[paparazzi-commits] [4461] Add support for sending airspeed over can bus

[Allen Ibara]

Revision: 4461
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4461
Author:   aibara
Date:     2010-01-19 20:20:14 +0000 (Tue, 19 Jan 2010)
Log Message:
-----------
Add support for sending airspeed over can bus

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/csc/csc_ap_link.c
    paparazzi3/trunk/sw/airborne/csc/csc_ap_link.h
    paparazzi3/trunk/sw/airborne/csc/csc_msg_def.h
    paparazzi3/trunk/sw/airborne/csc/mercury_csc_main.c

Added Paths:
-----------
    paparazzi3/trunk/sw/airborne/csc/csc_airspeed.c
    paparazzi3/trunk/sw/airborne/csc/csc_airspeed.h

Added: paparazzi3/trunk/sw/airborne/csc/csc_airspeed.c
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/csc_airspeed.c                             
(rev 0)
+++ paparazzi3/trunk/sw/airborne/csc/csc_airspeed.c     2010-01-19 20:20:14 UTC 
(rev 4461)
@@ -0,0 +1,9 @@
+#include "csc_airspeed.h"
+#include "csc_ap_link.h"
+
+float estimator_airspeed;
+
+void csc_airspeed_periodic(void)
+{
+  csc_ap_link_send_airspeed(estimator_airspeed, 0);
+}

Added: paparazzi3/trunk/sw/airborne/csc/csc_airspeed.h
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/csc_airspeed.h                             
(rev 0)
+++ paparazzi3/trunk/sw/airborne/csc/csc_airspeed.h     2010-01-19 20:20:14 UTC 
(rev 4461)
@@ -0,0 +1 @@
+void csc_airspeed_periodic(void);

Modified: paparazzi3/trunk/sw/airborne/csc/csc_ap_link.c
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/csc_ap_link.c      2010-01-19 20:18:51 UTC 
(rev 4460)
+++ paparazzi3/trunk/sw/airborne/csc/csc_ap_link.c      2010-01-19 20:20:14 UTC 
(rev 4461)
@@ -47,6 +47,18 @@
 }
 
 
+void csc_ap_link_send_airspeed(float airspeed1, float airspeed2)
+{
+
+  struct CscAirspeedMsg msg;
+
+  msg.airspeed1 = airspeed1;
+  msg.airspeed2 = airspeed2;
+
+  csc_ap_send_msg(CSC_AIRSPEED_MSG_ID, (const uint8_t *) &msg, sizeof(msg));
+}
+
+
 // Generic function for sending can messages
 void can_write_csc(uint8_t board_id, uint8_t msg_id, const uint8_t *buf, 
uint8_t len)
 {

Modified: paparazzi3/trunk/sw/airborne/csc/csc_ap_link.h
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/csc_ap_link.h      2010-01-19 20:18:51 UTC 
(rev 4460)
+++ paparazzi3/trunk/sw/airborne/csc/csc_ap_link.h      2010-01-19 20:20:14 UTC 
(rev 4461)
@@ -15,6 +15,7 @@
 void csc_ap_link_send_status(uint32_t loops, uint32_t msgs);
 void csc_ap_link_send_adc(float adc1, float adc2);
 void csc_ap_link_send_vane(float *vane_angle);
+void csc_ap_link_send_airspeed(float airspeed1, float airspeed2);
 void csc_ap_link_set_servo_cmd_cb(void (* cb)(struct CscServoCmd *cmd));
 void csc_ap_link_set_motor_cmd_cb(void (* cb)(struct CscMotorMsg *msg));
 void csc_ap_link_set_prop_cmd_cb(void (* cb)(struct CscPropCmd *cmd, int idx));

Modified: paparazzi3/trunk/sw/airborne/csc/csc_msg_def.h
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/csc_msg_def.h      2010-01-19 20:18:51 UTC 
(rev 4460)
+++ paparazzi3/trunk/sw/airborne/csc/csc_msg_def.h      2010-01-19 20:20:14 UTC 
(rev 4461)
@@ -19,6 +19,7 @@
 #define CSC_GPS_ACC_ID       9
 #define CSC_PROP2_CMD_ID       10
 #define CSC_VANE_MSG_ID       11
+#define CSC_AIRSPEED_MSG_ID   12
 
 
 /* Received from the autopilot */
@@ -79,6 +80,11 @@
   float vane_angle2;
 } __attribute__((packed));
 
+struct CscAirspeedMsg {
+  float airspeed1;
+  float airspeed2;
+} __attribute__((packed));
+
 #define CSC_RC_SCALE 20
 #define CSC_RC_OFFSET 2*(MAX_PPRZ/CSC_RC_SCALE) /* Sorry this is a bit 
arbitrary. - mmt */
 

Modified: paparazzi3/trunk/sw/airborne/csc/mercury_csc_main.c
===================================================================
--- paparazzi3/trunk/sw/airborne/csc/mercury_csc_main.c 2010-01-19 20:18:51 UTC 
(rev 4460)
+++ paparazzi3/trunk/sw/airborne/csc/mercury_csc_main.c 2010-01-19 20:20:14 UTC 
(rev 4461)
@@ -50,6 +50,7 @@
 #include "periodic.h"
 #include "downlink.h"
 #include "pwm_input.h"
+#include "csc_airspeed.h"
 
 #include "csc_adc.h"
 #include "csc_rc_spektrum.h"
@@ -173,6 +174,7 @@
 
 #ifdef USE_AIRSPEED
   airspeed_update();
+  csc_airspeed_periodic();
 #endif
 }