PX4 Firmware
PX4 Autopilot Software http://px4.io
messages.h
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34 
35 /**
36  * @file messages.h
37  * @author Simon Wilks <sjwilks@gmail.com>
38  *
39  * Graupner HoTT Telemetry message generation.
40  *
41  */
42 #ifndef MESSAGES_H_
43 #define MESSAGES_H
44 
45 #include <stdlib.h>
46 #include <stdint.h>
47 
48 #define POLL_TIMEOUT_IN_MSECS 3500
49 
50 /* The HoTT receiver demands a minimum 5ms period of silence after delivering its request.
51  * Note that the value specified here is lower than 5000 (5ms) as time is lost constructing
52  * the message after the read which takes some milliseconds.
53  */
54 #define POST_READ_DELAY_IN_USECS 4000
55 
56 /* A pause of 3ms is required between each uint8_t sent back to the HoTT receiver. Much lower
57  * values can be used in practise though.
58  */
59 #define POST_WRITE_DELAY_IN_USECS 3000
60 
61 // Protocol constants.
62 #define BINARY_MODE_REQUEST_ID 0x80
63 #define START_BYTE 0x7c
64 #define STOP_BYTE 0x7d
65 #define TEMP_ZERO_CELSIUS 0x14
66 
67 /* The GAM Module poll message. */
69  uint8_t mode;
70  uint8_t id;
71 };
72 
73 /* Electric Air Module (EAM) constants. */
74 #define EAM_SENSOR_ID 0x8e
75 #define EAM_SENSOR_TEXT_ID 0xe0
76 
77 /* The Electric Air Module message. */
79  uint8_t start; /**< Start byte */
80  uint8_t eam_sensor_id; /**< EAM sensor */
81  uint8_t warning;
82  uint8_t sensor_text_id;
83  uint8_t alarm_inverse1;
84  uint8_t alarm_inverse2;
85  uint8_t cell1_L; /**< Lipo cell voltages. Not supported. */
86  uint8_t cell2_L;
87  uint8_t cell3_L;
88  uint8_t cell4_L;
89  uint8_t cell5_L;
90  uint8_t cell6_L;
91  uint8_t cell7_L;
92  uint8_t cell1_H;
93  uint8_t cell2_H;
94  uint8_t cell3_H;
95  uint8_t cell4_H;
96  uint8_t cell5_H;
97  uint8_t cell6_H;
98  uint8_t cell7_H;
99  uint8_t batt1_voltage_L; /**< Battery 1 voltage, lower 8-bits in steps of 0.02V */
101  uint8_t batt2_voltage_L; /**< Battery 2 voltage, lower 8-bits in steps of 0.02V */
103  uint8_t temperature1; /**< Temperature sensor 1. 20 = 0 degrees */
104  uint8_t temperature2;
105  uint8_t altitude_L; /**< Attitude (meters) lower 8-bits. 500 = 0 meters */
106  uint8_t altitude_H;
107  uint8_t current_L; /**< Current (mAh) lower 8-bits in steps of 0.1V */
108  uint8_t current_H;
109  uint8_t main_voltage_L; /**< Main power voltage lower 8-bits in steps of 0.1V */
110  uint8_t main_voltage_H;
111  uint8_t battery_capacity_L; /**< Used battery capacity in steps of 10mAh */
113  uint8_t climbrate_L; /**< Climb rate in 0.01m/s. 0m/s = 30000 */
114  uint8_t climbrate_H;
115  uint8_t climbrate_3s; /**< Climb rate in m/3sec. 0m/3sec = 120 */
116  uint8_t rpm_L; /**< RPM Lower 8-bits In steps of 10 U/min */
117  uint8_t rpm_H;
118  uint8_t electric_min; /**< Flight time in minutes. */
119  uint8_t electric_sec; /**< Flight time in seconds. */
120  uint8_t speed_L; /**< Airspeed in km/h in steps of 1 km/h */
121  uint8_t speed_H;
122  uint8_t stop; /**< Stop byte */
123  uint8_t checksum; /**< Lower 8-bits of all bytes summed. */
124 };
125 
126 
