Merged in f5soh/librepilot/LP-612_temp_ntc_sensor (pull request #532)

LP-612 Temperature module

Approved-by: Lalanne Laurent <f5soh@free.fr>
Approved-by: Paul Jewell <teulupaul@gmail.com>

flight/modules/Temperature/inc/temperature.h

@@ -0,0 +1,43 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{
+ * @addtogroup TemperatureModule Temperature Module
+ * @{
+ *
+ * @file       temperature.h
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2019.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Module to read the temperature periodically from NTC or LM35 sensors.
+ *
+ * @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 TEMPERATURE_H
+#define TEMPERATURE_H
+
+#include "openpilot.h"
+
+int32_t TemperatureInitialize(void);
+
+#endif // TEMPERATURE_H
+
+/**
+ * @}
+ * @}
+ */

flight/modules/Temperature/temperature.c

@@ -0,0 +1,175 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotModules OpenPilot Modules
+ * @{
+ * @addtogroup TemperatureModule Temperature Module
+ * @brief Measures the temperature from external sensor.
+ * Updates the TemperatureState object
+ * @{
+ *
+ * @file       temperature.c
+ * @author     The LibrePilot Project, http://www.librepilot.org Copyright (C) 2019.
+ *             The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Module to read the temperature periodically from NTC or LM35 sensors.
+ *
+ * @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: TemperatureState
+ *
+ * This module will periodically generate information on the temperature state.
+ *
+ * UAVObjects are automatically generated by the UAVObjectGenerator from
+ * the object definition XML file.
+ *
+ * Modules have no API, all communication to other modules is done through UAVObjects.
+ * However modules may use the API exposed by shared libraries.
+ * See the OpenPilot wiki for more details.
+ * http://www.openpilot.org/OpenPilot_Application_Architecture
+ *
+ */
+
+#include "openpilot.h"
+
+#include "temperaturestate.h"
+#include "temperaturesettings.h"
+#include "hwsettings.h"
+
+//
+// Configuration
+//
+#define SAMPLE_PERIOD_MS             500
+
+#ifndef PIOS_ADC_NTCTEMPERATURE_PIN
+#define PIOS_ADC_NTCTEMPERATURE_PIN  -1
+#endif
+
+#ifndef PIOS_ADC_LM35TEMPERATURE_PIN
+#define PIOS_ADC_LM35TEMPERATURE_PIN -1
+#endif
+
+static int8_t ntcTemperatureADCPin  = PIOS_ADC_NTCTEMPERATURE_PIN; // ADC pin for temperature (ntc)
+static int8_t lm35TemperatureADCPin = PIOS_ADC_LM35TEMPERATURE_PIN; // ADC pin for temperature (lm35)
+
+// Private functions
+static void onTimer(UAVObjEvent *ev);
+
+/**
+ * Initialise the module, called on startup
+ * \returns 0 on success or -1 if initialisation failed
+ */
+int32_t TemperatureInitialize(void)
+{
+    bool temperatureEnabled;
+
+    HwSettingsOptionalModulesData optionalModules;
+
+    HwSettingsOptionalModulesGet(&optionalModules);
+
+#ifdef MODULE_TEMPERATURE_BUILTIN
+    temperatureEnabled = true;
+    optionalModules.Temperature = HWSETTINGS_OPTIONALMODULES_ENABLED;
+    HwSettingsOptionalModulesSet(&optionalModules);
+#else
+    if (optionalModules.Temperature == HWSETTINGS_OPTIONALMODULES_ENABLED) {
+        temperatureEnabled = true;
+    } else {
