forked from Archive/PX4-Autopilot
87 lines
3.0 KiB
C
87 lines
3.0 KiB
C
/****************************************************************************
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*
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* Copyright (C) 2012 PX4 Development Team. All rights reserved.
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* Author: @author Simon Wilks <sjwilks@gmail.com>
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file messages.c
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*
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*/
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#include "messages.h"
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#include <string.h>
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#include <systemlib/systemlib.h>
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#include <unistd.h>
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#include <uORB/topics/battery_status.h>
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#include <uORB/topics/sensor_combined.h>
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static int battery_sub = -1;
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static int sensor_sub = -1;
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void messages_init(void)
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{
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battery_sub = orb_subscribe(ORB_ID(battery_status));
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sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
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}
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void build_eam_response(uint8_t *buffer, int *size)
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{
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/* get a local copy of the current sensor values */
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struct sensor_combined_s raw;
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memset(&raw, 0, sizeof(raw));
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orb_copy(ORB_ID(sensor_combined), sensor_sub, &raw);
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/* get a local copy of the battery data */
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struct battery_status_s battery;
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memset(&battery, 0, sizeof(battery));
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orb_copy(ORB_ID(battery_status), battery_sub, &battery);
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struct eam_module_msg msg;
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*size = sizeof(msg);
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memset(&msg, 0, *size);
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msg.start = START_BYTE;
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msg.eam_sensor_id = ELECTRIC_AIR_MODULE;
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msg.sensor_id = EAM_SENSOR_ID;
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msg.temperature1 = (uint8_t)(raw.baro_temp_celcius + 20);
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msg.temperature2 = TEMP_ZERO_CELSIUS;
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msg.main_voltage_L = (uint8_t)(battery.voltage_v * 10);
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uint16_t alt = (uint16_t)(raw.baro_alt_meter + 500);
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msg.altitude_L = (uint8_t)alt & 0xff;
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msg.altitude_H = (uint8_t)(alt >> 8) & 0xff;
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msg.stop = STOP_BYTE;
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memcpy(buffer, &msg, *size);
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} |