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[meteo] add Meteo France DAQ board driver

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get data from DAQ board and log on SD
send report to the ground for real-time monitoring
This commit is contained in:
Gautier Hattenberger
2014-02-18 23:28:44 +01:00
parent 7c5cb08a79
commit 54141b085b
5 changed files with 200 additions and 2 deletions
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conf/airframes/ENAC/fixed-wing/apogee.xml
+3 -1
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@@ -15,6 +15,7 @@
<configure name="EXTRA_DL_PORT" value="UART6"/>
<configure name="EXTRA_DL_BAUD" value="B57600"/>
</load>
<load name="meteo_france_DAQ.xml"/>
</modules>
<firmware name="fixedwing">
@@ -32,7 +33,8 @@
<subsystem name="radio_control" type="sbus"/>
<!-- Communication -->
<subsystem name="telemetry" type="transparent"/>
<subsystem name="telemetry" type="xbee_api"/>
<subsystem name="sdlog"/>
<!-- Actuators are automatically chosen according to board-->
<subsystem name="imu" type="apogee"/>
conf/messages.xml
+34 -1
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@@ -1992,7 +1992,9 @@
<field name="sonar_distance" type="float" unit="m"/>
</message>
<!--237 is free -->
<message name="PAYLOAD_FLOAT" id="237">
<field name="values" type="float[]"/>
</message>
<message name="NPS_POS_LLH" id="238">
<field name="pprz_lat" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.29578"/>
@@ -2428,6 +2430,37 @@
<field name="yaw" type="int8"/>
</message>
<message name="MF_DAQ" id="53" link="forwarded">
<field name="pad" type="uint16"/>
<field name="timestamp" type="float"/>
<field name="pressure" type="float"/>
<field name="temp" type="float"/>
<field name="humidity" type="float"/>
<field name="Pdiff" type="float"/>
<field name="Thw" type="float"/>
</message>
<message name="MF_DAQ_STATE" id="54" link="forwarded">
<field name="flight_time" type="uint16" unit="s"/>
<field name="p" type="float"/>
<field name="q" type="float"/>
<field name="r" type="float"/>
<field name="phi" type="float"/>
<field name="theta" type="float"/>
<field name="psi" type="float"/>
<field name="ax" type="float"/>
<field name="ay" type="float"/>
<field name="az" type="float"/>
<field name="ve" type="float"/>
<field name="vn" type="float"/>
<field name="vu" type="float"/>
<field name="lat" type="float"/>
<field name="lon" type="float"/>
<field name="alt" type="float"/>
<field name="we" type="float"/>
<field name="wn" type="float"/>
</message>
<message name="KITE_COMMAND" id="96">
<field name="POWER" type="uint16"/>
<field name="TURN" type="uint16"/>
conf/modules/meteo_france_DAQ.xml
+18
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@@ -0,0 +1,18 @@
<!DOCTYPE module SYSTEM "module.dtd">
<module name="meteo_france_DAQ" dir="meteo">
<doc>
<description>Data acquisition board used by Meteo France</description>
</doc>
<header>
<file name="meteo_france_DAQ.h"/>
</header>
<init fun="init_mf_daq()"/>
<periodic fun="mf_daq_send_state()" freq="10."/>
<periodic fun="mf_daq_send_report()" freq="1." autorun="TRUE"/>
<datalink message="MF_DAQ" fun="parse_mf_daq_msg()"/>
<makefile>
<file name="meteo_france_DAQ.c"/>
</makefile>
</module>
sw/airborne/modules/meteo/meteo_france_DAQ.c
+91
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@@ -0,0 +1,91 @@
/*
* Copyright (C) 2014 Gautier Hattenberger
*
* 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.
*
*/
/**
* @file modules/meteo/meteo_france_DAQ.c
*
* Communication module with the Data Acquisition board
* from Meteo France
*
* DAQ board sends measurments to the AP
* AP sends periodic report to the ground, store data on SD card
* and sends A/C state to DAQ board
*/
#include "modules/meteo/meteo_france_DAQ.h"
#include "state.h"
#include "autopilot.h"
#include "subsystems/datalink/datalink.h"
#include "subsystems/datalink/downlink.h"
#include "subsystems/chibios-libopencm3/sdLog.h"
#include "subsystems/chibios-libopencm3/chibios_sdlog.h"
#include "modules/datalink/extra_pprz_dl.h"
struct MF_DAQ mf_daq;
void init_mf_daq(void) {
mf_daq.nb = 0;
}
void mf_daq_send_state(void) {
// Send aircraft state to DAQ board
DOWNLINK_SEND_MF_DAQ_STATE(PprzTransport, EXTRA_PPRZ_UART,
&autopilot_flight_time,
&stateGetBodyRates_f()->p,
&stateGetBodyRates_f()->q,
&stateGetBodyRates_f()->r,
&stateGetNedToBodyEulers_f()->phi,
&stateGetNedToBodyEulers_f()->theta,
&stateGetNedToBodyEulers_f()->psi,
&stateGetAccelNed_f()->x,
&stateGetAccelNed_f()->y,
&stateGetAccelNed_f()->z,
&stateGetSpeedEnu_f()->x,
&stateGetSpeedEnu_f()->y,
&stateGetSpeedEnu_f()->z,
&stateGetPositionLla_f()->lat,
&stateGetPositionLla_f()->lon,
&stateGetPositionLla_f()->alt,
&stateGetHorizontalWindspeed_f()->y,
&stateGetHorizontalWindspeed_f()->x);
}
void mf_daq_send_report(void) {
// Send report over normal telemetry
if (mf_daq.nb > 0) {
DOWNLINK_SEND_PAYLOAD_FLOAT(DefaultChannel, DefaultDevice, mf_daq.nb, mf_daq.values);
}
}
void parse_mf_daq_msg(void) {
mf_daq.nb = DL_PAYLOAD_FLOAT_values_length(dl_buffer);
if (mf_daq.nb > 0) {
// Store data struct directly from dl_buffer
memcpy(mf_daq.values, DL_PAYLOAD_FLOAT_values(dl_buffer), mf_daq.nb * sizeof(float));
// Log on SD card
DOWNLINK_SEND_PAYLOAD_FLOAT(PprzLogTransport, SDLOG, mf_daq.nb, mf_daq.values);
}
}
sw/airborne/modules/meteo/meteo_france_DAQ.h
+54
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@@ -0,0 +1,54 @@
/*
* Copyright (C) 2014 Gautier Hattenberger
*
* 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.
*
*/
/**
* @file modules/meteo/meteo_france_DAQ.h
*
* Communication module with the Data Acquisition board
* from Meteo France
*
* DAQ board sends measurments to the AP
* AP sends periodic report to the ground, store data on SD card
* and sends A/C state to DAQ board
*/
#ifndef METEO_FRANCE_DAQ_H
#define METEO_FRANCE_DAQ_H
#include "std.h"
#define MF_DAQ_SIZE 32
struct MF_DAQ {
float values[MF_DAQ_SIZE];
uint8_t nb;
};
extern struct MF_DAQ mf_daq;
extern void init_mf_daq(void);
extern void mf_daq_send_state(void);
extern void mf_daq_send_report(void);
extern void parse_mf_daq_msg(void);
#endif