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Code Issues Releases Activity

Merge remote-tracking branch 'origin/andrecillo/OP-1273_PixHawk_airspeed_sensor_MS4525DO' into next

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This commit is contained in:
Alessio Morale 2014-04-01 22:05:12 +02:00
commit 6540c69698
18 changed files with 673 additions and 110 deletions
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27
flight/modules/Airspeed/airspeed.c
View File

@ -41,6 +41,7 @@
#include "hwsettings.h"
#include "airspeedsettings.h"
#include "airspeedsensor.h" // object that will be updated by the module
#include "baro_airspeed_ms4525do.h"
#include "baro_airspeed_etasv3.h"
#include "baro_airspeed_mpxv.h"
#include "gps_airspeed.h"
@ -59,7 +60,7 @@
static xTaskHandle taskHandle;
static bool airspeedEnabled = false;
static AirspeedSettingsData airspeedSettings;
static AirspeedSettingsAirspeedSensorTypeOptions lastAirspeedSensorType = 0;
static int8_t airspeedADCPin = -1;
@ -118,6 +119,8 @@ int32_t AirspeedInitialize()
}
}
lastAirspeedSensorType = airspeedSettings.AirspeedSensorType;
AirspeedSensorInitialize();
AirspeedSettingsInitialize();
@ -152,6 +155,21 @@ static void airspeedTask(__attribute__((unused)) void *parameters)
// Update the airspeed object
AirspeedSensorGet(&airspeedData);
// if sensor type changed and the last sensor was
// either Eagletree or PixHawk, reset Airspeed alarm
if (airspeedSettings.AirspeedSensorType != lastAirspeedSensorType) {
switch (lastAirspeedSensorType) {
// Eagletree or PixHawk => Reset Airspeed alams
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_EAGLETREEAIRSPEEDV3:
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_PIXHAWKAIRSPEEDMS4525DO:
AlarmsDefault(SYSTEMALARMS_ALARM_AIRSPEED);
break;
// else do not reset Airspeed alarm
default: break;
}
lastAirspeedSensorType = airspeedSettings.AirspeedSensorType;
}
switch (airspeedSettings.AirspeedSensorType) {
#if defined(PIOS_INCLUDE_MPXV)
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV7002:
@ -165,10 +183,17 @@ static void airspeedTask(__attribute__((unused)) void *parameters)
// Eagletree Airspeed v3
baro_airspeedGetETASV3(&airspeedData, &airspeedSettings);
break;
#endif
#if defined(PIOS_INCLUDE_MS4525DO)
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_PIXHAWKAIRSPEEDMS4525DO:
// PixHawk Airpeed based on MS4525DO
baro_airspeedGetMS4525DO(&airspeedData, &airspeedSettings);
break;
#endif
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_GROUNDSPEEDBASEDWINDESTIMATION:
gps_airspeedGet(&airspeedData, &airspeedSettings);
break;
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_NONE:
default:
airspeedData.SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
}

