add sPort telemetry handling into frsky_telemetry daemon

src/drivers/frsky_telemetry/sPort_data.c

+/****************************************************************************
+ *
+ *   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>
+ * @author Mark Whitehorn <kd0aij@github.com>
+ *
+ * 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>
+
+#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, 1);
+//}
+
+static void update_crc(uint16_t *crc, unsigned char b)
+{
+	*crc += b;
+	*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 0x7E:
+		write(uart, x7E, sizeof(x7E));
+		break;
+
+	case 0x7D:
+		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 {
+		uint32_t word;
+		uint8_t byte[4];
+	} buf;
+
+	/* send start byte */
+	static const uint8_t c = 0x10;
+	write(uart, &c, 1);
+
+	/* init crc */
+	uint16_t crc = c;
+
+	buf.word = id;
+
+	for (int i = 0; i < 2; i++) {
+		update_crc(&crc, buf.byte[i]);
+		sPort_send_byte(uart, buf.byte[i]);      /* LSB first */
+	}
+
+	buf.word = data;
+
+	for (int i = 0; i < 4; i++) {
+		update_crc(&crc, buf.byte[i]);
+		sPort_send_byte(uart, buf.byte[i]);      /* LSB first */
+	}
+
+	sPort_send_byte(uart, 0xFF - crc);
+}
+
+
+// scaling correct with OpenTX 2.1.7
+void sPort_send_BATV(int uart)
+{
+	/* 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 battery voltage as VFAS */
+	uint32_t voltage = (int)(100 * vehicle_status.battery_voltage);
+	sPort_send_data(uart, SMARTPORT_ID_VFAS, voltage);
+}
+
+// verified scaling
+void sPort_send_CUR(int uart)
+{
+	/* 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 data */
+	uint32_t current = (int)(10 * vehicle_status.battery_current);
+	sPort_send_data(uart, SMARTPORT_ID_CURR, current);
+}
+
+// verified scaling for "custom" altitude option
+// OpenTX uses the initial reading as field elevation and displays
+// the difference (altitude - field)
+void sPort_send_ALT(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);
+
+	/* send data */
+	uint32_t alt = (int)(100 * raw.baro_alt_meter[0]);
+	sPort_send_data(uart, SMARTPORT_ID_ALT, alt);
+}
+
+// verified scaling for "calculated" option
+void sPort_send_SPD(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);
+
+	/* send data for A2 */
+	float speed  = sqrtf(global_pos.vel_n * global_pos.vel_n + global_pos.vel_e * global_pos.vel_e);
+	uint32_t ispeed = (int)(10 * speed);
+	sPort_send_data(uart, SMARTPORT_ID_GPS_SPD, ispeed);
+}
+
+// verified scaling
+void sPort_send_FUEL(int uart)
+{
+	/* 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 data */
+	uint32_t fuel = (int)(100 * vehicle_status.battery_remaining);
+	sPort_send_data(uart, SMARTPORT_ID_FUEL, fuel);
+}

src/drivers/frsky_telemetry/sPort_data.h

+/****************************************************************************
+ *
+ *   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.h
+ * @author Mark Whitehorn <kd0aij@github.com>
+ *
+ * FrSky SmartPort telemetry implementation.
+ *
+ */
+#ifndef _SPORT_DATA_H
+#define _SPORT_DATA_H
+
+#include <sys/types.h>
+
+/* FrSky SmartPort polling IDs captured from X4R */
+#define SMARTPORT_POLL_1    0x1B
+#define SMARTPORT_POLL_2    0x34
+#define SMARTPORT_POLL_3    0x95
+#define SMARTPORT_POLL_4    0x16
+#define SMARTPORT_POLL_5    0xB7
+
+/* FrSky SmartPort sensor IDs */
+#define SMARTPORT_ID_RSSI          0xf101
+#define SMARTPORT_ID_RXA1          0xf102	// supplied by RX
+#define SMARTPORT_ID_RXA2          0xf103	// supplied by RX
+#define SMARTPORT_ID_BATV          0xf104
+#define SMARTPORT_ID_SWR           0xf105
+#define SMARTPORT_ID_T1            0x0400
+#define SMARTPORT_ID_T2            0x0410
+#define SMARTPORT_ID_RPM           0x0500
+#define SMARTPORT_ID_FUEL          0x0600
+#define SMARTPORT_ID_ALT           0x0100
+#define SMARTPORT_ID_VARIO         0x0110
+#define SMARTPORT_ID_ACCX          0x0700
+#define SMARTPORT_ID_ACCY          0x0710
+#define SMARTPORT_ID_ACCZ          0x0720
+#define SMARTPORT_ID_CURR          0x0200
+#define SMARTPORT_ID_VFAS          0x0210
+#define SMARTPORT_ID_CELLS         0x0300
+#define SMARTPORT_ID_GPS_LON_LAT   0x0800
+#define SMARTPORT_ID_GPS_ALT       0x0820
+#define SMARTPORT_ID_GPS_SPD       0x0830
+#define SMARTPORT_ID_GPS_CRS       0x0840
+#define SMARTPORT_ID_GPS_TIME      0x0850
+
+// Public functions
+void sPort_init(void);
+void sPort_send_data(int uart, uint16_t id, uint32_t data);
+void sPort_send_BATV(int uart);
+void sPort_send_CUR(int uart);
+void sPort_send_ALT(int uart);
+void sPort_send_SPD(int uart);
+void sPort_send_FUEL(int uart);
+
+#endif /* _SPORT_TELEMETRY_H */