airspeed and baro modules for Eagle Tree System

conf/modules/airspeed_ets.xml

@@ -0,0 +1,23 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<!--
+     Airspeed ETS module (I2C)
+     @param AIRSPEED_ETS_SCALE scale factor (default 1.8)
+     @param AIRSPEED_ETS_OFFSET offset (default 0)
+     -->
+
+<module name="airspeed_ets" dir="sensors">
+
+  <header>
+    <file name="airspeed_ets.h"/>
+  </header>
+  <init fun="airspeed_ets_init()"/>
+  <periodic fun="airspeed_ets_read_periodic()" freq="10."/>
+  <event fun="AirspeedEtsEvent()"/>
+
+  <makefile>
+    <file name="airspeed_ets.c"/> 
+  </makefile>
+
+</module>
+

conf/modules/baro_ets.xml

@@ -0,0 +1,21 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<!--
+     Baro ETS module (I2C)
+     -->
+
+<module name="baro_ets" dir="sensors">
+
+  <header>
+    <file name="baro_ets.h"/>
+  </header>
+  <init fun="baro_ets_init()"/>
+  <periodic fun="baro_ets_read_periodic()" freq="10."/>
+  <event fun="BaroEtsEvent()"/>
+
+  <makefile>
+    <file name="baro_ets.c"/> 
+  </makefile>
+
+</module>
+