+        temperatureEnabled = false;
+    }
+#endif
+
+    uint8_t adcRouting[HWSETTINGS_ADCROUTING_NUMELEM];
+    HwSettingsADCRoutingArrayGet(adcRouting);
+
+    // Determine if the temperature sensors are routed to ADC pins
+    for (int i = 0; i < HWSETTINGS_ADCROUTING_NUMELEM; i++) {
+        if (adcRouting[i] == HWSETTINGS_ADCROUTING_NTCTEMPERATURE) {
+            ntcTemperatureADCPin = i;
+        }
+        if (adcRouting[i] == HWSETTINGS_ADCROUTING_LM35TEMPERATURE) {
+            lm35TemperatureADCPin = i;
+        }
+    }
+
+    // Don't enable module if no ADC pins are routed to the sensors
+    if (ntcTemperatureADCPin < 0 && lm35TemperatureADCPin < 0) {
+        temperatureEnabled = false;
+    }
+
+    // Start module
+    if (temperatureEnabled) {
+        TemperatureStateInitialize();
+
+        static UAVObjEvent ev;
+
+        memset(&ev, 0, sizeof(UAVObjEvent));
+        EventPeriodicCallbackCreate(&ev, onTimer, SAMPLE_PERIOD_MS / portTICK_RATE_MS);
+    }
+
+    return 0;
+}
+
+MODULE_INITCALL(TemperatureInitialize, 0);
+static void onTimer(__attribute__((unused)) UAVObjEvent *ev)
+{
+    static TemperatureSettingsData temperatureSettings;
+    static TemperatureStateData temperatureData;
+
+    TemperatureSettingsGet(&temperatureSettings);
+    TemperatureStateGet(&temperatureData);
+
+#ifdef PIOS_INCLUDE_ADC
+    // calculate the temperature (ntc)
+    if (ntcTemperatureADCPin >= 0) {
+        float ntc_resistance = 0;
+
+        if (temperatureSettings.NtcVoltageDivider == TEMPERATURESETTINGS_NTCVOLTAGEDIVIDER_NTCTOGROUND) {
+            ntc_resistance = temperatureSettings.NtcSerialResistor / ((temperatureSettings.NtcVoltageReference / PIOS_ADC_PinGetVolt(ntcTemperatureADCPin)) - 1);
+        } else if (temperatureSettings.NtcVoltageDivider == TEMPERATURESETTINGS_NTCVOLTAGEDIVIDER_NTCTOVREF) {
+            ntc_resistance = temperatureSettings.NtcSerialResistor * ((temperatureSettings.NtcVoltageReference / PIOS_ADC_PinGetVolt(ntcTemperatureADCPin)) - 1);
+        }
+
+        float steinhart = ntc_resistance / temperatureSettings.NtcNominalValue;
+        steinhart  = logf(steinhart);
+        steinhart /= temperatureSettings.NtcBetaCoeff;
+        steinhart += 1.0f / (temperatureSettings.NtcNominalTemperature + 273.15f);
+        steinhart  = 1.0f / steinhart;
+        temperatureData.Temperature1 = steinhart - 273.15f;
+    } else {
+        temperatureData.Temperature1 = 0;
+    }
+
+    // calculate the temperature (lm35)
+    if (lm35TemperatureADCPin >= 0) {
+        temperatureData.Temperature2 = (PIOS_ADC_PinGetVolt(lm35TemperatureADCPin) / temperatureSettings.Lm35Sensitivity);
+    } else {
+        temperatureData.Temperature2 = 0;
+    }
+#else /* ifdef PIOS_INCLUDE_ADC */
+    temperatureData.Temperature1 = 0;
+    temperatureData.Temperature2 = 0;
+#endif /* PIOS_INCLUDE_ADC */
+
+    TemperatureStateSet(&temperatureData);
+}
+
+/**
+ * @}
+ */

flight/targets/boards/revolution/firmware/Makefile

@@ -54,6 +54,7 @@ MODULES += Telemetry
 MODULES += Notify
 
 OPTMODULES += AutoTune
+OPTMODULES += Temperature
 OPTMODULES += ComUsbBridge
 OPTMODULES += UAVOHottBridge
 OPTMODULES += UAVOMSPBridge

