Add additional MSP-based sensors

src/main/CMakeLists.txt

@@ -118,6 +118,8 @@ main_sources(COMMON_SRC
     drivers/barometer/barometer_ms56xx.h
     drivers/barometer/barometer_spl06.c
     drivers/barometer/barometer_spl06.h
+    drivers/barometer/barometer_msp.c
+    drivers/barometer/barometer_msp.h
 
     drivers/buf_writer.c
     drivers/buf_writer.h
@@ -148,6 +150,8 @@ main_sources(COMMON_SRC
     drivers/compass/compass_mpu9250.h
     drivers/compass/compass_qmc5883l.c
     drivers/compass/compass_qmc5883l.h
+    drivers/compass/compass_msp.c
+    drivers/compass/compass_msp.h
 
     drivers/display.c
     drivers/display.h
@@ -195,12 +199,14 @@ main_sources(COMMON_SRC
     drivers/osd.h
     drivers/persistent.c
     drivers/persistent.h
-    drivers/pitotmeter_adc.c
-    drivers/pitotmeter_adc.h
-    drivers/pitotmeter_ms4525.c
-    drivers/pitotmeter_ms4525.h
-    drivers/pitotmeter_virtual.c
-    drivers/pitotmeter_virtual.h
+    drivers/pitotmeter/pitotmeter_adc.c
+    drivers/pitotmeter/pitotmeter_adc.h
+    drivers/pitotmeter/pitotmeter_ms4525.c
+    drivers/pitotmeter/pitotmeter_ms4525.h
+    drivers/pitotmeter/pitotmeter_msp.c
+    drivers/pitotmeter/pitotmeter_msp.h
+    drivers/pitotmeter/pitotmeter_virtual.c
+    drivers/pitotmeter/pitotmeter_virtual.h
     drivers/pwm_esc_detect.c
     drivers/pwm_esc_detect.h
     drivers/pwm_mapping.c
@@ -499,6 +505,7 @@ main_sources(COMMON_SRC
     io/gps_ublox.c
     io/gps_nmea.c
     io/gps_naza.c
+    io/gps_msp.c
     io/gps_private.h
     io/ledstrip.c
     io/ledstrip.h

src/main/drivers/barometer/barometer_msp.c

@@ -0,0 +1,102 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute and/or modify
+ * it under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This file 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 this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#if defined(USE_BARO_MSP)
+
+#include "build/build_config.h"
+#include "build/debug.h"
+
+#include "common/utils.h"
+#include "common/time.h"
+
+#include "drivers/time.h"
+#include "drivers/barometer/barometer.h"
+#include "drivers/barometer/barometer_msp.h"
+
+#include "msp/msp_protocol_v2_sensor_msg.h"
+
+#define MSP_BARO_TIMEOUT_MS      250     // Less than 4Hz updates is considered a failure
+
+static int32_t mspBaroPressure;
+static int32_t mspBaroTemperature;
+static timeMs_t mspBaroLastUpdateMs;
+
+static bool mspBaroStartGet(baroDev_t * baro)
+{
+    UNUSED(baro);
+    return true;
+}
+
+static bool mspBaroCalculate(baroDev_t * baro, int32_t *pressure, int32_t *temperature)
+{
+    UNUSED(baro);
+
+    if ((millis() - mspBaroLastUpdateMs) > MSP_BARO_TIMEOUT_MS) {
+        return false;
+    }
+
+    if (pressure)
+        *pressure = mspBaroPressure;
+
+    if (temperature)
+        *temperature = mspBaroTemperature;
+
+    return true;
+}
+
+void mspBaroReceiveNewData(uint8_t * bufferPtr)
+{
+    const mspSensorBaroDataMessage_t * pkt = (const mspSensorBaroDataMessage_t *)bufferPtr;
+
+    mspBaroPressure = pkt->pressurePa;
+    mspBaroTemperature = pkt->temp;
+    mspBaroLastUpdateMs = millis();
+}
+
+bool mspBaroDetect(baroDev_t *baro)
+{
+    mspBaroPressure = 101325;    // pressure in Pa (0m MSL)
+    mspBaroTemperature = 2500;   // temperature in 0.01 C = 25 deg
+
+    // these are dummy as temperature is measured as part of pressure
+    baro->ut_delay = 10000;
+    baro->get_ut = mspBaroStartGet;
+    baro->start_ut = mspBaroStartGet;
+
+    // only _up part is executed, and gets both temperature and pressure
+    baro->up_delay = 10000;
+    baro->start_up = mspBaroStartGet;
+    baro->get_up = mspBaroStartGet;
+
+    baro->calculate = mspBaroCalculate;
+
+    return true;
+}
+
+#endif

