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Added drivers for analog airspeed sensors: MPXV5004 and MPXV7002.

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This commit is contained in:
Laura Sebesta 2012-07-08 21:46:59 +02:00
parent bc5e428bfe
commit 4f20a0f9a1
8 changed files with 309 additions and 1 deletions
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2
flight/Modules/Battery/battery.c
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@ -88,7 +88,7 @@ int32_t BatteryInitialize(void)
HwSettingsOptionalModulesGet(optionalModules);
HwSettingsADCRoutingGet(adcRouting);
//Determine if the
//Determine if the battery sensors are routed to ADC pins
for (int i=0; i < HWSETTINGS_ADCROUTING_NUMELEM; i++) {
if (adcRouting[i] == HWSETTINGS_ADCROUTING_VOLTAGE) {
voltageADCPin = i;

105
flight/PiOS/Common/pios_mpxv5004.c Normal file
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@ -0,0 +1,105 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_MPXV5004 MPXV5004 Functions
* @brief Hardware functions to deal with the DIYDrones airspeed kit, using MPXV5004.
* This is a differential sensor, so the value returned is first converted into
* calibrated airspeed, using http://en.wikipedia.org/wiki/Calibrated_airspeed
* @{
*
* @file pios_mpxv5004.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
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_MPXV5004)
#include "pios_mpxv5004.h"
static uint32_t calibrationSum = 0; //static?
static int16_t calibrationOffset; //static?
/*
* Reads ADC.
*/
uint16_t PIOS_MPXV5004_Measure(uint8_t airspeedADCPin)
{
return PIOS_ADC_PinGet(airspeedADCPin);
}
/*
*Returns zeroPoint so that the user can inspect the calibration vs. the sensor value
*/
uint16_t PIOS_MPXV5004_Calibrate(uint8_t airspeedADCPin, uint16_t calibrationCount){
calibrationSum += PIOS_MPXV5004_Measure(airspeedADCPin);
uint16_t zeroPoint = (uint16_t)(((float)calibrationSum) / calibrationCount + 0.5f);
calibrationOffset = zeroPoint - (int16_t)(1.0f/3.3f*4096.0f+0.5f); //The offset should set the zero point to 1.0V
return zeroPoint;
}
/*
* Updates the calibration when zero point is manually set by user.
*/
void PIOS_MPXV5004_UpdateCalibration(uint16_t zeroPoint){
calibrationOffset = zeroPoint - (int16_t)(1.0f/3.3f*4096.0f+0.5f); //The offset should set the zero point to 1.0V
}
/*
* Reads the airspeed and returns CAS (calibrated airspeed) in the case of success.
* In the case of a failed read, returns -1.
*/
float PIOS_MPXV5004_ReadAirspeed(uint8_t airspeedADCPin)
{
float sensorVal = PIOS_MPXV5004_Measure(airspeedADCPin);
if (sensorVal == 0) //As of June 20th, 2012, the ADC read module was written in such a way that it reset the value to 0 immediately after a read. In case another module inadvertently reads the ADC, we prefer not to use a reading of 0
return -1;
//Calculate dynamic pressure, as per docs
float Qc = 5.0f*(((sensorVal - calibrationOffset)/4096.0f*3.3f)/VCC - 0.2f);
//Saturate Qc on the lower bound, in order to make sure we don't have negative airspeeds. No need
// to saturate on the upper bound, we'll handle that later with calibratedAirspeed.
if (Qc < 0) {
Qc=0;
}
//Compute calibraterd airspeed, as per http://en.wikipedia.org/wiki/Calibrated_airspeed
float calibratedAirspeed = A0*sqrt(5.0f*(pow(Qc/P0+1.0f,POWER)-1.0f));
//Upper bound airspeed. No need to lower bound it, that comes from Qc
if (calibratedAirspeed > 80) { //in [m/s]
calibratedAirspeed=80;
}
return calibratedAirspeed;
}
#endif /* PIOS_INCLUDE_MPXV5004 */