flight/targets/boards/revolution/firmware/UAVObjects.inc

@@ -122,6 +122,8 @@ UAVOBJSRCFILENAMES += waypointactive
 UAVOBJSRCFILENAMES += poilocation
 UAVOBJSRCFILENAMES += poilearnsettings
 UAVOBJSRCFILENAMES += mpugyroaccelsettings
+UAVOBJSRCFILENAMES += temperaturesettings
+UAVOBJSRCFILENAMES += temperaturestate
 UAVOBJSRCFILENAMES += txpidsettings
 UAVOBJSRCFILENAMES += txpidstatus
 UAVOBJSRCFILENAMES += hottbridgesettings

flight/targets/boards/revonano/firmware/Makefile

@@ -53,6 +53,7 @@ MODULES += Telemetry
 MODULES += Notify
 
 OPTMODULES += AutoTune
+OPTMODULES += Temperature
 OPTMODULES += ComUsbBridge
 OPTMODULES += UAVOMSPBridge
 OPTMODULES += UAVOMavlinkBridge

flight/targets/boards/revonano/firmware/UAVObjects.inc

@@ -122,6 +122,8 @@ UAVOBJSRCFILENAMES += waypointactive
 UAVOBJSRCFILENAMES += poilocation
 UAVOBJSRCFILENAMES += poilearnsettings
 UAVOBJSRCFILENAMES += mpugyroaccelsettings
+UAVOBJSRCFILENAMES += temperaturesettings
+UAVOBJSRCFILENAMES += temperaturestate
 UAVOBJSRCFILENAMES += txpidsettings
 UAVOBJSRCFILENAMES += txpidstatus
 UAVOBJSRCFILENAMES += hottbridgesettings

flight/targets/boards/sparky2/firmware/Makefile

@@ -54,6 +54,7 @@ MODULES += Telemetry
 MODULES += Notify
 
 OPTMODULES += AutoTune
+OPTMODULES += Temperature
 OPTMODULES += ComUsbBridge
 OPTMODULES += UAVOMSPBridge
 OPTMODULES += UAVOMavlinkBridge

flight/targets/boards/sparky2/firmware/UAVObjects.inc

@@ -122,6 +122,8 @@ UAVOBJSRCFILENAMES += waypointactive
 UAVOBJSRCFILENAMES += poilocation
 UAVOBJSRCFILENAMES += poilearnsettings
 UAVOBJSRCFILENAMES += mpugyroaccelsettings
+UAVOBJSRCFILENAMES += temperaturesettings
+UAVOBJSRCFILENAMES += temperaturestate
 UAVOBJSRCFILENAMES += txpidsettings
 UAVOBJSRCFILENAMES += txpidstatus
 UAVOBJSRCFILENAMES += takeofflocation

ground/gcs/src/plugins/uavobjects/uavobjects.pro

@@ -152,6 +152,8 @@ UAVOBJS = \
     $${UAVOBJ_XML_DIR}/systemstats.xml \
     $${UAVOBJ_XML_DIR}/takeofflocation.xml \
     $${UAVOBJ_XML_DIR}/taskinfo.xml \
+    $${UAVOBJ_XML_DIR}/temperaturesettings.xml \
+    $${UAVOBJ_XML_DIR}/temperaturestate.xml \
     $${UAVOBJ_XML_DIR}/txpidsettings.xml \
     $${UAVOBJ_XML_DIR}/txpidstatus.xml \
     $${UAVOBJ_XML_DIR}/velocitydesired.xml \

shared/uavobjectdefinition/hwsettings.xml

@@ -31,8 +31,8 @@
 		<field name="USB_VCPPort" units="function" type="enum" elements="1" options="USBTelemetry,ComBridge,DebugConsole,Disabled,MAVLink" defaultvalue="Disabled"/>
 		<field name="RadioAuxStream" units="function" type="enum" elements="1" options="DebugConsole,Disabled,MAVLink,ComBridge" defaultvalue="Disabled"/>
 
