ghst_telemetry.hpp
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/****************************************************************************
*
* Copyright (c) 2021 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.
*
****************************************************************************/
/**
* @file ghst_telemetry.cpp
*
* IRC Ghost (Immersion RC Ghost) telemetry.
*
* @author Igor Misic <igy1000mb@gmail.com>
* @author Juraj Ciberlin <jciberlin1@gmail.com>
*/
#pragma once
#include <uORB/Subscription.hpp>
#include <uORB/topics/battery_status.h>
#include <drivers/drv_hrt.h>
/**
* High-level class that handles sending of GHST telemetry data
*/
class GHSTTelemetry
{
public:
/**
* @param uart_fd file descriptor for the UART to use. It is expected to be configured
* already.
*/
explicit GHSTTelemetry(int uart_fd);
~GHSTTelemetry() = default;
/**
* Send telemetry data. Call this regularly (i.e. at 100Hz), it will automatically
* limit the sending rate.
* @return true if new data sent
*/
bool update(const hrt_abstime &now);
private:
bool send_battery_status();
uORB::Subscription _battery_status_sub{ORB_ID(battery_status)};
int _uart_fd;
hrt_abstime _last_update {0U};
uint32_t _next_type {0U};
static constexpr uint32_t NUM_DATA_TYPES {1U}; // number of different telemetry data types
static constexpr uint32_t UPDATE_RATE_HZ {10U}; // update rate [Hz]
// Factors that should be applied to get correct values
static constexpr float FACTOR_VOLTS_TO_10MV {100.0F};
static constexpr float FACTOR_AMPS_TO_10MA {100.0F};
static constexpr float FACTOR_MAH_TO_10MAH {0.1F};
};