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https://bitbucket.org/librepilot/librepilot.git
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a2d8544931
to make the flight code compile again. Needs careful review, particularly all the fixes for the signed vs unsigned comparisons. +review OPReview-459
191 lines
4.8 KiB
C
191 lines
4.8 KiB
C
/**
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******************************************************************************
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* @addtogroup OpenPilotModules OpenPilot Modules
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* @{
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* @addtogroup AirspeedModule Airspeed Module
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* @brief Calculate airspeed from diverse sources and update @ref Airspeed "Airspeed UAV Object"
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* @{
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*
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* @file airspeed.c
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* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
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* @brief Airspeed module
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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: AirspeedSensor
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*
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* This module will periodically update the value of the AirspeedSensor 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 "airspeedsettings.h"
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#include "airspeedsensor.h" // object that will be updated by the module
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#include "baro_airspeed_etasv3.h"
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#include "baro_airspeed_mpxv.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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static bool airspeedEnabled = false;
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static AirspeedSettingsData airspeedSettings;
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static int8_t airspeedADCPin=-1;
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// Private functions
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static void airspeedTask(void *parameters);
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static void AirspeedSettingsUpdatedCb(UAVObjEvent * ev);
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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 AirspeedStart()
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{
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//Check if module is enabled or not
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if (airspeedEnabled == false) {
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return -1;
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}
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// Start main task
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xTaskCreate(airspeedTask, (signed char *)"Airspeed", STACK_SIZE_BYTES/4, NULL, TASK_PRIORITY, &taskHandle);
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TaskMonitorAdd(TASKINFO_RUNNING_AIRSPEED, 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 AirspeedInitialize()
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{
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#ifdef MODULE_AIRSPEED_BUILTIN
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airspeedEnabled = true;
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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_AIRSPEED] == HWSETTINGS_OPTIONALMODULES_ENABLED) {
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airspeedEnabled = true;
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} else {
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airspeedEnabled = false;
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return -1;
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}
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#endif
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uint8_t adcRouting[HWSETTINGS_ADCROUTING_NUMELEM];
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HwSettingsADCRoutingGet(adcRouting);
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//Determine if the barometric airspeed sensor is routed to an ADC pin
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for (int i=0; i < HWSETTINGS_ADCROUTING_NUMELEM; i++) {
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if (adcRouting[i] == HWSETTINGS_ADCROUTING_ANALOGAIRSPEED) {
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airspeedADCPin = i;
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}
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}
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AirspeedSensorInitialize();
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AirspeedSettingsInitialize();
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AirspeedSettingsConnectCallback(AirspeedSettingsUpdatedCb);
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return 0;
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}
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MODULE_INITCALL(AirspeedInitialize, AirspeedStart)
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/**
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* Module thread, should not return.
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*/
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static void airspeedTask(__attribute__((unused)) void *parameters)
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{
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AirspeedSettingsUpdatedCb(AirspeedSettingsHandle());
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AirspeedSensorData airspeedData;
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AirspeedSensorGet(&airspeedData);
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AirspeedSettingsUpdatedCb(NULL);
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airspeedData.SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
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// Main task loop
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portTickType lastSysTime = xTaskGetTickCount();
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while (1)
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{
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vTaskDelayUntil(&lastSysTime, airspeedSettings.SamplePeriod / portTICK_RATE_MS);
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// Update the airspeed object
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AirspeedSensorGet(&airspeedData);
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switch (airspeedSettings.AirspeedSensorType) {
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#if defined(PIOS_INCLUDE_MPXV)
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case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV7002:
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case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_DIYDRONESMPXV5004:
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//MPXV5004 and MPXV7002 sensors
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baro_airspeedGetMPXV(&airspeedData, &airspeedSettings,airspeedADCPin);
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break;
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#endif
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#if defined(PIOS_INCLUDE_ETASV3)
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case AIRSPEEDSETTINGS_AIRSPEEDSENSORTYPE_EAGLETREEAIRSPEEDV3:
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//Eagletree Airspeed v3
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baro_airspeedGetETASV3(&airspeedData, &airspeedSettings);
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break;
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#endif
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default:
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airspeedData.SensorConnected = AIRSPEEDSENSOR_SENSORCONNECTED_FALSE;
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}
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//Set the UAVO
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AirspeedSensorSet(&airspeedData);
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}
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}
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static void AirspeedSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
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{
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AirspeedSettingsGet(&airspeedSettings);
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}
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/**
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* @}
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* @}
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*/
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