/* * Author Kim Mattsson, base from Kroeske, additional usefull info from Rcgroups members. * Hitec Telemetry for Arduino board. * Uses Arduino Wire library and can be embedded into Arducopter/Ardupirates * Connect ARduino direct to Optima, remember to add the pullups 4.7k-10k .connect only SDA,SCL and ground between optima & arduino. * Don't connect plus between Optima and Arduino when connected to the USB, the USB powers arduino and batterypack the receiver. * * WARNING : THE ARDUPIRATES BMP085 I2C CONFLICTS WITH THIS CODE, BPM Code dont check if i2c is engaged, Ardupirates * assumes that everything with i2C is done by polling. * * * * */ // #define HTDEBUG // #include #include //#include #include #include #define Hitec_i2c 0x08 // Hitec Telemetry module address char data[8][7] = {{ 0x11, 0xAF, 0x00, 0x2D, 0x00, 0x00, 0x11 }, // 1 Frametype, 4&5 Internal SPC voltage { 0x12, 0x00, 0x2C, 0x2C, 0x2E, 0x25, 0x12 }, // 1-4 Latitude 5=gps sec, { 0x13, 0x18, 0x01, 0xD4, 0x22, 0x28, 0x13 }, // 1-4 Longitude, 5 = TEMP2 { 0x14, 0x00, 0x00, 0x00, 0x00, 0x28, 0x14 }, //1&2=Speed,,3&4 = altitude,5= Temp1 { 0x15, 0x00, 0xFF, 0x01, 0xFE, 0x01, 0x15 }, // 1 = Fuelgauge, 2&3 RPM1, 4&5 RPM2 { 0x16, 0x3C, 0x04, 0x1D, 0x00, 0x00, 0x16 }, // 1= year,m,date, h, min { 0x17, 0x00, 0x99, 0x06, 0x28, 0x28, 0x17 }, // 3= GPS Signal 4=Temp3, 5=Temp4 { 0x18, 0x00, 0x00, 0x00, 0x00, 0x00, 0x18 }} // 1&2 Voltage ; // Put this into the Setup routine void Hitec_Init() { Wire.onRequest(Send_Hitec); } void Update_Hitec_Telemetry(void) { static int i=0; int s; char x,y=0; static unsigned char c=0; c++; i+=1; setRpm(1,i+c); //works setRpm(2,i); //works setVoltage(45); //Works setAmpere(214); //Works setTemp(1,44); //Works setTemp(2,-12); //Works setTemp(3,250); //Works setTemp(4,29); //Works setAltitude(gps.altitude/100); //Works setSpeed(gps.ground_speed/100); //Works FuelGauge(c); //Works setGPSValue(gps.longitude,gps.latitude);//Works setGPSTime( gps.time); //Works setGPSDate(gps.date); //Works, but gps.date is not in yymmdd format, its utc setGPSSignal(gps.num_sats); //Works, #ifdef HTDEBUG Serial.print("ALT:");Serial.print(gps.altitude/100); Serial.print("Speed:");Serial.print(gps.ground_speed/100); Serial.print("Sats:");Serial.print(gps.num_sats); Serial.print("Time:");Serial.print(gps.time); Serial.print("LAT:");Serial.print(gps.latitude); Serial.print("LONG:");Serial.print(gps.longitude); Serial.println(" "); #endif // Send the data to the buffer, IRQ Routine will take care of the rest. // we have to check that the previous irq request is completed. if (Wire.isfree() ) // do the check that no-one is using the TWI (only possibility is irq routine) { Wire.begin(Hitec_i2c); //Start a transmission of one row. while (Wire.isfree()!=1); // Dangerous code, we will wait until our 7 byte has left the buffer } } // This is the routine, that pushes the data from inside the irq routine. In your main program or setup, call Hitec_Init() void Send_Hitec() { static unsigned char msgId = 0; if (TWAR != (Hitec_i2c<<1)) return; //check if Hitecs telemetry address, someone else could be sending also through IRQ. // We need to send only one Idrow/request, because of receiver "odd" handshaking that Wire lib not support (TWEA after every row) Wire.send((uint8_t *) data+msgId*7,7); msgId++; msgId%=8; } // Works , nr is channel, and value is rpm void setRpm(int nr, unsigned int value) { unsigned char rpml = (value/10) % 0x100; unsigned char rpmh = (value/10) / 0x100; switch( nr ) { case 1: data[4][2] = rpml; data[4][3] = rpmh; break; case 2: data[4][4] = rpml; data[4][5] = rpmh; break; default: break; } } /* * Valuerange 0-5 */ void FuelGauge(unsigned char value) { if (value>4) data[4][1]=4; else data[4][1] = value; } //works, Values are 0-255, value 0 is -40C 255 =215C // void setTemp(int nr, unsigned char value) { switch( nr ) { case 1: data[3][5] = value; break; case 2: data[2][5] = value; break; case 3: data[6][4] = value; break; case 4: data[6][5] = value; default: break; } } // Works Values 0-500km/h void setSpeed(unsigned int value) { if(value<=500) { data[3][2] = value % 0x100; data[3][1] = value / 0x100; } } // Value in meters void setAltitude(unsigned int value) { if (value<9999) { data[3][4] = value % 0x100; data[3][3] = value / 0x100; } } // Value is 6-1002, Value is 0.1 volt), minimum measurement is 6 that equals to 0.6v void setVoltage(unsigned int value) { if ((value>6) & (value <1001)) { data[7][1] = (value-2) % 0x100; ;// % 0x100; data[7][2] = value /0x100; } } // value 1 = 0.1mA, presented function is close enough, more accurate with float, but don't want to include the huge library void setAmpere(unsigned int value) { uint32_t t; uint16_t v; t=(value-1); t=t*1435; t=t/1000; v=(uint16_t) (t)+167; //if ((value>6) & (value <1001)) { data[7][3] = v % 0x100; ;// % 0x100; data[7][4] = v /0x100; } } /* * longitude and latitude are in GPS decimal, Aurora shows deg.min.sec */ void setGPSValue(long longitude, long latitude) { char x[15]; int d; long m; int ne; // get rid of minus sign, if exist, creates problems in the sprintf & sscanf if (longitude<0) { ne=-1; longitude=-longitude; } else ne=1; sprintf(x, "%09.9lu",longitude); sscanf(x,"%2d%7ld",&d,&m); m=m*6; sprintf(x+2,"%07.7lu",m); sscanf(x,"%4d%5ld",&d,&m); m=m/10; data[2][2] = m & 0xff; data[2][1] = m>>8; d*=ne; // return the sign, so that N/S E/W shows correcly data[2][4] = d & 0xff; data[2][3] = d >> 8; if (latitude<0) { ne=-1; latitude=-latitude; } else ne=1; sprintf(x, "%09.9lu",latitude); sscanf(x,"%2d%7ld",&d,&m); m=m*6; sprintf(x+2,"%07.7lu",m); sscanf(x,"%4d%5ld",&d,&m); m=m/10; data[1][2] = m & 0xff; data[1][1] = m>>8; d*=ne; data[1][4] = d & 0xff; data[1][3] = d >> 8; } // reguires date in format yymmdd as a long void setGPSDate(long t) { char x[15]; sprintf(x, "%06.6lu",t); data[5][1] = (x[0]-48)*10+x[1]-48; //yy data[5][2] = (x[2]-48)*10+x[3]-48; //mm data[5][3] = (x[4]-48)*10+x[5]-48; //dd #ifdef HTDEBUG Serial.print("x:");Serial.print(x); Serial.print("y:");Serial.print(data[5][1]); Serial.print("m:");Serial.print(data[5][2]); Serial.print("d:");Serial.print(data[5][3]); #endif } // Works, Time in t, format hhmmssmss void setGPSTime(long t) { char x[15]; sprintf(x, "%09.9lu",t); data[5][4] = (x[0]-48)*10+x[1]-48; data[5][5] = (x[2]-48)*10+x[3]-48; data[1][5] = (x[4]-48)*10+x[5]-48; #ifdef HTDEBUG Serial.print("x:");Serial.print(x); Serial.print("h:");Serial.print(data[5][4]); Serial.print("m:");Serial.print(data[5][5]); Serial.print("s:");Serial.print(data[1][5]); #endif } //Works, shows the signal strength, one bar /satelite, limit to 5 void setGPSSignal(char c) { data[6][3] = c; }