sw/airborne/modules/sensors/airspeed_ets.c

@@ -0,0 +1,163 @@
+/*
+ * Driver for the EagleTree Systems Airspeed Sensor
+ * Has only been tested with V3 of the sensor hardware
+ *
+ * Notes:
+ * Connect directly to TWOG/Tiny I2C port. Multiple sensors can be chained together.
+ * Sensor should be in the proprietary mode (default) and not in 3rd party mode.
+ *
+ * Sensor module wire assignments:
+ * Red wire: 5V
+ * White wire: Ground
+ * Yellow wire: SDA
+ * Brown wire: SCL
+ *
+ * Copyright (C) 2009 Vassilis Varveropoulos
+ * Modified by Mark Griffin on 8 September 2010 to work with new i2c transaction routines.
+ * Converted by Gautier Hattenberger to modules (10/2010)
+ *
+ * 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/airspeed_ets.h"
+#include "estimator.h"
+#include <math.h>
+
+#define AIRSPEED_ETS_ADDR 0xEA
+#ifndef AIRSPEED_ETS_SCALE
+#define AIRSPEED_ETS_SCALE 1.8
+#endif
+#ifndef AIRSPEED_ETS_OFFSET
+#define AIRSPEED_ETS_OFFSET 0
+#endif
+#define AIRSPEED_ETS_OFFSET_MAX 1750
+#define AIRSPEED_ETS_OFFSET_MIN 1450
+#define AIRSPEED_ETS_OFFSET_NBSAMPLES_INIT 40
+#define AIRSPEED_ETS_OFFSET_NBSAMPLES_AVRG 60
+#define AIRSPEED_ETS_NBSAMPLES_AVRG 10
+
+// Global variables
+uint16_t airspeed_ets_raw;
+uint16_t airspeed_ets_offset;
+bool_t airspeed_ets_valid;
+float airspeed_ets;
+int airspeed_ets_buffer_idx;
+float airspeed_ets_buffer[AIRSPEED_ETS_NBSAMPLES_AVRG];
+
+struct i2c_transaction airspeed_ets_i2c_trans;
+
+// Local variables
+volatile bool_t airspeed_ets_i2c_done;
+bool_t airspeed_ets_offset_init;
+uint32_t airspeed_ets_offset_tmp;
+uint16_t airspeed_ets_cnt;
+
+void airspeed_ets_init( void ) {
+  int n;
+  airspeed_ets_raw = 0;
+  airspeed_ets = 0.0;
+  airspeed_ets_offset = 0;
+  airspeed_ets_offset_tmp = 0;
+  airspeed_ets_i2c_done = TRUE;
+  airspeed_ets_valid = TRUE;
+  airspeed_ets_offset_init = FALSE;
+  airspeed_ets_cnt = AIRSPEED_ETS_OFFSET_NBSAMPLES_INIT + AIRSPEED_ETS_OFFSET_NBSAMPLES_AVRG;
+
+  airspeed_ets_buffer_idx = 0;
+  for (n=0; n < AIRSPEED_ETS_NBSAMPLES_AVRG; ++n)
+    airspeed_ets_buffer[n] = 0.0;
+
+  airspeed_ets_i2c_trans.status = I2CTransSuccess;
+  airspeed_ets_i2c_trans.slave_addr = AIRSPEED_ETS_ADDR;
+  airspeed_ets_i2c_trans.stop_after_transmit = TRUE;
+}
+
+void airspeed_ets_read_periodic( void ) {
+#ifndef SITL
+  if (airspeed_ets_i2c_trans.status == I2CTransSuccess) {
+    airspeed_ets_i2c_trans.type = I2CTransRx;
+    airspeed_ets_i2c_trans.len_r = 2;
+    i2c_submit(&i2c0, &airspeed_ets_i2c_trans);
+  }
+#else // SITL
+  extern float sim_air_speed;
+  EstimatorSetAirspeed(sim_air_speed);
+#endif //SITL
+}      
+
+void airspeed_ets_read_event( void ) {
+  int n;
+  float airspeed_tmp = 0.0;
+
+  // Get raw airspeed from buffer
+  airspeed_ets_raw = ((uint16_t)(airspeed_ets_i2c_trans.buf[1]) << 8) | (uint16_t)(airspeed_ets_i2c_trans.buf[0]);
+  // Check if this is valid airspeed
+  if (airspeed_ets_raw == 0)
+    airspeed_ets_valid = FALSE;
+  else
+    airspeed_ets_valid = TRUE;
+
+  // Continue only if a new airspeed value was received  
+  if (airspeed_ets_valid) {  
+    // Calculate offset average if not done already
+    if (!airspeed_ets_offset_init) {
+      --airspeed_ets_cnt;
+      // Check if averaging completed
+      if (airspeed_ets_cnt == 0) {
+        // Calculate average
+        airspeed_ets_offset = (uint16_t)(airspeed_ets_offset_tmp / AIRSPEED_ETS_OFFSET_NBSAMPLES_AVRG);
+        // Limit offset
+        if (airspeed_ets_offset < AIRSPEED_ETS_OFFSET_MIN)
+          airspeed_ets_offset = AIRSPEED_ETS_OFFSET_MIN;
+        if (airspeed_ets_offset > AIRSPEED_ETS_OFFSET_MAX)
+          airspeed_ets_offset = AIRSPEED_ETS_OFFSET_MAX;
+        airspeed_ets_offset_init = TRUE;
+      }
+      // Check if averaging needs to continue
+      else if (airspeed_ets_cnt <= AIRSPEED_ETS_OFFSET_NBSAMPLES_AVRG)
+        airspeed_ets_offset_tmp += airspeed_ets_raw;
+    }    
+    // Convert raw to m/s
+    if (airspeed_ets_offset_init && airspeed_ets_raw > airspeed_ets_offset)
+      airspeed_tmp = AIRSPEED_ETS_SCALE * sqrtf( (float)(airspeed_ets_raw-airspeed_ets_offset) ) - AIRSPEED_ETS_OFFSET;
+    else
+      airspeed_tmp = 0.0;
+    // Airspeed should always be positive
+    if (airspeed_tmp < 0.0)
+      airspeed_tmp = 0.0;
+    // Moving average
+    airspeed_ets_buffer[airspeed_ets_buffer_idx++] = airspeed_tmp;
+    if (airspeed_ets_buffer_idx >= AIRSPEED_ETS_NBSAMPLES_AVRG)
+      airspeed_ets_buffer_idx = 0;
+    airspeed_ets = 0.0;
+    for (n = 0; n < AIRSPEED_ETS_NBSAMPLES_AVRG; ++n)
+      airspeed_ets += airspeed_ets_buffer[n];
+    airspeed_ets = airspeed_ets / (float)AIRSPEED_ETS_NBSAMPLES_AVRG;
+    EstimatorSetAirspeed(airspeed_ets);
+  } else {
+    airspeed_ets = 0.0;
+  }
+
+  // Transaction has been read
+  airspeed_ets_i2c_trans.status = I2CTransDone;
+
+}
+
+
+
+

