BYTE_DELAY_FIRST_US 4000
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#define BYTE_DELAY_US 1200
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extern const AP_HAL::HAL& hal;
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AP_Hott_Telem *AP_Hott_Telem::singleton;
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AP_Hott_Telem::AP_Hott_Telem(void)
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{
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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if (singleton != nullptr) {
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AP_HAL::panic("AP_Hott_Telem must be singleton");
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}
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#endif
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singleton = this;
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}
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/*
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* initialise uart
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*/
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void AP_Hott_Telem::init()
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{
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const AP_SerialManager &serial_manager = AP::serialmanager();
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uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Hott, 0);
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if (uart) {
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// register thread
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if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&AP_Hott_Telem::loop, void),
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"Hott",
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1024, AP_HAL::Scheduler::PRIORITY_BOOST, 1)) {
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hal.console->printf("Failed to create Hott thread\n");
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}
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}
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}
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/*
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send EAM (Electric Air Model)
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*/
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void AP_Hott_Telem::send_EAM(void)
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{
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// EAM message
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struct PACKED {
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uint8_t start_byte = 0x7C; //#01 start uint8_t
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uint8_t eam_sensor_id = 0x8E;//#02 EAM sensort id. constat value 0x8e
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uint8_t warning_beeps;
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uint8_t sensor_id = 0xE0;
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uint16_t alarms; //#05 alarm bitmask. Value is displayed inverted
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uint8_t cell_low[7]; //#07 cell voltage lower value. 0.02V steps, 124=2.48V
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uint8_t cell_high[7]; //#14 cell voltage high value. 0.02V steps, 124=2.48V
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uint16_t batt1_voltage; //#21 battery 1 voltage in 100mv steps
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uint16_t batt2_voltage; //#23 battery 2 voltage in 100mv steps
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uint8_t temp1; //#25 Temperature sensor 1. 20=0C, 46=26C - offset of 20.
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uint8_t temp2; //#26 temperature sensor 2
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uint16_t altitude; //#27 Attitude unit: meters. Value of 500 = 0m
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uint16_t current; //#29 Current in 0.1A steps
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uint16_t main_voltage; //#31 Main power voltage (drive) in 0.1V steps
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uint16_t batt_used; //#33 used battery capacity in 10mAh steps
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uint16_t climbrate; //#35 climb rate in 0.01m/s. Value of 30000 = 0.00 m/s
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uint8_t climbrate3s; //#37 climbrate in m/3sec. Value of 120 = 0m/3sec
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uint16_t rpm; //#38 RPM. Steps: 10 rev/min
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uint8_t electric_min; //#40 Electric minutes. Time starts when motor current is > 3 A
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uint8_t electric_sec; //#41
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uint16_t speed; //#42 speed in km/h. Steps 1km/h
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uint8_t stop_byte = 0x7D; //#44 stop
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} msg {};
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const AP_BattMonitor &battery = AP::battery();
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if (battery.num_instances() > 0) {
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msg.batt1_voltage = uint16_t(battery.voltage(0) * 10);
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}
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if (battery.num_instances() > 1) {
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msg.batt2_voltage = uint16_t(battery.voltage(1) * 10);
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}
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float current;
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if (battery.current_amps(current)) {
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msg.current = uint16_t(current * 10);
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}
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msg.main_voltage = uint16_t(battery.voltage() * 10);
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float used_mah;
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if (battery.consumed_mah(used_mah)) {
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msg.batt_used = used_mah * 0.1;
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}
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const AP_Baro &baro = AP::baro();
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msg.temp1 = uint8_t(baro.get_temperature(0) + 20.5);
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if (baro.healthy(1)) {
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msg.temp2 = uint8_t(baro.get_temperature(1) + 20.5);
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}
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AP_AHRS &ahrs = AP::ahrs();
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float alt = 0;
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Vector3f vel;
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{
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WITH_SEMAPHORE(ahrs.get_semaphore());
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ahrs.get_relative_position_D_home(alt);
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alt = -alt;
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IGNORE_RETURN(ahrs.get_velocity_NED(vel));
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}
