uavohottbridge.h

Go to the documentation of this file.

/*
 * 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/>
 */

#include "openpilot.h"
#include "modulesettings.h"
#include "hottsettings.h"
#include "attitudeactual.h"
#include "baroaltitude.h"
#include "flightbatterystate.h"
#include "flightstatus.h"
#include "gyros.h"
#include "gpsposition.h"
#include "gpstime.h"
#include "homelocation.h"
#include "positionactual.h"
#include "systemalarms.h"
#include "velocityactual.h"

// timing variables
#define IDLE_TIME 10    // idle line delay to prevent data crashes on telemetry line.
#define DATA_TIME 3             // time between 2 transmitted bytes

// sizes and lengths
#define climbratesize 50                        // defines size of ring buffer for climbrate calculation
#define statussize 21                           // number of characters in status line
#define HOTT_MAX_MESSAGE_LENGTH 200

// scale factors
#define M_TO_CM                         100             // scale m to cm or m/s to cm/s 
#define MS_TO_KMH                       3.6f    // scale m/s to km/h
#define DEG_TO_UINT                     0.5f    // devide degrees by 2. then the value fits into a byte.

// offsets. used to make transmitted values unsigned.
#define OFFSET_ALTITUDE         500             // 500m
#define OFFSET_CLIMBRATE        30000   // 30000cm/s or 300m/s
#define OFFSET_CLIMBRATE3S      120             // 120m/s
#define OFFSET_TEMPERATURE      20              // 20 degrees

// Bits to invert display areas or values
#define VARIO_INVERT_ALT (1<<0)                 // altitude
#define VARIO_INVERT_MAX (1<<1)                 // max altitude
#define VARIO_INVERT_MIN (1<<2)                 // min altitude
#define VARIO_INVERT_CR1S (1<<3)                // climbrate 1s
#define VARIO_INVERT_CR3S (1<<4)                // climbrate 3s
#define VARIO_INVERT_CR10S (1<<5)               // climbrate 10s

#define GPS_INVERT_HDIST (1<<0)                 // home distance
#define GPS_INVERT_SPEED (1<<1)                 // speed (kmh)
#define GPS_INVERT_ALT (1<<2)                   // altitude
#define GPS_INVERT_CR1S (1<<3)                  // climbrate 1s
#define GPS_INVERT_CR3S (1<<4)                  // climbrate 3s
#define GPS_INVERT2_POS (1<<0)                  // GPS postion values

#define GAM_INVERT_CELL (1<<0)                  // cell voltage
#define GAM_INVERT_BATT1 (1<<1)                 // battery 1 voltage
#define GAM_INVERT_BATT2 (1<<2)                 // battery 1 voltage
#define GAM_INVERT_TEMP1 (1<<3)                 // temperature 1
#define GAM_INVERT_TEMP2 (1<<4)                 // temperature 2
#define GAM_INVERT_FUEL (1<<5)                  // fuel
#define GAM_INVERT2_CURRENT (1<<0)              // current
#define GAM_INVERT2_VOLTAGE (1<<1)              // voltage
#define GAM_INVERT2_ALT (1<<2)                  // altitude
#define GAM_INVERT2_CR1S (1<<3)                 // climbrate 1s
#define GAM_INVERT2_CR3S (1<<4)                 // climbrate 3s

#define EAM_INVERT_CAPACITY (1<<0)              // capacity
#define EAM_INVERT_BATT1 (1<<1)                 // battery 1 voltage
#define EAM_INVERT_BATT2 (1<<2)                 // battery 1 voltage
#define EAM_INVERT_TEMP1 (1<<3)                 // temperature 1
#define EAM_INVERT_TEMP2 (1<<4)                 // temperature 2
#define EAM_INVERT_ALT (1<<5)                   // altitude
#define EAM_INVERT_CURRENT (1<<6)               // current
#define EAM_INVERT_VOLTAGE (1<<7)               // voltage
#define EAM_INVERT2_ALT (1<<2)                  // altitude
#define EAM_INVERT2_CR1S (1<<3)                 // climbrate 1s
#define EAM_INVERT2_CR3S (1<<4)                 // climbrate 3s

