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LibrePilot/flight/modules/Airspeed/revolution/airspeed.c
2013-05-18 14:17:26 +02:00

187 lines
5.1 KiB
C

/**
******************************************************************************
* @addtogroup OpenPilotModules OpenPilot Modules
* @{
* @addtogroup AirspeedModule Airspeed Module
* @brief Calculate airspeed from diverse sources and update @ref Airspeed "Airspeed UAV Object"
* @{
*
* @file airspeed.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
* @brief Airspeed module
*
* @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: AirspeedSensor
*
* This module will periodically update the value of the AirspeedSensor object.
*
*/
#include <openpilot.h>
#include "hwsettings.h"
#include "airspeedsettings.h"
#include "airspeedsensor.h" // object that will be updated by the module
#include "baro_airspeed_etasv3.h"
#include "baro_airspeed_mpxv.h"
#include "taskinfo.h"
// Private constants
#define STACK_SIZE_BYTES 500
#define TASK_PRIORITY (tskIDLE_PRIORITY + 1)
// Private types
// Private variables
static xTaskHandle taskHandle;
static bool airspeedEnabled = false;
static AirspeedSettingsData airspeedSettings;
static int8_t airspeedADCPin = -1;
// Private functions
static void airspeedTask(void *parameters);
static void AirspeedSettingsUpdatedCb(UAVObjEvent *ev);
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AirspeedStart()
{
// Check if module is enabled or not
if (airspeedEnabled == false) {
return -1;
}
// Start main task
xTaskCreate(airspeedTask, (signed char *)"Airspeed", STACK_SIZE_BYTES / 4, NULL, TASK_PRIORITY, &taskHandle);
PIOS_TASK_MONITOR_RegisterTask(TASKINFO_RUNNING_AIRSPEED, taskHandle);
return 0;
}
/**
* Initialise the module, called on startup
* \returns 0 on success or -1 if initialisation failed
*/
int32_t AirspeedInitialize()
{
#ifdef MODULE_AIRSPEED_BUILTIN
airspeedEnabled = true;
#else
HwSettingsInitialize();
uint8_t optionalModules[HWSETTINGS_OPTIONALMODULES_NUMELEM];
HwSettingsOptionalModulesGet(optionalModules);
if (optionalModules[HWSETTINGS_OPTIONALMODULES_AIRSPEED] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
airspeedEnabled = true;
} else {
airspeedEnabled = false;
return -1;
}
#endif
uint8_t adcRouting[HWSETTINGS_ADCROUTING_NUMELEM];
HwSettingsADCRoutingGet(adcRouting);
// Determine if the barometric airspeed sensor is routed to an ADC pin
for (int i = 0; i < HWSETTINGS_ADCROUTING_NUMELEM; i++) {
if (adcRouting[i] == HWSETTINGS_ADCROUTING_ANALOGAIRSPEED) {
airspeedADCPin = i;
}
}
AirspeedSensorInitialize();
AirspeedSettingsInitialize();
AirspeedSettingsConnectCallback(AirspeedSettingsUpdatedCb);
return 0;
}
MODULE_INITCALL(AirspeedInitialize, AirspeedStart)
/**
* Module thread, should not return.
*/
static void airspeedTask(__attribute__((unused)) void *parameters)
{
AirspeedSettingsUpdatedCb(AirspeedSettingsHandle());
AirspeedSensorData airspeedData;
AirspeedSensorGet(&airspeedData);
AirspeedSettingsUpdatedCb(NULL);
airspeedData.SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
// Main task loop
portTickType lastSysTime = xTaskGetTickCount();
while (1) {
vTaskDelayUntil(&lastSysTime, airspeedSettings.SamplePeriod / portTICK_RATE_MS);
// Update the airspeed object
AirspeedSensorGet(&airspeedData);
switch (airspeedSettings.AirspeedSensorType) {
#if defined(PIOS_INCLUDE_MPXV)
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV7002:
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV5004:
// MPXV5004 and MPXV7002 sensors
baro_airspeedGetMPXV(&airspeedData, &airspeedSettings, airspeedADCPin);
break;
#endif
#if defined(PIOS_INCLUDE_ETASV3)
case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_EAGLETREEAIRSPEEDV3:
// Eagletree Airspeed v3
baro_airspeedGetETASV3(&airspeedData, &airspeedSettings);
break;
#endif
default:
airspeedData.SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
}
// Set the UAVO
AirspeedSensorSet(&airspeedData);
}
}
static void AirspeedSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{
AirspeedSettingsGet(&airspeedSettings);
}
/**
* @}
* @}
*/