yemai/bizhang_-obav
1
0
Fork 0
mirror of https://gitee.com/xiaohuolufeihua/bizhang_-obav.git synced 2026-05-22 01:12:31 +00:00
Code Issues Packages Projects Releases Wiki Activity

move smartport telemetry to new module

Browse Source
This commit is contained in:
Mark Whitehorn
2016-01-17 15:32:47 -07:00
committed by Lorenz Meier
parent 47dcf71554
commit 214709dc89
4 changed files with 415 additions and 47 deletions
Download Patch File Download Diff File Expand all files Collapse all files

45
src/drivers/sPort_telemetry/CMakeLists.txt Normal file
View File

@@ -0,0 +1,45 @@
############################################################################
#
# Copyright (c) 2015 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.
#
############################################################################
px4_add_module(
MODULE drivers__sPort_telemetry
MAIN sPort_telemetry
STACK 1200
COMPILE_FLAGS
-Os
SRCS
sPort_data.c
sPort_telemetry.c
DEPENDS
platforms__common
)
# vim: set noet ft=cmake fenc=utf-8 ff=unix :

311
src/drivers/sPort_telemetry/sPort_data.c Normal file
View File

@@ -0,0 +1,311 @@
/****************************************************************************
*
* Copyright (c) 2013-2014 PX4 Development Team. All rights reserved.
* Author: Stefan Rado <px4@sradonia.net>
*
* 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 sPort_data.c
* @author Stefan Rado <px4@sradonia.net>
*
* FrSky SmartPort telemetry implementation.
*
*/
#include "sPort_data.h"
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <arch/math.h>
#include <geo/geo.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_status.h>
#include <drivers/drv_hrt.h>
/* FrSky SmartPort sensor IDs */
#define FRSKY_ID_GPS_ALT_BP 0x01
#define FRSKY_ID_TEMP1 0x02
#define FRSKY_ID_RPM 0x03
#define FRSKY_ID_FUEL 0x04
#define FRSKY_ID_TEMP2 0x05
#define FRSKY_ID_VOLTS 0x06
#define FRSKY_ID_GPS_ALT_AP 0x09
#define FRSKY_ID_BARO_ALT_BP 0x10
#define FRSKY_ID_GPS_SPEED_BP 0x11
#define FRSKY_ID_GPS_LONG_BP 0x12
#define FRSKY_ID_GPS_LAT_BP 0x13
#define FRSKY_ID_GPS_COURS_BP 0x14
#define FRSKY_ID_GPS_DAY_MONTH 0x15
#define FRSKY_ID_GPS_YEAR 0x16
#define FRSKY_ID_GPS_HOUR_MIN 0x17
#define FRSKY_ID_GPS_SEC 0x18
#define FRSKY_ID_GPS_SPEED_AP 0x19
#define FRSKY_ID_GPS_LONG_AP 0x1A
#define FRSKY_ID_GPS_LAT_AP 0x1B
#define FRSKY_ID_GPS_COURS_AP 0x1C
#define FRSKY_ID_BARO_ALT_AP 0x21
#define FRSKY_ID_GPS_LONG_EW 0x22
#define FRSKY_ID_GPS_LAT_NS 0x23
#define FRSKY_ID_ACCEL_X 0x24
#define FRSKY_ID_ACCEL_Y 0x25
#define FRSKY_ID_ACCEL_Z 0x26
#define FRSKY_ID_CURRENT 0x28
#define FRSKY_ID_VARIO 0x30
#define FRSKY_ID_VFAS 0x39
#define FRSKY_ID_VOLTS_BP 0x3A
#define FRSKY_ID_VOLTS_AP 0x3B
#define frac(f) (f - (int)f)
static int battery_sub = -1;
static int sensor_sub = -1;
static int global_position_sub = -1;
static int vehicle_status_sub = -1;
/**
* Initializes the uORB subscriptions.
*/
void sPort_init()
{
battery_sub = orb_subscribe(ORB_ID(battery_status));
global_position_sub = orb_subscribe(ORB_ID(vehicle_global_position));
sensor_sub = orb_subscribe(ORB_ID(sensor_combined));
vehicle_status_sub = orb_subscribe(ORB_ID(vehicle_status));
}
/**
* Sends a 0x10 start byte.
*/
static void sPort_send_start(int uart)
{
static const uint8_t c = 0x10;
write(uart, &c, sizeof(c));
}
static void update_crc(uint16_t *crc)
{
*crc += 0x10;
*crc += *crc >> 8;
*crc &= 0xFF;
*crc += *crc >> 8;
*crc &= 0xFF;
}
/**
* Sends one byte, performing byte-stuffing if necessary.
*/
static void sPort_send_byte(int uart, uint8_t value)
{
const uint8_t x7E[] = { 0x7D, 0x5E };
const uint8_t x7D[] = { 0x7D, 0x5D };
switch (value) {
case 0x5E:
write(uart, x7E, sizeof(x7E));
break;
case 0x5D:
write(uart, x7D, sizeof(x7D));
break;
default:
write(uart, &value, sizeof(value));
break;
}
}
/**
* Sends one data id/value pair.
*/
void sPort_send_data(int uart, uint16_t id, uint32_t data)
{
union {
uint16_t word;
uint8_t byte[2];
} wbuf;
uint16_t crc = 0;
sPort_send_start(uart);
wbuf.word = id;
for (int i = 0; i < 2; i++) {
update_crc(&crc);
sPort_send_byte(uart, wbuf.byte[i]); /* LSB first */
}
uint8_t *bbuf = (uint8_t *)data;
for (int i = 0; i < 4; i++) {