174
flight/modules/Airspeed/baro_airspeed_ms4525do.c Normal file
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@ -0,0 +1,174 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup AirspeedModule Airspeed Module
* @brief Communicate with airspeed sensors and return values
* @{
*
* @file baro_airspeed_ms4525do.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @brief Airspeed module, handles temperature and pressure readings from MS4525DO
*
* @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 "airspeedsettings.h"
#include "airspeedsensor.h" // object that will be updated by the module
#include "taskinfo.h"
#if defined(PIOS_INCLUDE_MS4525DO)
#define CALIBRATION_IDLE_MS 0 // Time to wait before calibrating, in [ms]
#define CALIBRATION_COUNT_MS 4000 // Time to spend calibrating, in [ms]
#define FILTER_SHIFT 5 // Barry Dorr filter parameter k
#define P0 101325.0f // standard pressure
#define CCEXPONENT 0.2857142857f // exponent of compressibility correction 2/7
#define CASFACTOR 760.8802669f // sqrt(5) * speed of sound at standard
#define TASFACTOR 0.05891022589f // 1/sqrt(T0)
#define max(x, y) ((x) >= (y) ? (x) : (y))
// Private types
// Private functions definitions
static int8_t baro_airspeedReadMS4525DO(AirspeedSensorData *airspeedSensor, AirspeedSettingsData *airspeedSettings);
// Private variables
static uint16_t calibrationCount = 0;
static uint32_t filter_reg = 0; // Barry Dorr filter register
void baro_airspeedGetMS4525DO(AirspeedSensorData *airspeedSensor, AirspeedSettingsData *airspeedSettings)
{
// request measurement first
int8_t retVal = PIOS_MS4525DO_Request();
if (retVal != 0) {
AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_ERROR);
return;
}
// Datasheet of MS4525DO: conversion needs 0.5 ms + 20% more when status bit used
// delay by one Tick or at least 2 ms
const portTickType xDelay = max(2 / portTICK_RATE_MS, 1);
vTaskDelay(xDelay);
// read the sensor
retVal = baro_airspeedReadMS4525DO(airspeedSensor, airspeedSettings);
switch (retVal) {
case 0: AlarmsClear(SYSTEMALARMS_ALARM_AIRSPEED);
break;
case -4:
case -5:
case -7: AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_WARNING);
break;
case -1:
case -2:
case -3:
case -6:
default: AlarmsSet(SYSTEMALARMS_ALARM_AIRSPEED, SYSTEMALARMS_ALARM_ERROR);
}
}
// Private functions
static int8_t baro_airspeedReadMS4525DO(AirspeedSensorData *airspeedSensor, AirspeedSettingsData *airspeedSettings)
{
// Check to see if airspeed sensor is returning airspeedSensor
uint16_t values[2];
int8_t retVal = PIOS_MS4525DO_Read(values);
if (retVal == 0) {
airspeedSensor->SensorValue = values[0];
airspeedSensor->SensorValueTemperature = values[1];
} else {
airspeedSensor->SensorValue = -1;
airspeedSensor->SensorValueTemperature = -1;
airspeedSensor->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
airspeedSensor->CalibratedAirspeed = 0;
return retVal;
}
// only calibrate if no stored calibration is available
if (!airspeedSettings->ZeroPoint) {
// Calibrate sensor by averaging zero point value
if (calibrationCount <= CALIBRATION_IDLE_MS / airspeedSettings->SamplePeriod) {
calibrationCount++;
filter_reg = (airspeedSensor->SensorValue << FILTER_SHIFT);
return -7;
} else if (calibrationCount <= (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS) / airspeedSettings->SamplePeriod) {
calibrationCount++;
// update filter register
filter_reg = filter_reg - (filter_reg >> FILTER_SHIFT) + airspeedSensor->SensorValue;
if (calibrationCount > (CALIBRATION_IDLE_MS + CALIBRATION_COUNT_MS) / airspeedSettings->SamplePeriod) {
// Scale output for unity gain.
airspeedSettings->ZeroPoint = (uint16_t)(filter_reg >> FILTER_SHIFT);
AirspeedSettingsZeroPointSet(&airspeedSettings->ZeroPoint);
calibrationCount = 0;
}
return -7;
}
}
/* Compute airspeed
assume sensor is A Type and has a range of 1 psi, i.e. Pmin=-1.0 psi and Pmax=1.0 psi
Datasheet pressure: output = 0.8 * 16383 / (Pmax-Pmin) * (P - Pmin) + 0.1 * 16383
Inversion: P = (10*output - 81915)/65532 in psi
1 psi = 6894,757293168 Pa
P = (10*output - 81915)*0.1052120688 in Pa
Datasheet temperature: output = (T+50)*2047 / 200
Inversion: T = (200*out - 102350)/2047 in C
T = (200*out - 102350)/2047 + 273.15 in K
*/
const float dP = (10 * (int32_t)(airspeedSensor->SensorValue - airspeedSettings->ZeroPoint)) * 0.1052120688f;
const float T = (float)(200 * (int32_t)airspeedSensor->SensorValueTemperature - 102350) / 2047 + 273.15f;
airspeedSensor->DifferentialPressure = dP;
airspeedSensor->Temperature = T;
// CAS = Csound * sqrt( 5 *( (dP/P0 +1)^(2/7) - 1) )
// TAS = Csound * sqrt( 5 T/T0 *( (dP/P0 +1)^(2/7) - 1) )
// where Csound = 340.276 m/s at standard condition T0=288.15 K and P0 = 101315 Pa
airspeedSensor->CalibratedAirspeed = airspeedSettings->Scale * CASFACTOR * sqrtf(powf(fabsf(dP) / P0 + 1.0f, CCEXPONENT) - 1.0f);
airspeedSensor->TrueAirspeed = airspeedSensor->CalibratedAirspeed * TASFACTOR * sqrtf(T);
airspeedSensor->SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_TRUE;
return retVal;
}
#endif /* if defined(PIOS_INCLUDE_MS4525DO) */
/**
* @}
* @}
*/