127 /* General Air Module (GAM) constants. */
128 #define GAM_SENSOR_ID 0x8d
129 #define GAM_SENSOR_TEXT_ID 0xd0
130 
132  uint8_t start; /**< Start byte */
133  uint8_t gam_sensor_id; /**< GAM sensor id */
134  uint8_t warning_beeps;
135  uint8_t sensor_text_id;
136  uint8_t alarm_invers1;
137  uint8_t alarm_invers2;
138  uint8_t cell1; /**< Lipo cell voltages. Not supported. */
139  uint8_t cell2;
140  uint8_t cell3;
141  uint8_t cell4;
142  uint8_t cell5;
143  uint8_t cell6;
144  uint8_t batt1_L; /**< Battery 1 voltage LSB value. 0.1V steps. 50 = 5.5V */
145  uint8_t batt1_H;
146  uint8_t batt2_L; /**< Battery 2 voltage LSB value. 0.1V steps. 50 = 5.5V */
147  uint8_t batt2_H;
148  uint8_t temperature1; /**< Temperature 1. offset of 20. a value of 20 = 0°C */
149  uint8_t temperature2; /**< Temperature 2. offset of 20. a value of 20 = 0°C */
150  uint8_t fuel_procent; /**< Fuel capacity in %. Values 0 - 100 */
151  /**< Graphical display ranges: 0 25% 50% 75% 100% */
152  uint8_t fuel_ml_L; /**< Fuel in ml scale. Full = 65535 */
153  uint8_t fuel_ml_H;
154  uint8_t rpm_L; /**< RPM in 10 RPM steps. 300 = 3000rpm */
155  uint8_t rpm_H;
156  uint8_t altitude_L; /**< Altitude in meters. offset of 500, 500 = 0m */
157  uint8_t altitude_H;
158  uint8_t climbrate_L; /**< Climb rate in 0.01m/s. Value of 30000 = 0.00 m/s */
159  uint8_t climbrate_H;
160  uint8_t climbrate3s; /**< Climb rate in m/3sec. Value of 120 = 0m/3sec */
161  uint8_t current_L; /**< Current in 0.1A steps */
162  uint8_t current_H;
163  uint8_t main_voltage_L; /**< Main power voltage using 0.1V steps */
164  uint8_t main_voltage_H;
165  uint8_t batt_cap_L; /**< Used battery capacity in 10mAh steps */
166  uint8_t batt_cap_H;
167  uint8_t speed_L; /**< Speed in km/h */
168  uint8_t speed_H;
169  uint8_t min_cell_volt; /**< Minimum cell voltage in 2mV steps. 124 = 2,48V */
170  uint8_t min_cell_volt_num; /**< Number of the cell with the lowest voltage */
171  uint8_t rpm2_L; /**< RPM in 10 RPM steps. 300 = 3000rpm */
172  uint8_t rpm2_H;
173  uint8_t general_error_number; /**< Voice error == 12. TODO: more docu */
174  uint8_t pressure; /**< Pressure up to 16bar. 0,1bar scale. 20 = 2bar */
175  uint8_t version;
176  uint8_t stop; /**< Stop byte */
177  uint8_t checksum; /**< Lower 8-bits of all bytes summed */
178 };
179 
180 /* GPS sensor constants. */
181 #define GPS_SENSOR_ID 0x8a
182 #define GPS_SENSOR_TEXT_ID 0xa0
183 
184 /**
185  * The GPS sensor message
186  * Struct based on: https://code.google.com/p/diy-hott-gps/downloads
187  */
189  uint8_t start; /**< Start byte */
190  uint8_t sensor_id; /**< GPS sensor ID*/
191  uint8_t warning; /**< 0…= warning beeps */
192  uint8_t sensor_text_id; /**< GPS Sensor text mode ID */
193  uint8_t alarm_inverse1; /**< 01 inverse status */
194  uint8_t alarm_inverse2; /**< 00 inverse status status 1 = no GPS Signal */
195  uint8_t flight_direction; /**< 119 = Flightdir./dir. 1 = 2°; 0° (North), 9 0° (East), 180° (South), 270° (West) */
196  uint8_t gps_speed_L; /**< 8 = /GPS speed low byte 8km/h */
