forked from Archive/PX4-Autopilot
Merge branch 'master' into px4io-i2c
This commit is contained in:
px4dev
commit
9197df46dd
|
|
@ -47,6 +47,7 @@ nsh_romfsimg.h
|
|||
cscope.out
|
||||
.configX-e
|
||||
nuttx-export.zip
|
||||
.~lock.*
|
||||
dot.gdbinit
|
||||
mavlink/include/mavlink/v0.9/
|
||||
.*.swp
|
||||
|
|
|
|||
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@ -0,0 +1,45 @@
|
|||
############################################################################
|
||||
#
|
||||
# Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
#
|
||||
# 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.
|
||||
#
|
||||
############################################################################
|
||||
|
||||
#
|
||||
# Graupner HoTT Telemetry application.
|
||||
#
|
||||
|
||||
# The following line is required for accessing UARTs directly.
|
||||
INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
|
||||
|
||||
APPNAME = hott_telemetry
|
||||
PRIORITY = SCHED_PRIORITY_DEFAULT
|
||||
STACKSIZE = 2048
|
||||
|
||||
include $(APPDIR)/mk/app.mk
|
||||
|
|
@ -0,0 +1,311 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @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 hott_telemetry_main.c
|
||||
*
|
||||
* Graupner HoTT Telemetry implementation.
|
||||
*
|
||||
* The HoTT receiver polls each device at a regular interval at which point
|
||||
* a data packet can be returned if necessary.
|
||||
*
|
||||
* TODO: Add support for at least the vario and GPS sensor data.
|
||||
*
|
||||
*/
|
||||
|
||||
#include <fcntl.h>
|
||||
#include <nuttx/config.h>
|
||||
#include <poll.h>
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
#include <string.h>
|
||||
#include <termios.h>
|
||||
#include <unistd.h>
|
||||
#include <systemlib/systemlib.h>
|
||||
|
||||
#include "messages.h"
|
||||
|
||||
/* The following are equired for UART direct manipulation. */
|
||||
#include <arch/board/board.h>
|
||||
#include "up_arch.h"
|
||||
#include "chip.h"
|
||||
#include "stm32_internal.h"
|
||||
|
||||
static int thread_should_exit = false; /**< Deamon exit flag */
|
||||
static int thread_running = false; /**< Deamon status flag */
|
||||
static int deamon_task; /**< Handle of deamon task / thread */
|
||||
static char *daemon_name = "hott_telemetry";
|
||||
static char *commandline_usage = "usage: hott_telemetry start|status|stop [-d <device>]";
|
||||
|
||||
|
||||
/* A little console messaging experiment - console helper macro */
|
||||
#define FATAL_MSG(_msg) fprintf(stderr, "[%s] %s\n", daemon_name, _msg); exit(1);
|
||||
#define ERROR_MSG(_msg) fprintf(stderr, "[%s] %s\n", daemon_name, _msg);
|
||||
#define INFO_MSG(_msg) printf("[%s] %s\n", daemon_name, _msg);
|
||||
/**
|
||||
* Deamon management function.
|
||||
*/
|
||||
__EXPORT int hott_telemetry_main(int argc, char *argv[]);
|
||||
|
||||
/**
|
||||
* Mainloop of deamon.
