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Merge remote branch 'origin/stac/etasv3' into corvuscorax/new_navigation

Browse Source 
Conflicts:
	flight/Revolution/Makefile
	shared/uavobjectdefinition/hwsettings.xml
	shared/uavobjectdefinition/taskinfo.xml
This commit is contained in:
Corvus Corax 2012-05-24 18:55:20 +02:00
commit 435b494b0c
14 changed files with 328 additions and 9 deletions
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159
flight/Modules/Airspeed/revolution/airspeed.c Normal file
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@ -0,0 +1,159 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup AirspeedModule Airspeed Module
* @brief Communicate with BMP085 and update @ref BaroAirspeed "BaroAirspeed UAV Object"
* @{
*
* @file airspeed.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Airspeed module, handles temperature and pressure readings from BMP085
*
* @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: BaroAirspeed
*
* This module will periodically update the value of the BaroAirspeed object.
*
*/
#include "openpilot.h"
#include "hwsettings.h"
#include "airspeed.h"
#include "baroairspeed.h" // object that will be updated by the module
#if defined(PIOS_INCLUDE_HCSR04)
#include "sonarairspeed.h" // object that will be updated by the module
#endif
// Private constants
#define STACK_SIZE_BYTES 500
#define TASK_PRIORITY (tskIDLE_PRIORITY+1)
#define SAMPLING_DELAY_MS 50
#define CALIBRATION_IDLE 40
#define CALIBRATION_COUNT 40
#define ETS_AIRSPEED_SCALE 1.0f
// Private types
// Private variables
static xTaskHandle taskHandle;
// Private functions
static void airspeedTask(void *parameters);
static bool airspeedEnabled = false;
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AirspeedStart()
{
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
BaroAirspeedInitialize();
return 0;
}
MODULE_INITCALL(AirspeedInitialize, AirspeedStart)
/**
* Module thread, should not return.
*/
static void airspeedTask(void *parameters)
{
BaroAirspeedData data;
uint8_t calibrationCount = 0;
uint32_t calibrationSum = 0;
// Main task loop
while (1)
{
// Update the airspeed
vTaskDelay(SAMPLING_DELAY_MS);
BaroAirspeedGet(&data);
data.SensorValue = PIOS_ETASV3_ReadAirspeed();
if (data.SensorValue==-1) {
data.Connected = BAROAIRSPEED_CONNECTED_FALSE;
data.Airspeed = 0;
BaroAirspeedSet(&data);
continue;
}
if (calibrationCount<CALIBRATION_IDLE) {
calibrationCount++;
} else if (calibrationCount<CALIBRATION_IDLE + CALIBRATION_COUNT) {
calibrationCount++;
calibrationSum += data.SensorValue;
if (calibrationCount==CALIBRATION_IDLE+CALIBRATION_COUNT) {
data.ZeroPoint = calibrationSum / CALIBRATION_COUNT;
} else {
continue;
}
}
data.Connected = BAROAIRSPEED_CONNECTED_TRUE;
data.Airspeed = ETS_AIRSPEED_SCALE * sqrtf((float)abs(data.SensorValue - data.ZeroPoint));
// Update the AirspeedActual UAVObject
BaroAirspeedSet(&data);
}
}
/**
* @}
* @}
*/

41
flight/Modules/Airspeed/revolution/inc/airspeed.h Normal file
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@ -0,0 +1,41 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup AirspeedModule Airspeed Module
* @brief Communicate with EagleTree Airspeed Sensor and update @ref BaroAirspeed "BaroAirspeed UAV Object"
* @{
*
* @file airspeed.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Airspeed module, reads temperature and pressure from BMP085
*
* @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
*/
#ifndef AIRSPEED_H
#define AIRSPEED_H
int32_t AirspeedInitialize();
#endif // AIRSPEED_H
/**
* @}
* @}
*/

3
flight/PiOS/Boards/STM32F4xx_Revolution.h
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@ -103,6 +103,9 @@ TIM8 | | | |
#define PIOS_I2C_MAX_DEVS 3
extern uint32_t pios_i2c_mag_adapter_id;
#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_mag_adapter_id)
extern uint32_t pios_i2c_flexiport_adapter_id;
#define PIOS_I2C_FLEXI_ADAPTER (pios_i2c_flexiport_adapter_id)
#define PIOS_I2C_ETASV3_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
//-------------------------
// PIOS_USART

