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added sonar sensor to twog which forwards us the adc values.

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This commit is contained in:
Paul Cox
2010-10-01 13:03:53 +00:00
parent 9656d95828
commit 838059f2ee
3 changed files with 58 additions and 9 deletions
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sw/airborne/beth/overo_gcs_com.c
+3 -2
View File
@@ -10,8 +10,9 @@
#include "settings.h"
//bill laptop
//#define GCS_HOST "10.31.4.5"
#define GCS_HOST "192.168.2.10"
#define GCS_HOST "10.31.4.5"
//#define GCS_HOST "192.168.2.10"
//#define GCS_HOST "192.168.2.1"
//auto4
//#define GCS_HOST "10.31.4.104"
#define GCS_PORT 4242
sw/airborne/beth/overo_test_uart.c
+13 -1
View File
@@ -67,6 +67,17 @@ static uint8_t donegpsconf = 0;
#endif
static uint8_t configgps = 0;
extern float phi;
extern float psi;
extern float theta;
extern uint16_t throttle;
extern uint16_t voltage;
extern uint16_t amps;
extern uint16_t energy;
extern uint16_t adc1;
extern uint16_t adc2;
int main(int argc, char *argv[]) {
portnum = 0;
@@ -118,7 +129,8 @@ int main(int argc, char *argv[]) {
static void main_periodic(int my_sig_num) {
//RunOnceEvery(50, {DOWNLINK_SEND_ALIVE(gcs_com.udp_transport, 16, MD5SUM);});
RunOnceEvery(50, {DOWNLINK_SEND_ALIVE(gcs_com.udp_transport, 16, MD5SUM);});
RunOnceEvery(5, {DOWNLINK_SEND_ADC_GENERIC(gcs_com.udp_transport,&adc1,&adc2);});
#ifdef USE_UART0
uart0_handler();
sw/airborne/beth/rcv_telemetry.c
+42 -6
View File
@@ -48,23 +48,59 @@
#include "downlink.h"
#define MOfCm(_x) (((float)(_x))/100.)
#define SenderIdOfMsg(x) (x[0])
#define IdOfMsg(x) (x[1])
float phi;
float psi;
float theta;
uint16_t throttle;
uint16_t voltage;
uint16_t amps;
uint16_t energy;
uint16_t adc1;
uint16_t adc2;
/*
6 ATTITUDE
8 GPS
10 NAVIGATION
12 BAT
16 DESIRED
35
36
37 ENERGY
42 ESTIMATOR
*/
void dl_parse_msg(void) {
datalink_time = 0;
uint8_t msg_id = IdOfMsg(dl_buffer);
printf("Tiny rx id: %d\n",msg_id);
if (msg_id == DL_ATTITUDE) {
float phi = DL_ATTITUDE_phi(dl_buffer);
float psi = DL_ATTITUDE_psi(dl_buffer);
float theta = DL_ATTITUDE_theta(dl_buffer);
if (msg_id == DL_ATTITUDE) {
phi = DL_ATTITUDE_phi(dl_buffer);
psi = DL_ATTITUDE_psi(dl_buffer);
theta = DL_ATTITUDE_theta(dl_buffer);
printf("Attitude: %f %f %f\n", phi, psi, theta);
} else {
printf("Unknown msg id %d",msg_id);
}
if (msg_id == DL_BAT) {
throttle = DL_BAT_throttle(dl_buffer);
voltage = DL_BAT_voltage(dl_buffer);
amps = DL_BAT_amps(dl_buffer);
energy = DL_BAT_energy(dl_buffer);
printf("BAT: %d %d %d %d\n", throttle,voltage,amps,energy);
}
if (msg_id == DL_ADC_GENERIC) {
adc1 = DL_ADC_GENERIC_val1(dl_buffer);
adc2 = DL_ADC_GENERIC_val2(dl_buffer);
printf("ADC: %d %d\n",adc1,adc2);
}
else {
//printf("Tiny msg_id %d unknown\n",msg_id);
}
}