From 7170ee3f2fe382d6e74d50cda440e9bc79ed68e5 Mon Sep 17 00:00:00 2001 From: Gautier Hattenberger Date: Mon, 25 Apr 2016 18:21:03 +0200 Subject: [PATCH] [sensor] add driver for uADC 3D probe from Aeroprobe --- conf/modules/airspeed_uADC.xml | 31 +++ sw/airborne/modules/sensors/airspeed_uADC.c | 211 ++++++++++++++++++++ sw/airborne/modules/sensors/airspeed_uADC.h | 37 ++++ 3 files changed, 279 insertions(+) create mode 100644 conf/modules/airspeed_uADC.xml create mode 100644 sw/airborne/modules/sensors/airspeed_uADC.c create mode 100644 sw/airborne/modules/sensors/airspeed_uADC.h diff --git a/conf/modules/airspeed_uADC.xml b/conf/modules/airspeed_uADC.xml new file mode 100644 index 0000000000..b936dacfb7 --- /dev/null +++ b/conf/modules/airspeed_uADC.xml @@ -0,0 +1,31 @@ + + + + + + Driver for the Aeroprobe uADC air data computer. + + The Aeroprobe uADC air data computer measures + air pressure from a 5-hole pitot tube and can write + resulting data to an SD card or transmit it through an + UART. It outputs speed, angle of attack, angle of + sideslip, altitude, total pressure and static pressure. + + + +
+ + +
+ + + + + + + + + + + + diff --git a/sw/airborne/modules/sensors/airspeed_uADC.c b/sw/airborne/modules/sensors/airspeed_uADC.c new file mode 100644 index 0000000000..52dd5a4acf --- /dev/null +++ b/sw/airborne/modules/sensors/airspeed_uADC.c @@ -0,0 +1,211 @@ +/* + * Copyright (C) 2013 Martin Mueller + * Copyright (C) 2016 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/sensors/airspeed_uADC.c + * UART interface for Aeroprobe uADC air data computer. + * + */ + +#include "airspeed_uADC.h" + +#include "mcu_periph/uart.h" +#include "pprzlink/messages.h" +#include "subsystems/datalink/downlink.h" + +#include + +#if FLIGHTRECORDER_SDLOG +#include "subsystems/datalink/telemetry.h" +#include "pprzlink/pprzlog_transport.h" +#include "sdLog.h" +#include "subsystems/chibios-libopencm3/chibios_sdlog.h" +#endif + +#define uADC_UNINIT 0 +#define uADC_WAIT_START uADC_UNINIT +#define uADC_WAIT_COUNTER 1 +#define uADC_WAIT_ANGLES 2 +#define uADC_WAIT_ALTITUDE 3 +#define uADC_WAIT_PRESSURES 4 +#define uADC_WAIT_CHECKSUM 5 + +#define uADC_START 0x0A +#define uADC_LIMITER ',' +#define uADC_END 0x0D + +static uint32_t counter; +static int16_t course[3]; +static int32_t altitude; +static int32_t pressures[2]; +static uint8_t checksum; +static uint8_t uadc_status = uADC_UNINIT; +static uint8_t uadc_idx = 0; +static uint8_t uadc_tab_idx = 0; + +/* airspeed_uadc_parse */ +void airspeed_uadc_parse(char c) +{ + static char uadc_inp[64]; + + switch (uadc_status) { + + case uADC_WAIT_START: + if (c == uADC_START) { + uadc_status++; + uadc_idx = 0; + } else { + uadc_status = uADC_UNINIT; + } + break; + + case uADC_WAIT_COUNTER: + if (isdigit((int)c)) { + uadc_inp[uadc_idx++] = c; + } else { + if (/*(uadc_idx == 5) &&*/ (c == uADC_LIMITER)) { + uadc_inp[uadc_idx] = 0; + counter = atoi(uadc_inp); + uadc_idx = 0; + uadc_tab_idx = 0; + uadc_status++; + } else { + uadc_status = uADC_UNINIT; + } + } + break; + + case uADC_WAIT_ANGLES: + if (isdigit((int)c) || (c == '-') || (c == '.')) { + uadc_inp[uadc_idx++] = c; + } else { + if ((uadc_idx > 1) && (uadc_idx < 9) && (c == uADC_LIMITER)) { + uadc_inp[uadc_idx] = 0; + course[uadc_tab_idx] = (int16_t)(100. * atof(uadc_inp)); + uadc_idx = 0; + if (uadc_tab_idx++ == 2) { + uadc_tab_idx = 0; + uadc_status++; + } + } else if ((c == ' ') || (c == '+')) { + // skip blank and + characters + } + else { + // illigal character, reset parser + uadc_status = uADC_UNINIT; + } + } + break; + + case uADC_WAIT_ALTITUDE: + if (isdigit((int)c) || (c == '-') || (c == '.')) { + uadc_inp[uadc_idx++] = c; + } else { + if ((uadc_idx > 1) && (uadc_idx < 9) && (c == uADC_LIMITER)) { + uadc_inp[uadc_idx] = 0; + altitude = (int32_t)(100. * atof(uadc_inp)); + uadc_idx = 0; + uadc_status++; + } else if ((c == ' ') || (c == '+')) { + // skip blank and + characters + } + else { + // illigal character, reset parser + uadc_status = uADC_UNINIT; + } + } + break; + + case uADC_WAIT_PRESSURES: + if (isdigit((int)c) || (c == '-') || (c == '.')) { + uadc_inp[uadc_idx++] = c; + } else { + if ((uadc_idx > 1) && (uadc_idx < 9) && (c == uADC_LIMITER)) { + uadc_inp[uadc_idx] = 0; + pressures[uadc_tab_idx] = (int32_t) atoi(uadc_inp); + uadc_idx = 0; + if (uadc_tab_idx++ == 1) { + uadc_tab_idx = 0; + uadc_status++; + } + } else if ((c == ' ') || (c == '+')) { + // skip blank and + characters + } + else { + // illigal character, reset parser + uadc_status = uADC_UNINIT; + } + } + break; + + case uADC_WAIT_CHECKSUM: + if (isxdigit((int)c)) { + uadc_inp[uadc_idx++] = c; + } else { + if ((uadc_idx == 2) && (c == uADC_END)) { + uadc_inp[uadc_idx] = 0; + checksum = strtol(uadc_inp, NULL, 16); + uadc_idx = 0; + // FIXME update message definition +#if FLIGHTRECORDER_SDLOG + if (flightRecorderLogFile != -1) { + DOWNLINK_SEND_AEROPROBE(pprzlog_tp, flightrecorder_sdlog, + &counter, &course[0], &course[1], &course[2], + &altitude, &pressures[0], &pressures[1], &checksum); + } +#endif + uadc_status = uADC_UNINIT; + } else if ((c == ' ')) { + // skip blank characters + } + else { + uadc_status = uADC_UNINIT; + } + } + break; + + default: + uadc_status = uADC_UNINIT; + break; + } +} + +void airspeed_uADC_init(void) +{ +} + +void airspeed_uADC_event(void) +{ + while (uart_char_available(&(uADC_DEV))) { + uint8_t ch = uart_getch(&(uADC_DEV)); + airspeed_uadc_parse(ch); + } +} + +void airspeed_uADC_periodic(void) +{ + DOWNLINK_SEND_AEROPROBE(DefaultChannel, DefaultDevice, + &counter, &course[0], &course[1], &course[2], + &altitude, &pressures[0], &pressures[1], &checksum); +} + diff --git a/sw/airborne/modules/sensors/airspeed_uADC.h b/sw/airborne/modules/sensors/airspeed_uADC.h new file mode 100644 index 0000000000..d8b979252e --- /dev/null +++ b/sw/airborne/modules/sensors/airspeed_uADC.h @@ -0,0 +1,37 @@ +/* + * Copyright (C) 2013 Martin Mueller + * Copyright (C) 2016 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, see + * . + */ + +/** + * @file modules/sensors/airspeed_uADC.h + * UART interface for Aeroprobe uADC air data computer. + * + */ + +#ifndef AIRSPEED_uADC_H +#define AIRSPEED_uADC_H + +#include "std.h" + +extern void airspeed_uADC_init(void); +extern void airspeed_uADC_event(void); +extern void airspeed_uADC_periodic(void); + +#endif