|
||||
*/
|
||||
int hott_telemetry_thread_main(int argc, char *argv[]);
|
||||
|
||||
static int read_data(int uart, int *id);
|
||||
static int send_data(int uart, uint8_t *buffer, int size);
|
||||
|
||||
static int open_uart(const char *device, struct termios *uart_config_original)
|
||||
{
|
||||
/* baud rate */
|
||||
int speed = B19200;
|
||||
int uart;
|
||||
|
||||
/* open uart */
|
||||
uart = open(device, O_RDWR | O_NOCTTY);
|
||||
|
||||
if (uart < 0) {
|
||||
char msg[80];
|
||||
sprintf(msg, "Error opening port: %s\n", device);
|
||||
FATAL_MSG(msg);
|
||||
}
|
||||
|
||||
/* Try to set baud rate */
|
||||
struct termios uart_config;
|
||||
int termios_state;
|
||||
|
||||
/* Back up the original uart configuration to restore it after exit */
|
||||
char msg[80];
|
||||
|
||||
if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
|
||||
sprintf(msg, "Error getting baudrate / termios config for %s: %d\n", device, termios_state);
|
||||
close(uart);
|
||||
FATAL_MSG(msg);
|
||||
}
|
||||
|
||||
/* Fill the struct for the new configuration */
|
||||
tcgetattr(uart, &uart_config);
|
||||
|
||||
/* Clear ONLCR flag (which appends a CR for every LF) */
|
||||
uart_config.c_oflag &= ~ONLCR;
|
||||
|
||||
/* Set baud rate */
|
||||
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
|
||||
sprintf(msg, "Error setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n",
|
||||
device, termios_state);
|
||||
close(uart);
|
||||
FATAL_MSG(msg);
|
||||
}
|
||||
|
||||
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
|
||||
sprintf(msg, "Error setting baudrate / termios config for %s (tcsetattr)\n", device);
|
||||
close(uart);
|
||||
FATAL_MSG(msg);
|
||||
}
|
||||
|
||||
/* Activate single wire mode */
|
||||
ioctl(uart, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
|
||||
|
||||
return uart;
|
||||
}
|
||||
|
||||
int read_data(int uart, int *id)
|
||||
{
|
||||
const int timeout = 1000;
|
||||
struct pollfd fds[] = { { .fd = uart, .events = POLLIN } };
|
||||
|
||||
char mode;
|
||||
|
||||
if (poll(fds, 1, timeout) > 0) {
|
||||
/* Get the mode: binary or text */
|
||||
read(uart, &mode, 1);
|
||||
/* Read the device ID being polled */
|
||||
read(uart, id, 1);
|
||||
|
||||
/* if we have a binary mode request */
|
||||
if (mode != BINARY_MODE_REQUEST_ID) {
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
} else {
|
||||
ERROR_MSG("UART timeout on TX/RX port");
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
int send_data(int uart, uint8_t *buffer, int size)
|
||||
{
|
||||
usleep(POST_READ_DELAY_IN_USECS);
|
||||
|
||||
uint16_t checksum = 0;
|
||||
|
||||
for (int i = 0; i < size; i++) {
|
||||
if (i == size - 1) {
|
||||
/* Set the checksum: the first uint8_t is taken as the checksum. */
|
||||
buffer[i] = checksum & 0xff;
|
||||
|
||||
} else {
|
||||
checksum += buffer[i];
|
||||
}
|
||||
|
||||
write(uart, &buffer[i], 1);
|
||||
|
||||
/* Sleep before sending the next byte. */
|
||||
usleep(POST_WRITE_DELAY_IN_USECS);
|
||||
}
|
||||
|
||||
/* A hack the reads out what was written so the next read from the receiver doesn't get it. */
|
||||
/* TODO: Fix this!! */
|
||||
uint8_t dummy[size];
|
||||
read(uart, &dummy, size);
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
int hott_telemetry_thread_main(int argc, char *argv[])
|
||||
{
|
||||
INFO_MSG("starting");
|
||||
|
||||
thread_running = true;
|
||||
|
||||
char *device = "/dev/ttyS1"; /**< Default telemetry port: USART2 */
|
||||
|
||||
/* read commandline arguments */
|
||||
for (int i = 0; i < argc && argv[i]; i++) {
|
||||
if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) { //device set
|
||||
if (argc > i + 1) {
|
||||
device = argv[i + 1];
|
||||
|
||||
} else {
|
||||
thread_running = false;
|
||||
ERROR_MSG("missing parameter to -d");
|
||||
ERROR_MSG(commandline_usage);
|
||||
exit(1);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* enable UART, writes potentially an empty buffer, but multiplexing is disabled */
|
||||
struct termios uart_config_original;
|
||||
int uart = open_uart(device, &uart_config_original);
|
||||
|
||||
if (uart < 0) {
|
||||
ERROR_MSG("Failed opening HoTT UART, exiting.");
|
||||
thread_running = false;
|
||||
exit(ERROR);
|
||||
}
|
||||
|
||||
messages_init();
|
||||
|
||||
uint8_t buffer[MESSAGE_BUFFER_SIZE];
|
||||
int size = 0;
|
||||
int id = 0;
|
||||
|
||||
while (!thread_should_exit) {
|
||||
if (read_data(uart, &id) == OK) {
|
||||
switch (id) {
|
||||
case ELECTRIC_AIR_MODULE:
|
||||
build_eam_response(buffer, &size);
|
||||
break;
|
||||
|
||||
default:
|
||||
continue; // Not a module we support.
