[paparazzi-commits] [4776] add infrared_i2c module

[Gautier Hattenberger]

Revision: 4776
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4776
Author:   gautier
Date:     2010-03-31 14:19:31 +0000 (Wed, 31 Mar 2010)
Log Message:
-----------
add infrared_i2c module

Added Paths:
-----------
    paparazzi3/trunk/conf/modules/infrared_i2c.xml
    paparazzi3/trunk/sw/airborne/modules/sensors/
    paparazzi3/trunk/sw/airborne/modules/sensors/infrared_i2c.c
    paparazzi3/trunk/sw/airborne/modules/sensors/infrared_i2c.h

Added: paparazzi3/trunk/conf/modules/infrared_i2c.xml
===================================================================
--- paparazzi3/trunk/conf/modules/infrared_i2c.xml                              
(rev 0)
+++ paparazzi3/trunk/conf/modules/infrared_i2c.xml      2010-03-31 14:19:31 UTC 
(rev 4776)
@@ -0,0 +1,14 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="sensors">
+  <header>
+    <file name="infrared_i2c.h"/>
+  </header>
+  <init fun="infrared_i2c_init()"/>
+  <periodic fun="infrared_i2c_update()" freq="60."/>
+  <event fun="infrared_i2cEvent()"/>
+  <makefile>
+    <file name="infrared_i2c.c"/>
+  </makefile>
+</module>
+

Added: paparazzi3/trunk/sw/airborne/modules/sensors/infrared_i2c.c
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/sensors/infrared_i2c.c                 
        (rev 0)
+++ paparazzi3/trunk/sw/airborne/modules/sensors/infrared_i2c.c 2010-03-31 
14:19:31 UTC (rev 4776)
@@ -0,0 +1,111 @@
+/*
+ * Copyright (C) 2010 ENAC
+ *
+ * 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.
+ *
+ */
+
+#include "infrared_i2c.h"
+#include "i2c.h"
+
+#include "uart.h"
+#include "messages.h"
+#include "downlink.h"
+
+// Macros
+#define IR_VERT_I2C_ADDR 0xEA
+#define IR_VERT_I2C_REG 0x07
+
+#ifndef IR_IR1_SIGN
+#define IR_IR1_SIGN 1
+#endif // IR_IR1_SIGN
+
+#ifndef IR_IR2_SIGN
+#define IR_IR2_SIGN 1
+#endif // IR_IR2_SIGN
+
+#ifndef IR_TOP_SIGN
+#define IR_TOP_SIGN 1
+#endif // IR_TOP_SIGN
+
+/* Sensor installation */
+#if defined IR_HORIZ_SENSOR_ALIGNED
+/* IR1 on the lateral axis, IR2 on the longitudal axis */
+#define IR_RollOfIrs(_ir1, _ir2) (_ir1)
+#define IR_PitchOfIrs(_ir1, _ir2) (_ir2)
+#elif IR_HORIZ_SENSOR_TILTED
+/* IR1 rear-left -- front-right, IR2 rear-right -- front-left
+   IR1_SIGN and IR2_SIGN give positive values when it's warm on the right side
+*/
+#define IR_RollOfIrs(_ir1, _ir2) (_ir1 + _ir2)
+#define IR_PitchOfIrs(_ir1, _ir2) (-(_ir1) + _ir2)
+#endif
+/* Vertical sensor */
+#ifndef IR_TopOfIr
+#define IR_TopOfIr(_ir) ((IR_TOP_SIGN)*(_ir))
+#endif
+
+#define IR_I2C_IDLE       0
+#define IR_I2C_READ_TOP   1
+
+// Global variables
+float ir_i2c_roll_neutral;
+float ir_i2c_pitch_neutral;
+
+int16_t ir_i2c_ir1;
+int16_t ir_i2c_ir2;
+int16_t ir_i2c_roll;
+int16_t ir_i2c_pitch;
+int16_t ir_i2c_top;
+
+// Local variables
+volatile bool_t ir_i2c_done;
+static uint8_t ir_i2c_status;
+
+void infrared_i2c_init( void ) {
+  ir_i2c_roll_neutral  = RadOfDeg(IR_ROLL_NEUTRAL_DEFAULT);
+  ir_i2c_pitch_neutral = RadOfDeg(IR_PITCH_NEUTRAL_DEFAULT);
+
+  ir_i2c_status = IR_I2C_IDLE;
+
+  // Transmit sensor conf
+  // TODO
+}
+
+void infrared_i2c_update( void ) {
+  if (ir_i2c_done && ir_i2c_status == IR_I2C_IDLE) {
+    // Read next value TOP sensor
+    i2c0_receive(IR_VERT_I2C_ADDR, 2, &ir_i2c_done);
+    ir_i2c_status = IR_I2C_READ_TOP;
+    ir_i2c_done = FALSE;
+  }
+}
+
+void infrared_i2c_event( void ) {
+  switch (ir_i2c_status) {
+    case IR_I2C_IDLE :
+      break;
+    case IR_I2C_READ_TOP :
+      ir_i2c_top = (i2c0_buf[0]<<8) | i2c0_buf[1];
+      ir_i2c_status = IR_I2C_IDLE;
+      break;
+  }
+
+}
+
+

Added: paparazzi3/trunk/sw/airborne/modules/sensors/infrared_i2c.h
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/sensors/infrared_i2c.h                 
        (rev 0)
+++ paparazzi3/trunk/sw/airborne/modules/sensors/infrared_i2c.h 2010-03-31 
14:19:31 UTC (rev 4776)
@@ -0,0 +1,45 @@
+/*
+ * Copyright (C) 2010 ENAC
+ *
+ * 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.
+ *
+ */
+
+/*
+ * Driver for i2c infrared sensor
+ */
+
+#ifndef INFRARED_I2C_H
+#define INFRARED_I2C_H
+
+#include "std.h"
+#include "airframe.h"
+
+extern float ir_i2c_roll_neutral; /* Rad */
+extern float ir_i2c_pitch_neutral; /* Rad */
+
+extern int16_t ir_i2c_ir1; /* First horizontal channel */
+extern int16_t ir_i2c_ir2; /* Second horizontal channel */
+extern int16_t ir_i2c_roll;  /* averaged roll adc */
+extern int16_t ir_i2c_pitch; /* averaged pitch adc */
+extern int16_t ir_i2c_top;  /* averaged vertical ir adc */
+
+extern void infrared_i2c_init( void );
+extern void infrared_i2c_update( void );
+
+#endif // INFRARED_I2C_H