#define ESC_INVERT_VOLTAGE (1<<0)               // voltage
#define ESC_INVERT_TEMP1 (1<<1)                 // temperature 1
#define ESC_INVERT_TEMP2 (1<<2)                 // temperature 2
#define ESC_INVERT_CURRENT (1<<3)               // current
#define ESC_INVERT_RPM (1<<4)                   // rpm 
#define ESC_INVERT_CAPACITY (1<<5)              // capacity
#define ESC_INVERT_MAXCURRENT (1<<6)    // maximum current

// message codes
#define HOTT_TEXT_ID 0x7f                       // Text request
#define HOTT_BINARY_ID 0x80                     // Binary request
#define HOTT_VARIO_ID 0x89                      // Vario Module ID
#define HOTT_VARIO_TEXT_ID 0x90         // Vario Module TEXT ID
#define HOTT_GPS_ID 0x8a                        // GPS Module ID
#define HOTT_GPS_TEXT_ID 0xa0           // GPS Module TEXT ID
#define HOTT_ESC_ID 0x8c                        // ESC Module ID
#define HOTT_ESC_TEXT_ID 0xc0           // ESC Module TEXT ID
#define HOTT_GAM_ID 0x8d                        // General Air Module ID
#define HOTT_GAM_TEXT_ID 0xd0           // General Air Module TEXT ID
#define HOTT_EAM_ID 0x8e                        // Electric Air Module ID
#define HOTT_EAM_TEXT_ID 0xe0           // Electric Air Module TEXT ID
#define HOTT_TEXT_START 0x7b            // Start byte Text mode
#define HOTT_START 0x7c                         // Start byte Binary mode
#define HOTT_STOP 0x7d                          // End byte
#define HOTT_BUTTON_DEC 0xEB            // minus button
#define HOTT_BUTTON_INC 0xED            // plus button
#define HOTT_BUTTON_SET 0xE9            // set button
#define HOTT_BUTTON_NIL 0x0F            // esc button
#define HOTT_BUTTON_NEXT 0xEE           // next button
#define HOTT_BUTTON_PREV 0xE7           // previous button

// prefined signal tones or spoken announcments 
#define HOTT_TONE_A             1       // minimum speed
#define HOTT_TONE_B             2       // sink rate 3 seconds
#define HOTT_TONE_C             3       // sink rate 1 second
#define HOTT_TONE_D             4       // maximum distance
#define HOTT_TONE_E             5       // -
#define HOTT_TONE_F             6       // minimum temperature sensor 1
#define HOTT_TONE_G             7       // minimum temperature sensor 2
#define HOTT_TONE_H             8       // maximum temperature sensor 1
#define HOTT_TONE_I             9       // maximum temperature sensor 2 
#define HOTT_TONE_J             10      // overvoltage sensor 1
#define HOTT_TONE_K             11      // overvoltage sensor 2
#define HOTT_TONE_L             12      // maximum speed
#define HOTT_TONE_M             13      // climb rate 3 seconds
#define HOTT_TONE_N             14      // climb rate 1 second
#define HOTT_TONE_O             15      // minimum height
#define HOTT_TONE_P             16      // minimum input voltage
#define HOTT_TONE_Q             17      // minimum cell voltage
#define HOTT_TONE_R             18      // undervoltage sensor 1
#define HOTT_TONE_S             19      // undervoltage sensor 2
#define HOTT_TONE_T             20      // minimum rpm
#define HOTT_TONE_U             21      // fuel reserve
#define HOTT_TONE_V             22      // capacity
#define HOTT_TONE_W             23      // maximum current
#define HOTT_TONE_X             24      // maximum input voltage
#define HOTT_TONE_Y             25      // maximum rpm
#define HOTT_TONE_Z             26      // maximum height
#define HOTT_TONE_20M   37      // 20 meters
#define HOTT_TONE_40M   38      // 40 meters
#define HOTT_TONE_60M   39      // 60 meters
#define HOTT_TONE_80M   40      // 80 meters
#define HOTT_TONE_100M  41      // 100 meters
#define HOTT_TONE_42    42      // receiver voltage
#define HOTT_TONE_43    43      // receiver temperature
#define HOTT_TONE_200M  46      // 200 meters
#define HOTT_TONE_400M  47      // 400 meters
#define HOTT_TONE_600M  48      // 600 meters
#define HOTT_TONE_800M  49      // 800 meters
#define HOTT_TONE_1000M 50      // 10000 meters
#define HOTT_TONE_51    51      // maximum servo temperature
#define HOTT_TONE_52    52      // maximum servo position difference