|
||||
}
|
||||
|
||||
send_data(uart, buffer, size);
|
||||
}
|
||||
}
|
||||
|
||||
INFO_MSG("exiting");
|
||||
|
||||
close(uart);
|
||||
|
||||
thread_running = false;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Process command line arguments and tart the daemon.
|
||||
*/
|
||||
int hott_telemetry_main(int argc, char *argv[])
|
||||
{
|
||||
if (argc < 1) {
|
||||
ERROR_MSG("missing command");
|
||||
ERROR_MSG(commandline_usage);
|
||||
exit(1);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "start")) {
|
||||
|
||||
if (thread_running) {
|
||||
INFO_MSG("deamon already running");
|
||||
exit(0);
|
||||
}
|
||||
|
||||
thread_should_exit = false;
|
||||
deamon_task = task_spawn("hott_telemetry",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_MAX - 40,
|
||||
2048,
|
||||
hott_telemetry_thread_main,
|
||||
(argv) ? (const char **)&argv[2] : (const char **)NULL);
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "stop")) {
|
||||
thread_should_exit = true;
|
||||
exit(0);
|
||||
}
|
||||
|
||||
if (!strcmp(argv[1], "status")) {
|
||||
if (thread_running) {
|
||||
INFO_MSG("daemon is running");
|
||||
|
||||
} else {
|
||||
INFO_MSG("daemon not started");
|
||||
}
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
ERROR_MSG("unrecognized command");
|
||||
ERROR_MSG(commandline_usage);
|
||||
exit(1);
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,87 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @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 messages.c
|
||||
*
|
||||
*/
|
||||
|
||||
#include "messages.h"
|
||||
|
||||
#include <string.h>
|
||||
#include <systemlib/systemlib.h>
|
||||
#include <unistd.h>
|
||||
#include <uORB/topics/battery_status.h>
|
||||
#include <uORB/topics/sensor_combined.h>
|
||||
|
||||
static int battery_sub = -1;
|
||||
static int sensor_sub = -1;
|
||||
|
||||
void messages_init(void)
|
||||
{
|
||||
battery_sub = orb_subscribe(ORB_ID(battery_status));
|
||||
sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
|
||||
}
|
||||
|
||||
void build_eam_response(uint8_t *buffer, int *size)
|
||||
{
|
||||
/* 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);
|
||||
|
||||
struct eam_module_msg msg;
|
||||
*size = sizeof(msg);
|
||||
memset(&msg, 0, *size);
|
||||
|
||||
msg.start = START_BYTE;
|
||||
msg.eam_sensor_id = ELECTRIC_AIR_MODULE;
|
||||
msg.sensor_id = EAM_SENSOR_ID;
|
||||
msg.temperature1 = (uint8_t)(raw.baro_temp_celcius + 20);
|
||||
msg.temperature2 = TEMP_ZERO_CELSIUS;
|
||||
msg.main_voltage_L = (uint8_t)(battery.voltage_v * 10);
|
||||
|
||||
uint16_t alt = (uint16_t)(raw.baro_alt_meter + 500);
|
||||
msg.altitude_L = (uint8_t)alt & 0xff;
|
||||
msg.altitude_H = (uint8_t)(alt >> 8) & 0xff;
|
||||
|
||||
msg.stop = STOP_BYTE;
|
||||
|
||||
memcpy(buffer, &msg, *size);
|
||||
}
|
||||
|
|
@ -0,0 +1,123 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @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 messages.h
|
||||
*
|
||||
* Graupner HoTT Telemetry message generation.
|
||||
*
|
||||
*/
|
||||
#ifndef MESSAGES_H_
|
||||
#define MESSAGES_H
|
||||
|
||||
#include <stdlib.h>
|
||||
|
||||
/* The buffer size used to store messages. This must be at least as big as the number of
|
||||
* fields in the largest message struct.
|
||||
*/
|
||||
#define MESSAGE_BUFFER_SIZE 50
|
||||
|
||||
/* The HoTT receiver demands a minimum 5ms period of silence after delivering its request.
|
||||
* Note that the value specified here is lower than 5000 (5ms) as time is lost constucting
|
||||
* the message after the read which takes some milliseconds.
|
||||
*/
|
||||
#define POST_READ_DELAY_IN_USECS 4000
|
||||
/* A pause of 3ms is required between each uint8_t sent back to the HoTT receiver. Much lower
|
||||
* values can be used in practise though.