197  uint8_t gps_speed_H; /**< 0 = /GPS speed high byte */
198 
199  uint8_t latitude_ns; /**< 000 = N = 48°39’988 */
200  uint8_t latitude_min_L; /**< 231 0xE7 = 0x12E7 = 4839 */
201  uint8_t latitude_min_H; /**< 018 18 = 0x12 */
202  uint8_t latitude_sec_L; /**< 171 220 = 0xDC = 0x03DC =0988 */
203  uint8_t latitude_sec_H; /**< 016 3 = 0x03 */
204 
205  uint8_t longitude_ew; /**< 000 = E= 9° 25’9360 */
206  uint8_t longitude_min_L; /**< 150 157 = 0x9D = 0x039D = 0925 */
207  uint8_t longitude_min_H; /**< 003 3 = 0x03 */
208  uint8_t longitude_sec_L; /**< 056 144 = 0x90 0x2490 = 9360 */
209  uint8_t longitude_sec_H; /**< 004 36 = 0x24 */
210 
211  uint8_t distance_L; /**< 027 123 = /distance low byte 6 = 6 m */
212  uint8_t distance_H; /**< 036 35 = /distance high byte */
213  uint8_t altitude_L; /**< 243 244 = /Altitude low byte 500 = 0m */
214  uint8_t altitude_H; /**< 001 1 = /Altitude high byte */
215  uint8_t resolution_L; /**< 48 = Low Byte m/s resolution 0.01m 48 = 30000 = 0.00m/s (1=0.01m/s) */
216  uint8_t resolution_H; /**< 117 = High Byte m/s resolution 0.01m */
217  uint8_t unknown1; /**< 120 = 0m/3s */
218  uint8_t gps_num_sat; /**< GPS.Satellites (number of satellites) (1 byte) */
219  uint8_t gps_fix_char; /**< GPS.FixChar. (GPS fix character. display, if DGPS, 2D oder 3D) (1 byte) */
220  uint8_t home_direction; /**< HomeDirection (direction from starting point to Model position) (1 byte) */
221  uint8_t angle_x_direction; /**< angle x-direction (1 byte) */
222  uint8_t angle_y_direction; /**< angle y-direction (1 byte) */
223  uint8_t angle_z_direction; /**< angle z-direction (1 byte) */
224  uint8_t gyro_x_L; /**< gyro x low byte (2 bytes) */
225  uint8_t gyro_x_H; /**< gyro x high byte */
226  uint8_t gyro_y_L; /**< gyro y low byte (2 bytes) */
227  uint8_t gyro_y_H; /**< gyro y high byte */
228  uint8_t gyro_z_L; /**< gyro z low byte (2 bytes) */
229  uint8_t gyro_z_H; /**< gyro z high byte */
230  uint8_t vibration; /**< vibration (1 bytes) */
231  uint8_t ascii4; /**< 00 ASCII Free Character [4] */
232  uint8_t ascii5; /**< 00 ASCII Free Character [5] */
233  uint8_t gps_fix; /**< 00 ASCII Free Character [6], we use it for GPS FIX */
234  uint8_t version;
235  uint8_t stop; /**< Stop byte */
236  uint8_t checksum; /**< Lower 8-bits of all bytes summed */
237 };
238 
239 // The maximum size of a message.
240 #define MAX_MESSAGE_BUFFER_SIZE 45
241 
242 __EXPORT void init_sub_messages(void);
243 __EXPORT void init_pub_messages(void);
244 __EXPORT void build_gam_request(uint8_t *buffer, size_t *size);
245 __EXPORT void publish_gam_message(const uint8_t *buffer);
246 __EXPORT void build_eam_response(uint8_t *buffer, size_t *size);
247 __EXPORT void build_gam_response(uint8_t *buffer, size_t *size);
248 __EXPORT void build_gps_response(uint8_t *buffer, size_t *size);
249 __EXPORT float _get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next);
250 __EXPORT void convert_to_degrees_minutes_seconds(double lat, int *deg, int *min, int *sec);
251 
252 
253 #endif /* MESSAGES_H_ */
uint8_t batt2_L
Battery 2 voltage LSB value.
