[modules] Generic UART Sensor (#3060)

conf/modules/generic_uart_sensor.xml

@@ -0,0 +1,28 @@
+<!DOCTYPE module SYSTEM "module.dtd">
+
+<module name="generic_uart_sensor" dir="sensors">
+  <doc>
+    <description>Generic UART sesnsor where the data is forwarded tot the GCS</description>
+    <configure name="GENERIC_UART_PORT" value="UART4" description="select which uart it is connected to"/>
+    <configure name="GENERIC_UART_BAUD" value="B9600" description="set the baudrate of the uart"/>
+    <define name="GENERIC_UART_ENDCHAR" value="&gt;" description="ending character for receiving"/>
+  </doc>
+  <header>
+    <file name="generic_uart.h"/>
+  </header>
+  <event fun="generic_uart_event()"/>
+  <makefile>
+    <!-- Configure default UART port and baudrate -->
+    <configure name="GENERIC_UART_PORT" default="UART4" case="upper|lower"/>
+    <configure name="GENERIC_UART_BAUD" default="B9600"/>
+
+    <!-- Enable UART and set baudrate -->
+    <define name="USE_$(GENERIC_UART_PORT_UPPER)"/>
+    <define name="USE_$(GENERIC_UART_PORT_UPPER)_TX" value="FALSE"/>
+    <define name="$(GENERIC_UART_PORT_UPPER)_BAUD" value="$(GENERIC_UART_BAUD)"/>
+    <define name="GENERIC_UART_PORT" value="$(GENERIC_UART_PORT_LOWER)"/>
+
+    <!-- Sources -->
+    <file name="generic_uart.c"/>
+  </makefile>
+</module>

sw/airborne/modules/sensors/generic_uart.c

@@ -0,0 +1,68 @@
+/*
+ * Copyright (C) 2020 Freek van Tienen <freek.v.tienen@gmail.com>
+ *
+ * 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, see
+ * <http://www.gnu.org/licenses/>.
+ */
+
+/**
+ * @file "modules/sensors/generic_uart.c"
+ * @author F. van Tienen
+ * Generic UART sensor, forwarding towards the GCS through telemetry
+ */
+
+#include "modules/sensors/generic_uart.h"
+#include "modules/datalink/telemetry.h"
+#include "mcu_periph/uart.h"
+
+/* Default end character */
+#ifndef GENERIC_UART_ENDCHAR
+#define GENERIC_UART_ENDCHAR '>'
+#endif
+
+/* Main variables */
+static struct link_device *gen_uart_dev = (&((GENERIC_UART_PORT).device));   ///< UART device for communication
+
+/* Event function to read UART message and forward to downlink */
+void generic_uart_event(void) {
+  // Receive buffer
+  static uint8_t gen_msg_buf[128];
+  static uint8_t gen_msg_cnt = 0;
+
+  // Transmit buffer
+  static uint8_t msg_buf_snd[128];
+  static uint8_t msg_cnt_snd = 0;
+
+  // Look for data on serial port and save it in the buffer
+  while (gen_uart_dev->char_available(gen_uart_dev->periph)) { 
+    gen_msg_buf[gen_msg_cnt++] = gen_uart_dev->get_byte(gen_uart_dev->periph);
+
+    if(gen_msg_buf[gen_msg_cnt-1] == GENERIC_UART_ENDCHAR)
+      break;
+  }
+
+  // Forward the message to the GCS
+  if(gen_msg_buf[gen_msg_cnt-1] == GENERIC_UART_ENDCHAR || gen_msg_cnt > 50) {   
+    msg_cnt_snd = gen_msg_cnt;
+    for(uint8_t i = 0; i < msg_cnt_snd; ++i)
+      msg_buf_snd[i] = gen_msg_buf[i];
+
+    DOWNLINK_SEND_PAYLOAD(DefaultChannel, DefaultDevice, msg_cnt_snd, msg_buf_snd);
+
+    gen_msg_buf[0] = 0;
+    gen_msg_cnt = 0;
+  }
+}

sw/airborne/modules/sensors/generic_uart.h

@@ -0,0 +1,34 @@
+/*
+ * Copyright (C) 2020 Freek van Tienen <freek.v.tienen@gmail.com>
+ *
+ * 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, see
+ * <http://www.gnu.org/licenses/>.
+ */
+
+/**
+ * @file "modules/sensors/generic_uart.c"
+ * @author F. van Tienen
+ * Generic UART sensor, forwarding towards the GCS through telemetry
+ */
+
+#ifndef GENERIC_UART_H
+#define GENERIC_UART_H
+
+#include "std.h"
+
+extern void generic_uart_event(void);
+
+#endif