43
flight/modules/Airspeed/inc/baro_airspeed_ms4525do.h Normal file
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@ -0,0 +1,43 @@
/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup AirspeedModule Airspeed Module
* @brief Calculate airspeed from measurements of differential pressure from a MS4525DO (PixHawk airspeed sensor)
* @{
*
* @file baro_airspeed_mas4525do.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @brief Airspeed module, reads temperature and pressure from MS4525DO
*
* @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 BARO_AIRSPEED_MS4525DO_H
#define BARO_AIRSPEED_MS4525DO_H
#if defined(PIOS_INCLUDE_MS4525DO)
void baro_airspeedGetMS4525DO(AirspeedSensorData *airspeedSensor, AirspeedSettingsData *airspeedSettings);
#endif /* PIOS_INCLUDE_MS4525DO */
#endif // BARO_AIRSPEED_MS4525DO_H
/**
* @}
* @}
*/

5
flight/modules/Attitude/revolution/attitude.c
View File

@ -650,7 +650,7 @@ static int32_t updateAttitudeComplementary(bool first_run)
if (airspeedSensor.SensorConnected == AIRSPEEDSENSOR_SENSORCONNECTED_TRUE) {
// we have airspeed available
airspeed.CalibratedAirspeed = airspeedSensor.CalibratedAirspeed;
airspeed.TrueAirspeed = airspeed.CalibratedAirspeed * IAS2TAS(homeLocation.Altitude - positionState.Down);
airspeed.TrueAirspeed = (airspeedSensor.TrueAirspeed < 0.f) ? airspeed.CalibratedAirspeed *IAS2TAS(homeLocation.Altitude - positionState.Down) : airspeedSensor.TrueAirspeed;
AirspeedStateSet(&airspeed);
}
}
@ -1078,7 +1078,8 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
AirspeedStateGet(&airspeed);
airspeed.CalibratedAirspeed = airspeedData.CalibratedAirspeed;
airspeed.TrueAirspeed = airspeed.CalibratedAirspeed * IAS2TAS(homeLocation.Altitude - Nav.Pos[2]);
airspeed.TrueAirspeed = (airspeedSensor.TrueAirspeed < 0.f) ? airspeed.CalibratedAirspeed *IAS2TAS(homeLocation.Altitude - positionState.Down) : airspeedSensor.TrueAirspeed;
AirspeedStateSet(&airspeed);
if (!gps_vel_updated && !gps_updated) {

2
flight/modules/StateEstimation/filterair.c
View File

@ -78,7 +78,7 @@ static int32_t filter(stateFilter *self, stateEstimation *state)
this->altitude = state->baro[0];
}
// calculate true airspeed estimation
if (IS_SET(state->updated, SENSORUPDATES_airspeed)) {
if (IS_SET(state->updated, SENSORUPDATES_airspeed) && (state->airspeed[1] < 0.f)) {
state->airspeed[1] = state->airspeed[0] * IAS2TAS(this->altitude);
}

