Tarot v1.50 support

cemizm · Jul 7, 2016 · fca4e32 · fca4e32
1 parent e4e461d
commit fca4e32
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Showing 7 changed files with 80 additions and 63 deletions.
diff --git a/Firmware/Bootloader/.project b/Firmware/Bootloader/.project
@@ -23,11 +23,4 @@
 		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
 		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
 	</natures>
-	<linkedResources>
-		<link>
-			<name>libs/spiffs</name>
-			<type>2</type>
-			<locationURI>PARENT-1-PROJECT_LOC/shared/Middleware/spiffs</locationURI>
-		</link>
-	</linkedResources>
 </projectDescription>
diff --git a/Firmware/Pro/include/Board.h b/Firmware/Pro/include/Board.h
@@ -18,7 +18,7 @@
 #include <Timer.h>
 #include <I2C.h>
 
-#define FIRMWARE_VERSION		0x02020100
+#define FIRMWARE_VERSION		0x02020200
 #define HARDWARE_VERSION		0x01
 
 namespace Board

diff --git a/Firmware/Releases/AnySensePro.bin b/Firmware/Releases/AnySensePro.bin
diff --git a/Firmware/shared/Application/include/FCTarot.h b/Firmware/shared/Application/include/FCTarot.h
@@ -30,62 +30,69 @@ class FCTarot: public FCAdapter, public HAL::InterruptHandler
 
 	enum PaketType
 	{
-		GPS = 1,
-		RC = 2,
-		HomeData = 3,
+		RC = 1, GPS = 2, Battery = 3, Time = 4,
 	};
 
-	struct GPSType
+	struct RCType //Paket 1
 	{
-		int32_t Longitude;
-		int32_t Latitude;
-		int16_t Altitude;
-		int16_t Speed;
-		int16_t Speed2;
-		int16_t Climb;
-		uint8_t unk1[2];
-		uint16_t Voltage;
-		uint8_t unk2[9];
-		uint8_t Failsafe;
-		uint8_t Flightmode;
-		uint8_t unk3[2];
-		uint8_t Satellites;
-		uint8_t unk4[4];
-	}__attribute__((packed, aligned(1)));
-
-	struct RCType
-	{
-		int16_t GyroX;
-		int16_t GyroY;
-		int16_t GyroZ;
-		int16_t AccX;
-		int16_t AccY;
-		int16_t AccZ;
-		int16_t Altitude;
 		int8_t Aileron;
 		int8_t Elevator;
 		int8_t Throttle;
 		int8_t Rudder;
 		int8_t Mode;
-		int8_t unk1;
+		int8_t unused;
 		int8_t GoHome;
 		int8_t IOC;
 		int8_t Gear;
 		int8_t GimbalTilt;
 		int8_t CamSwitch;
 		int8_t InfoSwitch;
-		int8_t unk2[4];
-		uint8_t RCConnected;
+		uint8_t unk1[15];
 		uint8_t Armed;
-		uint8_t unk3[6];
+		uint8_t Failsafe;
+		uint8_t unk2;
+		uint8_t Flightmode;
+		uint8_t unk3[2];
+		uint8_t Satellites;
+		uint8_t unk4[4];
 	}__attribute__((packed, aligned(1)));
 
-	struct HomeDataType
+	struct GPSType //Paket 2
 	{
+		int32_t HomeLongitude;
+		int32_t HomeLatitude;
+		int16_t HomeAltitude;
 		int32_t Longitude;
 		int32_t Latitude;
 		int16_t Altitude;
-		uint8_t unk1[28];
+		int16_t Speed;
+		int16_t Speed2;
+		int16_t Climb;
+
+		int16_t GyroX;
+		int16_t GyroY;
+		int16_t GyroZ;
+		int16_t AccX;
+		int16_t AccY;
+		int16_t AccZ;
+
+	}__attribute__((packed, aligned(1)));
+
+	struct BatteryType
+	{
+		uint8_t unk1[18];
+		int16_t RawAltitude1;
+		uint8_t unk2[2];
+		int16_t Voltage;
+		int16_t RawAltitude2;
+		uint8_t unk3[12];
+	}__attribute__((packed, aligned(1)));
+
+	struct TimeType
+	{
+		uint32_t Time;
+		uint16_t unk2;
+		uint8_t unk1[32];
 	}__attribute__((packed, aligned(1)));
 
 	struct Paket
@@ -107,7 +114,8 @@ class FCTarot: public FCAdapter, public HAL::InterruptHandler
 			uint8_t ContentData[PacketContentSize];
 			GPSType GPS;
 			RCType RC;
-			HomeDataType HomeData;
+			BatteryType Battery;
+			TimeType Time;
 		};
 		uint16_t CRC;
 	}__attribute__((packed, aligned(1)));
@@ -121,9 +129,10 @@ class FCTarot: public FCAdapter, public HAL::InterruptHandler
 	uint8_t m_processIndex;
 
 	void Process(Paket& paket);
-	void Process(GPSType& data);
 	void Process(RCType& data);
-	void Process(HomeDataType& data);
+	void Process(GPSType& data);
+	void Process(BatteryType& data);
+	void Process(TimeType& data);
 
 	uint16_t calculateChecksum(const uint8_t* data, uint8_t size);
 