update_crc(&crc);
sPort_send_byte(uart, bbuf[i]); /* LSB first */
}
}
#ifdef xxxx
/**
* Sends frame 1 (every 200ms):
* acceleration values, barometer altitude, temperature, battery voltage & current
*/
void sPort_send_frame1(int uart)
{
/* 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);
/* send formatted frame */
sPort_send_data(uart, FRSKY_ID_ACCEL_X,
roundf(raw.accelerometer_m_s2[0] * 1000.0f));
sPort_send_data(uart, FRSKY_ID_ACCEL_Y,
roundf(raw.accelerometer_m_s2[1] * 1000.0f));
sPort_send_data(uart, FRSKY_ID_ACCEL_Z,
roundf(raw.accelerometer_m_s2[2] * 1000.0f));
sPort_send_data(uart, FRSKY_ID_BARO_ALT_BP,
raw.baro_alt_meter[0]);
sPort_send_data(uart, FRSKY_ID_BARO_ALT_AP,
roundf(frac(raw.baro_alt_meter[0]) * 100.0f));
sPort_send_data(uart, FRSKY_ID_TEMP1,
roundf(raw.baro_temp_celcius[0]));
sPort_send_data(uart, FRSKY_ID_VFAS,
roundf(battery.voltage_v * 10.0f));
sPort_send_data(uart, FRSKY_ID_CURRENT,
(battery.current_a < 0) ? 0 : roundf(battery.current_a * 10.0f));
sPort_send_start(uart);
}
/**
* Formats the decimal latitude/longitude to the required degrees/minutes.
*/
static float sPort_format_gps(float dec)
{
float dm_deg = (int) dec;
return (dm_deg * 100.0f) + (dec - dm_deg) * 60;
}
/**
* Sends frame 2 (every 1000ms):
* GPS course, latitude, longitude, ground speed, GPS altitude, remaining battery level
*/
void sPort_send_frame2(int uart)
{
/* get a local copy of the global position data */
struct vehicle_global_position_s global_pos;
memset(&global_pos, 0, sizeof(global_pos));
orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_pos);
/* get a local copy of the vehicle status data */
struct vehicle_status_s vehicle_status;
memset(&vehicle_status, 0, sizeof(vehicle_status));
orb_copy(ORB_ID(vehicle_status), vehicle_status_sub, &vehicle_status);
/* send formatted frame */
float course = 0, lat = 0, lon = 0, speed = 0, alt = 0;
char lat_ns = 0, lon_ew = 0;
int sec = 0;
if (global_pos.timestamp != 0 && hrt_absolute_time() < global_pos.timestamp + 20000) {
time_t time_gps = global_pos.time_utc_usec / 1000000ULL;
struct tm *tm_gps = gmtime(&time_gps);
course = (global_pos.yaw + M_PI_F) / M_PI_F * 180.0f;
lat = sPort_format_gps(fabsf(global_pos.lat));
lat_ns = (global_pos.lat < 0) ? 'S' : 'N';
lon = sPort_format_gps(fabsf(global_pos.lon));
lon_ew = (global_pos.lon < 0) ? 'W' : 'E';
speed = sqrtf(global_pos.vel_n * global_pos.vel_n + global_pos.vel_e * global_pos.vel_e)
* 25.0f / 46.0f;
alt = global_pos.alt;
sec = tm_gps->tm_sec;
}
sPort_send_data(uart, FRSKY_ID_GPS_COURS_BP, course);
sPort_send_data(uart, FRSKY_ID_GPS_COURS_AP, frac(course) * 1000.0f);
sPort_send_data(uart, FRSKY_ID_GPS_LAT_BP, lat);
sPort_send_data(uart, FRSKY_ID_GPS_LAT_AP, frac(lat) * 10000.0f);
sPort_send_data(uart, FRSKY_ID_GPS_LAT_NS, lat_ns);
sPort_send_data(uart, FRSKY_ID_GPS_LONG_BP, lon);
sPort_send_data(uart, FRSKY_ID_GPS_LONG_AP, frac(lon) * 10000.0f);
sPort_send_data(uart, FRSKY_ID_GPS_LONG_EW, lon_ew);
sPort_send_data(uart, FRSKY_ID_GPS_SPEED_BP, speed);
sPort_send_data(uart, FRSKY_ID_GPS_SPEED_AP, frac(speed) * 100.0f);
sPort_send_data(uart, FRSKY_ID_GPS_ALT_BP, alt);
sPort_send_data(uart, FRSKY_ID_GPS_ALT_AP, frac(alt) * 100.0f);
sPort_send_data(uart, FRSKY_ID_FUEL,
roundf(vehicle_status.battery_remaining * 100.0f));
sPort_send_data(uart, FRSKY_ID_GPS_SEC, sec);
sPort_send_start(uart);
}
/**
* Sends frame 3 (every 5000ms):
* GPS date & time
*/
void sPort_send_frame3(int uart)
{
/* get a local copy of the battery data */
struct vehicle_global_position_s global_pos;
memset(&global_pos, 0, sizeof(global_pos));
orb_copy(ORB_ID(vehicle_global_position), global_position_sub, &global_pos);
/* send formatted frame */
time_t time_gps = global_pos.time_utc_usec / 1000000ULL;
struct tm *tm_gps = gmtime(&time_gps);
uint16_t hour_min = (tm_gps->tm_min << 8) | (tm_gps->tm_hour & 0xff);
sPort_send_data(uart, FRSKY_ID_GPS_DAY_MONTH, tm_gps->tm_mday);
sPort_send_data(uart, FRSKY_ID_GPS_YEAR, tm_gps->tm_year);
sPort_send_data(uart, FRSKY_ID_GPS_HOUR_MIN, hour_min);
sPort_send_data(uart, FRSKY_ID_GPS_SEC, tm_gps->tm_sec);
sPort_send_start(uart);
}
#endif // xxxx

