added weather station from Andreas Gaeb

.gitignore

@@ -112,6 +112,10 @@
 # /sw/ground_segment/joystick
 /sw/ground_segment/joystick/test_stick
 
+# /sw/ground_segment/misc
+/sw/ground_segment/misc/davis2ivy
+
+
 # /sw/airborne/arch/lpc21/test/bootloader
 /sw/airborne/arch/lpc21/test/bootloader/bl.dmp
 /sw/airborne/arch/lpc21/test/bootloader/bl.hex

Makefile

@@ -43,6 +43,7 @@ AIRBORNE=sw/airborne
 COCKPIT=sw/ground_segment/cockpit
 TMTC=sw/ground_segment/tmtc
 MULTIMON=sw/ground_segment/multimon
+MISC=sw/ground_segment/misc
 LOGALIZER=sw/logalizer
 SIMULATOR=sw/simulator
 MAKE=make PAPARAZZI_SRC=$(PAPARAZZI_SRC) PAPARAZZI_HOME=$(PAPARAZZI_HOME)
@@ -69,7 +70,7 @@ OCAMLRUN=$(shell which ocamlrun)
 
 all: commands static conf
 
-static : lib center tools cockpit multimon tmtc logalizer lpc21iap sim_static static_h usb_lib
+static : lib center tools cockpit multimon tmtc misc logalizer lpc21iap sim_static static_h usb_lib
 
 conf: conf/conf.xml conf/control_panel.xml
 
@@ -98,6 +99,9 @@ cockpit: lib
 tmtc: lib cockpit
 	cd $(TMTC); $(MAKE) all
 
+misc:
+	cd $(MISC); $(MAKE) all
+
 multimon:
 	cd $(MULTIMON); $(MAKE)
 

conf/control_panel.xml.example

@@ -63,6 +63,11 @@
     </program>
 
     <program name="Http Server" command="sw/ground_segment/tmtc/boa"/>
+
+    <program name="Weather Station" command="sw/ground_segment/misc/davis2ivy">
+      <arg flag="-b" variable="ivy_bus"/>
+      <arg flag="-d" constant="/dev/ttyUSB1"/>
+    </program>
  </section>
 
 

conf/messages.xml

@@ -451,7 +451,7 @@
     <field name="mode"       type="uint8"  unit="byte_mask"/>
     <field name="gps_nb_err" type="uint8"/>
   </message>
- 
+
   <message name="H_CTL_A" id="60">
     <field name="roll_sum_err" type="float"/>
     <field name="ref_roll_angle" type="float" unit="rad" alt_unit="deg" alt_unit_coef="57.3"/>
@@ -1332,7 +1332,7 @@
     <field name="bq"     type="int32" alt_unit="degres/s" alt_unit_coef="0.0139882"/>
     <field name="br"     type="int32" alt_unit="degres/s" alt_unit_coef="0.0139882"/>
   </message>
-    
+
 
  <!--179 is free -->
 
@@ -1603,7 +1603,12 @@
  <!--216 is free -->
  <!--217 is free -->
  <!--218 is free -->
- <!--219 is free -->
+  <message name="WEATHER" id="219">
+    <field name="p_amb" type="float" unit="Pa" alt_unit="mBar" alt_unit_coef="0.01"/>
+    <field name="t_amb" type="float" unit="deg C"/>
+    <field name="windspeed" type="float" unit="m/s"/>
+    <field name="wind_from" type="float" unit="deg"/>
+  </message>
 
   <message name="IMU_TURNTABLE" id="220">
     <field name="omega" type="float" unit="rad/s" alt_unit="deg/s" alt_unit_coef="57.29578"/>

sw/ground_segment/misc/Makefile

@@ -0,0 +1,7 @@
+all: davis2ivy
+
+davis2ivy: davis2ivy.o
+	g++ -o davis2ivy davis2ivy.o -s -livy
+
+%.o : %.c
+	gcc -c -O2 -Wall $<

