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84e1a81f8b
This move and rework also breaks the dependency of the task monitor on the UAVO subsystem, and pushes the responsibility for updating the TaskInfo UAVO into the System module. +review OPReview
177 lines
4.5 KiB
C
177 lines
4.5 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup AltitudeModule Altitude Module
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* @brief Communicate with BMP085 and update @ref BaroAltitude "BaroAltitude UAV Object"
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* @{
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*
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* @file altitude.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
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* @brief Altitude module, handles temperature and pressure readings from BMP085
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*
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* @see The GNU Public License (GPL) Version 3
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*
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*****************************************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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* for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program; if not, write to the Free Software Foundation, Inc.,
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* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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/**
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* Output object: BaroAltitude
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*
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* This module will periodically update the value of the BaroAltitude object.
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*
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*/
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#include <openpilot.h>
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#include "altitude.h"
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#include "baroaltitude.h" // object that will be updated by the module
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#if defined(PIOS_INCLUDE_HCSR04)
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#include "sonaraltitude.h" // object that will be updated by the module
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#endif
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#include "taskinfo.h"
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// Private constants
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#define STACK_SIZE_BYTES 500
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#define TASK_PRIORITY (tskIDLE_PRIORITY+1)
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// Private types
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// Private variables
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static xTaskHandle taskHandle;
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// Private functions
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static void altitudeTask(void *parameters);
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/**
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* Initialise the module, called on startup
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* \returns 0 on success or -1 if initialisation failed
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*/
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int32_t AltitudeStart()
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{
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#if defined(PIOS_INCLUDE_HCSR04)
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SonarAltitudeInitialze();
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#endif
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// Start main task
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xTaskCreate(altitudeTask, (signed char *)"Altitude", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
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PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_ALTITUDE, taskHandle);
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return 0;
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}
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/**
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* Initialise the module, called on startup
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* \returns 0 on success or -1 if initialisation failed
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*/
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int32_t AltitudeInitialize()
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{
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BaroAltitudeInitialize();
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return 0;
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}
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MODULE_INITCALL(AltitudeInitialize, AltitudeStart)
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/**
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* Module thread, should not return.
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*/
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static void altitudeTask(void *parameters)
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{
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BaroAltitudeData data;
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#if defined(PIOS_INCLUDE_HCSR04)
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SonarAltitudeData sonardata;
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int32_t value=0,timeout=5;
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float coeff=0.25,height_out=0,height_in=0;
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PIOS_HCSR04_Init();
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PIOS_HCSR04_Trigger();
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#endif
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// TODO: Check the pressure sensor and set a warning if it fails test
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// Option to change the interleave between Temp and Pressure conversions
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// Undef for normal operation
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//#define PIOS_MS5611_SLOW_TEMP_RATE 20
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#ifdef PIOS_MS5611_SLOW_TEMP_RATE
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uint8_t temp_press_interleave_count = 1;
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#endif
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// Main task loop
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while (1)
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{
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#if defined(PIOS_INCLUDE_HCSR04)
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// Compute the current altitude (all pressures in kPa)
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if(PIOS_HCSR04_Completed())
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{
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value = PIOS_HCSR04_Get();
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if((value>100) && (value < 15000)) //from 3.4cm to 5.1m
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{
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height_in = value*0.00034;
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height_out = (height_out * (1 - coeff)) + (height_in * coeff);
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sonardata.Altitude = height_out; // m/us
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}
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// Update the AltitudeActual UAVObject
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SonarAltitudeSet(&sonardata);
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timeout=5;
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PIOS_HCSR04_Trigger();
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}
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if(timeout--)
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{
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//retrigger
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timeout=5;
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PIOS_HCSR04_Trigger();
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}
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#endif
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float temp, press;
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#ifdef PIOS_MS5611_SLOW_TEMP_RATE
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temp_press_interleave_count --;
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if(temp_press_interleave_count == 0)
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{
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#endif
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// Update the temperature data
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PIOS_MS5611_StartADC(TemperatureConv);
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vTaskDelay(PIOS_MS5611_GetDelay());
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PIOS_MS5611_ReadADC();
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#ifdef PIOS_MS5611_SLOW_TEMP_RATE
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temp_press_interleave_count=PIOS_MS5611_SLOW_TEMP_RATE;
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}
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#endif
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// Update the pressure data
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PIOS_MS5611_StartADC(PressureConv);
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vTaskDelay(PIOS_MS5611_GetDelay());
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PIOS_MS5611_ReadADC();
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temp = PIOS_MS5611_GetTemperature();
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press = PIOS_MS5611_GetPressure();
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data.Temperature = temp;
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data.Pressure = press;
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data.Altitude = 44330.0f * (1.0f - powf(data.Pressure / MS5611_P0, (1.0f / 5.255f)));
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// Update the AltitudeActual UAVObject
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BaroAltitudeSet(&data);
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}
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}
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/**
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* @}
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* @}
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*/
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