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Merge pull request #297 from alanbjohnston/beta-payload

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Arduino payload changes
beta-test
Alan Johnston 2 years ago committed by GitHub
parent 736dd1a793 92bcf18df6
commit 3e57bc75ad
No known key found for this signature in database
GPG Key ID: B5690EEEBB952194
6 changed files with 295 additions and 185 deletions
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2
config
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@ -424,6 +424,8 @@ elif [ "$1" = "-C" ]; then
sudo systemctl stop cubesatsim
sudo systemctl stop rpitx
sudo mv -f /home/pi/CubeSatSim/telem.txt /home/pi/CubeSatSim/telem.txt.bk
sudo journalctl --rotate
sudo journalctl --vacuum-time=1s

137
main.c
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@ -35,12 +35,12 @@ int main(int argc, char * argv[]) {
fclose(file_test);
fprintf(stderr, " %x ", resbuffer[0]);
fprintf(stderr, " %x ", resbuffer[1]);
fprintf(stderr, " %x \n", resbuffer[1]);
if ((resbuffer[0] == '9') && (resbuffer[1] == '0'))
{
sleep(5); // try sleep at start to help boot
voltageThreshold = 3.7;
printf("Pi Zero 2 detected");
printf("Pi Zero 2 detected\n");
}
printf("\n\nCubeSatSim v1.3.2 starting...\n\n");
@ -369,7 +369,8 @@ int main(int argc, char * argv[]) {
// try connecting to STEM Payload board using UART
// /boot/config.txt and /boot/cmdline.txt must be set correctly for this to work
if (!ax5043 && !vB3 && !(mode == CW) && !(mode == SSTV)) // don't test for payload if AX5043 is present or CW or SSTV modes
// if (!ax5043 && !vB3 && !(mode == CW) && !(mode == SSTV)) // don't test for payload if AX5043 is present or CW or SSTV modes
if (!ax5043) // don't test for payload if AX5043 is present
{
payload = OFF;
@ -640,7 +641,85 @@ int main(int argc, char * argv[]) {
batteryCurrent = current[map[BAT]];
}
if (payload == ON) { // moved to here
STEMBoardFailure = 0;
printf("get_payload_status: %d \n", get_payload_serial(FALSE)); // not debug
fflush(stdout);
printf("String: %s\n", buffer2);
fflush(stdout);
strcpy(sensor_payload, buffer2);
printf(" Response from STEM Payload board: %s\n", sensor_payload);
telem_file = fopen("/home/pi/CubeSatSim/telem.txt", "a");
printf("Writing payload string\n");
time_t timeStamp;
time(&timeStamp); // get timestamp
// printf("Timestamp: %s\n", ctime(&timeStamp));
char timeStampNoNl[31], bat_string[31];
snprintf(timeStampNoNl, 30, "%.24s", ctime(&timeStamp));
printf("TimeStamp: %s\n", timeStampNoNl);
snprintf(bat_string, 30, "BAT %4.2f %5.1f", batteryVoltage, batteryCurrent);
fprintf(telem_file, "%s %s %s\n", timeStampNoNl, bat_string, sensor_payload); // write telemetry string to telem.txt file
fclose(telem_file);
if ((sensor_payload[0] == 'O') && (sensor_payload[1] == 'K')) // only process if valid payload response
{
int count1;
char * token;
const char space[2] = " ";
token = strtok(sensor_payload, space);
// printf("token: %s\n", token);
for (count1 = 0; count1 < 17; count1++) {
if (token != NULL) {
sensor[count1] = (float) atof(token);
// #ifdef DEBUG_LOGGING
printf("sensor: %f ", sensor[count1]); // print sensor data
// #endif
token = strtok(NULL, space);
}
}
printf("\n");
// if (sensor[XS1] != 0) {
if ((sensor[XS1] > -90.0) && (sensor[XS1] < 90.0) && (sensor[XS1] != 0.0)) {
if (sensor[XS1] != latitude) {
latitude = sensor[XS1];
printf("Latitude updated to %f \n", latitude);
newGpsTime = millis();
}
}
// if (sensor[XS2] != 0) {
if ((sensor[XS2] > -180.0) && (sensor[XS2] < 180.0) && (sensor[XS2] != 0.0)) {
if (sensor[XS2] != longitude) {
longitude = sensor[XS2];
printf("Longitude updated to %f \n", longitude);
newGpsTime = millis();
}
}
}
else
; //payload = OFF; // turn off since STEM Payload is not responding