65
flight/PiOS/Common/pios_etasv3.c Normal file
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@ -0,0 +1,65 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_ETASV3 ETASV3 Functions
* @brief Hardware functions to deal with the Eagle Tree Airspeed MicroSensor V3
* @{
*
* @file pios_etasv3.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief ETASV3 Airspeed Sensor Driver
* @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
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_ETASV3)
#include "pios_etasv3.h"
static bool PIOS_ETASV3_Read(uint8_t * buffer, uint8_t len)
{
const struct pios_i2c_txn txn_list[] = {
{
.info = __func__,
.addr = ETASV3_I2C_ADDR,
.rw = PIOS_I2C_TXN_READ,
.len = len,
.buf = buffer,
}
};
return PIOS_I2C_Transfer(PIOS_I2C_ETASV3_ADAPTER, txn_list, NELEMENTS(txn_list));
}
int16_t PIOS_ETASV3_ReadAirspeed (void)
{
uint8_t airspeed_raw[2];
if (PIOS_ETASV3_Read(airspeed_raw, sizeof(airspeed_raw)) != 0) {
/* Failed to read airspeed */
return -1;
}
return (airspeed_raw[0] | (airspeed_raw[1]<<8));
}
#endif /* PIOS_INCLUDE_ETASV3 */

34
flight/PiOS/inc/pios_etasv3.h Normal file
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@ -0,0 +1,34 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_ETASV3 ETASV3 Functions
* @brief Hardware functions to deal with the Eagle Tree Airspeed MicroSensor V3
* @{
*
* @file pios_etasv3.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief ETASV3 Airspeed Sensor Driver
* @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
*/
#define ETASV3_I2C_ADDR 0x75
int16_t PIOS_ETASV3_ReadAirspeed (void);

1
flight/PiOS/pios.h
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@ -100,6 +100,7 @@
/* PIOS Hardware Includes (Common) */
#include <pios_sdcard.h>
#include <pios_com.h>
#include <pios_etasv3.h>
#if defined(PIOS_INCLUDE_BMP085)
#include <pios_bmp085.h>
#endif

4
flight/Revolution/Makefile
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@ -51,7 +51,8 @@ FLASH_TOOL = OPENOCD
# List of modules to include
MODULES = Sensors Attitude/revolution ManualControl Stabilization Actuator
MODULES += Altitude/revolution GPS FirmwareIAP
MODULES += AltitudeHold VtolPathFollower PathPlanner
MODULES += AltitudeHold VtolPathFollower FixedWingPathFollower PathPlanner
MODULES += Airspeed/revolution
MODULES += CameraStab
MODULES += OveroSync
MODULES += Telemetry
@ -146,6 +147,7 @@ include $(PIOS)/STM32F4xx/library.mk
## PIOS Hardware (Common)
SRC += $(PIOSCOMMON)/pios_mpu6000.c
SRC += $(PIOSCOMMON)/pios_bma180.c
SRC += $(PIOSCOMMON)/pios_etasv3.c
SRC += $(PIOSCOMMON)/pios_l3gd20.c
SRC += $(PIOSCOMMON)/pios_hmc5883.c
SRC += $(PIOSCOMMON)/pios_ms5611.c

1
flight/Revolution/System/inc/pios_config.h
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@ -63,6 +63,7 @@
#define PIOS_MPU6000_ACCEL
#define PIOS_INCLUDE_L3GD20
#define PIOS_INCLUDE_MS5611
#define PIOS_INCLUDE_ETASV3
//#define PIOS_INCLUDE_HCSR04
#define PIOS_FLASH_ON_ACCEL /* true for second revo */
#define FLASH_FREERTOS

5
flight/Revolution/System/pios_board.c
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@ -669,15 +669,12 @@ void PIOS_Board_Init(void) {
case HWSETTINGS_RV_FLEXIPORT_DISABLED:
break;
case HWSETTINGS_RV_FLEXIPORT_I2C:
//TODO: Enable I2C
#if defined(PIOS_INCLUDE_I2C)
/*
{
if (PIOS_I2C_Init(&pios_i2c_flexi_adapter_id, &pios_i2c_flexi_adapter_cfg)) {
if (PIOS_I2C_Init(&pios_i2c_flexiport_adapter_id, &pios_i2c_flexiport_adapter_cfg)) {
PIOS_Assert(0);
}
}
*/
#endif /* PIOS_INCLUDE_I2C */
break;

1
flight/Revolution/UAVObjects.inc
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@ -36,6 +36,7 @@ UAVOBJSRCFILENAMES += gyrosbias
UAVOBJSRCFILENAMES += accels
UAVOBJSRCFILENAMES += magnetometer
UAVOBJSRCFILENAMES += baroaltitude
UAVOBJSRCFILENAMES += baroairspeed
UAVOBJSRCFILENAMES += flightbatterysettings
UAVOBJSRCFILENAMES += firmwareiapobj
UAVOBJSRCFILENAMES += flightbatterystate