21
flight/modules/StateEstimation/stateestimation.c
View File

@ -79,6 +79,7 @@
UNSET_MASK(states.updated, SENSORUPDATES_##shortname); \
} \
}
#define FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_1_DIMENSION_WITH_CUSTOM_EXTRA_CHECK(sensorname, shortname, a1, EXTRACHECK) \
if (IS_SET(states.updated, SENSORUPDATES_##shortname)) { \
sensorname##Data s; \
@ -91,6 +92,19 @@
} \
}
#define FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_2_DIMENSION_WITH_CUSTOM_EXTRA_CHECK(sensorname, shortname, a1, a2, EXTRACHECK) \
if (IS_SET(states.updated, SENSORUPDATES_##shortname)) { \
sensorname##Data s; \
sensorname##Get(&s); \
if (IS_REAL(s.a1) && IS_REAL(s.a2) && EXTRACHECK) { \
states.shortname[0] = s.a1; \
states.shortname[1] = s.a2; \
} \
else { \
UNSET_MASK(states.updated, SENSORUPDATES_##shortname); \
} \
}
// local macros, ONLY to be used in the middle of StateEstimationCb in section RUNSTATE_SAVE before the check of alarms!
#define EXPORT_STATE_TO_UAVOBJECT_IF_UPDATED_3_DIMENSIONS(statename, shortname, a1, a2, a3) \
if (IS_SET(states.updated, SENSORUPDATES_##shortname)) { \
@ -101,6 +115,7 @@
s.a3 = states.shortname[2]; \
statename##Set(&s); \
}
#define EXPORT_STATE_TO_UAVOBJECT_IF_UPDATED_2_DIMENSIONS(statename, shortname, a1, a2) \
if (IS_SET(states.updated, SENSORUPDATES_##shortname)) { \
statename##Data s; \
@ -110,8 +125,8 @@
statename##Set(&s); \
}
// Private types
// Private types
struct filterPipelineStruct;
typedef const struct filterPipelineStruct {
@ -389,8 +404,8 @@ static void StateEstimationCb(void)
FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_3_DIMENSIONS(MagSensor, mag, x, y, z);
FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_3_DIMENSIONS(GPSVelocitySensor, vel, North, East, Down);
FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_1_DIMENSION_WITH_CUSTOM_EXTRA_CHECK(BaroSensor, baro, Altitude, true);
FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_1_DIMENSION_WITH_CUSTOM_EXTRA_CHECK(AirspeedSensor, airspeed, CalibratedAirspeed, s.SensorConnected == AIRSPEEDSENSOR_SENSORCONNECTED_TRUE);
states.airspeed[1] = 0.0f; // sensor does not provide true airspeed, needs to be calculated by filter, set to zero for now
FETCH_SENSOR_FROM_UAVOBJECT_CHECK_AND_LOAD_TO_STATE_2_DIMENSION_WITH_CUSTOM_EXTRA_CHECK(AirspeedSensor, airspeed, CalibratedAirspeed, TrueAirspeed, s.SensorConnected == AIRSPEEDSENSOR_SENSORCONNECTED_TRUE);
// GPS position data (LLA) is not fetched here since it does not contain floats. The filter must do all checks itself
// at this point sensor state is stored in "states" with some rudimentary filtering applied