}
if ((millis() - newGpsTime) > 60000) {
longitude += rnd_float(-0.05, 0.05) / 100.0; // was .05
latitude += rnd_float(-0.05, 0.05) / 100.0;
printf("GPS Location with Rnd: %f, %f \n", latitude, longitude);
printf("GPS Location with Rnd: APRS %07.2f, %08.2f \n", toAprsFormat(latitude), toAprsFormat(longitude));
newGpsTime = millis();
}
if ((sensor_payload[0] == 'O') && (sensor_payload[1] == 'K')) {
for (int count1 = 0; count1 < 17; count1++) {
if (sensor[count1] < sensor_min[count1])
sensor_min[count1] = sensor[count1];
if (sensor[count1] > sensor_max[count1])
sensor_max[count1] = sensor[count1];
// printf("Smin %f Smax %f \n", sensor_min[count1], sensor_max[count1]);
}
}
if (sim_mode) { // simulated telemetry
double time = ((long int)millis() - time_start) / 1000.0;
@ -770,54 +849,15 @@ int main(int argc, char * argv[]) {
}
fclose(cpuTempSensor);
}
// move this code out of get_tlm
/*
if (payload == ON) { // -55
STEMBoardFailure = 0;
printf("get_payload_status: %d \n", get_payload_serial(FALSE)); // not debug
fflush(stdout);
printf("String: %s\n", buffer2);
fflush(stdout);
strcpy(sensor_payload, buffer2);
/*
char c;
unsigned int waitTime;
int i, end, trys = 0;
sensor_payload[0] = 0;
sensor_payload[1] = 0;
while (((sensor_payload[0] != 'O') || (sensor_payload[1] != 'K')) && (trys++ < 10)) {
i = 0;
// serialPutchar(uart_fd, '?');
// sleep(0.05); // added delay after ?
// printf("%d Querying payload with ?\n", trys);
waitTime = millis() + 500;
end = FALSE;
// int retry = FALSE;
while ((millis() < waitTime) && !end) {
int chars = (char) serialDataAvail(uart_fd);
while ((chars > 0) && !end) {
// printf("Chars: %d\ ", chars);
chars--;
c = (char) serialGetchar(uart_fd);
// printf ("%c", c);
// fflush(stdout);
if (c != '\n') {
sensor_payload[i++] = c;
} else {
end = TRUE;
}
}
}
sensor_payload[i++] = ' ';
// sensor_payload[i++] = '\n';
sensor_payload[i] = '\0';
printf(" Response from STEM Payload board: %s\n", sensor_payload);
sleep(0.1); // added sleep between loops
}
*/
printf(" Response from STEM Payload board: %s\n", sensor_payload);
if ((sensor_payload[0] == 'O') && (sensor_payload[1] == 'K')) // only process if valid payload response
@ -875,6 +915,7 @@ int main(int argc, char * argv[]) {
// printf("Smin %f Smax %f \n", sensor_min[count1], sensor_max[count1]);
}
}
*/
// }
#ifdef DEBUG_LOGGING
@ -1252,7 +1293,7 @@ void get_tlm(void) {
sleep(4); // was 2
} else { // APRS using rpitx
/*
if (payload == ON) {
telem_file = fopen("/home/pi/CubeSatSim/telem.txt", "a");
printf("Writing payload string\n");
@ -1267,7 +1308,7 @@ void get_tlm(void) {
fprintf(telem_file, "%s %s %s\n", timeStampNoNl, bat_string, sensor_payload); // write telemetry string to telem.txt file
fclose(telem_file);
}
*/
strcat(str, footer_str1);
// strcat(str, call);
if (battery_saver_mode == ON)
@ -1299,8 +1340,10 @@ void get_tlm(void) {
return;
}
void get_tlm_fox() {
// generates telemetry which is decoded by AMSAT's FoxTelem: https://www.amsat.org/foxtelem-software-for-windows-mac-linux/
// for more info about how we use FoxTelem see https://www.g0kla.com/foxtelem/amsat_telemetry_designers_handbook.pdf
void get_tlm_fox() {
int i;
long int sync = syncWord;

2
rpitx.py
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@ -523,7 +523,7 @@ if __name__ == "__main__":
print("Turning off transmit")
system("echo > command_tx False")
sleep(5)
output(pd, 0)
output(pd, 1) # changed from 0 to 1
try:
f = open("/home/pi/CubeSatSim/cwready")

162
stempayload/Payload_BME280_MPU6050_XS/Payload_BME280_MPU6050_XS.ino
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@ -1,19 +1,32 @@
// code for Pico or Pro Micro or STM32 on the CubeSat Simulator STEM Payload board