2
ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro
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@ -25,6 +25,7 @@ OTHER_FILES += UAVObjects.pluginspec
# Add in all of the synthetic/generated uavobject files
HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
$$UAVOBJECT_SYNTHETICS/baroaltitude.h \
$$UAVOBJECT_SYNTHETICS/baroairspeed.h \
$$UAVOBJECT_SYNTHETICS/attitudeactual.h \
$$UAVOBJECT_SYNTHETICS/attitudesimulated.h \
$$UAVOBJECT_SYNTHETICS/altholdsmoothed.h \
@ -92,6 +93,7 @@ HEADERS += $$UAVOBJECT_SYNTHETICS/accessorydesired.h \
SOURCES += $$UAVOBJECT_SYNTHETICS/accessorydesired.cpp \
$$UAVOBJECT_SYNTHETICS/baroaltitude.cpp \
$$UAVOBJECT_SYNTHETICS/baroairspeed.cpp \
$$UAVOBJECT_SYNTHETICS/attitudeactual.cpp \
$$UAVOBJECT_SYNTHETICS/attitudesimulated.cpp \
$$UAVOBJECT_SYNTHETICS/altholdsmoothed.cpp \

13
shared/uavobjectdefinition/baroairspeed.xml Normal file
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@ -0,0 +1,13 @@
<xml>
<object name="BaroAirspeed" singleinstance="true" settings="false">
<description>The raw data from the dynamic pressure sensor with pressure, temperature and airspeed.</description>
<field name="Connected" units="" type="enum" elements="1" options="False,True"/>
<field name="SensorValue" units="raw" type="uint16" elements="1"/>
<field name="ZeroPoint" units="raw" type="uint16" elements="1"/>
<field name="Airspeed" units="m/s" type="float" elements="1"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>
<logging updatemode="never" period="0"/>
</object>
</xml>

2
shared/uavobjectdefinition/hwsettings.xml
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@ -18,7 +18,7 @@
<field name="USB_HIDPort" units="function" type="enum" elements="1" options="USBTelemetry,Disabled" defaultvalue="USBTelemetry"/>
<field name="USB_VCPPort" units="function" type="enum" elements="1" options="USBTelemetry,ComBridge,Disabled" defaultvalue="Disabled"/>
<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS,ComUsbBridge,Fault,Altitude,TxPID,VtolPathFollower,FixedWingPathFollower" options="Disabled,Enabled" defaultvalue="Disabled"/>
<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,GPS,ComUsbBridge,Fault,Altitude,Airspeed,TxPID,VtolPathFollower,FixedWingPathFollower" options="Disabled,Enabled" defaultvalue="Disabled"/>
<field name="DSMxBind" units="" type="uint8" elements="1" defaultvalue="0"/>
<access gcs="readwrite" flight="readwrite"/>

6
shared/uavobjectdefinition/taskinfo.xml
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@ -1,9 +1,9 @@
<xml>
<object name="TaskInfo" singleinstance="true" settings="false">
<description>Task information</description>
<field name="StackRemaining" units="bytes" type="uint16" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,PathFollower,FlightPlan,PathPlanner,Com2UsbBridge,Usb2ComBridge,OveroSync"/>
<field name="Running" units="bool" type="enum" options="False,True" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,PathFollower,FlightPlan,PathPlanner,Com2UsbBridge,Usb2ComBridge,OveroSync"/>
<field name="RunningTime" units="%" type="uint8" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Stabilization,AltitudeHold,PathFollower,FlightPlan,PathPlanner,Com2UsbBridge,Usb2ComBridge,OveroSync"/>
<field name="StackRemaining" units="bytes" type="uint16" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Airspeed,Stabilization,AltitudeHold,PathFollower,FlightPlan,PathPlanner,Com2UsbBridge,Usb2ComBridge,OveroSync"/>
<field name="Running" units="bool" type="enum" options="False,True" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Airspeed,Stabilization,AltitudeHold,PathFollower,FlightPlan,PathPlanner,Com2UsbBridge,Usb2ComBridge,OveroSync"/>
<field name="RunningTime" units="%" type="uint8" elementnames="System,Actuator,Attitude,Sensors,TelemetryTx,TelemetryTxPri,TelemetryRx,GPS,ManualControl,Altitude,Airspeed,Stabilization,AltitudeHold,PathFollower,FlightPlan,PathPlanner,Com2UsbBridge,Usb2ComBridge,OveroSync"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>
<telemetryflight acked="true" updatemode="periodic" period="10000"/>