frsky_data.cpp File Reference

#include "frsky_data.h"
#include "common.h"
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <stdbool.h>
#include <lib/ecl/geo/geo.h>
#include <math.h>
#include <uORB/Subscription.hpp>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/sensor_combined.h>
#include <uORB/topics/vehicle_air_data.h>
#include <uORB/topics/vehicle_global_position.h>
#include <uORB/topics/vehicle_gps_position.h>
#include <uORB/topics/vehicle_status.h>
#include <drivers/drv_hrt.h>

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Classes
struct	frsky_subscription_data_s

Macros
#define	frac(f)   (f - (int)f)

Functions
bool	frsky_init ()
	Initializes the uORB subscriptions. More...
void	frsky_deinit ()
static void	frsky_send_startstop (int uart)
	Sends a 0x5E start/stop byte. More...
static void	frsky_send_byte (int uart, uint8_t value)
	Sends one byte, performing byte-stuffing if necessary. More...
static void	frsky_send_data (int uart, uint8_t id, int16_t data)
	Sends one data id/value pair. More...
void	frsky_update_topics ()
void	frsky_send_frame1 (int uart)
	Sends frame 1 (every 200ms): acceleration values, barometer altitude, temperature, battery voltage & current. More...
static float	frsky_format_gps (float dec)
	Formats the decimal latitude/longitude to the required degrees/minutes. More...
void	frsky_send_frame2 (int uart)
	Sends frame 2 (every 1000ms): GPS course, latitude, longitude, ground speed, GPS altitude, remaining battery level. More...
void	frsky_send_frame3 (int uart)
	Sends frame 3 (every 5000ms): GPS date & time. More...
bool	frsky_parse_host (uint8_t *sbuf, int nbytes, struct adc_linkquality *v)

Variables
static struct frsky_subscription_data_s *	subscription_data = nullptr

Macro Definition Documentation

frac

#define frac

(

f

)

(f - (int)f)

Definition at line 64 of file frsky_data.cpp.

Referenced by frsky_send_frame1(), and frsky_send_frame2().

Function Documentation

frsky_deinit()

void frsky_deinit

(

void

)

Definition at line 92 of file frsky_data.cpp.

References subscription_data.

Referenced by frsky_telemetry_thread_main().

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frsky_format_gps()

static float frsky_format_gps ( float  dec )

static

Formats the decimal latitude/longitude to the required degrees/minutes.

Definition at line 189 of file frsky_data.cpp.

References f().

Referenced by frsky_send_frame2().

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frsky_init()

bool frsky_init

(

void

)

Initializes the uORB subscriptions.

Definition at line 81 of file frsky_data.cpp.

Referenced by frsky_telemetry_thread_main().

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frsky_parse_host()

bool frsky_parse_host	(	uint8_t *	sbuf,
		int	nbytes,
		struct adc_linkquality *	v
	)

Definition at line 277 of file frsky_data.cpp.

References adc_linkquality::ad1, adc_linkquality::ad2, DATA, data, adc_linkquality::linkq, and state.

Referenced by frsky_telemetry_thread_main().

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frsky_send_byte()

static void frsky_send_byte ( int  uart, uint8_t  value  )

static

Sends one byte, performing byte-stuffing if necessary.

Definition at line 112 of file frsky_data.cpp.

References write().

Referenced by frsky_send_data().

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frsky_send_data()

static void frsky_send_data ( int  uart, uint8_t  id, int16_t  data  )

static

Sends one data id/value pair.

Definition at line 135 of file frsky_data.cpp.

References data, frsky_send_byte(), and frsky_send_startstop().

Referenced by frsky_send_frame1(), frsky_send_frame2(), and frsky_send_frame3().

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frsky_send_frame1()

void frsky_send_frame1

(

int

uart

)

Sends frame 1 (every 200ms): acceleration values, barometer altitude, temperature, battery voltage & current.

Definition at line 161 of file frsky_data.cpp.