126
flight/pios/common/pios_ms4525do.c Normal file
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@ -0,0 +1,126 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_MS4525DO MS4525DO Functions
* @brief Hardware functions to deal with the PixHawk Airspeed Sensor based on MS4525DO
* @{
*
* @file pios_ms4525do.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @brief PixHawk MS4525DO 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
*/
#include "pios.h"
#ifdef PIOS_INCLUDE_MS4525DO
/* Local Defs and Variables */
static int8_t PIOS_MS4525DO_ReadI2C(uint8_t *buffer, uint8_t len);
static int8_t PIOS_MS4525DO_WriteI2C(uint8_t *buffer, uint8_t len);
static bool pios_ms4525do_requested = false;
static int8_t PIOS_MS4525DO_ReadI2C(uint8_t *buffer, uint8_t len)
{
const struct pios_i2c_txn txn_list[] = {
{
.info = __func__,
.addr = MS4525DO_I2C_ADDR,
.rw = PIOS_I2C_TXN_READ,
.len = len,
.buf = buffer,
}
};
return PIOS_I2C_Transfer(PIOS_I2C_MS4525DO_ADAPTER, txn_list, NELEMENTS(txn_list));
}
static int8_t PIOS_MS4525DO_WriteI2C(uint8_t *buffer, uint8_t len)
{
const struct pios_i2c_txn txn_list[] = {
{
.info = __func__,
.addr = MS4525DO_I2C_ADDR,
.rw = PIOS_I2C_TXN_WRITE,
.len = len,
.buf = buffer,
}
};
return PIOS_I2C_Transfer(PIOS_I2C_MS4525DO_ADAPTER, txn_list, NELEMENTS(txn_list));
}
int8_t PIOS_MS4525DO_Request(void)
{
// MS4525DO expects a zero length write.
// Sending one byte is a workaround that works for the moment
uint8_t data = 0;
int8_t retVal = PIOS_MS4525DO_WriteI2C(&data, sizeof(data));
/* requested only when transfer worked */
pios_ms4525do_requested = (retVal == 0);
return retVal;
}
// values has to ba an arrray with two elements
// values stay untouched on error
int8_t PIOS_MS4525DO_Read(uint16_t *values)
{
if (!pios_ms4525do_requested) {
/* Do not try to read when not requested */
/* else probably stale data will be obtained */
return -4;
}
uint8_t data[4];
int8_t retVal = PIOS_MS4525DO_ReadI2C(data, sizeof(data));
uint8_t status = data[0] & 0xC0;
if (status == 0x80) {
/* stale data */
return -5;
} else if (status == 0xC0) {
/* device probably broken */
return -6;
}
/* differential pressure */
values[0] = (data[0] << 8);
values[0] += data[1];
/* temperature */
values[1] = (data[2] << 8);
values[1] += data[3];
values[1] = (values[1] >> 5);
/* not requested anymore, only when transfer worked */
pios_ms4525do_requested = !(retVal == 0);
return retVal;
}
#endif /* PIOS_INCLUDE_MS4525DO */

45
flight/pios/inc/pios_ms4525do.h Normal file
View File

@ -0,0 +1,45 @@
/**
******************************************************************************
* @addtogroup PIOS PIOS Core hardware abstraction layer
* @{
* @addtogroup PIOS_MS4525DO MS4525DO Functions
* @brief Hardware functions to deal with the PixHawk Airspeed Sensor based on MS4525DO
* @{
*
* @file pios_ms4525do.h
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2014.
* @brief PixHawk MS4525DO 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_MS4525DO_H
#define PIOS_MS4525DO_H
// Interface Type I chip
#define MS4525DO_I2C_ADDR 0x28
// Interface Type J chip
/* #define MS4525DO_I2C_ADDR 0x36 */
// Interface Type K chip
/* #define MS4525DO_I2C_ADDR 0x46 */
extern int8_t PIOS_MS4525DO_Request(void);
extern int8_t PIOS_MS4525DO_Read(uint16_t *values);
#endif /* PIOS_MS4525DO_H */

6
flight/pios/pios.h
View File

@ -229,6 +229,12 @@
#include <pios_etasv3.h>
#endif
#ifdef PIOS_INCLUDE_MS4525DO
/* PixHawk Airspeed Sensor based on MS4525DO */
#include <pios_ms4525do.h>
#endif
#ifdef PIOS_INCLUDE_HCSR04
/* HC-SR04 Ultrasonic Sensor */
#include <pios_hcsr04.h>

13
flight/pios/stm32f10x/pios_i2c.c
View File

@ -404,8 +404,17 @@ static void go_starting(struct pios_i2c_adapter *i2c_adapter)
PIOS_DEBUG_Assert(i2c_adapter->active_txn >= i2c_adapter->first_txn);
PIOS_DEBUG_Assert(i2c_adapter->active_txn <= i2c_adapter->last_txn);
i2c_adapter->active_byte = &(i2c_adapter->active_txn->buf[0]);
i2c_adapter->last_byte = &(i2c_adapter->active_txn->buf[i2c_adapter->active_txn->len - 1]);
// check for an empty read/write
if (i2c_adapter->active_txn->buf != NULL && i2c_adapter->active_txn->len != 0) {
// Data available
i2c_adapter->active_byte = &(i2c_adapter->active_txn->buf[0]);
i2c_adapter->last_byte = &(i2c_adapter->active_txn->buf[i2c_adapter->active_txn->len - 1]);
} else {
// No Data available => Empty read/write
i2c_adapter->last_byte = NULL;
i2c_adapter->active_byte = i2c_adapter->last_byte + 1;
}
I2C_GenerateSTART(i2c_adapter->cfg->regs, ENABLE);
if (i2c_adapter->active_txn->rw == PIOS_I2C_TXN_READ) {