sw/ground_segment/misc/davis2ivy.c

@@ -0,0 +1,269 @@
+/*
+ * Paparazzi $Id$
+ *
+ * Copyright (C) 2011 Andreas Gaeb
+ *
+ * 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 davis2ivy.c
+ *  \brief Connect a Davis VantagePro weather station to the Paparazzi system
+ *
+ * The program communicates with a Davis VantagePro(2) weather station connected
+ * to a serial port.  It asks for new data (Davis' LOOP command) in the
+ * specified intervals, extracts the relevant data (ambient pressure and
+ * temperature, wind speed and direction) and broadcasts this via the Ivy bus.
+ *
+ * At the moment, the Ivy messages should be sent with the ID of the actually
+ * flying aircraft, which integrates them into the log file, as long as the
+ * aircraft sends its alive message.
+ *
+ * Useful links:
+ * - <a href="http://www.davisnet.com/weather/products/vantagepro.asp">Weather Stations</a>
+ * - <a href="http://www.davisnet.com/support/weather/download/VantageSerialProtocolDocs_v230.pdf">Communication docs</a>
+ *
+ */
+
+
+ #include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <ctype.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <termios.h>
+
+#include <signal.h>
+
+#include <Ivy/ivy.h>
+#include <Ivy/ivyloop.h>
+#include <Ivy/timer.h>
+
+
+typedef enum { FALSE = 0, TRUE } BOOL;
+
+#define PACKET_LENGTH 99
+
+
+// global variables
+int fd, ac_id = 1;
+const char *device;
+unsigned char packet[PACKET_LENGTH];
+TimerId tid;
+BOOL want_alive_msg = FALSE;
+
+
+/// Handler for Ctrl-C, exits the main loop
+void sigint_handler(int sig) {
+  IvyStop();
+  TimerRemove(tid);
+  close(fd);
+}
+
+/// open the serial port with the appropiate settings
+void open_port(const char* device) {
+  fd = open(device, O_RDWR | O_NOCTTY | O_NDELAY);
+  if (fd == -1) {
+    fprintf(stderr, "open_port: unable to open device %s - ", device);
+    perror(NULL);
+    exit(EXIT_FAILURE);
+  }
+  // setup connection options
+  struct termios options;
+
+  // get the current options
+  tcgetattr(fd, &options);
+
+  // set local mode, enable receiver, set comm. options:
+  // 8 data bits, 1 stop bit, no parity, 19200 Baud
+  options.c_cflag = CLOCAL | CREAD | CS8 | B19200;
+
+  // write options back to port
+  tcsetattr(fd, TCSANOW, &options);
+
+}
+
+/// disable transactions and empty queue
+void reset_station() {
+  char newline = '\n', bytes = 0;
+  fprintf(stderr, "Resetting communication\n");
+  // send a \n (wakeup and cancel all running transmits)
+  bytes = write(fd, &newline, 1);
+  // read and discard everything that might be left in the queue
+  close(fd);
+  sleep(1);
+  open_port(device);
+}
+
+/// send a wakeup call to the station
+BOOL wakeup(int tries) {
+  int loops = tries, bytes;
+  BOOL woken = FALSE;
+  char buf[] = {0, 0};
+  char newline = '\n';
+  do {
+    // send a \n
+    bytes = write(fd, &newline, 1);
+    // wait until station answers with \n\r
+    usleep(30000);
+    bytes = read(fd, buf, sizeof(buf));
+    woken = (buf[0] == 10) && (buf[1] == 13);
+  } while (!woken && loops-- > 0);
+  if (!woken) {
+    fprintf(stderr, "Could not wake up station: ");
+    if (bytes < 1) fprintf(stderr, "no bytes received\n");
+    else fprintf(stderr, "received %02x:%02x instead of \\n\\r\n", buf[0], buf[1]);
+    reset_station();
+  }
+  return woken;
+}
+
+/// send a LOOP command (read sensor data) to the station and get the packet back
+BOOL send_loop() {
+  char msg[32], ack;
+  // TODO maybe ask for more packets?
+  snprintf(msg, sizeof(msg), "LOOP %i\n", 1);
+  int bytes = write(fd, msg, strlen(msg));
+  usleep(120000);
+  bytes = read(fd, &ack, 1);
+  if (bytes < 1 || ack != 0x06) {
+    fprintf(stderr, "Failed to receive ACK from station\n");