|
||||
*/
|
||||
#define POST_WRITE_DELAY_IN_USECS 2000
|
||||
|
||||
// Protocol constants.
|
||||
#define BINARY_MODE_REQUEST_ID 0x80 // Binary mode request.
|
||||
#define START_BYTE 0x7c
|
||||
#define STOP_BYTE 0x7d
|
||||
#define TEMP_ZERO_CELSIUS 0x14
|
||||
|
||||
/* Electric Air Module (EAM) constants. */
|
||||
#define ELECTRIC_AIR_MODULE 0x8e
|
||||
#define EAM_SENSOR_ID 0xe0
|
||||
|
||||
/* The Electric Air Module message. */
|
||||
struct eam_module_msg {
|
||||
uint8_t start; /**< Start byte */
|
||||
uint8_t eam_sensor_id; /**< EAM sensor ID */
|
||||
uint8_t warning;
|
||||
uint8_t sensor_id; /**< Sensor ID, why different? */
|
||||
uint8_t alarm_inverse1;
|
||||
uint8_t alarm_inverse2;
|
||||
uint8_t cell1_L; /**< Lipo cell voltages. Not supported. */
|
||||
uint8_t cell2_L;
|
||||
uint8_t cell3_L;
|
||||
uint8_t cell4_L;
|
||||
uint8_t cell5_L;
|
||||
uint8_t cell6_L;
|
||||
uint8_t cell7_L;
|
||||
uint8_t cell1_H;
|
||||
uint8_t cell2_H;
|
||||
uint8_t cell3_H;
|
||||
uint8_t cell4_H;
|
||||
uint8_t cell5_H;
|
||||
uint8_t cell6_H;
|
||||
uint8_t cell7_H;
|
||||
uint8_t batt1_voltage_L; /**< Battery 1 voltage, lower 8-bits in steps of 0.02V */
|
||||
uint8_t batt1_voltage_H;
|
||||
uint8_t batt2_voltage_L; /**< Battery 2 voltage, lower 8-bits in steps of 0.02V */
|
||||
uint8_t batt2_voltage_H;
|
||||
uint8_t temperature1; /**< Temperature sensor 1. 20 = 0 degrees */
|
||||
uint8_t temperature2;
|
||||
uint8_t altitude_L; /**< Attitude (meters) lower 8-bits. 500 = 0 meters */
|
||||
uint8_t altitude_H;
|
||||
uint8_t current_L; /**< Current (mAh) lower 8-bits in steps of 0.1V */
|
||||
uint8_t current_H;
|
||||
uint8_t main_voltage_L; /**< Main power voltage lower 8-bits in steps of 0.1V */
|
||||
uint8_t main_voltage_H;
|
||||
uint8_t battery_capacity_L; /**< Used battery capacity in steps of 10mAh */
|
||||
uint8_t battery_capacity_H;
|
||||
uint8_t climbrate_L; /**< Climb rate in 0.01m/s. 0m/s = 30000 */
|
||||
uint8_t climbrate_H;
|
||||
uint8_t climbrate_3s; /**< Climb rate in m/3sec. 0m/3sec = 120 */
|
||||
uint8_t rpm_L; /**< RPM Lower 8-bits In steps of 10 U/min */
|
||||
uint8_t rpm_H;
|
||||
uint8_t electric_min; /**< Flight time in minutes. */
|
||||
uint8_t electric_sec; /**< Flight time in seconds. */
|
||||
uint8_t speed_L; /**< Airspeed in km/h in steps of 1 km/h */
|
||||
uint8_t speed_H;
|
||||
uint8_t stop; /**< Stop byte */
|
||||
uint8_t checksum; /**< Lower 8-bits of all bytes summed. */
|
||||
};
|
||||
|
||||
void messages_init(void);
|
||||
void build_eam_response(uint8_t *buffer, int *size);
|
||||
|
||||
#endif /* MESSAGES_H_ */
|
||||
|
|
@ -0,0 +1,239 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
|
||||
* Author: @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 test_hott_telemetry.c
|
||||
*
|
||||
* Tests the Graupner HoTT telemetry support.
