[meteo] add Meteo France DAQ board driver

get data from DAQ board and log on SD
send report to the ground for real-time monitoring

conf/airframes/ENAC/fixed-wing/apogee.xml

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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
+