diff --git a/Firmware/shared/Application/source/FCTarot.cpp b/Firmware/shared/Application/source/FCTarot.cpp
@@ -21,7 +21,8 @@ void FCTarot::Init()
 {
 	static_assert (sizeof(FCTarot::GPSType) == FCTarot::PacketContentSize, "Tarot GPS PaketSize does not match!");
 	static_assert (sizeof(FCTarot::RCType) == FCTarot::PacketContentSize, "Tarot RC PaketSize does not match!");
-	static_assert (sizeof(FCTarot::HomeDataType) == FCTarot::PacketContentSize, "Tarot HomeData PaketSize does not match!");
+	static_assert (sizeof(FCTarot::BatteryType) == FCTarot::PacketContentSize, "Tarot Battery PaketSize does not match!");
+	static_assert (sizeof(FCTarot::TimeType) == FCTarot::PacketContentSize, "Tarot Time PaketSize does not match!");
 
 	static_assert (sizeof(FCTarot::Paket) == FCTarot::PaketSize, "Tarot PaketSize does not match!");
 
@@ -117,18 +118,20 @@ void FCTarot::Process(Paket& paket)
 	case PaketType::RC:
 		Process(paket.RC);
 		break;
-	case PaketType::HomeData:
-		Process(paket.HomeData);
+	case PaketType::Battery:
+		Process(paket.Battery);
+		break;
+	case PaketType::Time:
+		Process(paket.Time);
+		break;
 	}
 }
 
-void FCTarot::Process(GPSType& data)
+void FCTarot::Process(RCType& data)
 {
-	SensorData.SetPositionCurrent(data.Latitude / 10000000.f, data.Longitude / 10000000.f);
-	SensorData.SetAltitude(data.Altitude / 10.f);
-	SensorData.SetSpeed(data.Speed / 10.f);
-	SensorData.SetVerticalSpeed(data.Climb / 10.f);
-	SensorData.SetBattery(data.Voltage * 10);
+	SensorData.SetThrottle(data.Throttle * 10);
+
+	SensorData.SetArmed(data.Armed);
 
 	if (data.Failsafe != 0)
 		SensorData.SetFlightMode(FlightMode::Failsafe);
@@ -142,18 +145,30 @@ void FCTarot::Process(GPSType& data)
 	SensorData.SetSatellites(data.Satellites);
 	SensorData.SetFixType(data.Satellites == 0 ? GPSFixType::FixNo : data.Satellites < 4 ? GPSFixType::Fix2D : GPSFixType::Fix3D);
 
+	//TODO: Set RC Channels
 }
 
-void FCTarot::Process(RCType& data)
+void FCTarot::Process(GPSType& data)
 {
-	SensorData.SetArmed(data.Armed);
-	//TODO: Set RC Channels
+	SensorData.SetPositionHome(data.HomeLatitude / 10000000.f, data.HomeLongitude / 10000000.f);
+	SensorData.SetHomeAltitude(data.HomeAltitude / 10.f);
+
+	SensorData.SetPositionCurrent(data.Latitude / 10000000.f, data.Longitude / 10000000.f);
+	SensorData.SetAltitude(data.Altitude / 10.f);
+
+	SensorData.SetSpeed(data.Speed / 10.f);
+	SensorData.SetVerticalSpeed(data.Climb / 10.f);
+}
+
+void FCTarot::Process(BatteryType& data)
+{
+	SensorData.SetBattery(data.Voltage * 10);
 }
 
-void FCTarot::Process(HomeDataType& data)
+void FCTarot::Process(TimeType& data)
 {
-	SensorData.SetHomeAltitude(data.Altitude / 10.f);
-	SensorData.SetPositionHome(data.Latitude / 10000000.f, data.Longitude / 10000000.f);
+	Utils::DateTime dt = Utils::DateTime(1467504000 + data.Time / 1000);
+	SensorData.SetDateTime(dt);
 }
 
 uint16_t FCTarot::calculateChecksum(const uint8_t* data, uint8_t size)

diff --git a/...nse.KonfigurationManager/xeniC.AnySense.KonfigurationManager/xeniC.AnySense.Studio.csproj b/...nse.KonfigurationManager/xeniC.AnySense.KonfigurationManager/xeniC.AnySense.Studio.csproj
@@ -32,7 +32,7 @@
     <WebPage>publish.htm</WebPage>
     <OpenBrowserOnPublish>false</OpenBrowserOnPublish>
     <ApplicationRevision>1</ApplicationRevision>
-    <ApplicationVersion>2.2.1.%2a</ApplicationVersion>
+    <ApplicationVersion>2.2.2.1</ApplicationVersion>
     <UseApplicationTrust>false</UseApplicationTrust>
     <CreateDesktopShortcut>true</CreateDesktopShortcut>
     <PublishWizardCompleted>true</PublishWizardCompleted>

diff --git a/GroundTools/xeniC.AnySense.Shared/xeniC.AnySense.Library/Devices/AnySensePro.cs b/GroundTools/xeniC.AnySense.Shared/xeniC.AnySense.Library/Devices/AnySensePro.cs
@@ -19,7 +19,7 @@ namespace xeniC.AnySense.Library.Devices
 {
     public class AnySensePro : DeviceModelBase
     {
-        private const UInt32 LatestVersion = 0x02020100;
+        private const UInt32 LatestVersion = 0x02020200;
 
         public AnySensePro(BaseMavlinkLayer mv, UInt32 version)
             : base(mv, version)