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https://github.com/paparazzi/paparazzi.git
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[sensor] add driver for uADC 3D probe from Aeroprobe
This commit is contained in:
Gautier Hattenberger
@@ -0,0 +1,31 @@
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<!DOCTYPE module SYSTEM "module.dtd">
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<module name="airspeed_uADC" dir="sensors">
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<doc>
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<description>
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Driver for the Aeroprobe uADC air data computer.
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The Aeroprobe uADC air data computer measures
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air pressure from a 5-hole pitot tube and can write
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resulting data to an SD card or transmit it through an
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UART. It outputs speed, angle of attack, angle of
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sideslip, altitude, total pressure and static pressure.
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</description>
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<configure name="UADC_UART" value="UARTX" description="UART on which computer is connected"/>
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</doc>
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<header>
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<file name="met_module.h"/>
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<file name="airspeed_uADC.h"/>
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</header>
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<init fun="airspeed_uADC_init()"/>
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<periodic fun="airspeed_uADC_periodic()" freq="1" autorun="TRUE"/>
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<event fun="airspeed_uADC_event()"/>
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<makefile target="ap">
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<configure name="UADC_UART" case="upper|lower"/>
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<file name="airspeed_uADC.c"/>
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<define name="USE_$(UADC_UART_UPPER)"/>
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<define name="uADC_DEV" value="$(UADC_UART_LOWER)"/>
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<define name="$(UADC_UART_UPPER)_BAUD" value="B115200"/>
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</makefile>
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</module>
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@@ -0,0 +1,211 @@
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/*
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* Copyright (C) 2013 Martin Mueller <martinmm@pfump.org>
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* Copyright (C) 2016 Gautier Hattenberger <gautier.hattenberger@enac.fr>
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*/
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/**
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* @file modules/sensors/airspeed_uADC.c
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* UART interface for Aeroprobe uADC air data computer.
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*
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*/
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#include "airspeed_uADC.h"
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#include "mcu_periph/uart.h"
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#include "pprzlink/messages.h"
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#include "subsystems/datalink/downlink.h"
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#include <ctype.h>
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#if FLIGHTRECORDER_SDLOG
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#include "subsystems/datalink/telemetry.h"
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#include "pprzlink/pprzlog_transport.h"
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#include "sdLog.h"
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#include "subsystems/chibios-libopencm3/chibios_sdlog.h"
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#endif
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#define uADC_UNINIT 0
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#define uADC_WAIT_START uADC_UNINIT
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#define uADC_WAIT_COUNTER 1
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#define uADC_WAIT_ANGLES 2
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#define uADC_WAIT_ALTITUDE 3
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#define uADC_WAIT_PRESSURES 4
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#define uADC_WAIT_CHECKSUM 5
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#define uADC_START 0x0A
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#define uADC_LIMITER ','
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#define uADC_END 0x0D
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static uint32_t counter;
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static int16_t course[3];
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static int32_t altitude;
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static int32_t pressures[2];
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static uint8_t checksum;
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static uint8_t uadc_status = uADC_UNINIT;
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static uint8_t uadc_idx = 0;
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static uint8_t uadc_tab_idx = 0;
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/* airspeed_uadc_parse */
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void airspeed_uadc_parse(char c)
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{
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static char uadc_inp[64];
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switch (uadc_status) {
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case uADC_WAIT_START:
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if (c == uADC_START) {
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uadc_status++;
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uadc_idx = 0;
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} else {
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uadc_status = uADC_UNINIT;
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}
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break;
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case uADC_WAIT_COUNTER:
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if (isdigit((int)c)) {
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uadc_inp[uadc_idx++] = c;
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} else {
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if (/*(uadc_idx == 5) &&*/ (c == uADC_LIMITER)) {
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uadc_inp[uadc_idx] = 0;
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counter = atoi(uadc_inp);
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uadc_idx = 0;
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uadc_tab_idx = 0;
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uadc_status++;
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} else {
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uadc_status = uADC_UNINIT;
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}
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}
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break;
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case uADC_WAIT_ANGLES:
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if (isdigit((int)c) || (c == '-') || (c == '.')) {
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uadc_inp[uadc_idx++] = c;
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} else {
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if ((uadc_idx > 1) && (uadc_idx < 9) && (c == uADC_LIMITER)) {
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uadc_inp[uadc_idx] = 0;
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course[uadc_tab_idx] = (int16_t)(100. * atof(uadc_inp));
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uadc_idx = 0;
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if (uadc_tab_idx++ == 2) {
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uadc_tab_idx = 0;
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uadc_status++;
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}
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} else if ((c == ' ') || (c == '+')) {
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// skip blank and + characters
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}
