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226 lines
6.4 KiB
C
226 lines
6.4 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 BaroSensor "BaroSensor 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: BaroSensor
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*
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* This module will periodically update the value of the BaroSensor object.
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*
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*/
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#include <openpilot.h>
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#include "hwsettings.h"
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#include "magbaro.h"
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#include "barosensor.h" // object that will be updated by the module
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#include "magsensor.h"
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#include "taskinfo.h"
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// Private constants
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#define STACK_SIZE_BYTES 600
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#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
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#define UPDATE_PERIOD 100
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// Private types
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// Private variables
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static xTaskHandle taskHandle;
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// down sampling variables
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static bool magbaroEnabled;
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#if defined(PIOS_INCLUDE_BMP085)
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#define alt_ds_size 4
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static int32_t alt_ds_temp = 0;
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static int32_t alt_ds_pres = 0;
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static int alt_ds_count = 0;
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#endif
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#if defined(PIOS_INCLUDE_HMC5X83)
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pios_hmc5x83_dev_t mag_handle = 0;
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int32_t mag_test;
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static float mag_bias[3] = { 0, 0, 0 };
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static float mag_scale[3] = { 1, 1, 1 };
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#endif
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// Private functions
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static void magbaroTask(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 MagBaroStart()
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{
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if (magbaroEnabled) {
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// Start main task
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xTaskCreate(magbaroTask, "MagBaro", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &taskHandle);
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PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_MAGBARO, taskHandle);
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return 0;
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}
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return -1;
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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 MagBaroInitialize()
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{
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#ifdef MODULE_MAGBARO_BUILTIN
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magbaroEnabled = 1;
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#else
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HwSettingsInitialize();
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uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
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HwSettingsOptionalModulesGet(optionalModules);
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if (optionalModules[HWSETTINGS_OPTIONALMODULES_MAGBARO] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
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magbaroEnabled = 1;
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} else {
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magbaroEnabled = 0;
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}
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#endif
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if (magbaroEnabled) {
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#if defined(PIOS_INCLUDE_HMC5X83)
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MagSensorInitialize();
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#endif
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#if defined(PIOS_INCLUDE_BMP085)
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BaroSensorInitialize();
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// init down-sampling data
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alt_ds_temp = 0;
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alt_ds_pres = 0;
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alt_ds_count = 0;
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#endif
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}
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return 0;
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}
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MODULE_INITCALL(MagBaroInitialize, MagBaroStart);
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/**
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* Module thread, should not return.
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*/
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#if defined(PIOS_INCLUDE_HMC5X83)
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static const struct pios_hmc5x83_cfg pios_hmc5x83_cfg = {
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#ifdef PIOS_HMC5X83_HAS_GPIOS
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.exti_cfg = 0,
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#endif
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.M_ODR = PIOS_HMC5x83_ODR_15,
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.Meas_Conf = PIOS_HMC5x83_MEASCONF_NORMAL,
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.Gain = PIOS_HMC5x83_GAIN_1_9,
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.Mode = PIOS_HMC5x83_MODE_CONTINUOUS,
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.Driver = &PIOS_HMC5x83_I2C_DRIVER,
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};
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#endif
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static void magbaroTask(__attribute__((unused)) void *parameters)
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{
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portTickType lastSysTime;
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#if defined(PIOS_INCLUDE_BMP085)
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BaroSensorData data;
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PIOS_BMP085_Init();
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#endif
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#if defined(PIOS_INCLUDE_HMC5X83)
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MagSensorData mag;
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mag_handle = PIOS_HMC5x83_Init(&pios_hmc5x83_cfg, PIOS_I2C_MAIN_ADAPTER, 0);
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uint32_t mag_update_time = PIOS_DELAY_GetRaw();
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#endif
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// Main task loop
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lastSysTime = xTaskGetTickCount();
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while (1) {
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#if defined(PIOS_INCLUDE_BMP085)
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// Update the temperature data
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PIOS_BMP085_StartADC(TemperatureConv);
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#ifdef PIOS_BMP085_HAS_GPIOS
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xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY);
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#else
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vTaskDelay(5 / portTICK_RATE_MS);
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#endif
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PIOS_BMP085_ReadADC();
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alt_ds_temp += PIOS_BMP085_GetTemperature();
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// Update the pressure data
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PIOS_BMP085_StartADC(PressureConv);
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#ifdef PIOS_BMP085_HAS_GPIOS
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xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY);
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#else
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vTaskDelay(26 / portTICK_RATE_MS);
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#endif
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PIOS_BMP085_ReadADC();
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alt_ds_pres += PIOS_BMP085_GetPressure();
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if (++alt_ds_count >= alt_ds_size) {
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alt_ds_count = 0;
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// Convert from 1/10ths of degC to degC
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data.Temperature = alt_ds_temp / (10.0f * alt_ds_size);
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alt_ds_temp = 0;
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// Convert from Pa to kPa
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data.Pressure = alt_ds_pres / (1000.0f * alt_ds_size);
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alt_ds_pres = 0;
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// Compute the current altitude (all pressures in kPa)
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data.Altitude = 44330.0f * (1.0f - powf((data.Pressure / (BMP085_P0 / 1000.0f)), (1.0f / 5.255f)));
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// Update the BaroSensor UAVObject
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BaroSensorSet(&data);
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}
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#endif /* if defined(PIOS_INCLUDE_BMP085) */
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#if defined(PIOS_INCLUDE_HMC5X83)
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if (PIOS_HMC5x83_NewDataAvailable(mag_handle) || PIOS_DELAY_DiffuS(mag_update_time) > 100000) {
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int16_t values[3];
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PIOS_HMC5x83_ReadMag(mag_handle, values);
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float mags[3] = { (float)values[1] * mag_scale[0] - mag_bias[0],
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(float)values[0] * mag_scale[1] - mag_bias[1],
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-(float)values[2] * mag_scale[2] - mag_bias[2] };
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mag.x = mags[0];
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mag.y = mags[1];
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mag.z = mags[2];
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MagSensorSet(&mag);
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mag_update_time = PIOS_DELAY_GetRaw();
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}
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#endif
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// Delay until it is time to read the next sample
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vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD / portTICK_RATE_MS);
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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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