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

Conflicts:
	flight/Revolution/Makefile
	shared/uavobjectdefinition/hwsettings.xml
	shared/uavobjectdefinition/taskinfo.xml

flight/Modules/Airspeed/revolution/airspeed.c

@@ -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);
+	}
+}
+
+/**
+ * @}
+ * @}
+ */

flight/Modules/Airspeed/revolution/inc/airspeed.h

@@ -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
+
+/**
+ * @}
+ * @}
+ */

flight/PiOS/Boards/STM32F4xx_Revolution.h

@@ -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

flight/PiOS/Common/pios_etasv3.c

@@ -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 */

flight/PiOS/inc/pios_etasv3.h

@@ -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);

flight/PiOS/pios.h

@@ -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

flight/Revolution/Makefile

@@ -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

flight/Revolution/System/inc/pios_config.h

@@ -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

flight/Revolution/System/pios_board.c

@@ -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;
 			

flight/Revolution/UAVObjects.inc

@@ -36,6 +36,7 @@ UAVOBJSRCFILENAMES += gyrosbias
 UAVOBJSRCFILENAMES += accels
 UAVOBJSRCFILENAMES += magnetometer
 UAVOBJSRCFILENAMES += baroaltitude
+UAVOBJSRCFILENAMES += baroairspeed
 UAVOBJSRCFILENAMES += flightbatterysettings
 UAVOBJSRCFILENAMES += firmwareiapobj
 UAVOBJSRCFILENAMES += flightbatterystate

ground/openpilotgcs/src/plugins/uavobjects/uavobjects.pro

@@ -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 \

shared/uavobjectdefinition/baroairspeed.xml

@@ -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>

shared/uavobjectdefinition/hwsettings.xml

@@ -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"/>

shared/uavobjectdefinition/taskinfo.xml

@@ -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="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,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,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"/>