// Private types
typedef struct {
                uint8_t l;
                uint8_t h;
} uword_t;

// Private structures
struct telemetrydata{
        HoTTSettingsData Settings;
        AttitudeActualData Attitude;
        BaroAltitudeData Baro;
        FlightBatteryStateData Battery;
        FlightStatusData FlightStatus;
        GPSPositionData GPS;
        GPSTimeData GPStime;
        GyrosData Gyro;
        HomeLocationData Home;
        PositionActualData Position;
        SystemAlarmsData SysAlarms;
        VelocityActualData Velocity;
        int16_t climbratebuffer[climbratesize];
        uint8_t climbrate_pointer;
        float altitude;
        float min_altitude;
        float max_altitude;
        float altitude_last;
        float climbrate1s;
        float climbrate3s;
        float climbrate10s;
        float homedistance;
        float homecourse;
        uint8_t last_armed;
        char statusline[statussize];
};

// VARIO Module message structure
struct hott_vario_message {
        uint8_t start;                          // start byte
        uint8_t sensor_id;                      // VARIO sensor ID
        uint8_t warning;                        // 0…= warning beeps
        uint8_t sensor_text_id;         // VARIO sensor text ID
        uint8_t alarm_inverse;          // this inverts specific parts of display
        uword_t altitude;                       // altitude (meters), offset 500, 500 == 0m
        uword_t max_altitude;           // max. altitude (meters)
        uword_t min_altitude;           // min. altitude (meters)
        uword_t climbrate;                      // climb rate (0.01m/s), offset 30000, 30000 == 0.00m/s
        uword_t climbrate3s;            // climb rate (0.01m/3s)
        uword_t climbrate10s;           // climb rate (0.01m/10s)
        uint8_t ascii[21];                      // 21 chars of text
        uint8_t ascii1;                         // ASCII Free character [1] (next to Alt)
        uint8_t ascii2;                         // ASCII Free character [2] (next to Dir)
        uint8_t ascii3;                         // ASCII Free character [3] (next to I)
        int8_t  compass;                        // 1=2°, -1=-2°
        uint8_t version;                        // version number
        uint8_t stop;                           // stop byte
        uint8_t checksum;                       // Lower 8-bits of all bytes summed
};

