[paparazzi-commits] [6042] added sonar sensor to twog which forwards us the adc values.

[Paul Cox]

Revision: 6042
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6042
Author:   paulcox
Date:     2010-10-01 13:03:53 +0000 (Fri, 01 Oct 2010)
Log Message:
-----------
added sonar sensor to twog which forwards us the adc values.

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/beth/overo_gcs_com.c
    paparazzi3/trunk/sw/airborne/beth/overo_test_uart.c
    paparazzi3/trunk/sw/airborne/beth/rcv_telemetry.c

Modified: paparazzi3/trunk/sw/airborne/beth/overo_gcs_com.c
===================================================================
--- paparazzi3/trunk/sw/airborne/beth/overo_gcs_com.c   2010-10-01 13:01:49 UTC 
(rev 6041)
+++ paparazzi3/trunk/sw/airborne/beth/overo_gcs_com.c   2010-10-01 13:03:53 UTC 
(rev 6042)
@@ -10,8 +10,9 @@
 #include "settings.h"
 
 //bill laptop
-//#define GCS_HOST "10.31.4.5"
-#define GCS_HOST "192.168.2.10"
+#define GCS_HOST "10.31.4.5"
+//#define GCS_HOST "192.168.2.10"
+//#define GCS_HOST "192.168.2.1"
 //auto4
 //#define GCS_HOST "10.31.4.104"
 #define GCS_PORT 4242

Modified: paparazzi3/trunk/sw/airborne/beth/overo_test_uart.c
===================================================================
--- paparazzi3/trunk/sw/airborne/beth/overo_test_uart.c 2010-10-01 13:01:49 UTC 
(rev 6041)
+++ paparazzi3/trunk/sw/airborne/beth/overo_test_uart.c 2010-10-01 13:03:53 UTC 
(rev 6042)
@@ -67,6 +67,17 @@
 #endif
 static uint8_t configgps = 0;
 
+
+extern float phi;
+extern float psi;
+extern float theta;
+extern uint16_t throttle;
+extern uint16_t voltage;
+extern uint16_t amps;
+extern uint16_t energy;
+extern uint16_t adc1;
+extern uint16_t adc2;
+
 int main(int argc, char *argv[]) {
   portnum = 0;
 
@@ -118,7 +129,8 @@
 static void main_periodic(int my_sig_num) {
 
   
-  //RunOnceEvery(50, {DOWNLINK_SEND_ALIVE(gcs_com.udp_transport, 16, 
MD5SUM);});
+  RunOnceEvery(50, {DOWNLINK_SEND_ALIVE(gcs_com.udp_transport, 16, MD5SUM);});
+   RunOnceEvery(5, 
{DOWNLINK_SEND_ADC_GENERIC(gcs_com.udp_transport,&adc1,&adc2);});
 
 #ifdef USE_UART0 
   uart0_handler();

Modified: paparazzi3/trunk/sw/airborne/beth/rcv_telemetry.c
===================================================================
--- paparazzi3/trunk/sw/airborne/beth/rcv_telemetry.c   2010-10-01 13:01:49 UTC 
(rev 6041)
+++ paparazzi3/trunk/sw/airborne/beth/rcv_telemetry.c   2010-10-01 13:03:53 UTC 
(rev 6042)
@@ -48,23 +48,59 @@
 #include "downlink.h"
 
 
+
 #define MOfCm(_x) (((float)(_x))/100.)
 
 #define SenderIdOfMsg(x) (x[0])
 #define IdOfMsg(x) (x[1])
 
+float phi;
+float psi;
+float theta;
+uint16_t throttle;
+uint16_t voltage;
+uint16_t amps;
+uint16_t energy;
+uint16_t adc1;
+uint16_t adc2;
+
+/*
+ 6 ATTITUDE
+ 8 GPS
+10 NAVIGATION
+12 BAT
+16 DESIRED
+35 
+36
+37 ENERGY
+42 ESTIMATOR
+*/
 void dl_parse_msg(void) {
   datalink_time = 0;
   uint8_t msg_id = IdOfMsg(dl_buffer);
   printf("Tiny rx id: %d\n",msg_id);
 
-if (msg_id == DL_ATTITUDE) {
-      float phi = DL_ATTITUDE_phi(dl_buffer);
-      float psi = DL_ATTITUDE_psi(dl_buffer);
-      float theta = DL_ATTITUDE_theta(dl_buffer);
+  if (msg_id == DL_ATTITUDE) {
+      phi = DL_ATTITUDE_phi(dl_buffer);
+      psi = DL_ATTITUDE_psi(dl_buffer);
+      theta = DL_ATTITUDE_theta(dl_buffer);
       printf("Attitude: %f %f %f\n", phi, psi, theta);
-  } else {
-    printf("Unknown msg id %d",msg_id);
   }
+  if (msg_id == DL_BAT) {
+      throttle = DL_BAT_throttle(dl_buffer);
+      voltage = DL_BAT_voltage(dl_buffer);
+      amps = DL_BAT_amps(dl_buffer);
+      energy = DL_BAT_energy(dl_buffer);
+      printf("BAT: %d %d %d %d\n", throttle,voltage,amps,energy);
+  }
+  if (msg_id == DL_ADC_GENERIC) {
+      adc1 = DL_ADC_GENERIC_val1(dl_buffer);
+      adc2 = DL_ADC_GENERIC_val2(dl_buffer);
+      printf("ADC: %d %d\n",adc1,adc2);
+  }  
+  
+  else {
+    //printf("Tiny msg_id %d unknown\n",msg_id);
+  }
 
 }