References sensor_combined_s::accelerometer_m_s2, vehicle_air_data_s::baro_alt_meter, frsky_subscription_data_s::battery_status_sub, battery_status_s::current_a, vehicle_gps_position_s::fix_type, frac, FRSKY_ID_ACCEL_X, FRSKY_ID_ACCEL_Y, FRSKY_ID_ACCEL_Z, FRSKY_ID_BARO_ALT_AP, FRSKY_ID_BARO_ALT_BP, FRSKY_ID_CURRENT, FRSKY_ID_TEMP1, FRSKY_ID_TEMP2, FRSKY_ID_VFAS, frsky_send_data(), frsky_send_startstop(), uORB::SubscriptionData< T >::get(), get_telemetry_flight_mode(), gps, vehicle_status_s::nav_state, vehicle_gps_position_s::satellites_used, frsky_subscription_data_s::sensor_combined_sub, frsky_subscription_data_s::vehicle_air_data_sub, frsky_subscription_data_s::vehicle_gps_position_sub, frsky_subscription_data_s::vehicle_status_sub, and battery_status_s::voltage_v.

Referenced by frsky_telemetry_thread_main().

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frsky_send_frame2()

void frsky_send_frame2

(

int

uart

)

Sends frame 2 (every 1000ms): GPS course, latitude, longitude, ground speed, GPS altitude, remaining battery level.

Definition at line 199 of file frsky_data.cpp.

References vehicle_global_position_s::alt, frsky_subscription_data_s::battery_status_sub, f(), frac, frsky_format_gps(), FRSKY_ID_FUEL, FRSKY_ID_GPS_ALT_AP, FRSKY_ID_GPS_ALT_BP, FRSKY_ID_GPS_COURS_AP, FRSKY_ID_GPS_COURS_BP, FRSKY_ID_GPS_LAT_AP, FRSKY_ID_GPS_LAT_BP, FRSKY_ID_GPS_LAT_NS, FRSKY_ID_GPS_LONG_AP, FRSKY_ID_GPS_LONG_BP, FRSKY_ID_GPS_LONG_EW, FRSKY_ID_GPS_SEC, FRSKY_ID_GPS_SPEED_AP, FRSKY_ID_GPS_SPEED_BP, frsky_send_data(), frsky_send_startstop(), uORB::SubscriptionData< T >::get(), gps, hrt_absolute_time(), vehicle_global_position_s::lat, vehicle_global_position_s::lon, M_PI_F, battery_status_s::remaining, vehicle_gps_position_s::time_utc_usec, vehicle_global_position_s::timestamp, vehicle_gps_position_s::timestamp, frsky_subscription_data_s::vehicle_global_position_sub, frsky_subscription_data_s::vehicle_gps_position_sub, vehicle_global_position_s::vel_e, vehicle_global_position_s::vel_n, and vehicle_global_position_s::yaw.

Referenced by frsky_telemetry_thread_main().

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frsky_send_frame3()

void frsky_send_frame3

(

int

uart

)

Sends frame 3 (every 5000ms): GPS date & time.

Definition at line 261 of file frsky_data.cpp.

References FRSKY_ID_GPS_DAY_MONTH, FRSKY_ID_GPS_HOUR_MIN, FRSKY_ID_GPS_SEC, FRSKY_ID_GPS_YEAR, frsky_send_data(), frsky_send_startstop(), uORB::SubscriptionData< T >::get(), vehicle_gps_position_s::time_utc_usec, and frsky_subscription_data_s::vehicle_gps_position_sub.

Referenced by frsky_telemetry_thread_main().

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frsky_send_startstop()

static void frsky_send_startstop ( int  uart )

static

Sends a 0x5E start/stop byte.

Definition at line 103 of file frsky_data.cpp.

References write().

Referenced by frsky_send_data(), frsky_send_frame1(), frsky_send_frame2(), and frsky_send_frame3().

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frsky_update_topics()

void frsky_update_topics

(

void

)

Definition at line 147 of file frsky_data.cpp.

References frsky_subscription_data_s::battery_status_sub, frsky_subscription_data_s::sensor_combined_sub, uORB::SubscriptionData< T >::update(), frsky_subscription_data_s::vehicle_air_data_sub, frsky_subscription_data_s::vehicle_global_position_sub, frsky_subscription_data_s::vehicle_gps_position_sub, and frsky_subscription_data_s::vehicle_status_sub.

Referenced by frsky_telemetry_thread_main().

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Variable Documentation

subscription_data

struct frsky_subscription_data_s* subscription_data = nullptr

static

Definition at line 76 of file frsky_data.cpp.

Referenced by frsky_deinit().