Paparazzi UAS  v5.10_stable-5-g83a0da5-dirty
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generic_com.c
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1 /*
2  * Copyright (C) 2011 Gautier Hattenberger
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  *
21  */
22 
23 /* Generic module to send data to a gsm/satcom module controlled by arduino over i2c */
24 
25 #include "std.h"
26 
28 #include "mcu_periph/i2c.h"
29 
30 #include "state.h"
31 #include "subsystems/gps.h"
32 #include "subsystems/electrical.h"
33 #include "generated/airframe.h"
34 #include "inter_mcu.h"
37 
38 #define NB_DATA 24
39 
40 #ifndef GENERIC_COM_I2C_DEV
41 #define GENERIC_COM_I2C_DEV i2c0
42 #endif
43 
44 #ifndef GENERIC_COM_SLAVE_ADDR
45 #define GENERIC_COM_SLAVE_ADDR 0x26
46 #endif
47 
49 
51 
52 void generic_com_init(void)
53 {
54  active_com = false;
56 }
57 
58 #define FillBufWith32bit(_buf, _index, _value) { \
59  _buf[_index] = (uint8_t) (_value); \
60  _buf[_index+1] = (uint8_t) ((_value) >> 8); \
61  _buf[_index+2] = (uint8_t) ((_value) >> 16); \
62  _buf[_index+3] = (uint8_t) ((_value) >> 24); \
63  }
64 
65 #define FillBufWith16bit(_buf, _index, _value) { \
66  _buf[_index] = (uint8_t) (_value); \
67  _buf[_index+1] = (uint8_t) ((_value) >> 8); \
68  }
69 
71 {
72 
73  if (com_trans.status != I2CTransDone) { return; }
74 
78  FillBufWith16bit(com_trans.buf, 9, (int16_t)(gps.lla_pos.alt / 1000)); // altitude (meters)
79  FillBufWith16bit(com_trans.buf, 11, gps.gspeed); // ground speed (cm/s)
80  FillBufWith16bit(com_trans.buf, 13, (int16_t)(gps.course / 1e4)); // course (1e3rad)
81  FillBufWith16bit(com_trans.buf, 15, (uint16_t)(stateGetAirspeed_f() * 100)); // TAS (cm/s)
82  com_trans.buf[17] = electrical.vsupply; // decivolts
83  com_trans.buf[18] = (uint8_t)(energy / 100); // deciAh
84  com_trans.buf[19] = (uint8_t)(imcu_get_command(COMMAND_THROTTLE) * 100 / MAX_PPRZ);
85  com_trans.buf[20] = pprz_mode;
86  com_trans.buf[21] = nav_block;
89 
90 }
91 
93 {
94  // Handle I2C event
97  }
98 }
99 
100 void start_com(void)
101 {
102  active_com = true;
104 }
105 
106 void stop_com(void)
107 {
108  active_com = false;
109  com_trans.buf[0] = active_com;
111 }
112 
unsigned short uint16_t
Definition: types.h:16
Communication between fbw and ap processes.
volatile uint8_t buf[I2C_BUF_LEN]
Transaction buffer With I2C_BUF_LEN number of bytes.
Definition: i2c.h:122
transaction successfully finished by I2C driver
Definition: i2c.h:57
uint16_t autopilot_flight_time
flight time in seconds.
Definition: autopilot.c:48
uint8_t pprz_mode
Definition: autopilot.c:41
#define FillBufWith16bit(_buf, _index, _value)
Definition: generic_com.c:65
static float stateGetAirspeed_f(void)
Get airspeed (float).
Definition: state.h:1389
uint8_t nav_block
void start_com(void)
Definition: generic_com.c:100
void generic_com_periodic(void)
Definition: generic_com.c:70
int32_t alt
in millimeters above WGS84 reference ellipsoid
transaction set to done by user level
Definition: i2c.h:59
Interface for electrical status: supply voltage, current, battery status, etc.
Device independent GPS code (interface)
signed short int16_t
Definition: types.h:17
int32_t lon
in degrees*1e7
#define GENERIC_COM_SLAVE_ADDR
Definition: generic_com.c:45
transaction failed
Definition: i2c.h:58
void stop_com(void)
Definition: generic_com.c:106
struct i2c_transaction com_trans
Definition: generic_com.c:48
I2C transaction structure.
Definition: i2c.h:93
enum I2CTransactionStatus status
Transaction status.
Definition: i2c.h:126
bool i2c_transmit(struct i2c_periph *p, struct i2c_transaction *t, uint8_t s_addr, uint8_t len)
Submit a write only transaction.
Definition: i2c.c:258
float energy
Energy consumption (mAh) This is the ap copy of the measurement from fbw.
Definition: autopilot.c:54
unsigned char uint8_t
Definition: types.h:14
API to get/set the generic vehicle states.
int32_t course
GPS course over ground in rad*1e7, [0, 2*Pi]*1e7 (CW/north)
Definition: gps.h:93
uint16_t vsupply
supply voltage in decivolts
Definition: electrical.h:48
bool active_com
Definition: generic_com.c:50
#define NB_DATA
Definition: generic_com.c:38
uint16_t gspeed
norm of 2d ground speed in cm/s
Definition: gps.h:91
struct Electrical electrical
Definition: electrical.c:65
struct LlaCoor_i lla_pos
position in LLA (lat,lon: deg*1e7; alt: mm over ellipsoid)
Definition: gps.h:86
#define MAX_PPRZ
Definition: paparazzi.h:8
void generic_com_event(void)
Definition: generic_com.c:92
void generic_com_init(void)
Definition: generic_com.c:52
int32_t lat
in degrees*1e7
#define FillBufWith32bit(_buf, _index, _value)
Definition: generic_com.c:58
struct GpsState gps
global GPS state
Definition: gps.c:75
#define GENERIC_COM_I2C_DEV
Definition: generic_com.c:41
Architecture independent I2C (Inter-Integrated Circuit Bus) API.
Fixedwing autopilot modes.