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msg.altitude = uint16_t(500.5 + alt);
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msg.climbrate = uint16_t(30000.5 + vel.z * -100);
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msg.climbrate3s = 120 + vel.z * -3;
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const AP_RPM *rpm = AP::rpm();
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if (rpm && rpm->enabled(0)) {
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msg.rpm = rpm->get_rpm(0) / 10;
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}
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AP_Stats *stats = AP::stats();
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if (stats) {
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uint32_t t = stats->get_flight_time_s();
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msg.electric_min = t / 60U;
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msg.electric_sec = t % 60U;
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}
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AP_Airspeed *airspeed = AP_Airspeed::get_singleton();
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if (airspeed && airspeed->healthy()) {
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msg.speed = uint16_t(airspeed->get_airspeed() * 3.6 + 0.5);
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} else {
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WITH_SEMAPHORE(ahrs.get_semaphore());
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msg.speed = uint16_t(ahrs.groundspeed() * 3.6 + 0.5);
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}
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send_packet((const uint8_t *)&msg, sizeof(msg));
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}
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/*
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convert from a GPS lat/lon in decimal degrees to degrees plus decimal minutes
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*/
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void AP_Hott_Telem::GPS_to_DDM(float decimal, uint8_t &sign, uint16_t &dm, uint16_t &sec) const
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{
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sign = decimal>=0?0:1;
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decimal = fabsf(decimal);
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uint8_t deg = uint16_t(decimal);
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uint8_t min = uint16_t((decimal - deg) * 60);
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dm = deg*100 + min;
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sec = (decimal - (deg + min/60.0)) * 60 * 10000 + 0.5;
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}
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/*
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send GPS packet
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*/
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void AP_Hott_Telem::send_GPS(void)
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{
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// GPS message
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struct PACKED {
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uint8_t start_byte = 0x7c; //#01 constant value 0x7c
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uint8_t gps_sensor_id = 0x8a; //#02 constant value 0x8a
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uint8_t warning_beeps; //#03
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uint8_t sensor_id = 0xA0; //#04 constant (?) value 0xa0
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uint16_t alarm; //#05
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uint8_t flight_direction; //#07 flight direction in 2 degreees/step (1 = 2degrees);
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uint16_t gps_speed_kmh; //#08 km/h
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uint8_t pos_NS; //#10 north = 0, south = 1
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uint16_t pos_NS_dm; //#11 degree minutes
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uint16_t pos_NS_sec; //#13 position seconds
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uint8_t pos_EW; //#15 east = 0, west = 1
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uint16_t pos_EW_dm; //#16 degree minutes
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uint16_t pos_EW_sec; //#18 position seconds
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uint16_t home_distance; //#20 meters
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uint16_t altitude; //#22 meters. Value of 500 = 0m
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uint16_t climbrate; //#24 m/s 0.01m/s resolution. Value of 30000 = 0.00 m/s
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uint8_t climbrate3s; //#26 climbrate in m/3s resolution, value of 120 = 0 m/3s
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uint8_t gps_satelites; //#27 sat count
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uint8_t gps_fix_char; //#28 GPS fix character. display, 'D' = DGPS, '2' = 2D, '3' = 3D, '-' = no fix
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uint8_t home_direction; //#29 direction from starting point to Model position (2 degree steps)
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int16_t vel_north; //#30 velocity north mm/s
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uint8_t speed_acc; //#32 speed accuracy cm/s
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uint8_t gps_time_h; //#33 UTC time hours
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uint8_t gps_time_m; //#34 UTC time minutes
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uint8_t gps_time_s; //#35 UTC time seconds
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uint8_t gps_time_hs; //#36 UTC time 0.01s units
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int16_t vel_east; //#37 velocity north mm/s
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uint8_t horiz_acc; //#39 horizontal accuracy
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char free_char[3]; //#40 displayed to right of home
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uint8_t version = 1; //#43 0: GPS Graupner #33600, 1: ArduPilot
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uint8_t stop_byte = 0x7d; //#44
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} msg {};
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AP_GPS &gps = AP::gps();
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Location loc;
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{
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WITH_SEMAPHORE(gps.get_semaphore());
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loc = gps.location();
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msg.flight_direction = uint16_t(gps.ground_course() * 0.5 + 0.5);
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msg.gps_speed_kmh = uint16_t(gps.ground_speed() * 3.6 + 0.5);
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float sacc, hacc;
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if (gps.speed_accuracy(sacc)) {
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msg.speed_acc = sacc * 100 + 0.5;
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}
