warning: wavecard code inserted

conf/messages.xml

@@ -191,6 +191,14 @@
     <field name="yaw" type="int16"/>
   </message>
 
+ <message name="ACINFO" ID="27" period="1">
+  <field name="utm_east"  type="float" unit="m"></field>
+  <field name="utm_north"  type="float" unit="m"></field>
+  <field name="course" type="float" unit="rad"></field>
+  <field name="alt"    type="float" unit="m"></field>
+  <field name="speed"  type="float" unit="m/s"></field>
+ </message>
+
 </class>
 
 <class name="telemetry_fbw" ID="0X41">

sw/airborne/autopilot/Makefile

@@ -24,7 +24,7 @@
 FBW=../fly_by_wire
 
 
-LOCAL_CFLAGS= $(CTL_BRD_FLAGS) $(GPS_FLAGS) $(SIMUL_FLAGS) -DWAVECARD_ON_GPS
+LOCAL_CFLAGS= $(CTL_BRD_FLAGS) $(GPS_FLAGS) $(SIMUL_FLAGS) -DWAVECARD_ON_UART0
 
 VARINCLUDE=$(PAPARAZZI_HOME)/var/include
 ACINCLUDE = $(PAPARAZZI_HOME)/var/$(AIRCRAFT)

sw/airborne/autopilot/datalink.c

@@ -35,6 +35,9 @@
 #include "flight_plan.h"
 #include "autopilot.h"
 
+/***/
+#include "uart.h"
+
 #define MOfCm(_x) (((float)_x)/100.)
 
 
@@ -63,11 +66,3 @@ void dl_parse_msg(void) {
     }
   }
 }
-
-/*  #include "uart.h" */
-/*  void dl_parse_msg(void) { */
-/*    dl_buffer[6] = '\0'; */
-/*    uart0_print_string(dl_buffer); */
-/*    uart0_transmit('\n'); */
-/*  } */
-

sw/airborne/autopilot/main.c

@@ -1,7 +1,7 @@
 /*
  * $Id$
  *  
- * Copyright (C) 2003  Pascal Brisset, Antoine Drouin
+ * Copyright (C) 2003-2005  Pascal Brisset, Antoine Drouin
  *
  * This file is part of paparazzi.
  *
@@ -42,6 +42,7 @@
 #include "estimator.h"
 #include "if_calib.h"
 #include "cam.h"
+#include "traffic_info.h"
 
 #ifdef SECTION_IMU_ANALOG
 #include "ahrs.h"
@@ -242,6 +243,8 @@ uint8_t ac_ident = AC_ID;
 
 #define PERIODIC_SEND_NAVIGATION_REF()  DOWNLINK_SEND_NAVIGATION_REF(&nav_utm_east0, &nav_utm_north0, &nav_utm_zone0);
 
+#define PERIODIC_SEND_ACINFO() { struct ac_info_ *s=get_ac_info(1); DOWNLINK_SEND_ACINFO(&s->east, &s->north, &s->course, &s->alt, &s->gspeed); }
+
 #ifdef RADIO_CALIB
 #define PERIODIC_SEND_SETTINGS() if (inflight_calib_mode != IF_CALIB_MODE_NONE)	DOWNLINK_SEND_SETTINGS(&slider_1_val, &slider_2_val);
 #else

sw/airborne/autopilot/mainloop.c

@@ -72,7 +72,7 @@ int main( void ) {
   nav_init();
   ir_init();
   estimator_init();
-#if defined SECTION_IMU_3DMG || defined SECTION_IMU_ANALOG
+#if defined SECTION_IMU_3DMG || defined SECTION_IMU_ANALOG || WAVECARD_ON_UART0
   uart0_init();
 #endif //SECTION_IMU
   /** - start interrupt task */

sw/airborne/autopilot/uart.c

@@ -121,8 +121,11 @@ SIGNAL(SIG_UART1_TRANS) {
 void uart0_init( void ) {
   /* Baudrate is 38.4k */
   UBRR0H = 0;
-  // UBRR0L = 103; //9600
+#ifdef WAVECARD_ON_UART0
+  UBRR0L = 103; //9600
+#else
   UBRR0L = 25; // 38.4
+#endif
 
   /* single speed */ 
   UCSR0A = 0; 
@@ -130,8 +133,10 @@ void uart0_init( void ) {
   UCSR0B = _BV(RXEN) | _BV(TXEN);
   /* Set frame format: 8data, 1stop bit */ 
   UCSR0C = _BV(UCSZ1) | _BV(UCSZ0);
+#ifdef WAVECARD_ON_UART0
   /* Enable uart receive interrupt */
-  //  sbi(UCSR0B, RXCIE ); 
+  sbi(UCSR0B, RXCIE );
+#endif
 }
 
 void uart1_init( void ) {

sw/airborne/autopilot/wavecard.h

@@ -44,7 +44,7 @@
 extern uint8_t wc_msg_received;
 
 extern uint8_t  wc_length;
-void parse_payload(void);
+void wc_parse_payload(void);
 
 
 

sw/ground_segment/tmtc/wavecard_connect.ml

@@ -34,16 +34,18 @@ type aircraft = { fd : Unix.file_descr; id : int; addr : W.addr }
 let send_ack = fun delay fd () ->
   ignore (GMain.Timeout.add delay (fun _ -> W.send fd (W.ACK, ""); false))
 
-let send = fun ac a ->
+let send = fun ac s ->
+  Wavecard.send_addressed ac.fd (W.REQ_SEND_MESSAGE,ac.addr,s)
+
+let send_dl_msg = fun ac a ->
   let (id, values) = Dl_Pprz.values_of_string a in
   let s  = Dl_Pprz.payload_of_values id values in
-  Wavecard.send_addressed ac.fd (W.REQ_SEND_MESSAGE,ac.addr,s)
+  send ac s
 
 
 
     
 let broadcast_msg = fun (com, data) ->
-  prerr_endline "bc";
   match com with
     W.RECEIVED_FRAME ->
       Ivy.send (sprintf "FROM_WAVECARD %s" data)
@@ -77,6 +79,7 @@ let get_fp = fun ac _sender vs ->
 
 (** Got a MOVE_WAYPOINT and send a MOVE_WP *)
 let move_wp = fun ac _sender vs ->
+    prerr_endline "move";
   let ac_id = int_of_string (Pprz.string_assoc "ac_id" vs) in
   if ac_id = ac.id then
     let f = fun a -> Pprz.float_assoc a vs in
@@ -88,6 +91,7 @@ let move_wp = fun ac _sender vs ->
 	      "utm_east", cm_of_m ux;
 	      "utm_north", cm_of_m uy;
 	      "alt", cm_of_m alt] in
+    prerr_endline "move";
     let msg_id, _ = Dl_Pprz.message_of_name "MOVE_WP" in
     let s = Dl_Pprz.payload_of_values msg_id vs in
     send ac s
@@ -127,7 +131,7 @@ let _ =
     (* Sending request from Ivy *)
 
     (* For debug *)
-    ignore (Ivy.bind (fun _ a -> send ac a.(0)) "TO_WAVECARD +(.*)");
+    ignore (Ivy.bind (fun _ a -> send_dl_msg ac a.(0)) "TO_WAVECARD +(.*)");
 
     ignore (Ground_Pprz.message_bind "FLIGHT_PARAM" (get_fp ac));
     ignore (Ground_Pprz.message_bind "MOVE_WAYPOINT" (move_wp ac));