-		<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,CameraControl,GPS,Fault,Altitude,Airspeed,TxPID,Battery,Overo,MagBaro,OsdHk,AutoTune" options="Disabled,Enabled" defaultvalue="Disabled"/>
+		<field name="OptionalModules" units="" type="enum" elementnames="CameraStab,CameraControl,GPS,Fault,Altitude,Airspeed,TxPID,Battery,Temperature,Overo,MagBaro,OsdHk,AutoTune" options="Disabled,Enabled" defaultvalue="Disabled"/>
-		<field name="ADCRouting" units="" type="enum" elementnames="adc0,adc1,adc2,adc3,adc4,adc5,adc6,adc7" options="Disabled,BatteryVoltage,BatteryCurrent,AnalogAirspeed,Generic" defaultvalue="Disabled"/>
+		<field name="ADCRouting" units="" type="enum" elementnames="adc0,adc1,adc2,adc3,adc4,adc5,adc6,adc7" options="Disabled,BatteryVoltage,BatteryCurrent,AnalogAirspeed,NTCTemperature,LM35Temperature,Generic" defaultvalue="Disabled"/>
 		<field name="DSMxBind" units=""	 type="uint8"  elements="1" defaultvalue="0"/>
 		<field name="SBusMode" units="" type="enum" elements="1" options="Normal,Non Inverted" defaultvalue="Normal"/>
 		<field name="WS2811LED_Out" units="" type="enum" elements="1" options="ServoOut1,ServoOut2,ServoOut3,ServoOut4,ServoOut5,ServoOut6,FlexiIOPin3,FlexiIOPin4,Disabled" defaultvalue="Disabled"

shared/uavobjectdefinition/temperaturesettings.xml

@@ -0,0 +1,16 @@
+<xml>
+    <object name="TemperatureSettings" singleinstance="true" settings="true" category="Sensors">
+        <description>Temperature sensor configuration.</description>
+        <field name="Lm35Sensitivity" units="V/C" type="float" elements="1" defaultvalue="0.01"/>
+        <field name="NtcVoltageReference" units="V" type="float" elements="1" defaultvalue="3.3"/>
+        <field name="NtcSerialResistor" units="Ohms" type="uint32" elements="1" defaultvalue="10000"/>
+        <field name="NtcNominalValue" units="Ohms" type="uint32" elements="1" defaultvalue="100000"/>
+        <field name="NtcNominalTemperature" units="C" type="uint16" elements="1" defaultvalue="25"/>
+        <field name="NtcBetaCoeff" units="K" type="uint16" elements="1" defaultvalue="4000"/>
+        <field name="NtcVoltageDivider" units="" type="enum" elements="1" options="NTCtoGround,NTCtoVref" defaultvalue="NTCtoGround"/>
+        <access gcs="readwrite" flight="readwrite"/>
+        <telemetrygcs acked="true" updatemode="onchange" period="0"/>
+        <telemetryflight acked="true" updatemode="onchange" period="0"/>
+        <logging updatemode="manual" period="0"/>
+    </object>
+</xml>

shared/uavobjectdefinition/temperaturestate.xml

@@ -0,0 +1,11 @@
+<xml>
+    <object name="TemperatureState" singleinstance="true" settings="false" category="Sensors">
+        <description>Temperature status information.</description> 
+        <field name="Temperature1" units="C" type="float" elements="1" description="NTC temp sensor"/>
+        <field name="Temperature2" units="C" type="float" elements="1" description="LM35 temp sensor"/>
+        <access gcs="readonly" flight="readwrite"/>
+        <telemetrygcs acked="false" updatemode="manual" period="0"/>
+        <telemetryflight acked="false" updatemode="periodic" period="1000"/>
+        <logging updatemode="manual" period="0"/>
+    </object>
+</xml>