/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup AltitudeModule Altitude Module
* @brief Communicate with BMP085 and update @ref BaroSensor "BaroSensor UAV Object"
* @{
*
* @file altitude.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Altitude 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: BaroSensor
*
* This module will periodically update the value of the BaroSensor object.
*
*/
#include <openpilot.h>
#include "hwsettings.h"
#include "magbaro.h"
#include "barosensor.h" // object that will be updated by the module
#include "magsensor.h"
#include "taskinfo.h"
// Private constants
#define STACK_SIZE_BYTES 600
#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
#define UPDATE_PERIOD 100
// Private types
// Private variables
static xTaskHandle taskHandle;
// down sampling variables
static bool magbaroEnabled;
#if defined(PIOS_INCLUDE_BMP085)
#define alt_ds_size 4
static int32_t alt_ds_temp = 0;
static int32_t alt_ds_pres = 0;
static int alt_ds_count = 0;
#endif
#if defined(PIOS_INCLUDE_HMC5883)
int32_t mag_test;
static float mag_bias[3] = { 0, 0, 0 };
static float mag_scale[3] = { 1, 1, 1 };
#endif
// Private functions
static void magbaroTask(void *parameters);
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t MagBaroStart()
{
if (magbaroEnabled) {
// Start main task
xTaskCreate(magbaroTask, (signed char *)"MagBaro", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &taskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_MAGBARO, taskHandle);
return 0;
}
return -1;
}
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t MagBaroInitialize()
{
#ifdef MODULE_MAGBARO_BUILTIN
magbaroEnabled = 1;
#else
HwSettingsInitialize();
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
HwSettingsOptionalModulesGet(optionalModules);
if (optionalModules[HWSETTINGS_OPTIONALMODULES_MAGBARO] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
magbaroEnabled = 1;
} else {
magbaroEnabled = 0;
}
#endif
if (magbaroEnabled) {
#if defined(PIOS_INCLUDE_HMC5883)
MagSensorInitialize();
#endif
#if defined(PIOS_INCLUDE_BMP085)
BaroSensorInitialize();
// init down-sampling data
alt_ds_temp = 0;
alt_ds_pres = 0;
alt_ds_count = 0;
#endif
}
return 0;
}
MODULE_INITCALL(MagBaroInitialize, MagBaroStart);
/**
* Module thread, should not return.
*/
#if defined(PIOS_INCLUDE_HMC5883)
static const struct pios_hmc5883_cfg pios_hmc5883_cfg = {
#ifdef PIOS_HMC5883_HAS_GPIOS
.exti_cfg = 0,
#endif
.M_ODR = PIOS_HMC5883_ODR_15,
.Meas_Conf = PIOS_HMC5883_MEASCONF_NORMAL,
.Gain = PIOS_HMC5883_GAIN_1_9,
.Mode = PIOS_HMC5883_MODE_CONTINUOUS,
};
#endif
static void magbaroTask(__attribute__((unused)) void *parameters)
{
portTickType lastSysTime;
#if defined(PIOS_INCLUDE_BMP085)
BaroSensorData data;
PIOS_BMP085_Init();
#endif
#if defined(PIOS_INCLUDE_HMC5883)
MagSensorData mag;
PIOS_HMC5883_Init(&pios_hmc5883_cfg);
uint32_t mag_update_time = PIOS_DELAY_GetRaw();
#endif
// Main task loop
lastSysTime = xTaskGetTickCount();
while (1) {
#if defined(PIOS_INCLUDE_BMP085)
// Update the temperature data
PIOS_BMP085_StartADC(TemperatureConv);
#ifdef PIOS_BMP085_HAS_GPIOS
xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY);
#else
vTaskDelay(5 / portTICK_RATE_MS);
#endif
PIOS_BMP085_ReadADC();
alt_ds_temp += PIOS_BMP085_GetTemperature();
// Update the pressure data
PIOS_BMP085_StartADC(PressureConv);
#ifdef PIOS_BMP085_HAS_GPIOS
xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY);
#else
vTaskDelay(26 / portTICK_RATE_MS);
#endif
PIOS_BMP085_ReadADC();
alt_ds_pres += PIOS_BMP085_GetPressure();
if (++alt_ds_count >= alt_ds_size) {
alt_ds_count = 0;
// Convert from 1/10ths of degC to degC
data.Temperature = alt_ds_temp / (10.0f * alt_ds_size);
alt_ds_temp = 0;
// Convert from Pa to kPa
data.Pressure = alt_ds_pres / (1000.0f * alt_ds_size);
alt_ds_pres = 0;
// Compute the current altitude (all pressures in kPa)
data.Altitude = 44330.0f * (1.0f - powf((data.Pressure / (BMP085_P0 / 1000.0f)), (1.0f / 5.255f)));
// Update the BaroSensor UAVObject
BaroSensorSet(&data);
}
#endif /* if defined(PIOS_INCLUDE_BMP085) */
#if defined(PIOS_INCLUDE_HMC5883)
if (PIOS_HMC5883_NewDataAvailable() || PIOS_DELAY_DiffuS(mag_update_time) > 100000) {
int16_t values[3];
PIOS_HMC5883_ReadMag(values);
float mags[3] = { (float)values[1] * mag_scale[0] - mag_bias[0],
(float)values[0] * mag_scale[1] - mag_bias[1],
-(float)values[2] * mag_scale[2] - mag_bias[2] };
mag.x = mags[0];
mag.y = mags[1];
mag.z = mags[2];
MagSensorSet(&mag);
mag_update_time = PIOS_DELAY_GetRaw();
}
#endif
// Delay until it is time to read the next sample
vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD / portTICK_RATE_MS);
}
}
/**
* @}
* @}
*/