[paparazzi-commits] [4610] add sonar module for booz

[Gautier Hattenberger]

Revision: 4610
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=4610
Author:   gautier
Date:     2010-03-02 17:56:36 +0000 (Tue, 02 Mar 2010)
Log Message:
-----------
add sonar module for booz

Added Paths:
-----------
    paparazzi3/trunk/conf/modules/sonar_maxbotix_booz.xml
    paparazzi3/trunk/sw/airborne/modules/sonar/
    paparazzi3/trunk/sw/airborne/modules/sonar/sonar_maxbotix_booz.c
    paparazzi3/trunk/sw/airborne/modules/sonar/sonar_maxbotix_booz.h

Added: paparazzi3/trunk/conf/modules/sonar_maxbotix_booz.xml
===================================================================
--- paparazzi3/trunk/conf/modules/sonar_maxbotix_booz.xml                       
        (rev 0)
+++ paparazzi3/trunk/conf/modules/sonar_maxbotix_booz.xml       2010-03-02 
17:56:36 UTC (rev 4610)
@@ -0,0 +1,16 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="sonar">
+  <header>
+    <file name="sonar_maxbotix_booz.h"/>
+  </header>
+  <init fun="maxbotix_init()"/>
+  <periodic fun="maxbotix_read()" freq="10"/>
+  <event fun="SonarEvent(booz_ins_update_sonar)"/>
+  <makefile target="ap">
+    <flag name="USE_EXTRA_ADC"/>
+    <flag name="USE_ADC_1"/>
+    <flag name="BOOZ2_SONAR"/>
+    <file name="sonar_maxbotix_booz.c"/>
+  </makefile>
+</module>

Added: paparazzi3/trunk/sw/airborne/modules/sonar/sonar_maxbotix_booz.c
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/sonar/sonar_maxbotix_booz.c            
                (rev 0)
+++ paparazzi3/trunk/sw/airborne/modules/sonar/sonar_maxbotix_booz.c    
2010-03-02 17:56:36 UTC (rev 4610)
@@ -0,0 +1,43 @@
+/*
+ * $Id: demo_module.c 3079 2009-03-11 16:55:42Z gautier $
+ *  
+ * Copyright (C) 2010  Gautier Hattenberger
+ *
+ * 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 "sonar_maxbotix_booz.h"
+#include "booz2_analog.h"
+
+uint16_t sonar_meas;
+bool_t sonar_data_available;
+
+void maxbotix_init(void) {
+  sonar_meas = 0;
+  sonar_data_available = FALSE;
+}
+
+/** Read ADC value to update sonar measurement
+ */
+void maxbotix_read(void) {
+  booz2_analog_extra_adc_read();
+  sonar_meas = booz2_adc_1;
+  sonar_data_available = TRUE;
+}
+

Added: paparazzi3/trunk/sw/airborne/modules/sonar/sonar_maxbotix_booz.h
===================================================================
--- paparazzi3/trunk/sw/airborne/modules/sonar/sonar_maxbotix_booz.h            
                (rev 0)
+++ paparazzi3/trunk/sw/airborne/modules/sonar/sonar_maxbotix_booz.h    
2010-03-02 17:56:36 UTC (rev 4610)
@@ -0,0 +1,51 @@
+/*
+ * $Id: demo_module.h 3079 2009-03-11 16:55:42Z gautier $
+ *  
+ * Copyright (C) 2010  Gautier Hattenberger
+ *
+ * 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 sonar_maxbotix_booz.h
+ * 
+ * simple driver to deal with one maxbotix sensor on booz AP
+ */
+
+#ifndef SONAR_MAXBOTIX_BOOZ_H
+#define SONAR_MAXBOTIX_BOOZ_H
+
+#include "std.h"
+
+extern uint16_t sonar_meas;
+
+extern bool_t sonar_data_available;
+
+extern void maxbotix_init(void);
+extern void maxbotix_read(void);
+
+#include "booz2_ins.h" // needed because booz_ins is not a module
+
+#define SonarEvent(_handler) { \
+  if (sonar_data_available) { \
+    _handler(); \
+    sonar_data_available = FALSE; \
+  } \
+}
+
+#endif