// works wih CubeSatSim software v1.3.2 or later
// extra sensors can be added in payload_extension.cpp
// extra sensors can be added in payload_extension.cpp file
#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_BME280.h>
#include <MPU6050_tockn.h>
#include <EEPROM.h>
#if defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040) // if Arduino Mbed OS RP2040 Boards is used in Arduino IDE
#include <TinyGPS++.h>
TinyGPSPlus gps;
UART Serial2(8, 9, 0, 0);
#elif !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040) // if Raspberry Pi RP2040 Boards in Arduino IDE
#include <TinyGPS++.h>
TinyGPSPlus gps;
bool check_for_wifi();
bool wifi = false;
int led_builtin_pin;
#else // if Sparkfun Pro Micro or STM32
#include <EEPROM.h>
#endif
#define SEALEVELPRESSURE_HPA (1013.25)
Adafruit_BME280 bme;
MPU6050 mpu6050(Wire);
TinyGPSPlus gps;
long timer = 0;
int bmePresent;
@ -26,12 +39,8 @@ void ee_prom_word_write(int addr, int val);
short ee_prom_word_read(int addr);
int first_time = true;
int first_read = true;
bool check_for_wifi();
bool wifi = false;
int led_builtin_pin;
#define PICO_W // define if Pico W board. Otherwise, compilation fail for Pico or runtime fail if compile as Pico W
#if defined ARDUINO_ARCH_RP2040
#if defined (ARDUINO_ARCH_MBED_RP2040) || (ARDUINO_ARCH_RP2040)
float T2 = 26.3; // Temperature data point 1
float R2 = 167; // Reading data point 1
float T1 = 2; // Temperature data point 2
@ -64,41 +73,47 @@ extern void payload_setup(); // sensor extension setup function defined in payl
extern void payload_loop(); // sensor extension read function defined in payload_extension.cpp
void setup() {
Serial.begin(115200); // Serial Monitor for testing
#ifdef ARDUINO_ARCH_RP2040
#if !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
Serial1.setRX(1);
delay(100);
Serial1.setTX(0);
delay(100);
#endif
#endif
Serial.begin(115200); // Serial Monitor for testing
Serial1.begin(115200); // Pi UART faster spd
// Serial1.begin(9600); // Pi UART faster spd
Serial1.begin(115200); // for communication with Pi Zero
delay(10000);
delay(2000);
#if defined (ARDUINO_ARCH_MBED_RP2040) && (ARDUINO_ARCH_RP2040)
Serial.println("Pico with Mbed");
#elif !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
Serial.println("Pico with RP2040");
#elif defined(ARDUINO_ARCH_STM32F0) || defined(ARDUINO_ARCH_STM32F1) || defined(ARDUINO_ARCH_STM32F3) || defined(ARDUINO_ARCH_STM32F4) || defined(ARDUINO_ARCH_STM32L4)
Serial.println("STM32");
#elif defined __AVR_ATmega32U4__
Serial.println("Pro Micro");
#else
Serial.println("Unknown board");
#endif
Serial.println("Starting!");
#ifdef ARDUINO_ARCH_RP2040
Serial.println("This code is for the Raspberry Pi Pico hardware.");
#if defined (ARDUINO_ARCH_MBED_RP2040) || (ARDUINO_ARCH_RP2040)
Serial.println("Starting Serial2 for optional GPS on JP12");
// Serial2.begin(9600); // serial from - some modules need 115200
// Serial2.begin(9600); // serial from - some modules need 115200
Serial2.begin(9600); // serial from GPS or other serial sensor. Some GPS need 115200
// pinMode(0, INPUT);
// pinMode(1, INPUT);
// set all Pico GPIO connected pins to input
for (int i = 6; i < 22; i++) {
for (int i = 10; i < 22; i++) {
pinMode(i, INPUT);
}
pinMode(26, INPUT);
pinMode(27, INPUT);
pinMode(28, INPUT);
pinMode(15, INPUT_PULLUP); // squelch
pinMode(15, INPUT_PULLUP); // squelch
#endif
blink_setup();
@ -139,13 +154,10 @@ void setup() {
}
else
{
#ifdef ARDUINO_ARCH_RP2040
Serial.println("Calculating gyro offsets\n");
mpu6050.calcGyroOffsets(true);
#endif
#ifndef ARDUINO_ARCH_RP2040
Serial.println("Calculating gyro offsets and storing in EEPROM\n");
mpu6050.calcGyroOffsets(true);
mpu6050.calcGyroOffsets(true);
#if !defined (ARDUINO_ARCH_RP2040)
Serial.println("Storing gyro offsets in EEPROM\n");
