LibrePilot/flight/modules/Airspeed/revolution/airspeed.c

/**
 ******************************************************************************
 * @addtogroup OpenPilotModules OpenPilot Modules
 * @{ 
 * @addtogroup AirspeedModule Airspeed Module
 * @brief Calculate airspeed from diverse sources and update @ref Airspeed "Airspeed UAV Object"
 * @{ 
 *
 * @file       airspeed.c
 * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
 * @brief      Airspeed module
 *
 * @see        The GNU Public License (GPL) Version 3
 *
 *****************************************************************************/
/*
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
 * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
 * for more details.
 *
 * You should have received a copy of the GNU General Public License along
 * with this program; if not, write to the Free Software Foundation, Inc.,
 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

/**
 * Output object: AirspeedSensor
 *
 * This module will periodically update the value of the AirspeedSensor object.
 *
 */

#include "openpilot.h"
#include "hwsettings.h"
#include "airspeedsettings.h"
#include "airspeedsensor.h" // object that will be updated by the module
#include "baro_airspeed_etasv3.h"
#include "baro_airspeed_mpxv.h"

// Private constants

#define STACK_SIZE_BYTES 500


#define TASK_PRIORITY (tskIDLE_PRIORITY+1)

// Private types

// Private variables
static xTaskHandle taskHandle;
static bool airspeedEnabled = false;
static AirspeedSettingsData airspeedSettings;

static int8_t airspeedADCPin=-1;


// Private functions
static void airspeedTask(void *parameters);
static void AirspeedSettingsUpdatedCb(UAVObjEvent * ev);


/**
 * Initialise the module, called on startup
 * \returns 0 on success or -1 if initialisation failed
 */
int32_t AirspeedStart()
{	
	
	//Check if module is enabled or not
	if (airspeedEnabled == false) {
		return -1;
	}
		
	// Start main task
	xTaskCreate(airspeedTask, (signed char *)"Airspeed", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
	TaskMonitorAdd(TASKINFO_RUNNING_AIRSPEED, taskHandle);
	return 0;
}

/**
 * Initialise the module, called on startup
 * \returns 0 on success or -1 if initialisation failed
 */
int32_t AirspeedInitialize()
{
#ifdef MODULE_AIRSPEED_BUILTIN
	airspeedEnabled = true;
#else
	
	HwSettingsInitialize();
	uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
	HwSettingsOptionalModulesGet(optionalModules);
	
	
	if (optionalModules[HWSETTINGS_OPTIONALMODULES_AIRSPEED] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
		airspeedEnabled = true;
	} else {
		airspeedEnabled = false;
		return -1;
	}
#endif
	
	uint8_t adcRouting[HWSETTINGS_ADCROUTING_NUMELEM];	
	HwSettingsADCRoutingGet(adcRouting);
	
	//Determine if the barometric airspeed sensor is routed to an ADC pin 
	for (int i=0; i < HWSETTINGS_ADCROUTING_NUMELEM; i++) {
		if (adcRouting[i] == HWSETTINGS_ADCROUTING_ANALOGAIRSPEED) {
			airspeedADCPin = i;
		}
	}
	
	AirspeedSensorInitialize();
	AirspeedSettingsInitialize();
	
	AirspeedSettingsConnectCallback(AirspeedSettingsUpdatedCb);	
	
	return 0;
}
MODULE_INITCALL(AirspeedInitialize, AirspeedStart)


/**
 * Module thread, should not return.
 */
static void airspeedTask(void *parameters)
{
	AirspeedSettingsUpdatedCb(AirspeedSettingsHandle());
	
	AirspeedSensorData airspeedData;
	AirspeedSensorGet(&airspeedData);

	AirspeedSettingsUpdatedCb(NULL);


	airspeedData.SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
	
	// Main task loop
	portTickType lastSysTime = xTaskGetTickCount();
	while (1)
	{
		vTaskDelayUntil(&lastSysTime, airspeedSettings.SamplePeriod / portTICK_RATE_MS);
		
		// Update the airspeed object
		AirspeedSensorGet(&airspeedData);

		switch (airspeedSettings.AirspeedSensorType) {
#if defined(PIOS_INCLUDE_MPXV)
			case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV7002:
			case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV5004:
				//MPXV5004 and MPXV7002 sensors
				baro_airspeedGetMPXV(&airspeedData, &airspeedSettings,airspeedADCPin);
				break;
#endif
#if defined(PIOS_INCLUDE_ETASV3)
			case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_EAGLETREEAIRSPEEDV3:
				//Eagletree Airspeed v3
				baro_airspeedGetETASV3(&airspeedData, &airspeedSettings);
				break;
#endif
			default:
				airspeedData.SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
		}

		//Set the UAVO
		AirspeedSensorSet(&airspeedData);
			
	}
}

	


static void AirspeedSettingsUpdatedCb(UAVObjEvent * ev)
{
	AirspeedSettingsGet(&airspeedSettings);
	
}
	
	
/**
 * @}
 * @}
 */