|
||||
*
|
||||
*/
|
||||
|
||||
/****************************************************************************
|
||||
* Included Files
|
||||
****************************************************************************/
|
||||
|
||||
#include <drivers/drv_gpio.h>
|
||||
#include <nuttx/config.h>
|
||||
#include <sys/types.h>
|
||||
|
||||
#include <debug.h>
|
||||
#include <errno.h>
|
||||
#include <fcntl.h>
|
||||
#include <poll.h>
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <termios.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include "tests.h"
|
||||
|
||||
|
||||
/****************************************************************************
|
||||
* Pre-processor Definitions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Types
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Function Prototypes
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Data
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Public Data
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Private Functions
|
||||
****************************************************************************/
|
||||
static int open_uart(const char *device)
|
||||
{
|
||||
/* baud rate */
|
||||
int speed = B19200;
|
||||
|
||||
/* open uart */
|
||||
int uart = open(device, O_RDWR | O_NOCTTY);
|
||||
|
||||
if (uart < 0) {
|
||||
errx(1, "FAIL: Error opening port");
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/* Try to set baud rate */
|
||||
struct termios uart_config;
|
||||
|
||||
/* Fill the struct for the new configuration */
|
||||
tcgetattr(uart, &uart_config);
|
||||
|
||||
/* Clear ONLCR flag (which appends a CR for every LF) */
|
||||
uart_config.c_oflag &= ~ONLCR;
|
||||
|
||||
/* Set baud rate */
|
||||
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
|
||||
errx(1, "FAIL: Error setting baudrate / termios config for cfsetispeed, cfsetospeed");
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
if (tcsetattr(uart, TCSANOW, &uart_config) < 0) {
|
||||
errx(1, "FAIL: Error setting baudrate / termios config for tcsetattr");
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
return uart;
|
||||
}
|
||||
|
||||
/****************************************************************************
|
||||
* Public Functions
|
||||
****************************************************************************/
|
||||
|
||||
/****************************************************************************
|
||||
* Name: test_hott_telemetry
|
||||
****************************************************************************/
|
||||
|
||||
int test_hott_telemetry(int argc, char *argv[])
|
||||
{
|
||||
warnx("HoTT Telemetry Test Requirements:");
|
||||
warnx("- Radio on and Electric Air. Mod on (telemetry -> sensor select).");
|
||||
warnx("- Receiver telemetry port must be in telemetry mode.");
|
||||
warnx("- Connect telemetry wire to /dev/ttyS1 (USART2).");
|
||||
warnx("Testing...");
|
||||
|
||||
const char device[] = "/dev/ttyS1";
|
||||
int fd = open_uart(device);
|
||||
|
||||
if (fd < 0) {
|
||||
close(fd);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/* Activate single wire mode */
|
||||
ioctl(fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
|
||||
|
||||
char send = 'a';
|
||||
write(fd, &send, 1);
|
||||
|
||||
/* Since TX and RX are now connected we should be able to read in what we wrote */
|
||||
const int timeout = 1000;
|
||||
struct pollfd fds[] = { { .fd = fd, .events = POLLIN } };
|
||||
|
||||
if (poll(fds, 1, timeout) == 0) {
|
||||
errx(1, "FAIL: Could not read sent data.");
|
||||
}
|
||||
|
||||
char receive;
|
||||
read(fd, &receive, 1);
|
||||
warnx("PASS: Single wire enabled. Sent %x and received %x", send, receive);
|
||||
|
||||
|
||||
/* Attempt to read HoTT poll messages from the HoTT receiver */
|
||||
int received_count = 0;
|
||||
int valid_count = 0;
|
||||
const int max_polls = 5;
|
||||
uint8_t byte;
|
||||
|
||||
for (; received_count < 5; received_count++) {
|
||||
