[paparazzi-commits] [6223] GFI wind dir/speed sensor module

[Martin Mueller]

Revision: 6223
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6223
Author:   mmm
Date:     2010-10-24 14:01:48 +0000 (Sun, 24 Oct 2010)
Log Message:
-----------
GFI wind dir/speed sensor module

Added Paths:
-----------
    paparazzi3/trunk/conf/modules/wind_gfi.xml
    paparazzi3/trunk/sw/airborne/modules/meteo/wind_gfi.c
    paparazzi3/trunk/sw/airborne/modules/meteo/wind_gfi.h

Added: paparazzi3/trunk/conf/modules/wind_gfi.xml
===================================================================
--- paparazzi3/trunk/conf/modules/wind_gfi.xml                          (rev 0)
+++ paparazzi3/trunk/conf/modules/wind_gfi.xml  2010-10-24 14:01:48 UTC (rev 
6223)
@@ -0,0 +1,15 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="wind_gfi" dir="meteo">
+  <header>
+    <file name="wind_gfi.h"/>
+  </header>
+  <init fun="wind_gfi_init()"/>
+  <periodic fun="wind_gfi_periodic()" freq="4" delay="2"/>
+  <event fun="wind_gfi_event()"/>
+  <makefile target="ap">
+    <file name="wind_gfi.c"/>
+     <define name="ZERO_OFFSET_DEGREES" value="56."/>
+  </makefile>
+</module>
+

Added: paparazzi3/trunk/sw/airborne/modules/meteo/wind_gfi.c
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/meteo/wind_gfi.c                       
        (rev 0)
+++ paparazzi3/trunk/sw/airborne/modules/meteo/wind_gfi.c       2010-10-24 
14:01:48 UTC (rev 6223)
@@ -0,0 +1,115 @@
+/*
+ * $Id$
+ *  
+ * 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 wind_gfi.c
+ *  \brief GFI wind speed/direction sensor interface
+ *
+ *  Uses HEDS-5540_A06, HCTL-2017_A00 and PCF8575.
+ */
+
+
+#include "wind_gfi.h"
+
+#include "i2c.h"
+#include "led.h"
+#include "uart.h"
+#include "messages.h"
+#include "downlink.h"
+
+struct i2c_transaction pcf_trans;
+
+#ifndef ZERO_OFFSET_DEGREES
+#define ZERO_OFFSET_DEGREES     45.
+#endif
+
+#ifndef PCF_I2C_DEV
+#define PCF_I2C_DEV i2c0
+#endif
+
+/* PCF8575 address can be set through A0..A2, starting at 0x40 */
+
+#ifndef PCF_SLAVE_ADDR
+#define PCF_SLAVE_ADDR 0x40
+#endif
+
+uint32_t pcf_direction;
+uint8_t  pcf_status;
+
+void wind_gfi_init(void) {
+  pcf_trans.status = I2CTransDone;
+  pcf_status = PCF_IDLE;
+}
+
+void wind_gfi_periodic( void ) {
+  /* OE low, SEL high (for low data) */
+  pcf_trans.buf[0] = 0xFF;
+  pcf_trans.buf[1] = 0xBF;
+  pcf_status = PCF_SET_OE_LSB;
+  I2CTransmit(PCF_I2C_DEV, pcf_trans, PCF_SLAVE_ADDR, 2);
+}
+
+void wind_gfi_event( void ) {
+  if (pcf_trans.status == I2CTransSuccess) {
+
+    if (pcf_status == PCF_SET_OE_LSB) {
+      pcf_status = PCF_READ_LSB;
+      I2CReceive(PCF_I2C_DEV, pcf_trans, PCF_SLAVE_ADDR, 2);
+    }
+    else if (pcf_status == PCF_READ_LSB) {
+      /* read lower byte direction info */
+      pcf_direction = pcf_trans.buf[0];
+
+      /* OE low, SEL low (for high data) */
+      pcf_trans.buf[0] = 0xFF;
+      pcf_trans.buf[1] = 0x3F;
+      pcf_status = PCF_SET_OE_MSB;
+      I2CTransmit(PCF_I2C_DEV, pcf_trans, PCF_SLAVE_ADDR, 2);
+    }
+    else if (pcf_status == PCF_SET_OE_MSB) {
+      pcf_status = PCF_READ_MSB;
+      I2CReceive(PCF_I2C_DEV, pcf_trans, PCF_SLAVE_ADDR, 2);
+    }
+    else if (pcf_status == PCF_READ_MSB) {
+      float fpcf_direction;
+
+      /* read higher byte direction info */
+      pcf_direction |= pcf_trans.buf[0] << 8;
+
+      /* OE high, SEL high */
+      pcf_trans.buf[0] = 0xFF;
+      pcf_trans.buf[1] = 0xFF;
+      pcf_status = PCF_IDLE;
+      I2CTransmit(PCF_I2C_DEV, pcf_trans, PCF_SLAVE_ADDR, 2);
+
+      /* 2048 digits per 360 degrees */
+      fpcf_direction = fmod((pcf_direction * (360./2048.)) + 
ZERO_OFFSET_DEGREES, 360.);
+
+      DOWNLINK_SEND_TMP_STATUS(DefaultChannel, &pcf_direction, 
&fpcf_direction);
+    }
+    else if (pcf_status == PCF_IDLE) {
+      pcf_trans.status = I2CTransDone;
+    }
+  }
+}
+

Added: paparazzi3/trunk/sw/airborne/modules/meteo/wind_gfi.h
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/meteo/wind_gfi.h                       
        (rev 0)
+++ paparazzi3/trunk/sw/airborne/modules/meteo/wind_gfi.h       2010-10-24 
14:01:48 UTC (rev 6223)
@@ -0,0 +1,18 @@
+#ifndef WIND_GFI_H
+#define WIND_GFI_H
+
+#include "std.h"
+
+enum pcf_stat{
+  PCF_IDLE,
+  PCF_SET_OE_LSB,
+  PCF_READ_LSB,
+  PCF_SET_OE_MSB,
+  PCF_READ_MSB
+};
+
+void wind_gfi_init(void);
+void wind_gfi_periodic(void);
+void wind_gfi_event(void);
+
+#endif