14
src/drivers/frsky_telemetry/sPort_data.h → src/drivers/sPort_telemetry/sPort_data.h
View File

@@ -39,13 +39,13 @@
* FrSky SmartPort telemetry implementation.
*
*/
#ifndef _FRSKY_DATA_H
#define _FRSKY_DATA_H
#ifndef _SPORT_DATA_H
#define _SPORT_DATA_H
#include <sys/types.h>
// Public functions
void frsky_init(void);
void frsky_send_frame1(int uart);
void frsky_send_frame2(int uart);
void frsky_send_frame3(int uart);
void sPort_init(void);
void sPort_send_data(int uart, uint16_t id, uint32_t data);
#endif /* _FRSKY_TELEMETRY_H */
#endif /* _SPORT_TELEMETRY_H */

92
src/drivers/frsky_telemetry/sPort_telemetry.c → src/drivers/sPort_telemetry/sPort_telemetry.c
View File

@@ -33,7 +33,8 @@
****************************************************************************/
/**
* @file frsky_telemetry.c
* @file sPort_telemetry.c
* @author Mark Whitehorn <kd0aij@github.com>
* @author Stefan Rado <px4@sradonia.net>
*
* FrSky SmartPort telemetry implementation.
@@ -54,33 +55,44 @@
#include <systemlib/systemlib.h>
#include <termios.h>
#include "frsky_data.h"
#include "sPort_data.h"
/* thread state */
static volatile bool thread_should_exit = false;
static volatile bool thread_running = false;
static int frsky_task;
static int sPort_task;
/* functions */
static int frsky_open_uart(const char *uart_name, struct termios *uart_config_original);
static int sPort_open_uart(const char *uart_name, struct termios *uart_config_original);
static void usage(void);
static int frsky_telemetry_thread_main(int argc, char *argv[]);
__EXPORT int frsky_telemetry_main(int argc, char *argv[]);
static int sPort_telemetry_thread_main(int argc, char *argv[]);
__EXPORT int sPort_telemetry_main(int argc, char *argv[]);
/**
* Opens the UART device and sets all required serial parameters.
*/
static int frsky_open_uart(const char *uart_name, struct termios *uart_config_original)
static int sPort_open_uart(const char *uart_name, struct termios *uart_config_original)
{
/* Open UART */
const int uart = open(uart_name, O_WRONLY | O_NOCTTY);
const int uart = open(uart_name, O_RDWR | O_NOCTTY);
if (uart < 0) {
err(1, "Error opening port: %s", uart_name);
}
/* make sure uart FD is blocking */
int flags = fcntl(uart, F_GETFL);
if (flags < 0) {
err(1, "Error getting FD flags: %s", uart_name);
}
flags &= ~O_NONBLOCK;
flags = fcntl(uart, F_SETFL, flags);
if (flags < 0) {
err(1, "Error setting FD flags: %s", uart_name);
}
/* Back up the original UART configuration to restore it after exit */
int termios_state;
@@ -98,7 +110,7 @@ static int frsky_open_uart(const char *uart_name, struct termios *uart_config_or
uart_config.c_oflag &= ~OPOST;
/* Set baud rate */
static const speed_t speed = B9600;
static const speed_t speed = B57600;
if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
warnx("ERR: %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
@@ -121,16 +133,16 @@ static int frsky_open_uart(const char *uart_name, struct termios *uart_config_or
static void usage()
{
fprintf(stderr,