+    reset_station();
+    return FALSE;
+  }
+  bytes = read(fd, packet, PACKET_LENGTH);
+  if (bytes < PACKET_LENGTH) {
+    fprintf(stderr, "Received packet is incomplete, only %i of %i bytes\n",
+            bytes, PACKET_LENGTH);
+    reset_station();
+    return FALSE;
+  } else {
+    return TRUE;
+  }
+}
+
+/// get the relevant data from the packet and sent it as Ivy message
+void decode_and_send_to_ivy() {
+
+  // check packet integrity
+  char expected[] = "LOO";
+  if (strncmp((char *)packet, expected, 3) != 0) {
+    fprintf(stderr, "Received packet from the weather station which does not match the expected format\n");
+    reset_station();
+    return;
+  }
+
+  // TODO CRC checking (is rather involved for the Davis protocol)
+
+  // get relevant data and convert to SI units
+  // see chapter IX.1 of the protocol definition
+  float
+    pstatic_Pa = (packet[7] | packet[8] << 8)*3.386388640341, // original is inches Hg / 1000
+    temp_degC = ((packet[12] | packet[13] << 8)/10.0 - 32.0)*5.0/9.0, // original is deg F / 10
+    windspeed_mps = packet[14]*0.44704, // original is miles per hour
+    winddir_deg = packet[16] | packet[17] << 8;
+
+
+  // TODO get the real MD5 for the aircraft id
+  if (want_alive_msg)
+    IvySendMsg("%d ALIVE 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0\n", ac_id);
+
+  // format has to match declaration in conf/messages.xml
+  IvySendMsg("%d WEATHER %f %f %f %f\n",
+    ac_id, pstatic_Pa, temp_degC, windspeed_mps, winddir_deg);
+}
+
+/// Get data from the station and send it via Ivy
+/** This function is executed by the timer
+ */
+void handle_timer (TimerId id, void *data, unsigned long delta) {
+  if (wakeup(3) && send_loop()) decode_and_send_to_ivy();
+}
+
+void print_usage(int argc, char ** argv) {
+  fprintf(stderr, "Usage: %s [-a] [-b <bus>] [-d <device>] [-i <aircraft_id>] [-s <delay time in seconds>]\n",
+          argv[0]);
+};
+
+/// Main function
+int main(int argc, char **argv) {
+  // default values for options
+  const char
+    *defaultbus = "127.255.255.255:2010",
+    *bus = defaultbus,
+    *defaultdevice = "/dev/ttyUSB1";
+  device = defaultdevice;
+  long delay = 1000;
+
+  // parse options
+  char c;
+  while ((c = getopt (argc, argv, "hab:d:i:s:")) != EOF) {
+    switch (c) {
+    case 'h':
+      print_usage(argc, argv);
+      exit(EXIT_SUCCESS);
+      break;
+    case 'a':
+      want_alive_msg = TRUE;
+      break;
+    case 'b':
+      bus = optarg;
+      break;
+    case 'd':
+      device = optarg;
+      break;
+    case 'i':
+      ac_id = atoi(optarg);
+      break;
+    case 's':
+      delay = atoi(optarg)*1000;
+      break;
+    case '?':
+      if (optopt == 'a' || optopt == 'b' || optopt == 'd' || optopt == 's')
+        fprintf (stderr, "Option -%c requires an argument.\n", optopt);
+      else if (isprint (optopt))
+        fprintf (stderr, "Unknown option `-%c'.\n", optopt);
+      else
+        fprintf (stderr, "Unknown option character `\\x%x'.\n", optopt);
+      print_usage(argc, argv);
+      exit(EXIT_FAILURE);
+    default:
+      abort ();
+    }
+  }
+
+
+  // make Ctrl-C stop the main loop and clean up properly
+  signal(SIGINT, sigint_handler);
+
+  bzero (packet, PACKET_LENGTH);
+  open_port(device);
+
+  // setup Ivy communication
+  IvyInit("davis2ivy", "READY", 0, 0, 0, 0);
+  IvyStart(bus);
+
+  // create timer
+  tid = TimerRepeatAfter (0, delay, handle_timer, 0);
+
+  IvyMainLoop();
+
+  return 0;
+}

sw/ground_segment/misc/readme.txt

@@ -0,0 +1,3 @@
+davis2ivy:
+  A wrapper to communicate with a Davis VantagePro/VantagePro2 weather
+  station and integrate weather data into the telemetry link.