Definition: messages.h:146
uint8_t electric_sec
Flight time in seconds.
Definition: messages.h:119
uint8_t latitude_min_L
231 0xE7 = 0x12E7 = 4839
Definition: messages.h:200
uint8_t longitude_min_L
150 157 = 0x9D = 0x039D = 0925
Definition: messages.h:206
uint8_t gyro_y_L
gyro y low byte (2 bytes)
Definition: messages.h:226
uint8_t warning
Definition: messages.h:81
uint8_t main_voltage_L
Main power voltage using 0.1V steps.
Definition: messages.h:163
uint8_t batt1_L
Battery 1 voltage LSB value.
Definition: messages.h:144
uint8_t unknown1
120 = 0m/3s
Definition: messages.h:217
uint8_t cell2_H
Definition: messages.h:93
uint8_t sensor_text_id
Definition: messages.h:135
uint8_t stop
Stop byte.
Definition: messages.h:176
uint8_t cell5_L
Definition: messages.h:89
uint8_t climbrate_H
Definition: messages.h:159
uint8_t distance_H
036 35 = /distance high byte
Definition: messages.h:212
uint8_t main_voltage_H
Definition: messages.h:164
uint8_t gyro_y_H
gyro y high byte
Definition: messages.h:227
uint8_t cell3
Definition: messages.h:140
__EXPORT void init_pub_messages(void)
Definition: messages.cpp:85
uint8_t stop
Stop byte.
Definition: messages.h:122
uint8_t speed_H
Definition: messages.h:121
uint8_t main_voltage_H
Definition: messages.h:110
Definition: I2C.hpp:51
__EXPORT void build_gps_response(uint8_t *buffer, size_t *size)
Definition: messages.cpp:209
uint8_t cell3_L
Definition: messages.h:87
uint8_t home_direction
HomeDirection (direction from starting point to Model position) (1 byte)
Definition: messages.h:220
uint8_t cell6_H
Definition: messages.h:97
uint8_t batt2_H
Definition: messages.h:147
__EXPORT void build_gam_response(uint8_t *buffer, size_t *size)
Definition: messages.cpp:174
__EXPORT void build_gam_request(uint8_t *buffer, size_t *size)
Definition: messages.cpp:90
uint8_t gps_speed_H
0 = /GPS speed high byte
Definition: messages.h:197
uint8_t fuel_ml_H
Definition: messages.h:153
uint8_t battery_capacity_L
Used battery capacity in steps of 10mAh.
Definition: messages.h:111
uint8_t temperature1
Temperature sensor 1.
Definition: messages.h:103
uint8_t speed_H
Definition: messages.h:168
uint8_t latitude_sec_H
016 3 = 0x03
Definition: messages.h:203
__EXPORT void init_sub_messages(void)
Definition: messages.cpp:74
uint8_t cell6
Definition: messages.h:143
uint8_t cell4_L
Definition: messages.h:88
uint8_t altitude_H
Definition: messages.h:157
uint8_t gyro_x_L
gyro x low byte (2 bytes)
Definition: messages.h:224
uint8_t current_L
Current (mAh) lower 8-bits in steps of 0.1V.
Definition: messages.h:107
uint8_t climbrate_L
Climb rate in 0.01m/s.
Definition: messages.h:158
uint8_t gam_sensor_id
GAM sensor id.
Definition: messages.h:133
uint8_t warning
0…= warning beeps
Definition: messages.h:191
uint8_t climbrate_L
Climb rate in 0.01m/s.
Definition: messages.h:113
uint8_t checksum
Lower 8-bits of all bytes summed.
Definition: messages.h:177
uint8_t min_cell_volt_num
Number of the cell with the lowest voltage.