// GPS Module message structure
struct hott_gps_message {
        uint8_t start;                          // start byte
        uint8_t sensor_id;                      // GPS sensor ID
        uint8_t warning;                        // 0…= warning beeps
        uint8_t sensor_text_id;         // GPS Sensor text mode ID
        uint8_t alarm_inverse1;         // this inverts specific parts of display
        uint8_t alarm_inverse2;
        uint8_t flight_direction;       // flight direction (1 = 2°; 0° = north, 90° = east , 180° = south , 270° west)
        uword_t gps_speed;                      // GPS speed (km/h)
        uint8_t latitude_ns;            // GPS latitude north/south (0 = N)
        uword_t latitude_min;           // GPS latitude (min)
        uword_t latitude_sec;           // GPS latitude (sec)
        uint8_t longitude_ew;           // GPS longitude east/west (0 = E)
        uword_t longitude_min;          // GPS longitude (min)
        uword_t longitude_sec;          // GPS longitude (sec)
        uword_t distance;                       // distance from home location (meters)
        uword_t altitude;                       // altitude (meters), offset 500, 500 == 0m 
        uword_t climbrate;                      // climb rate (0.01m/s), offset of 30000, 30000 = 0.00 m/s
        uint8_t climbrate3s;            // climb rate in (m/3s). offset of 120, 120 == 0m/3sec
        uint8_t gps_num_sat;            // GPS number of satelites
        uint8_t gps_fix_char;           // GPS FixChar ('D'=DGPS, '2'=2D, '3'=3D)
        uint8_t home_direction;         // home direction (1=2°, direction from starting point to model position)
        int8_t  angle_roll;                     // angle x-direction (roll 1=2°, 255=-2°)
        int8_t  angle_nick;                     // angle y-direction (nick)
        int8_t  angle_compass;          // angle z-direction (yaw)
        uint8_t gps_hour;                       // GPS time hours
        uint8_t gps_min;                        // GPS time minutes
        uint8_t gps_sec;                        // GPS time seconds
        uint8_t gps_msec;                       // GPS time .sss
        uword_t msl;                            // MSL or NN altitude
        uint8_t vibration;                      // vibration
        uint8_t ascii4;                         // ASCII Free Character [4] (next to home distance)
        uint8_t ascii5;                         // ASCII Free Character [5] (next to home direction)
        uint8_t ascii6;                         // ASCII Free Character [6] (next to number of sats)
        uint8_t version;                        // version number (0=gps, 1=gyro, 255=multicopter)
        uint8_t stop;                           // stop byte
        uint8_t checksum;                       // Lower 8-bits of all bytes summed
};

// General Air Module message structure
struct hott_gam_message {
        uint8_t start;                          // start byte
        uint8_t sensor_id;                      // GAM sensor ID
        uint8_t warning;                        // 0…= warning beeps
        uint8_t sensor_text_id;         // EAM Sensor text mode ID
        uint8_t alarm_inverse1;         // this inverts specific parts of display
        uint8_t alarm_inverse2;
        uint8_t cell1;                          // cell voltages in 0.02V steps, 210 == 4.2V
        uint8_t cell2;
        uint8_t cell3;
        uint8_t cell4;
        uint8_t cell5;
        uint8_t cell6;
        uword_t batt1_voltage;          // battery sensor 1 in 0.1V steps, 50 == 5.5V
        uword_t batt2_voltage;          // battery sensor 2 voltage
        uint8_t temperature1;           // temperature 1 in °C, offset of 20, 20 == 0°C
        uint8_t temperature2;           // temperature 2
        uint8_t fuel_procent;           // fuel capacity in %, values from 0..100
        uword_t fuel_ml;                        // fuel capacity in ml, values from 0..65535
        uword_t rpm;                            // rpm, scale factor 10, 300 == 3000rpm
        uword_t altitude;                       // altitude in meters, offset of 500, 500 == 0m
        uword_t climbrate;                      // climb rate (0.01m/s), offset of 30000, 30000 = 0.00 m/s
        uint8_t climbrate3s;            // climb rate (m/3sec). offset of 120, 120 == 0m/3sec
        uword_t current;                        // current in 0.1A steps
        uword_t voltage;                        // main power voltage in 0.1V steps
        uword_t capacity;                       // used battery capacity in 10mAh steps
        uword_t speed;                          // speed in km/h
        uint8_t min_cell_volt;          // lowest cell voltage in 20mV steps. 124 == 2.48V
        uint8_t min_cell_volt_num;      // number of the cell with the lowest voltage
        uword_t rpm2;                           // rpm2 in 10 rpm steps, 300 == 3000rpm
        uint8_t g_error_number;         // general error number (Voice error == 12)
        uint8_t pressure;                       // pressure up to 15bar, 0.1bar steps
        uint8_t version;                        // version number
        uint8_t stop;                           // stop byte
        uint8_t checksum;                       // Lower 8-bits of all bytes summed
};

