forked from Archive/PX4-Autopilot
Introducing an initial implementation of HoTT telemetry support.
This commit is contained in:
Simon Wilks
parent
46ab48ab94
commit
aa7873dee1
|
|
@ -35,6 +35,8 @@
|
|||
# Graupner HoTT Telemetry application.
|
||||
#
|
||||
|
||||
INCLUDES = $(TOPDIR)/arch/arm/src/stm32 $(TOPDIR)/arch/arm/src/common
|
||||
|
||||
APPNAME = hott_telemetry
|
||||
PRIORITY = SCHED_PRIORITY_DEFAULT
|
||||
STACKSIZE = 2048
|
||||
|
|
|
|||
|
|
@ -36,16 +36,31 @@
|
|||
* @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.
|
||||
*/
|
||||
|
||||
#include <fcntl.h>
|
||||
#include <nuttx/config.h>
|
||||
#include <unistd.h>
|
||||
#include <poll.h>
|
||||
#include <stdlib.h>
|
||||
#include <stdio.h>
|
||||
|
||||
#include <string.h>
|
||||
#include <termios.h>
|
||||
#include <unistd.h>
|
||||
#include <systemlib/systemlib.h>
|
||||
|
||||
static bool thread_should_exit = false; /**< Deamon exit flag */
|
||||
static bool thread_running = false; /**< Deamon status flag */
|
||||
#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 */
|
||||
|
||||
/**
|
||||
|
|
@ -58,10 +73,109 @@ __EXPORT int hott_telemetry_main(int argc, char *argv[]);
|
|||
*/
|
||||
int hott_telemetry_thread_main(int argc, char *argv[]);
|
||||
|
||||
/**
|
||||
* Print the correct usage.
|
||||
*/
|
||||
static void usage(const char *reason);
|
||||
static int read_data(int uart);
|
||||
static int send_data(int uart, const struct eam_module_msg *msg);
|
||||
static void uart_disable_rx(void);
|
||||
static void uart_disable_tx(void);
|
||||
|
||||
static int open_uart(const char *uart_name, struct termios *uart_config_original)
|
||||
{
|
||||
/* baud rate */
|
||||
int speed = B19200;
|
||||
int uart;
|
||||
|
||||
/* open uart */
|
||||
uart = open(uart_name, O_RDWR | O_NOCTTY);
|
||||
|
||||
if (uart < 0) {
|
||||
fprintf(stderr, "[hott_telemetry] ERROR opening port: %s\n", uart_name);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/* Try to set baud rate */
|
||||
struct termios uart_config;
|
||||
int termios_state;
|
||||
|
||||
/* Back up the original uart configuration to restore it after exit */
|
||||
if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
|
||||
fprintf(stderr, "[hott_telemetry] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state);
|
||||
close(uart);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
/* 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) {
|
||||
fprintf(stderr, "[hott_telemetry] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
|
||||
close(uart);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
|
||||
fprintf(stderr, "[hott_telemetry] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
|
||||
close(uart);
|
||||
return ERROR;
|
||||
}
|
||||
|
||||
return uart;
|
||||
}
|
||||
|
||||
int hott_telemetry_thread_main(int argc, char *argv[])
|
||||
{
|
||||
printf("[hott_telemetry] starting\n");
|
||||
|
||||
thread_running = true;
|
||||
|
||||
char *device = "/dev/ttyS2"; // UART5
|
||||
char *commandline_usage = "\tusage: hott_telemetry start|status|stop [-d device]\n";
|
||||
|
||||
/* 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;
|
||||
errx(1, "missing parameter to -m 1..4\n %s", commandline_usage);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/* 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) {
|
||||
fprintf(stderr, "[hott_telemetry] Failed opening HoTT UART, exiting.\n");
|
||||
thread_running = false;
|
||||
exit(ERROR);
|
||||
}
|
||||
|
||||
messages_init();
|
||||
|
||||
struct eam_module_msg msg;
|
||||
while (!thread_should_exit) {
|
||||
build_eam_response(&msg);
|
||||
if (read_data(uart) == OK) {
|
||||
send_data(uart, &msg);
|
||||
}
|
||||
}
|
||||
|
||||
printf("[hott_telemetry] exiting.\n");
|
||||
|
||||
/* close uarts */
|
||||
close(uart);
|
||||
|
||||
thread_running = false;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static void
|
||||
usage(const char *reason)
|
||||
|
|
@ -96,8 +210,8 @@ int hott_telemetry_main(int argc, char *argv[])
|
|||
thread_should_exit = false;