src/main/drivers/barometer/barometer_msp.h

@@ -0,0 +1,29 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute and/or modify
+ * it under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This file 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 this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+#pragma once
+
+struct baroDev_s;
+bool mspBaroDetect(struct baroDev_s *baro);
+void mspBaroReceiveNewData(uint8_t * bufferPtr);

src/main/drivers/compass/compass_msp.c

@@ -0,0 +1,96 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute and/or modify
+ * it under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This file 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 this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#if defined(USE_MAG_MSP)
+
+#include "build/build_config.h"
+
+#include "common/axis.h"
+#include "common/utils.h"
+#include "common/time.h"
+
+#include "drivers/time.h"
+#include "drivers/compass/compass.h"
+#include "drivers/compass/compass_msp.h"
+
+#include "sensors/boardalignment.h"
+
+#include "msp/msp_protocol_v2_sensor_msg.h"
+
+#define MSP_MAG_TIMEOUT_MS      250     // Less than 4Hz updates is considered a failure
+
+static int32_t mspMagData[XYZ_AXIS_COUNT];
+static timeMs_t mspMagLastUpdateMs;
+
+static bool mspMagInit(magDev_t *magDev)
+{
+    UNUSED(magDev);
+    mspMagData[X] = 0;
+    mspMagData[Y] = 0;
+    mspMagData[Z] = 0;
+    mspMagLastUpdateMs = 0;
+    return true;
+}
+
+void mspMagReceiveNewData(uint8_t * bufferPtr)
+{
+    const mspSensorCompassDataMessage_t * pkt = (const mspSensorCompassDataMessage_t *)bufferPtr;
+
+    mspMagData[X] = pkt->magX;
+    mspMagData[Y] = pkt->magY;
+    mspMagData[Z] = pkt->magZ;
+
+    applySensorAlignment(mspMagData, mspMagData, CW90_DEG_FLIP);
+
+    mspMagLastUpdateMs = millis();
+}
+
+static bool mspMagRead(magDev_t *magDev)
+{
+    UNUSED(magDev);
+
+    if ((millis() - mspMagLastUpdateMs) > MSP_MAG_TIMEOUT_MS) {
+        return false;
+    }
+
+    magDev->magADCRaw[X] = mspMagData[X];
+    magDev->magADCRaw[Y] = mspMagData[Y];
+    magDev->magADCRaw[Z] = mspMagData[Z];
+
+    return true;
+}
+
+bool mspMagDetect(magDev_t *mag)
+{
+    mag->init = mspMagInit;
+    mag->read = mspMagRead;
+    return true;
+}
+
+#endif

src/main/drivers/compass/compass_msp.h

@@ -0,0 +1,28 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute and/or modify
+ * it under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This file 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 this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+#pragma once
+
+bool mspMagDetect(struct magDev_s *mag);
+void mspMagReceiveNewData(uint8_t * bufferPtr);

src/main/drivers/pitotmeter_adc.c → src/main/drivers/pitotmeter/pitotmeter_adc.c

@@ -24,9 +24,9 @@
 
 #include "common/utils.h"
 
-#include "pitotmeter.h"
-#include "pitotmeter_adc.h"
-#include "adc.h"
+#include "drivers/pitotmeter/pitotmeter.h"
+#include "drivers/pitotmeter/pitotmeter_adc.h"
+#include "drivers/adc.h"
 
 #if defined(USE_ADC) && defined(USE_PITOT_ADC)
 

src/main/drivers/pitotmeter_ms4525.c → src/main/drivers/pitotmeter/pitotmeter_ms4525.c

@@ -24,8 +24,8 @@
 #include "common/utils.h"
 #include "common/maths.h"
 #include "drivers/bus_i2c.h"
-#include "drivers/pitotmeter.h"
 #include "drivers/time.h"
+#include "drivers/pitotmeter/pitotmeter.h"
 
 // MS4525, Standard address 0x28
 #define MS4525_ADDR                 0x28