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LibrePilot/flight/OpenPilot/Modules/Altitude/altitude.c
vassilis f143628e80 Flight/Altitude Update altitude object with new metafields, modified update rates in XML and flight s/w
git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@645 ebee16cc-31ac-478f-84a7-5cbb03baadba
2010-05-20 01:21:44 +00:00

108 lines
3.1 KiB
C

/**
******************************************************************************
*
* @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: AltitudeActual
*
* This module will periodically update the value of the AltitudeActual object.
*
*/
#include "openpilot.h"
#include "altitudeactual.h" // object that will be updated by the module
// Private constants
#define STACK_SIZE configMINIMAL_STACK_SIZE
#define TASK_PRIORITY (tskIDLE_PRIORITY+3)
#define UPDATE_PERIOD 100
// Private types
// Private variables
static xTaskHandle taskHandle;
// Private functions
static void altitudeTask(void* parameters);
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AltitudeInitialize()
{
// Start main task
xTaskCreate(altitudeTask, (signed char*)"Altitude", STACK_SIZE, NULL, TASK_PRIORITY, &taskHandle);
return 0;
}
/**
* Module thread, should not return.
*/
static void altitudeTask(void* parameters)
{
AltitudeActualData data;
portTickType lastSysTime;
PIOS_BMP085_Init();
// Main task loop
lastSysTime = xTaskGetTickCount();
while (1)
{
// Update the temperature data
PIOS_BMP085_StartADC(TemperatureConv);
#if 0
xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY);
#else
vTaskDelay( 5 / portTICK_RATE_MS );
#endif
PIOS_BMP085_ReadADC();
// Convert from 1/10ths of degC to degC
data.Temperature = PIOS_BMP085_GetTemperature() / 10.0;
// Update the pressure data
PIOS_BMP085_StartADC(PressureConv);
#if 0
xSemaphoreTake(PIOS_BMP085_EOC, portMAX_DELAY);
#else
vTaskDelay( 26 / portTICK_RATE_MS );
#endif
PIOS_BMP085_ReadADC();
// Convert from Pa to kPa
data.Pressure = PIOS_BMP085_GetPressure() / 1000.0;
// Compute the current altitude (all pressures in kPa)
data.Altitude = 44330.0 * (1.0 - powf((data.Pressure/ (BMP085_P0 / 1000.0)), (1.0/5.255)));
// Update the AltitudeActual UAVObject
AltitudeActualSet(&data);
// Delay until it is time to read the next sample
vTaskDelayUntil(&lastSysTime, UPDATE_PERIOD / portTICK_RATE_MS );
}
}