|
||||
deamon_task = task_spawn("hott_telemetry",
|
||||
SCHED_DEFAULT,
|
||||
SCHED_PRIORITY_DEFAULT,
|
||||
4096,
|
||||
SCHED_PRIORITY_MAX - 20,
|
||||
2048,
|
||||
hott_telemetry_thread_main,
|
||||
(argv) ? (const char **)&argv[2] : (const char **)NULL);
|
||||
exit(0);
|
||||
|
|
@ -121,20 +235,81 @@ int hott_telemetry_main(int argc, char *argv[])
|
|||
exit(1);
|
||||
}
|
||||
|
||||
int hott_telemetry_thread_main(int argc, char *argv[]) {
|
||||
int read_data(int uart)
|
||||
{
|
||||
uart_disable_tx();
|
||||
|
||||
printf("[hott_telemetry] starting\n");
|
||||
const int timeout = 1000;
|
||||
struct pollfd fds[] = { { .fd = uart, .events = POLLIN } };
|
||||
|
||||
thread_running = true;
|
||||
if (poll(fds, 1, timeout) > 0) {
|
||||
// get the mode: binary or text
|
||||
char mode;
|
||||
read(uart, &mode, 1);
|
||||
|
||||
// read the poll ID (device ID being targetted)
|
||||
char id;
|
||||
read(uart, &id, 1);
|
||||
|
||||
while (!thread_should_exit) {
|
||||
printf("The HoTT telemetry deamon is here!\n");
|
||||
sleep(10);
|
||||
//printf("Reading: mode='%x' id='%x'\n", mode, id);
|
||||
|
||||
// if we have a binary mode request for our sensor ID let's run with it
|
||||
if (mode != BINARY_MODE_REQUEST_ID || id != ELECTRIC_AIR_MODULE) {
|
||||
return ERROR; // not really an error, rather uninteresting.
|
||||
}
|
||||
} else {
|
||||
printf("Timeout\n");
|
||||
return ERROR;
|
||||
}
|
||||
return OK;
|
||||
}
|
||||
|
||||
int send_data(int uart, const struct eam_module_msg *msg)
|
||||
{
|
||||
usleep(POST_READ_DELAY_IN_USECS);
|
||||
|
||||
uart_disable_rx();
|
||||
|
||||
uint16_t checksum = 0;
|
||||
int size = sizeof(*msg);
|
||||
char buffer[size];
|
||||
|
||||
memcpy(buffer, msg, size);
|
||||
|
||||
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];
|
||||
}
|
||||
|
||||
//printf("%x ", buffer[i]);
|
||||
write(uart, &buffer[i], 1);
|
||||
|
||||
// Sleep before sending the next uint8_t.
|
||||
usleep(POST_WRITE_DELAY_IN_USECS);
|
||||
}
|
||||
|
||||
printf("[deamon] exiting.\n");
|
||||
|
||||
thread_running = false;
|
||||
|
||||
return 0;
|
||||
return OK;
|
||||
}
|
||||
|
||||
void uart_disable_rx()
|
||||
{
|
||||
uint32_t cr;
|
||||
cr = getreg32(STM32_UART5_CR1);
|
||||
cr &= ~(USART_CR1_RE); // turn off RX
|
||||
cr |= (USART_CR1_TE); // turn on TX
|
||||
putreg32(cr, STM32_UART5_CR1);
|
||||
}
|
||||
|
||||
void uart_disable_tx()
|
||||
{
|
||||
uint32_t cr;
|
||||
cr = getreg32(STM32_UART5_CR1);
|
||||
cr |= (USART_CR1_RE); // turn on RX
|
||||
cr &= ~(USART_CR1_TE); // turn off TX
|
||||
putreg32(cr, STM32_UART5_CR1);
|
||||
}
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,75 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* 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/sensor_combined.h>
|
||||
|
||||
static int sensor_sub = -1;
|
||||
|
||||
void messages_init(void)
|
||||
{
|
||||
sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
|
||||
}
|
||||
|
||||
void build_eam_response(struct eam_module_msg *msg)
|
||||
{
|
||||
/* 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);
|
||||
|
||||
memset(msg, 0, sizeof(*msg));
|
||||
|
||||
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)(raw.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;
|
||||
}
|
||||
|
|
@ -0,0 +1,113 @@
|
|||
/****************************************************************************
|
||||
*
|
||||
* 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 generator.
|
||||
*
|
||||
*/
|
||||
#ifndef MESSAGES_H_
|
||||
#define MESSAGES_H
|
||||
|
||||
#include <stdlib.h>
|
||||
|
||||
// The HoTT receiver demands a minimum 5ms period of silence after delivering its request.
|
||||
#define POST_READ_DELAY_IN_USECS 4500
|
||||
// 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 1500
|
||||
|
||||
// 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
|
||||
|
||||
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(struct eam_module_msg *msg);
|
||||
|
||||
#endif /* MESSAGES_H_ */
|
||||
Loading…
Reference in New Issue