[paparazzi-commits] [6209] Have a GP2Y1010 dust sensor module

[Martin Mueller]

Revision: 6209
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6209
Author:   mmm
Date:     2010-10-23 21:03:12 +0000 (Sat, 23 Oct 2010)
Log Message:
-----------
Have a GP2Y1010 dust sensor module

Modified Paths:
--------------
    paparazzi3/trunk/conf/airframes/mm/fixed-wing/funjetmm.xml
    paparazzi3/trunk/conf/messages.xml

Added Paths:
-----------
    paparazzi3/trunk/conf/modules/dust_gp2y.xml
    paparazzi3/trunk/sw/airborne/firmwares/helper/
    paparazzi3/trunk/sw/airborne/firmwares/helper/README
    paparazzi3/trunk/sw/airborne/firmwares/helper/dustsens/
    paparazzi3/trunk/sw/airborne/firmwares/helper/dustsens/dustsens.pde
    paparazzi3/trunk/sw/airborne/modules/meteo/dust_gp2y.c
    paparazzi3/trunk/sw/airborne/modules/meteo/dust_gp2y.h

Modified: paparazzi3/trunk/conf/airframes/mm/fixed-wing/funjetmm.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/mm/fixed-wing/funjetmm.xml  2010-10-23 
08:18:53 UTC (rev 6208)
+++ paparazzi3/trunk/conf/airframes/mm/fixed-wing/funjetmm.xml  2010-10-23 
21:03:12 UTC (rev 6209)
@@ -61,6 +61,8 @@
 
   <!-- modules -->
   <modules>
+    <load name="dust_gp2y.xml"/>
+    <!--load name="adc_generic.xml"/>
     <load name="alt_srf08.xml"/>
     <load name="mag_micromag_fw.xml"/>
     <load name="baro_bmp.xml"/>
@@ -73,7 +75,6 @@
     <load name="humid_dpicco.xml"/>
     <load name="humid_sht.xml"/>
     <load name="baro_MS5534A.xml"/>
-    <!--load name="adc_generic.xml"/>
     <load name="baro_scp_i2c.xml"/-->
   </modules>
 

Modified: paparazzi3/trunk/conf/messages.xml
===================================================================
--- paparazzi3/trunk/conf/messages.xml  2010-10-23 08:18:53 UTC (rev 6208)
+++ paparazzi3/trunk/conf/messages.xml  2010-10-23 21:03:12 UTC (rev 6209)
@@ -634,7 +634,11 @@
     <field name="f_light" type="float" unit="percent" format="%.2f"/>
   </message>
 
- <!-- 98 is free -->
+  <message name="GP2Y_STATUS" id="98">
+    <field name="idensity"  type="uint16"/>
+    <field name="density"   type="float" unit="mg/m3" format="%.2f"/>
+  </message>
+
  <!-- 99 is free -->
 
   <message name="PPM" id="100">

Added: paparazzi3/trunk/conf/modules/dust_gp2y.xml
===================================================================
--- paparazzi3/trunk/conf/modules/dust_gp2y.xml                         (rev 0)
+++ paparazzi3/trunk/conf/modules/dust_gp2y.xml 2010-10-23 21:03:12 UTC (rev 
6209)
@@ -0,0 +1,14 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="dust_gp2y" dir="meteo">
+  <header>
+    <file name="dust_gp2y.h"/>
+  </header>
+  <init fun="dust_gp2y_init()"/>
+  <periodic fun="dust_gp2y_periodic()" freq="4" delay="1"/>
+  <event fun="dust_gp2y_event()"/>
+  <makefile target="ap">
+    <file name="dust_gp2y.c"/>
+  </makefile>
+</module>
+

Added: paparazzi3/trunk/sw/airborne/firmwares/helper/README
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/helper/README                        
        (rev 0)
+++ paparazzi3/trunk/sw/airborne/firmwares/helper/README        2010-10-23 
21:03:12 UTC (rev 6209)
@@ -0,0 +1,2 @@
+This folder contains software that runs in separate on-board processors that 
are not
+part of the main autopilot.
\ No newline at end of file