sw/airborne/modules/sensors/airspeed_ets.h

@@ -0,0 +1,57 @@
+/*
+ * Driver for the EagleTree Systems Airspeed Sensor
+ * Has only been tested with V3 of the sensor hardware
+ *
+ * Notes:
+ * Connect directly to TWOG/Tiny I2C port. Multiple sensors can be chained together.
+ * Sensor should be in the proprietary mode (default) and not in 3rd party mode.
+ *
+ * Sensor module wire assignments:
+ * Red wire: 5V
+ * White wire: Ground
+ * Yellow wire: SDA
+ * Brown wire: SCL
+ *
+ * Copyright (C) 2009 Vassilis Varveropoulos
+ * Modified by Mark Griffin on 8 September 2010 to work with new i2c transaction routines.
+ * Converted by Gautier Hattenberger to modules (10/2010)
+ *
+ * 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 AIRSPEED_ETS_H
+#define AIRSPEED_ETS_H
+
+#include "std.h"
+#include "i2c.h"
+
+extern uint16_t airspeed_ets_raw;
+extern uint16_t airspeed_ets_offset;
+extern bool_t airspeed_ets_valid;
+extern float airspeed_ets;
+
+extern struct i2c_transaction airspeed_ets_i2c_trans;
+
+extern void airspeed_ets_init( void );
+extern void airspeed_ets_read_periodic( void );
+extern void airspeed_ets_read_event( void );
+
+#define AirspeedEtsEvent() { if (airspeed_ets_i2c_trans.status == I2CTransSuccess) airspeed_ets_read_event(); }
+
+#endif // AIRSPEED_ETS_H

sw/airborne/modules/sensors/baro_ets.c

@@ -0,0 +1,142 @@
+/*
+ * Driver for the EagleTree Systems Altitude Sensor
+ * Has only been tested with V3 of the sensor hardware
+ *
+ * Notes:
+ * Connect directly to TWOG/Tiny I2C port. Multiple sensors can be chained together.
+ * Sensor should be in the proprietary mode (default) and not in 3rd party mode.
+ * Pitch gains may need to be updated.
+ *
+ *
+ * Sensor module wire assignments:
+ * Red wire: 5V
+ * White wire: Ground
+ * Yellow wire: SDA
+ * Brown wire: SCL
+ *
+ * Copyright (C) 2009 Vassilis Varveropoulos
+ * Copyright (C) 2010 The Paparazzi Team
+ *
+ * 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/baro_ets.h"
+#include "i2c.h"
+#include "estimator.h"
+#include <math.h>
+
+#ifdef SITL
+#include "gps.h"
+#endif
+
+#define BARO_ETS_ADDR 0xE8
+#define BARO_ETS_REG 0x07
+#define BARO_ETS_SCALE 0.32
+#define BARO_ETS_OFFSET_MAX 30000
+#define BARO_ETS_OFFSET_MIN 10
+#define BARO_ETS_OFFSET_NBSAMPLES_INIT 20
+#define BARO_ETS_OFFSET_NBSAMPLES_AVRG 40
+#define BARO_ETS_R 0.5
+#define BARO_ETS_SIGMA2 0.1
+
+// Global variables
+uint16_t baro_ets_adc;
+uint16_t baro_ets_offset;
+bool_t baro_ets_valid;
+float baro_ets_altitude;
+bool_t baro_ets_enabled;
+float baro_ets_r;
+float baro_ets_sigma2;
+
+struct i2c_transaction baro_ets_i2c_trans;
+
+// Local variables
+bool_t baro_ets_offset_init;
+uint32_t baro_ets_offset_tmp;
+uint16_t baro_ets_cnt;
+
+void baro_ets_init( void ) {
+  baro_ets_adc = 0;
+  baro_ets_altitude = 0.0;
+  baro_ets_offset = 0;
+  baro_ets_offset_tmp = 0;
+  baro_ets_valid = TRUE;
+  baro_ets_offset_init = FALSE;
+  baro_ets_enabled = TRUE;
+  baro_ets_cnt = BARO_ETS_OFFSET_NBSAMPLES_INIT + BARO_ETS_OFFSET_NBSAMPLES_AVRG;
+  baro_ets_r = BARO_ETS_R;
+  baro_ets_sigma2 = BARO_ETS_SIGMA2;
+}
+
+void baro_ets_read_periodic( void ) {
+  // Initiate next read
+#ifndef SITL
+  I2CReceive(i2c0, baro_ets_i2c_trans, BARO_ETS_ADDR, 2);
+#else // SITL
+  baro_ets_adc = 0;
+  baro_ets_altitude = gps_alt / 100.0;
+  baro_ets_valid = TRUE;
+  EstimatorSetAlt(baro_ets_altitude);
+#endif
+}      
+        
+void baro_ets_read_event( void ) {
+  // Get raw altimeter from buffer
+  baro_ets_adc = ((uint16_t)(baro_ets_i2c_trans.buf[1]) << 8) | (uint16_t)(baro_ets_i2c_trans.buf[0]);
+  // Check if this is valid altimeter
+  if (baro_ets_adc == 0)
+    baro_ets_valid = FALSE;
+  else
+    baro_ets_valid = TRUE;
+
+  // Continue only if a new altimeter value was received  
+  if (baro_ets_valid) {
+    // Calculate offset average if not done already
+    if (!baro_ets_offset_init) {
+      --baro_ets_cnt;
+      // Check if averaging completed
+      if (baro_ets_cnt == 0) {
+        // Calculate average
+        baro_ets_offset = (uint16_t)(baro_ets_offset_tmp / BARO_ETS_OFFSET_NBSAMPLES_AVRG);
+        // Limit offset
+        if (baro_ets_offset < BARO_ETS_OFFSET_MIN)
+          baro_ets_offset = BARO_ETS_OFFSET_MIN;
+        if (baro_ets_offset > BARO_ETS_OFFSET_MAX)
+          baro_ets_offset = BARO_ETS_OFFSET_MAX;
+        baro_ets_offset_init = TRUE;
+      }
+      // Check if averaging needs to continue
+      else if (baro_ets_cnt <= BARO_ETS_OFFSET_NBSAMPLES_AVRG)
+        baro_ets_offset_tmp += baro_ets_adc;
+    }    
+    // Convert raw to m/s
+    if (baro_ets_offset_init)
+      baro_ets_altitude = BARO_ETS_SCALE * (float)(baro_ets_offset-baro_ets_adc);
+    else
+      baro_ets_altitude = 0.0;
+    // New value available
+    EstimatorSetAlt(baro_ets_altitude);
+  } else {
+    baro_ets_altitude = 0.0;
+  }
+
+  // Transaction has been read
+  baro_ets_i2c_trans.status = I2CTransDone;
+
+}
+