Definition: messages.h:170
uint8_t gps_fix
00 ASCII Free Character [6], we use it for GPS FIX
Definition: messages.h:233
uint8_t batt_cap_H
Definition: messages.h:166
uint8_t batt1_voltage_H
Definition: messages.h:100
uint8_t alarm_inverse1
Definition: messages.h:83
uint8_t altitude_L
Attitude (meters) lower 8-bits.
Definition: messages.h:105
uint8_t rpm_L
RPM Lower 8-bits In steps of 10 U/min.
Definition: messages.h:116
uint8_t version
Definition: messages.h:175
uint8_t cell1_H
Definition: messages.h:92
__EXPORT void build_eam_response(uint8_t *buffer, size_t *size)
Definition: messages.cpp:132
uint8_t min_cell_volt
Minimum cell voltage in 2mV steps.
Definition: messages.h:169
uint8_t fuel_procent
Fuel capacity in %.
Definition: messages.h:150
uint8_t cell1_L
Lipo cell voltages.
Definition: messages.h:85
uint8_t ascii4
00 ASCII Free Character [4]
Definition: messages.h:231
uint8_t cell7_H
Definition: messages.h:98
uint8_t start
Start byte.
Definition: messages.h:132
uint8_t resolution_L
48 = Low Byte m/s resolution 0.01m 48 = 30000 = 0.00m/s (1=0.01m/s)
Definition: messages.h:215
uint8_t checksum
Lower 8-bits of all bytes summed.
Definition: messages.h:236
uint8_t sensor_text_id
Definition: messages.h:82
uint8_t resolution_H
117 = High Byte m/s resolution 0.01m
Definition: messages.h:216
uint8_t cell4_H
Definition: messages.h:95
uint8_t gyro_z_L
gyro z low byte (2 bytes)
Definition: messages.h:228
uint8_t angle_y_direction
angle y-direction (1 byte)
Definition: messages.h:222
uint8_t rpm_H
Definition: messages.h:155
uint8_t temperature1
Temperature 1.
Definition: messages.h:148
uint8_t pressure
Pressure up to 16bar.
Definition: messages.h:174
uint8_t latitude_ns
000 = N = 48°39’988
Definition: messages.h:199
uint8_t latitude_sec_L
171 220 = 0xDC = 0x03DC =0988
Definition: messages.h:202
uint8_t climbrate_3s
Climb rate in m/3sec.
Definition: messages.h:115
uint8_t gps_num_sat
GPS.Satellites (number of satellites) (1 byte)
Definition: messages.h:218
uint8_t latitude_min_H
018 18 = 0x12
Definition: messages.h:201
uint8_t temperature2
Temperature 2.
Definition: messages.h:149
uint8_t cell5_H
Definition: messages.h:96
uint8_t batt1_H
Definition: messages.h:145
uint8_t batt1_voltage_L
Battery 1 voltage, lower 8-bits in steps of 0.02V.
Definition: messages.h:99
uint8_t version
Definition: messages.h:234
uint8_t temperature2
Definition: messages.h:104
uint8_t alarm_invers1
Definition: messages.h:136
uint8_t main_voltage_L
Main power voltage lower 8-bits in steps of 0.1V.
Definition: messages.h:109
uint8_t start
Start byte.
Definition: messages.h:79
uint8_t altitude_H
Definition: messages.h:106
uint8_t altitude_L
243 244 = /Altitude low byte 500 = 0m
Definition: messages.h:213
uint8_t altitude_H
001 1 = /Altitude high byte
Definition: messages.h:214
uint8_t batt2_voltage_L
Battery 2 voltage, lower 8-bits in steps of 0.02V.
Definition: messages.h:101
constexpr _Tp min(_Tp a, _Tp b)
Definition: Limits.hpp:54
uint8_t alarm_inverse2
Definition: messages.h:84
uint8_t cell3_H
Definition: messages.h:94
uint8_t electric_min
Flight time in minutes.