23
flight/pios/stm32f4xx/pios_i2c.c
View File

@ -94,26 +94,19 @@ static void go_bus_error(struct pios_i2c_adapter *i2c_adapter);
static void go_stopping(struct pios_i2c_adapter *i2c_adapter);
static void go_stopped(struct pios_i2c_adapter *i2c_adapter);
static void go_starting(struct pios_i2c_adapter *i2c_adapter);
static void go_r_any_txn_addr(struct pios_i2c_adapter *i2c_adapter);
static void go_r_more_txn_pre_one(struct pios_i2c_adapter *i2c_adapter);
static void go_r_any_txn_pre_first(struct pios_i2c_adapter *i2c_adapter);
static void go_r_any_txn_pre_middle(struct pios_i2c_adapter *i2c_adapter);
static void go_r_more_txn_pre_last(struct pios_i2c_adapter *i2c_adapter);
static void go_r_any_txn_post_last(struct pios_i2c_adapter *i2c_adapter);
static void go_r_any_txn_addr(struct pios_i2c_adapter *i2c_adapter);
static void go_r_more_txn_pre_one(struct pios_i2c_adapter *i2c_adapter);
static void go_r_last_txn_pre_one(struct pios_i2c_adapter *i2c_adapter);
static void go_r_any_txn_pre_first(struct pios_i2c_adapter *i2c_adapter);
static void go_r_any_txn_pre_middle(struct pios_i2c_adapter *i2c_adapter);
static void go_r_last_txn_pre_last(struct pios_i2c_adapter *i2c_adapter);
static void go_r_more_txn_pre_last(struct pios_i2c_adapter *i2c_adapter);
static void go_r_any_txn_post_last(struct pios_i2c_adapter *i2c_adapter);
static void go_w_any_txn_addr(struct pios_i2c_adapter *i2c_adapter);
static void go_w_any_txn_middle(struct pios_i2c_adapter *i2c_adapter);
static void go_w_more_txn_last(struct pios_i2c_adapter *i2c_adapter);
static void go_w_any_txn_addr(struct pios_i2c_adapter *i2c_adapter);
static void go_w_any_txn_middle(struct pios_i2c_adapter *i2c_adapter);
static void go_w_last_txn_last(struct pios_i2c_adapter *i2c_adapter);
static void go_nack(struct pios_i2c_adapter *i2c_adapter);
@ -414,8 +407,16 @@ static void go_starting(struct pios_i2c_adapter *i2c_adapter)
PIOS_DEBUG_Assert(i2c_adapter->active_txn >= i2c_adapter->first_txn);
PIOS_DEBUG_Assert(i2c_adapter->active_txn <= i2c_adapter->last_txn);
i2c_adapter->active_byte = &(i2c_adapter->active_txn->buf[0]);
i2c_adapter->last_byte = &(i2c_adapter->active_txn->buf[i2c_adapter->active_txn->len - 1]);
// check for an empty read/write
if (i2c_adapter->active_txn->buf != NULL && i2c_adapter->active_txn->len != 0) {
// Data available
i2c_adapter->active_byte = &(i2c_adapter->active_txn->buf[0]);
i2c_adapter->last_byte = &(i2c_adapter->active_txn->buf[i2c_adapter->active_txn->len - 1]);
} else {
// No Data available => Empty read/write
i2c_adapter->last_byte = NULL;
i2c_adapter->active_byte = i2c_adapter->last_byte + 1;
}
I2C_GenerateSTART(i2c_adapter->cfg->regs, ENABLE);
if (i2c_adapter->active_txn->rw == PIOS_I2C_TXN_READ) {