Added: paparazzi3/trunk/sw/airborne/firmwares/helper/dustsens/dustsens.pde
===================================================================
--- paparazzi3/trunk/sw/airborne/firmwares/helper/dustsens/dustsens.pde         
                (rev 0)
+++ paparazzi3/trunk/sw/airborne/firmwares/helper/dustsens/dustsens.pde 
2010-10-23 21:03:12 UTC (rev 6209)
@@ -0,0 +1,136 @@
+/*
+ * $Id$
+ *
+ * Copyright (C) 2010 Martin Mueller, <address@hidden>
+ *
+ * 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. 
+ *
+ */
+
+/* I2C interface for Sharp GP2Y1010AU optical dust sensor */
+
+#include <Wire.h>
+
+
+/* infrared LED pin PB1, high active */
+#define IR_FLASH_PIN    9
+/* adc_in pin ADC0 */
+#define ADC_PIN         0
+/* green LED pin PB5 (on arduino pro mini) */
+#define LED_GR_PIN      13
+
+#define GP2Y_I2C_ADDR   0x76
+#define AVG_NB_SAMPLE   25
+
+
+struct adc_buf {
+  unsigned long sum;
+  unsigned short values[AVG_NB_SAMPLE];
+  unsigned char head;
+};
+
+struct adc_buf buf;
+
+unsigned char i2c_out[2];
+unsigned long time_us;
+unsigned long time_ms;
+unsigned long trig_next;
+unsigned long cnt;
+unsigned short adc_val;
+unsigned char new_head;
+
+
+ISR(ADC_vect) {
+  adc_val = ADCL;
+  adc_val |= ADCH << 8;
+  new_head = buf.head + 1;
+  if (new_head >= AVG_NB_SAMPLE)
+    new_head=0;
+  buf.sum -= buf.values[new_head];
+  buf.values[new_head] = adc_val;
+  buf.sum += adc_val;
+  buf.head = new_head;
+}
+
+void read_i2c() {
+  i2c_out[0] = ((unsigned int)(buf.sum / AVG_NB_SAMPLE) >> 8) & 0xFF;
+  i2c_out[1] = (unsigned int)(buf.sum / AVG_NB_SAMPLE) & 0xFF;
+
+  Wire.send(i2c_out, 2);
+}
+
+void setup() { 
+  /* I2C init */
+  Wire.begin(GP2Y_I2C_ADDR);
+  Wire.onRequest(read_i2c);
+
+  /* green LED init */
+  digitalWrite(LED_GR_PIN, LOW);
+  pinMode(LED_GR_PIN, OUTPUT);
+  
+  /* infrared LED switch init */
+  digitalWrite(IR_FLASH_PIN, HIGH);
+  pinMode(IR_FLASH_PIN, OUTPUT);
+
+  /* init adc, default reference */
+  ADCSRA |= (1<<ADIE)|(1<<ADEN);
+  ADCSRA |= (1<<ADSC);
+  ADMUX = (DEFAULT << 6) | (ADC_PIN & 0x07);
+  
+  trig_next = millis() + 10;
+  cnt = 0;
+}
+
+void loop() {
+  if (millis() >= trig_next) {
+    trig_next += 10;
+
+    noInterrupts();
+
+    time_us = micros();
+    
+    /* flash the infrared, LED on */
+    digitalWrite(IR_FLASH_PIN, HIGH);
+
+    /* delay 0.28ms for reflection */
+    while((micros() - time_us) < 280);
+
+    /* start conversion */
+    ADCSRA |= 1 << ADSC;
+
+    /* fill delay to 0.32ms for end of reflection */
+    while((micros() - time_us) < 320);
+
+    /* infrared LED off */
+    digitalWrite(IR_FLASH_PIN, LOW);
+    
+    interrupts();
+
+#if 0
+    /* blink green LED */
+    if (cnt++ > 90) {
+      digitalWrite(LED_GR_PIN, HIGH);
+      if (cnt > 100) {
+        digitalWrite(LED_GR_PIN, LOW);
+        cnt = 0;
+      }
+    }
+#endif    
+  }
+}
+