if (poll(fds, 1, timeout) == 0) {
|
||||
errx(1, "FAIL: Could not read sent data. Is your HoTT receiver plugged in on %s?", device);
|
||||
break;
|
||||
|
||||
} else {
|
||||
read(fd, &byte, 1);
|
||||
|
||||
if (byte == 0x80) {
|
||||
valid_count++;
|
||||
}
|
||||
|
||||
/* Read the device ID being polled */
|
||||
read(fd, &byte, 1);
|
||||
}
|
||||
}
|
||||
|
||||
if (received_count > 0 && valid_count > 0) {
|
||||
if (received_count == max_polls && valid_count == max_polls) {
|
||||
warnx("PASS: Received %d out of %d valid byte pairs from the HoTT receiver device.", received_count, max_polls);
|
||||
|
||||
} else {
|
||||
warnx("WARN: Received %d out of %d byte pairs of which %d were valid from the HoTT receiver device.", received_count, max_polls, valid_count);
|
||||
}
|
||||
|
||||
} else {
|
||||
/* Let's work out what went wrong */
|
||||
if (received_count == 0) {
|
||||
errx(1, "FAIL: Could not read any polls from HoTT receiver device.");
|
||||
}
|
||||
|
||||
if (valid_count == 0) {
|
||||
errx(1, "FAIL: Received unexpected values from the HoTT receiver device.");
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/* Attempt to send a HoTT response messages */
|
||||
uint8_t response[] = {0x7c, 0x8e, 0x00, 0xe0, 0x00, 0x80, 0x00, 0x00, 0x00, 0x00, \
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, \
|
||||
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xf4, 0x01, 0x00, 0x00, \
|
||||
0x19, 0x00, 0x00, 0x00, 0x30, 0x75, 0x78, 0x00, 0x00, 0x00, \
|
||||
0x00, 0x00, 0x00, 0x7d, 0x12
|
||||
};
|
||||
|
||||
usleep(5000);
|
||||
|
||||
for (unsigned int i = 0; i < sizeof(response); i++) {
|
||||
write(fd, &response[i], 1);
|
||||
usleep(1000);
|
||||
}
|
||||
|
||||
warnx("PASS: Response sent to the HoTT receiver device. Voltage should now show 2.5V.");
|
||||
|
||||
|
||||
/* Disable single wire */
|
||||
ioctl(fd, TIOCSSINGLEWIRE, ~SER_SINGLEWIRE_ENABLED);
|
||||
|
||||
write(fd, &send, 1);
|
||||
|
||||
/* We should timeout as there will be nothing to read (TX and RX no longer connected) */
|
||||
if (poll(fds, 1, timeout) == 0) {
|
||||
errx(1, "FAIL: timeout expected.");
|
||||
}
|
||||
|
||||
warnx("PASS: Single wire disabled.");
|
||||
|
||||
close(fd);
|
||||
exit(0);
|
||||
}
|
||||
|
|
@ -93,6 +93,7 @@ extern int test_uart_send(int argc, char *argv[]);
|
|||
extern int test_sleep(int argc, char *argv[]);
|
||||
extern int test_time(int argc, char *argv[]);
|
||||
extern int test_uart_console(int argc, char *argv[]);
|
||||
extern int test_hott_telemetry(int argc, char *argv[]);
|
||||
extern int test_jig_voltages(int argc, char *argv[]);
|
||||
extern int test_param(int argc, char *argv[]);
|
||||
extern int test_bson(int argc, char *argv[]);
|
||||
|
|
|
|||
|
|
@ -100,6 +100,7 @@ const struct {
|
|||
{"uart_baudchange", test_uart_baudchange, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
{"uart_send", test_uart_send, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
{"uart_console", test_uart_console, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
{"hott_telemetry", test_hott_telemetry, OPT_NOJIGTEST | OPT_NOALLTEST},
|
||||
{"tone", test_tone, 0},
|
||||
{"sleep", test_sleep, OPT_NOJIGTEST},
|
||||
{"time", test_time, OPT_NOJIGTEST},
|
||||
|
|
|
|||
|
|
@ -92,6 +92,7 @@ CONFIGURED_APPS += fixedwing_att_control
|
|||
CONFIGURED_APPS += fixedwing_pos_control
|
||||
CONFIGURED_APPS += position_estimator
|
||||
CONFIGURED_APPS += attitude_estimator_ekf
|
||||
CONFIGURED_APPS += hott_telemetry
|
||||
|
||||
# Hacking tools
|
||||
#CONFIGURED_APPS += system/i2c
|
||||
|
|
|
|||
|
|
@ -200,6 +200,12 @@ CONFIG_STM32_TIM9=y
|
|||
CONFIG_STM32_TIM10=y
|
||||
CONFIG_STM32_TIM11=y
|
||||
|
||||
#
|
||||
# Enable single wire support. If this is not defined, then this mode cannot
|
||||
# be enabled.
|
||||
#
|
||||
CONFIG_STM32_USART_SINGLEWIRE=y
|
||||
|
||||
#
|
||||
# We want the flash prefetch on for max performance.
|
||||
#
|
||||
|
|
|
|||
Loading…
Reference in New Issue