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if (gps.horizontal_accuracy(hacc)) {
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msg.horiz_acc = hacc * 100 + 0.5;
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}
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msg.gps_satelites = gps.num_sats();
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}
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float lat = loc.lat * 1.0e-7;
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float lon = loc.lng * 1.0e-7;
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uint16_t dm, sec;
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GPS_to_DDM(lat, msg.pos_NS, dm, sec);
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msg.pos_NS_dm = dm;
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msg.pos_NS_sec = sec;
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GPS_to_DDM(lon, msg.pos_EW, dm, sec);
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msg.pos_EW_dm = dm;
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msg.pos_EW_sec = sec;
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AP_AHRS &ahrs = AP::ahrs();
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Vector2f home_vec;
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float alt = 0;
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Vector3f vel;
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{
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WITH_SEMAPHORE(ahrs.get_semaphore());
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if (ahrs.get_relative_position_NE_home(home_vec)) {
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msg.home_distance = home_vec.length();
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}
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ahrs.get_relative_position_D_home(alt);
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alt = -alt;
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IGNORE_RETURN(ahrs.get_velocity_NED(vel));
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}
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msg.climbrate = uint16_t(30000.5 + vel.z * -100);
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msg.climbrate3s = 120 + vel.z * -3;
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msg.vel_north = vel.x * 1000 + 0.5;
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msg.vel_east = vel.y * 1000 + 0.5;
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msg.altitude = uint16_t(500.5 + alt);
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switch (gps.status()) {
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case AP_GPS::NO_GPS:
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case AP_GPS::NO_FIX:
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msg.gps_fix_char = '-';
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break;
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case AP_GPS::GPS_OK_FIX_2D:
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msg.gps_fix_char = '2';
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break;
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default:
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msg.gps_fix_char = '3';
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break;
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}
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msg.home_direction = degrees(atan2f(home_vec.y, home_vec.x)) * 0.5 + 0.5;
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AP_RTC &rtc = AP::rtc();
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{
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WITH_SEMAPHORE(rtc.get_semaphore());
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uint16_t ms;
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rtc.get_system_clock_utc(msg.gps_time_h, msg.gps_time_m, msg.gps_time_s, ms);
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}
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send_packet((const uint8_t *)&msg, sizeof(msg));
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}
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/*
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send Vario
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*/
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void AP_Hott_Telem::send_Vario(void)
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{
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// Vario message
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struct PACKED {
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uint8_t start_byte = 0x7C; //#01 start uint8_t
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uint8_t vario_id = 0x89; //#02 ID
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uint8_t warning_beeps; //#03 warnings
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uint8_t sensor_id = 0x90; //#04 sensor ID
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uint8_t inv_status; //#05 status
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uint16_t altitude; //#06 Attitude meters. Value of 500 = 0m
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uint16_t altitude_max; //#08 Attitude max meters. Value of 500 = 0m
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uint16_t altitude_min; //#10 Attitude min meters. Value of 500 = 0m
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uint16_t climbrate; //#12 climb rate in 0.01m/s. Value of 30000 = 0.00 m/s
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uint16_t climbrate3s; //#14 climb rate in meters per 3s Value of 30000 = 0.00 m/s
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uint16_t climbrate10s; //#16 climb rate in meters per 10s. Value of 30000 = 0.00 m/s
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char text[3][7]; //#18 #Text display
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char ascii3[3]; //#39 3 extra characters
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uint8_t yaw; //#42 yaw in 2 degree units, 0 = north
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uint8_t version = 1; //#43 protocol version
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uint8_t stop_byte = 0x7D; //#44 stop
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} msg {};
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AP_AHRS &ahrs = AP::ahrs();
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Vector3f vel;
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float alt = 0;
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{
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WITH_SEMAPHORE(ahrs.get_semaphore());
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ahrs.get_relative_position_D_home(alt);
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alt = -alt;
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IGNORE_RETURN(ahrs.get_velocity_NED(vel));
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msg.yaw = wrap_360_cd(ahrs.yaw_sensor) * 0.005;
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}
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min_alt = MIN(alt, min_alt);
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max_alt = MAX(alt, max_alt);
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msg.altitude = uint16_t(500.5 + alt);
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msg.altitude_max = uint16_t(500.5 + max_alt);
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msg.altitude_min = uint16_t(500.5 + min_alt);