"usage: frsky_telemetry start [-d <devicename>]\n"
" frsky_telemetry stop\n"
" frsky_telemetry status\n");
"usage: sPort_telemetry start [-d <devicename>]\n"
" sPort_telemetry stop\n"
" sPort_telemetry status\n");
exit(1);
}
/**
* The daemon thread.
*/
static int frsky_telemetry_thread_main(int argc, char *argv[])
static int sPort_telemetry_thread_main(int argc, char *argv[])
{
/* Default values for arguments */
char *device_name = "/dev/ttyS1"; /* USART2 */
@@ -154,42 +166,42 @@ static int frsky_telemetry_thread_main(int argc, char *argv[])
}
/* Open UART */
warnx("opening uart");
struct termios uart_config_original;
const int uart = frsky_open_uart(device_name, &uart_config_original);
const int uart = sPort_open_uart(device_name, &uart_config_original);
if (uart < 0) {
warnx("could not open %s", device_name);
err(1, "could not open %s", device_name);
}
/* Subscribe to topics */
frsky_init();
sPort_init();
thread_running = true;
/* Main thread loop */
unsigned int iteration = 0;
char sbuf[2];
uint8_t fiftyfive = 0x55;
while (!thread_should_exit) {
/* Sleep 200 ms */
usleep(200000);
/* Send frame 1 (every 200ms): acceleration values, altitude (vario), temperatures, current & voltages, RPM */
frsky_send_frame1(uart);
/* Send frame 2 (every 1000ms): course, latitude, longitude, speed, altitude (GPS), fuel level */
if (iteration % 5 == 0) {
frsky_send_frame2(uart);
}
/* Send frame 3 (every 5000ms): date, time */
if (iteration % 25 == 0) {
frsky_send_frame3(uart);
iteration = 0;
}
iteration++;
/* wait for poll frame starting with value 0x7E */
int newBytes = read(uart, &sbuf[0], 1);
// warnx("%x, %x \n", sbuf[0], sbuf[1]);
if (newBytes < 1 || sbuf[0] != 0x7E) continue;
/* read the ID byte */
sbuf[1] = read(uart, &sbuf[0], 1);
// sPort_send_data(uart, id, 7);
/*** test ***/
/* write single byte */
write(uart, &fiftyfive, 1);
/* read it back */
read(uart, &sbuf[0], 1);
}
/* Reset the UART flags to original state */
@@ -204,7 +216,7 @@ static int frsky_telemetry_thread_main(int argc, char *argv[])
* The main command function.
* Processes command line arguments and starts the daemon.
*/
int frsky_telemetry_main(int argc, char *argv[])
int sPort_telemetry_main(int argc, char *argv[])
{
if (argc < 2) {
warnx("missing command");
@@ -215,15 +227,15 @@ int frsky_telemetry_main(int argc, char *argv[])
/* this is not an error */
if (thread_running) {
errx(0, "frsky_telemetry already running");
errx(0, "sPort_telemetry already running");
}
thread_should_exit = false;
frsky_task = px4_task_spawn_cmd("frsky_telemetry",
sPort_task = px4_task_spawn_cmd("sPort_telemetry",
SCHED_DEFAULT,
SCHED_PRIORITY_DEFAULT,
2000,
frsky_telemetry_thread_main,
sPort_telemetry_thread_main,
(char *const *)argv);
while (!thread_running) {
@@ -237,7 +249,7 @@ int frsky_telemetry_main(int argc, char *argv[])
/* this is not an error */
if (!thread_running) {
errx(0, "frsky_telemetry already stopped");
errx(0, "sPort_telemetry already stopped");
}
thread_should_exit = true;