// Electric Air Module message structure
struct hott_eam_message {
        uint8_t start;                          // Start byte
        uint8_t sensor_id;                      // EAM sensor id
        uint8_t warning;
        uint8_t sensor_text_id;         // EAM Sensor text mode ID
        uint8_t alarm_inverse1;         // this inverts specific parts of display
        uint8_t alarm_inverse2;
        uint8_t cell1_L;                        // cell voltages of the lower battery
        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;                        // cell voltages of higher battery
        uint8_t cell2_H;
        uint8_t cell3_H;
        uint8_t cell4_H;
        uint8_t cell5_H;
        uint8_t cell6_H;
        uint8_t cell7_H;
        uword_t batt1_voltage;          // battery sensor 1 voltage, in steps of 0.02V
        uword_t batt2_voltage;          // battery sensor 2 voltage, in steps of 0.02V
        uint8_t temperature1;           // temperature sensor 1. 20 = 0 degrees
        uint8_t temperature2;           // temperature sensor 2. 20 = 0 degrees
        uword_t altitude;                       // altitude (meters). 500 = 0 meters
        uword_t current;                        // current (A) in steps of 0.1A
        uword_t voltage;                        // main power voltage in steps of 0.1V
        uword_t capacity;                       // used battery capacity in steps of 10mAh
        uword_t climbrate;                      // climb rate in 0.01m/s. 0m/s = 30000
        uint8_t climbrate3s;            // climb rate in m/3sec. 0m/3sec = 120
        uword_t rpm;                            // rpm in steps of 10 rpm
        uint8_t electric_min;           // estaminated flight time in minutes.
        uint8_t electric_sec;           // estaminated flight time in seconds.
        uword_t speed;                          // speed in km/h in steps of 1 km/h
        uint8_t stop;                           // Stop byte
        uint8_t checksum;                       // Lower 8-bits of all bytes summed.
};

// ESC Module message structure
struct hott_esc_message {
        uint8_t start;                          // Start byte
        uint8_t sensor_id;                      // EAM sensor id
        uint8_t warning;
        uint8_t sensor_text_id;         // ESC Sensor text mode ID
        uint8_t alarm_inverse1;
        uint8_t alarm_inverse2;
        uword_t batt_voltage;           // battery voltage in steps of 0.1V
        uword_t min_batt_voltage;       // min battery voltage
        uword_t batt_capacity;          // used battery capacity in steps of 10mAh
        uint8_t temperatureESC;         // temperature of ESC . 20 = 0 degrees
        uint8_t max_temperatureESC;     // max temperature of ESC
        uword_t current;                        // Current in steps of 0.1A
        uword_t max_current;            // maximal current
        uword_t rpm;                            // rpm in steps of 10 rpm
        uword_t max_rpm;                        // max rpm
        uint8_t temperatureMOT;         // motor temperature
        uint8_t max_temperatureMOT;     // maximal motor temperature
        uint8_t dummy[19];                      // 19 dummy bytes
        uint8_t stop;                           // Stop byte
        uint8_t checksum;                       // Lower 8-bits of all bytes summed.
};

// TEXT message structure
struct hott_text_message {
        uint8_t start;                          // Start byte
        uint8_t sensor_id;                      // TEXT id
        uint8_t warning;
        uint8_t text[21][8];            // text field 21 columns and 8 rows (bit 7=1 for inverse display)
        uint8_t stop;                           // Stop byte
        uint8_t checksum;                       // Lower 8-bits of all bytes summed.
};