2
flight/targets/boards/revolution/firmware/inc/pios_config.h
View File

@ -87,6 +87,8 @@
#define PIOS_INCLUDE_MS5611
#define PIOS_INCLUDE_MPXV
#define PIOS_INCLUDE_ETASV3
#define PIOS_INCLUDE_MS4525DO
/* #define PIOS_INCLUDE_HCSR04 */
/* PIOS receiver drivers */

9
flight/targets/boards/revolution/pios_board.h
View File

@ -119,12 +119,13 @@
// PIOS_I2C
// See also pios_board.c
// ------------------------
#define PIOS_I2C_MAX_DEVS 3
#define PIOS_I2C_MAX_DEVS 3
extern uint32_t pios_i2c_mag_pressure_adapter_id;
#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_mag_pressure_adapter_id)
#define PIOS_I2C_MAIN_ADAPTER (pios_i2c_mag_pressure_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)
#define PIOS_I2C_FLEXI_ADAPTER (pios_i2c_flexiport_adapter_id)
#define PIOS_I2C_ETASV3_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
#define PIOS_I2C_MS4525DO_ADAPTER (PIOS_I2C_FLEXI_ADAPTER)
// -------------------------
// PIOS_USART

279
ground/openpilotgcs/share/openpilotgcs/diagrams/default/system-health.svg
View File

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1
make/apps-defs.mk
View File

@ -69,6 +69,7 @@ SRC += $(PIOSCOMMON)/pios_i2c_esc.c
SRC += $(PIOSCOMMON)/pios_l3gd20.c
SRC += $(PIOSCOMMON)/pios_mpu6000.c
SRC += $(PIOSCOMMON)/pios_mpxv.c
SRC += $(PIOSCOMMON)/pios_ms4525do.c
SRC += $(PIOSCOMMON)/pios_ms5611.c
SRC += $(PIOSCOMMON)/pios_oplinkrcvr.c
SRC += $(PIOSCOMMON)/pios_video.c

4
shared/uavobjectdefinition/airspeedsensor.xml
View File

@ -3,7 +3,11 @@
<description>The raw data from the dynamic pressure sensor with pressure, temperature and airspeed.</description>
<field name="SensorConnected" units="" type="enum" elements="1" options="False,True"/>
<field name="SensorValue" units="raw" type="uint16" elements="1"/>
<field name="SensorValueTemperature" units="raw" type="uint16" elements="1"/>
<field name="DifferentialPressure" units="Pa" type="float" elements="1"/>
<field name="Temperature" units="K" type="float" elements="1"/>
<field name="CalibratedAirspeed" units="m/s" type="float" elements="1"/>
<field name="TrueAirspeed" units="m/s" type="float" elements="1" defaultvalue="-1"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/>

2
shared/uavobjectdefinition/airspeedsettings.xml
View File

@ -4,7 +4,7 @@
<field name="SamplePeriod" units="ms" type="uint8" elements="1" defaultvalue="100"/>
<field name="ZeroPoint" units="raw" type="uint16" elements="1" defaultvalue="0"/>
<field name="Scale" units="raw" type="float" elements="1" defaultvalue="1.0"/>
<field name="AirspeedSensorType" units="" type="enum" elements="1" options="EagleTreeAirspeedV3,DIYDronesMPXV5004,DIYDronesMPXV7002,GroundSpeedBasedWindEstimation" defaultvalue="DIYDronesMPXV7002"/>
<field name="AirspeedSensorType" units="" type="enum" elements="1" options="PixHawkAirspeedMS4525DO,EagleTreeAirspeedV3,DIYDronesMPXV5004,DIYDronesMPXV7002,GroundSpeedBasedWindEstimation,None" defaultvalue="GroundSpeedBasedWindEstimation"/>
<field name="GroundSpeedBasedEstimationLowPassAlpha" units="" type="float" elements="1" defaultvalue="0.08" />
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>

1
shared/uavobjectdefinition/systemalarms.xml
View File

@ -15,6 +15,7 @@
<elementname>Actuator</elementname>
<elementname>Attitude</elementname>
<elementname>Sensors</elementname>
<elementname>Airspeed</elementname>
<elementname>Stabilization</elementname>
<elementname>Guidance</elementname>
<elementname>PathPlan</elementname>