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else {
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// illigal character, reset parser
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uadc_status = uADC_UNINIT;
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}
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}
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break;
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case uADC_WAIT_ALTITUDE:
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if (isdigit((int)c) || (c == '-') || (c == '.')) {
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uadc_inp[uadc_idx++] = c;
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} else {
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if ((uadc_idx > 1) && (uadc_idx < 9) && (c == uADC_LIMITER)) {
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uadc_inp[uadc_idx] = 0;
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altitude = (int32_t)(100. * atof(uadc_inp));
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uadc_idx = 0;
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uadc_status++;
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} else if ((c == ' ') || (c == '+')) {
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// skip blank and + characters
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}
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else {
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// illigal character, reset parser
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uadc_status = uADC_UNINIT;
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}
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}
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break;
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case uADC_WAIT_PRESSURES:
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if (isdigit((int)c) || (c == '-') || (c == '.')) {
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uadc_inp[uadc_idx++] = c;
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} else {
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if ((uadc_idx > 1) && (uadc_idx < 9) && (c == uADC_LIMITER)) {
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uadc_inp[uadc_idx] = 0;
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pressures[uadc_tab_idx] = (int32_t) atoi(uadc_inp);
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uadc_idx = 0;
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if (uadc_tab_idx++ == 1) {
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uadc_tab_idx = 0;
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uadc_status++;
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}
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} else if ((c == ' ') || (c == '+')) {
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// skip blank and + characters
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}
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else {
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// illigal character, reset parser
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uadc_status = uADC_UNINIT;
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}
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}
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break;
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case uADC_WAIT_CHECKSUM:
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if (isxdigit((int)c)) {
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uadc_inp[uadc_idx++] = c;
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} else {
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if ((uadc_idx == 2) && (c == uADC_END)) {
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uadc_inp[uadc_idx] = 0;
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checksum = strtol(uadc_inp, NULL, 16);
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uadc_idx = 0;
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// FIXME update message definition
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#if FLIGHTRECORDER_SDLOG
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if (flightRecorderLogFile != -1) {
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DOWNLINK_SEND_AEROPROBE(pprzlog_tp, flightrecorder_sdlog,
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&counter, &course[0], &course[1], &course[2],
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&altitude, &pressures[0], &pressures[1], &checksum);
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}
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#endif
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uadc_status = uADC_UNINIT;
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} else if ((c == ' ')) {
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// skip blank characters
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}
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else {
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uadc_status = uADC_UNINIT;
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}
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}
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break;
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default:
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uadc_status = uADC_UNINIT;
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break;
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}
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}
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void airspeed_uADC_init(void)
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{
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}
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void airspeed_uADC_event(void)
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{
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while (uart_char_available(&(uADC_DEV))) {
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uint8_t ch = uart_getch(&(uADC_DEV));
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airspeed_uadc_parse(ch);
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}
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}
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void airspeed_uADC_periodic(void)
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{
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DOWNLINK_SEND_AEROPROBE(DefaultChannel, DefaultDevice,
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&counter, &course[0], &course[1], &course[2],
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&altitude, &pressures[0], &pressures[1], &checksum);
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}
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@@ -0,0 +1,37 @@
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/*
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* Copyright (C) 2013 Martin Mueller <martinmm@pfump.org>
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* Copyright (C) 2016 Gautier Hattenberger <gautier.hattenberger@enac.fr>
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*
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* This file is part of paparazzi
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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||||
* the Free Software Foundation; either version 2, or (at your option)
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||||
* any later version.
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||||
*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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||||
*
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* You should have received a copy of the GNU General Public License
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||||
* along with paparazzi; see the file COPYING. If not, see
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* <http://www.gnu.org/licenses/>.
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*/
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/**
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* @file modules/sensors/airspeed_uADC.h
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* UART interface for Aeroprobe uADC air data computer.
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*
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*/
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#ifndef AIRSPEED_uADC_H
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#define AIRSPEED_uADC_H
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#include "std.h"
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extern void airspeed_uADC_init(void);
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extern void airspeed_uADC_event(void);
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extern void airspeed_uADC_periodic(void);
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#endif
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