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msg.climbrate = 30000.5 + vel.z * -100;
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msg.climbrate3s = 30000.5 + vel.z * -100*3;
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msg.climbrate10s = 30000.5 + vel.z * -100*10;
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AP_Notify *notify = AP_Notify::get_singleton();
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char fltmode[5] {};
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if (notify) {
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strncpy(fltmode, notify->get_flight_mode_str(), sizeof(fltmode));
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strncpy(msg.text[0], fltmode, sizeof(msg.text[0]));
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}
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if (hal.util->get_soft_armed()) {
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strncpy(msg.text[1], "ARMED", sizeof(msg.text[1]));
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if (strncmp(fltmode, "AUTO", sizeof(fltmode)) == 0) {
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const AP_Mission *mission = AP::mission();
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if (mission) {
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char wp[10] {};
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snprintf(wp, sizeof(wp), "WP %3u", mission->get_current_nav_index());
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memcpy(msg.text[2], wp, sizeof(msg.text[2]));
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}
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}
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} else {
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strncpy(msg.text[1], "DISARM", sizeof(msg.text[1]));
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if (AP_Notify::flags.pre_arm_check) {
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strncpy(msg.text[2], "CK:PASS", sizeof(msg.text[2])+1);
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} else {
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strncpy(msg.text[2], "CK:FAIL", sizeof(msg.text[2])+1);
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}
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}
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send_packet((const uint8_t *)&msg, sizeof(msg));
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}
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/*
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send a packet out
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*/
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void AP_Hott_Telem::send_packet(const uint8_t *b, uint8_t len)
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{
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// initial delay
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hal.scheduler->delay_microseconds(BYTE_DELAY_FIRST_US);
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uint8_t crc = 0;
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while (len) {
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uint8_t ob = *b;
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if (uart->write(ob) == 1) {
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len--;
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crc += ob;
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b++;
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hal.scheduler->delay_microseconds(BYTE_DELAY_US);
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} else {
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hal.scheduler->delay_microseconds(100);
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}
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}
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uart->write(crc);
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// discard any bytes received during the send
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hal.scheduler->delay_microseconds(BYTE_DELAY_US*2);
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while (uart->available() != 0) {
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uart->read();
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hal.scheduler->delay_microseconds(100);
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}
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}
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/*
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thread to process requests
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*/
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void AP_Hott_Telem::loop(void)
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{
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uart->begin(19200, 10, 10);
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uart->set_unbuffered_writes(true);
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uart->set_blocking_writes(true);
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while (true) {
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hal.scheduler->delay_microseconds(1500);
|
||||
uint32_t n = uart->available();
|
||||
if (n < 2) {
|
||||
// wait for 2 bytes
|
||||
continue;
|
||||
}
|
||||
if (n > 2) {
|
||||
while (n--) {
|
||||
uart->read();
|
||||
hal.scheduler->delay_microseconds(100);
|
||||
}
|
||||
continue;
|
||||
}
|
||||
|
||||
const uint8_t prot_type = uart->read();
|
||||
const uint8_t sensor_id = uart->read();
|
||||
if (prot_type != PROT_BINARY) {
|
||||
// only do binary protocol for now
|
||||
continue;
|
||||
}
|
||||
|
||||
switch (sensor_id) {
|
||||
case PROT_ID_EAM:
|
||||
send_EAM();
|
||||
break;
|
||||
case PROT_ID_GPS:
|
||||
send_GPS();
|
||||
break;
|
||||
case PROT_ID_VARIO:
|
||||
send_Vario();
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
namespace AP {
|
||||
AP_Hott_Telem *hott_telem() {
|
||||
return AP_Hott_Telem::get_singleton();
|
||||
}
|
||||
};
|
||||
|
||||
#endif // HAL_HOTT_TELEM_ENABLED
|
||||
|
|
@ -0,0 +1,58 @@
|
|||
/*
|
||||
This program 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.
|
||||
|
||||
This program 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 this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
#include <AP_HAL/AP_HAL.h>
|
||||
#include <AP_SerialManager/AP_SerialManager.h>
|
||||
|
||||
#ifndef HAL_HOTT_TELEM_ENABLED
|
||||
#define HAL_HOTT_TELEM_ENABLED !HAL_MINIMIZE_FEATURES
|
||||
#endif
|
||||
|
||||
#if HAL_HOTT_TELEM_ENABLED
|
||||
class AP_Hott_Telem {
|
||||
public:
|
||||
AP_Hott_Telem();
|
||||
|
||||
/* Do not allow copies */
|
||||
AP_Hott_Telem(const AP_Hott_Telem &other) = delete;
|
||||
AP_Hott_Telem &operator=(const AP_Hott_Telem&) = delete;
|
||||
|
||||
static AP_Hott_Telem *get_singleton(void) {
|
||||
return singleton;
|
||||
}
|
||||
|
||||
// initialise
|
||||
void init(void);
|
||||
|
||||
private:
|
||||
static AP_Hott_Telem *singleton;
|
||||
|
||||
AP_HAL::UARTDriver *uart;
|
||||
|
||||
void loop(void);
|
||||
void send_EAM();
|
||||
void send_GPS();
|
||||
void send_Vario();
|
||||
void send_packet(const uint8_t *b, uint8_t len);
|
||||
void GPS_to_DDM(float decimal, uint8_t &sign, uint16_t &dm, uint16_t &sec) const;
|
||||
|
||||
float min_alt, max_alt;
|
||||
};
|
||||
|
||||
namespace AP {
|
||||
AP_Hott_Telem *hott_telem();
|
||||
};
|
||||
#endif // HAL_HOTT_TELEM_ENABLED
|
||||
Loading…
Reference in New Issue