sw/airborne/modules/sensors/baro_ets.h

@@ -0,0 +1,63 @@
+/*
+ * Driver for the EagleTree Systems Altitude Sensor
+ * Has only been tested with V3 of the sensor hardware
+ *
+ * Notes:
+ * Connect directly to TWOG/Tiny I2C port. Multiple sensors can be chained together.
+ * Sensor should be in the proprietary mode (default) and not in 3rd party mode.
+ * Pitch gains may need to be updated.
+ *
+ *
+ * Sensor module wire assignments:
+ * Red wire: 5V
+ * White wire: Ground
+ * Yellow wire: SDA
+ * Brown wire: SCL
+ *
+ * Copyright (C) 2009 Vassilis Varveropoulos
+ * Copyright (C) 2010 The Paparazzi Team
+ *
+ * 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 BARO_ETS_H
+#define BARO_ETS_H
+
+#include "std.h"
+#include "i2c.h"
+
+#define BARO_ETS_DT 0.05
+
+extern uint16_t baro_ets_adc;
+extern uint16_t baro_ets_offset;
+extern bool_t baro_ets_valid;
+extern bool_t baro_ets_updated;
+extern bool_t baro_ets_enabled;
+extern float baro_ets_altitude;
+extern float baro_ets_r;
+extern float baro_ets_sigma2;
+
+extern struct i2c_transaction baro_ets_i2c_trans;
+
+extern void baro_ets_init( void );
+extern void baro_ets_read_periodic( void );
+extern void baro_ets_read_event( void );
+
+#define BaroEtsEvent() { if (baro_ets_i2c_trans.status == I2CTransSuccess) baro_ets_read_event(); }
+
+#endif // BARO_ETS_H