105
flight/PiOS/Common/pios_mpxv7002.c Normal file
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@ -0,0 +1,105 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_MPXV7002 MPXV7002 Functions
* @brief Hardware functions to deal with the DIYDrones airspeed kit, using MPXV7002.
* This is a differential sensor, so the value returned is first converted into
* calibrated airspeed, using http://en.wikipedia.org/wiki/Calibrated_airspeed
* @{
*
* @file pios_mpxv7002.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
*/
/* Project Includes */
#include "pios.h"
#if defined(PIOS_INCLUDE_MPXV7002)
#include "pios_mpxv7002.h"
static uint32_t calibrationSum = 0; //static?
static int16_t calibrationOffset; //static?
/*
* Reads ADC.
*/
uint16_t PIOS_MPXV7002_Measure(uint8_t airspeedADCPin)
{
return PIOS_ADC_PinGet(airspeedADCPin);
}
/*
*Returns zeroPoint so that the user can inspect the calibration vs. the sensor value
*/
uint16_t PIOS_MPXV7002_Calibrate(uint8_t airspeedADCPin, uint16_t calibrationCount){
calibrationSum += PIOS_MPXV7002_Measure(airspeedADCPin);
uint16_t zeroPoint = (uint16_t)(((float)calibrationSum) / calibrationCount + 0.5f);
calibrationOffset = zeroPoint - (int16_t)(2.5f/3.3f*4096.0f+0.5f); //The offset should set the zero point to 2.5V
return zeroPoint;
}
/*
* Updates the calibration when zero point is manually set by user.
*/
void PIOS_MPXV7002_UpdateCalibration(uint16_t zeroPoint){
calibrationOffset = zeroPoint - (int16_t)(2.5f/3.3f*4096.0f+0.5f); //The offset should set the zero point to 2.5V
}
/*
* Reads the airspeed and returns CAS (calibrated airspeed) in the case of success.
* In the case of a failed read, returns -1.
*/
float PIOS_MPXV7002_ReadAirspeed(uint8_t airspeedADCPin)
{
float sensorVal = PIOS_MPXV7002_Measure(airspeedADCPin);
if (sensorVal == 0) //As of June 20th, 2012, the ADC read module was written in such a way that it reset the value to 0 immediately after a read. In case someone else reads the ADC inadvertently, we prefer not to use a reading of 0
return -1;
//Calculate dynamic pressure, as per docs
float Qc = 5.0f*(((sensorVal - calibrationOffset)/4096.0f*3.3f)/VCC - 0.5f);
//Saturate Qc on the lower bound, in order to make sure we don't have negative airspeeds. No need
// to saturate on the upper bound, we'll handle that later with calibratedAirspeed.
if (Qc < 0) {
Qc=0;
}
//Compute calibraterd airspeed, as per http://en.wikipedia.org/wiki/Calibrated_airspeed
float calibratedAirspeed = A0*sqrt(5.0f*(pow(Qc/P0+1.0f,POWER)-1.0f));
//Upper bound airspeed. No need to lower bound it, that comes from Qc
if (calibratedAirspeed > 59) { //in [m/s]
calibratedAirspeed=59;
}
return calibratedAirspeed;
}
#endif /* PIOS_INCLUDE_MPXV7002 */

43
flight/PiOS/inc/pios_mpxv5004.h Normal file
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@ -0,0 +1,43 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_MPXV5004 MPXV5004 Functions
* @brief Hardware functions to deal with the DIYDrones airspeed kit, using MPXV5004
* @{
*
* @file pios_mpxv5004.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
*/
#ifndef PIOS_MPXV5004_H__
#define A0 340.27f //speed of sound at standard sea level in [m/s]
#define P0 101.325f //static air pressure at standard sea level in kPa
#define VCC 5.0f //Supply voltage in V
#define POWER (2.0f/7.0f)
uint16_t PIOS_MPXV5004_Measure(uint8_t airspeedADCPin);
uint16_t PIOS_MPXV5004_Calibrate(uint8_t airspeedADCPin, uint16_t calibrationCount);
void PIOS_MPXV5004_UpdateCalibration(uint16_t zeroPoint);
float PIOS_MPXV5004_ReadAirspeed (uint8_t airspeedADCPin);
#endif // PIOS_MPXV5004_H__

43
flight/PiOS/inc/pios_mpxv7002.h Normal file
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@ -0,0 +1,43 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_MPXV7002 MPXV7002 Functions
* @brief Hardware functions to deal with the DIYDrones airspeed kit, using MPXV7002
* @{
*
* @file pios_mpxv7002.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
*/
#ifndef PIOS_MPXV7002_H__
#define A0 340.27f //speed of sound at standard sea level in [m/s]
#define P0 101.325f //static air pressure at standard sea level in kPa
#define VCC 5.0f //Supply voltage in V
#define POWER (2.0f/7.0f)
uint16_t PIOS_MPXV7002_Measure(uint8_t airspeedADCPin);
uint16_t PIOS_MPXV7002_Calibrate(uint8_t airspeedADCPin, uint16_t calibrationCount);
void PIOS_MPXV7002_UpdateCalibration(uint16_t zeroPoint);
float PIOS_MPXV7002_ReadAirspeed (uint8_t airspeedADCPin);
#endif // PIOS_MPXV7002_H__

8
flight/PiOS/pios.h
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@ -100,7 +100,15 @@
/* PIOS Hardware Includes (Common) */
#include <pios_sdcard.h>
#include <pios_com.h>
#if defined(PIOS_INCLUDE_MPXV7002)
#include <pios_mpxv7002.h>
#endif
#if defined(PIOS_INCLUDE_MPXV5004)
#include <pios_mpxv5004.h>
#endif
#if defined(PIOS_INCLUDE_ETASV3)
#include <pios_etasv3.h>
#endif
#if defined(PIOS_INCLUDE_BMP085)
#include <pios_bmp085.h>
#endif

2
flight/Revolution/Makefile
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@ -149,6 +149,8 @@ include $(PIOS)/STM32F4xx/library.mk
SRC += $(PIOSCOMMON)/pios_mpu6000.c
SRC += $(PIOSCOMMON)/pios_bma180.c
SRC += $(PIOSCOMMON)/pios_etasv3.c
SRC += $(PIOSCOMMON)/pios_mpxv5004.c
SRC += $(PIOSCOMMON)/pios_mpxv7002.c
SRC += $(PIOSCOMMON)/pios_l3gd20.c
SRC += $(PIOSCOMMON)/pios_hmc5883.c
SRC += $(PIOSCOMMON)/pios_ms5611.c

2
flight/Revolution/System/inc/pios_config.h
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@ -64,6 +64,8 @@
#define PIOS_INCLUDE_L3GD20
#define PIOS_INCLUDE_MS5611
#define PIOS_INCLUDE_ETASV3
//#define PIOS_INCLUDE_MPXV5004
//#define PIOS_INCLUDE_MPXV7002
//#define PIOS_INCLUDE_HCSR04
#define PIOS_FLASH_ON_ACCEL /* true for second revo */
#define FLASH_FREERTOS