Definition: messages.h:118
uint8_t cell6_L
Definition: messages.h:90
uint8_t angle_z_direction
angle z-direction (1 byte)
Definition: messages.h:223
uint8_t distance_L
027 123 = /distance low byte 6 = 6 m
Definition: messages.h:211
uint8_t ascii5
00 ASCII Free Character [5]
Definition: messages.h:232
uint8_t current_H
Definition: messages.h:108
uint8_t batt_cap_L
Used battery capacity in 10mAh steps.
Definition: messages.h:165
uint8_t longitude_ew
000 = E= 9° 25’9360
Definition: messages.h:205
uint8_t alarm_invers2
Definition: messages.h:137
uint8_t cell2_L
Definition: messages.h:86
uint8_t batt2_voltage_H
Definition: messages.h:102
uint8_t longitude_min_H
003 3 = 0x03
Definition: messages.h:207
uint8_t climbrate3s
Climb rate in m/3sec.
Definition: messages.h:160
uint8_t fuel_ml_L
Fuel in ml scale.
Definition: messages.h:152
__EXPORT void publish_gam_message(const uint8_t *buffer)
Definition: messages.cpp:103
uint8_t sensor_text_id
GPS Sensor text mode ID.
Definition: messages.h:192
__EXPORT float _get_distance_to_next_waypoint(double lat_now, double lon_now, double lat_next, double lon_next)
uint8_t checksum
Lower 8-bits of all bytes summed.
Definition: messages.h:123
uint8_t general_error_number
Voice error == 12.
Definition: messages.h:173
uint8_t battery_capacity_H
Definition: messages.h:112
uint8_t altitude_L
Altitude in meters.
Definition: messages.h:156
uint8_t flight_direction
119 = Flightdir.
Definition: messages.h:195
uint8_t longitude_sec_L
056 144 = 0x90 0x2490 = 9360
Definition: messages.h:208
uint8_t eam_sensor_id
EAM sensor.
Definition: messages.h:80
uint8_t rpm_L
RPM in 10 RPM steps.
Definition: messages.h:154
uint8_t gyro_z_H
gyro z high byte
Definition: messages.h:229
uint8_t gps_speed_L
8 = /GPS speed low byte 8km/h
Definition: messages.h:196
uint8_t cell7_L
Definition: messages.h:91
uint8_t current_H
Definition: messages.h:162
uint8_t warning_beeps
Definition: messages.h:134
The GPS sensor message Struct based on: https://code.google.com/p/diy-hott-gps/downloads.
Definition: messages.h:188
uint8_t current_L
Current in 0.1A steps.
Definition: messages.h:161
uint8_t gyro_x_H
gyro x high byte
Definition: messages.h:225
uint8_t start
Start byte.
Definition: messages.h:189
uint8_t alarm_inverse2
00 inverse status status 1 = no GPS Signal
Definition: messages.h:194
uint8_t cell1
Lipo cell voltages.
Definition: messages.h:138
uint8_t sensor_id
GPS sensor ID.
Definition: messages.h:190
uint8_t climbrate_H
Definition: messages.h:114
uint8_t speed_L
Airspeed in km/h in steps of 1 km/h.
Definition: messages.h:120
uint8_t longitude_sec_H
004 36 = 0x24
Definition: messages.h:209
uint8_t gps_fix_char
GPS.FixChar.
Definition: messages.h:219
uint8_t cell5
Definition: messages.h:142
uint8_t angle_x_direction
angle x-direction (1 byte)
Definition: messages.h:221
__EXPORT void convert_to_degrees_minutes_seconds(double lat, int *deg, int *min, int *sec)
Definition: messages.cpp:321
uint8_t cell2
Definition: messages.h:139
uint8_t alarm_inverse1
01 inverse status
Definition: messages.h:193
uint8_t stop
Stop byte.
Definition: messages.h:235
uint8_t vibration
vibration (1 bytes)
Definition: messages.h:230
uint8_t rpm2_H
Definition: messages.h:172
uint8_t cell4
Definition: messages.h:141
uint8_t rpm2_L
RPM in 10 RPM steps.
Definition: messages.h:171
uint8_t speed_L
Speed in km/h.
Definition: messages.h:167
uint8_t rpm_H
Definition: messages.h:117