ezosd current sensor integration

conf/modules/ezcurrent.xml

@@ -0,0 +1,26 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<!--
+     EzOSD current sensor module (I2C)
+-->
+
+<module name="ezcurrent" dir="sensors">
+  <doc>
+    <description>EzOSD Current sensor (I2C)</description>
+    <define name="EZCURRENT_I2C_DEV" value="i2cX" description="change default i2c peripheral"/>
+  </doc>
+
+  <header>
+    <file name="ezcurrent.h"/>
+  </header>
+  <init fun="ezcurrent_init()"/>
+  <periodic fun="ezcurrent_read_periodic()" freq="1."/>
+  <event fun="ezcurrent_read_event()"/>
+
+  <makefile>
+    <file name="ezcurrent.c"/>
+    <define name="DISABLE_ELECTRICAL" description="Disable default electrical handling"/>
+  </makefile>
+
+</module>
+

sw/airborne/firmwares/fixedwing/main_fbw.c

@@ -64,7 +64,9 @@ void init_fbw( void ) {
 
   mcu_init();
 
+#ifndef DISABLE_ELECTRICAL
   electrical_init();
+#endif
 
 #ifdef ACTUATORS
   actuators_init();
@@ -213,7 +215,9 @@ void handle_periodic_tasks_fbw(void) {
   if (sys_time_check_and_ack_timer(fbw_periodic_tid))
     periodic_task_fbw();
 
+#ifndef DISABLE_ELECTRICAL
   if (sys_time_check_and_ack_timer(electrical_tid))
     electrical_periodic();
+#endif
 
 }

sw/airborne/modules/sensors/ezcurrent.c

@@ -0,0 +1,77 @@
+/*
+ * Driver for the EzOSD Current sensor.
+ *
+ * Notes:
+ * Connect directly to I2C1 port.
+ *
+ * Copyright (C) 2012 Gerard Toonstra
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+#include "sensors/ezcurrent.h"
+#include "estimator.h"
+#include "mcu_periph/i2c.h"
+#include "mcu_periph/uart.h"
+#include "messages.h"
+#include "subsystems/datalink/downlink.h"
+#include "subsystems/electrical.h"
+#include <math.h>
+
+#define EZCURRENT_ADDR 0xEF
+
+#ifndef ezcurrent_I2C_DEV
+#define ezcurrent_I2C_DEV i2c1
+#endif
+
+#ifndef DOWNLINK_DEVICE
+#define DOWNLINK_DEVICE DOWNLINK_AP_DEVICE
+#endif
+
+struct i2c_transaction ezcurrent_i2c_trans;
+
+void ezcurrent_init( void ) {
+  electrical.vsupply = 0;
+  electrical.current = 0;
+
+  ezcurrent_i2c_trans.status = I2CTransDone;
+  ezcurrent_i2c_trans.slave_addr = EZCURRENT_ADDR;
+}
+
+void ezcurrent_read_periodic( void ) {
+#ifndef SITL
+  if (ezcurrent_i2c_trans.status == I2CTransDone) {
+    I2CReceive(ezcurrent_I2C_DEV, ezcurrent_i2c_trans, ezcurrent_i2c_trans.slave_addr, 10);
+  }
+#endif //SITL
+}
+
+void ezcurrent_read_event( void ) {
+    if (ezcurrent_i2c_trans.status == I2CTransSuccess) {
+        // Get electrical information from buffer
+        electrical.vsupply = ((uint8_t)( (((ezcurrent_i2c_trans.buf[3]) << 8) + (ezcurrent_i2c_trans.buf[2])) * 0.01f) );
+        electrical.current = ((int32_t)(ezcurrent_i2c_trans.buf[9]) << 8) + (int32_t)(ezcurrent_i2c_trans.buf[8]);
+        electrical.consumed = ((int32_t)(ezcurrent_i2c_trans.buf[7]) << 8) + (int32_t)(ezcurrent_i2c_trans.buf[6]);
+        // Transaction has been read
+        ezcurrent_i2c_trans.status = I2CTransDone;
+    } else if ( ezcurrent_i2c_trans.status == I2CTransFailed ) {
+        ezcurrent_i2c_trans.status = I2CTransDone;
+        // ezcurrent_i2c_trans.slave_addr++;
+    }
+}
+

sw/airborne/modules/sensors/ezcurrent.h

@@ -0,0 +1,46 @@
+/*
+ * Driver for the EzOSD Current sensor.
+ *
+ * Notes:
+ * Connect directly to I2C1 port.
+ *
+ * Sensor module wire assignments:
+ * Red wire: 5V
+ * Black wire: Ground
+ * DAT: SDA
+ * CLK: SCL
+ *
+ * Copyright (C) 2012 Gerard Toonstra
+ *
+ * This file is part of paparazzi.
+ *
+ * paparazzi 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 2, or (at your option)
+ * any later version.
+ *
+ * paparazzi 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 paparazzi; see the file COPYING.  If not, write to
+ * the Free Software Foundation, 59 Temple Place - Suite 330,
+ * Boston, MA 02111-1307, USA.
+ *
+ */
+
+#ifndef EZCURRENT_H
+#define EZCURRENT_H
+
+#include "std.h"
+#include "mcu_periph/i2c.h"
+
+extern struct i2c_transaction ezcurrent_i2c_trans;
+
+extern void ezcurrent_init( void );
+extern void ezcurrent_read_periodic( void );
+extern void ezcurrent_read_event( void );
+
+#endif // EZCURRENT_H

sw/airborne/subsystems/electrical.h

@@ -7,6 +7,7 @@ struct Electrical {
 
   uint8_t vsupply; /* supply in decivolts */
   int32_t current; /* current in milliamps */
+  int32_t consumed; /* consumption in mAh */
 
 };