diff --git a/conf/airframes/ENAC/fixed-wing/apogee.xml b/conf/airframes/ENAC/fixed-wing/apogee.xml index 4af8b1429a..b2b7b74afd 100644 --- a/conf/airframes/ENAC/fixed-wing/apogee.xml +++ b/conf/airframes/ENAC/fixed-wing/apogee.xml @@ -15,6 +15,7 @@ + @@ -32,7 +33,8 @@ - + + diff --git a/conf/messages.xml b/conf/messages.xml index 7b84f211e8..44ea73f1fb 100644 --- a/conf/messages.xml +++ b/conf/messages.xml @@ -1992,7 +1992,9 @@ - + + + @@ -2428,6 +2430,37 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/conf/modules/meteo_france_DAQ.xml b/conf/modules/meteo_france_DAQ.xml new file mode 100644 index 0000000000..945cf2abed --- /dev/null +++ b/conf/modules/meteo_france_DAQ.xml @@ -0,0 +1,18 @@ + + + + + Data acquisition board used by Meteo France + +
+ +
+ + + + + + + + + diff --git a/sw/airborne/modules/meteo/meteo_france_DAQ.c b/sw/airborne/modules/meteo/meteo_france_DAQ.c new file mode 100644 index 0000000000..528cdc1ec0 --- /dev/null +++ b/sw/airborne/modules/meteo/meteo_france_DAQ.c @@ -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); + } +} + + diff --git a/sw/airborne/modules/meteo/meteo_france_DAQ.h b/sw/airborne/modules/meteo/meteo_france_DAQ.h new file mode 100644 index 0000000000..490afbb388 --- /dev/null +++ b/sw/airborne/modules/meteo/meteo_france_DAQ.h @@ -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 +