Added: paparazzi3/trunk/sw/airborne/modules/meteo/dust_gp2y.c
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/meteo/dust_gp2y.c                      
        (rev 0)
+++ paparazzi3/trunk/sw/airborne/modules/meteo/dust_gp2y.c      2010-10-23 
21:03:12 UTC (rev 6209)
@@ -0,0 +1,82 @@
+/*
+ * $Id$
+ *  
+ * Copyright (C) 2010 Martin Mueller
+ *
+ * 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 dust_gp2y.c
+ *  \brief Sharp GP2Y1010AU dust sensor interface
+ *
+ *   This reads the values for dust density from the Sharp GP2Y1010AU0F sensor
+ *   through I2C (needs I2C ADC at the sensor).
+ */
+
+
+#include "dust_gp2y.h"
+#include "i2c.h"
+#include "sys_time.h"
+#include "uart.h"
+#include "messages.h"
+#include "downlink.h"
+
+uint8_t  dust_gp2y_status;
+uint16_t dust_gp2y_density;
+float dust_gp2y_density_f;
+
+struct i2c_transaction gp2y_trans;
+
+#ifndef GP2Y_I2C_DEV
+#define GP2Y_I2C_DEV i2c0
+#endif
+
+#define GP2Y_SLAVE_ADDR 0xED
+
+void dust_gp2y_init( void ) {
+  dust_gp2y_status = DUST_GP2Y_UNINIT;
+}
+
+void dust_gp2y_periodic( void ) {
+  if (dust_gp2y_status == DUST_GP2Y_IDLE) {
+    I2CReceive(GP2Y_I2C_DEV, gp2y_trans, GP2Y_SLAVE_ADDR, 2);
+  }
+  else if (dust_gp2y_status == DUST_GP2Y_UNINIT && cpu_time_sec > 1) {
+    dust_gp2y_status = DUST_GP2Y_IDLE;
+  }
+}
+
+void dust_gp2y_event( void ) {
+  if (gp2y_trans.status == I2CTransSuccess) {
+    /* read two byte particle density */
+    dust_gp2y_density  = gp2y_trans.buf[0] << 8;
+    dust_gp2y_density |= gp2y_trans.buf[1];
+
+    /* "just for reference and not for guarantee" */
+    dust_gp2y_density_f = ((dust_gp2y_density / 1024.) * 3.3 * (51. / 33.) - 
0.6) * (0.5 / 3.);
+    if (dust_gp2y_density_f < 0) 
+      dust_gp2y_density_f = 0;
+
+    DOWNLINK_SEND_GP2Y_STATUS(DefaultChannel, &dust_gp2y_density, 
&dust_gp2y_density_f);
+
+    gp2y_trans.status = I2CTransDone;
+  }
+}
+
+

Added: paparazzi3/trunk/sw/airborne/modules/meteo/dust_gp2y.h
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/meteo/dust_gp2y.h                      
        (rev 0)
+++ paparazzi3/trunk/sw/airborne/modules/meteo/dust_gp2y.h      2010-10-23 
21:03:12 UTC (rev 6209)
@@ -0,0 +1,18 @@
+#ifndef DUST_GP2Y_H
+#define DUST_GP2Y_H
+
+#include "std.h"
+
+#define DUST_GP2Y_UNINIT     0
+#define DUST_GP2Y_IDLE       1
+
+extern uint8_t  dust_gp2y_status;
+extern uint16_t dust_gp2y_density;
+extern float dust_gp2y_density_f;
+
+void dust_gp2y_init(void);
+void dust_gp2y_periodic(void);
+void dust_gp2y_event(void);
+
+#endif
+