eeprom_word_write(0, 0xA07);
eeprom_word_write(1, (int)(mpu6050.getGyroXoffset() * 100.0) + 0.5);
@ -302,7 +314,7 @@ void loop() {
// Serial.println(result);
// Serial.println("OK");
// Serial.println(counter++);
#ifndef ARDUINO_ARCH_RP2040
#if !defined (ARDUINO_ARCH_RP2040)
if (result == 'R') {
Serial1.println("OK");
delay(100);
@ -318,25 +330,32 @@ void loop() {
#endif
}
#ifdef ARDUINO_ARCH_RP2040
#if defined (ARDUINO_ARCH_MBED_RP2040) || (ARDUINO_ARCH_RP2040)
Serial.print("Squelch: ");
Serial.println(digitalRead(15));
get_gps();
#else
delay(1000); // not needed due to gps 1 second polling delay
#endif
// delay(1000); not needed due to gps 1 second polling delay
get_gps();
}
void eeprom_word_write(int addr, int val)
{
#if !defined(ARDUINO_ARCH_MBED_RP2040) && !defined(ARDUINO_ARCH_RP2040)
EEPROM.write(addr * 2, lowByte(val));
EEPROM.write(addr * 2 + 1, highByte(val));
#endif
}
short eeprom_word_read(int addr)
{
return ((EEPROM.read(addr * 2 + 1) << 8) | EEPROM.read(addr * 2));
int result = 0;
#if !defined(ARDUINO_ARCH_MBED_RP2040) && !defined(ARDUINO_ARCH_RP2040)
result = ((EEPROM.read(addr * 2 + 1) << 8) | EEPROM.read(addr * 2));
#endif
return result;
}
void blink_setup()
@ -355,8 +374,14 @@ void blink_setup()
pinMode(blueLED,OUTPUT);
#endif
#if defined ARDUINO_ARCH_RP2040
if (check_for_wifi()) {
#if defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
pinMode(LED_BUILTIN, OUTPUT);
pinMode(18, OUTPUT); // blue LED on STEM Payload Board v1.3.2
pinMode(19, OUTPUT); // green LED on STEM Payload Board v1.3.2
#endif
#if !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
if (check_for_wifi()) {
wifi = true;
led_builtin_pin = LED_BUILTIN; // use default GPIO for Pico W
pinMode(LED_BUILTIN, OUTPUT);
@ -369,8 +394,7 @@ void blink_setup()
pinMode(18, OUTPUT);
pinMode(19, OUTPUT);
}
#endif
#endif
}
void blink(int length)
@ -384,12 +408,18 @@ void blink(int length)
TXLED0; //TX LED is not tied to a normally controlled pin so a macro is needed, turn LED OFF
#endif
#if defined ARDUINO_ARCH_RP2040
if (wifi)
#if defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
digitalWrite(LED_BUILTIN, HIGH); // set the built-in LED ON
#endif
#if !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
if (wifi)
digitalWrite(LED_BUILTIN, HIGH); // set the built-in LED ON
else
digitalWrite(led_builtin_pin, HIGH); // set the built-in LED ON
#endif
#endif
delay(length);
#if defined(ARDUINO_ARCH_STM32F0) || defined(ARDUINO_ARCH_STM32F1) || defined(ARDUINO_ARCH_STM32F3) || defined(ARDUINO_ARCH_STM32F4) || defined(ARDUINO_ARCH_STM32L4)
digitalWrite(PC13, HIGH); // turn the LED off by making the voltage LOW
@ -400,15 +430,16 @@ void blink(int length)
TXLED0; //TX LED macro to turn LED ON
#endif
#if defined ARDUINO_ARCH_RP2040
if (wifi)
#if defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
digitalWrite(LED_BUILTIN, LOW); // set the built-in LED OFF
else
digitalWrite(led_builtin_pin, LOW); // set the built-in LED OFF
// delay(length); // wait for a lenth of time
#endif
#endif
#if !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
if (wifi)
digitalWrite(LED_BUILTIN, LOW); // set the built-in LED ON
else
digitalWrite(led_builtin_pin, LOW); // set the built-in LED ON
#endif
}
void led_set(int ledPin, bool state)
@ -424,7 +455,7 @@ void led_set(int ledPin, bool state)
digitalWrite(ledPin, state);
#endif
#ifdef ARDUINO_ARCH_RP2040
#if defined (ARDUINO_ARCH_MBED_RP2040) || (ARDUINO_ARCH_RP2040)
if (ledPin == greenLED)
digitalWrite(19, state);
else if (ledPin == blueLED)
@ -438,24 +469,19 @@ int read_analog()
#if defined __AVR_ATmega32U4__
sensorValue = analogRead(A3);
#endif
#if defined(ARDUINO_ARCH_STM32F0) || defined(ARDUINO_ARCH_STM32F1) || defined(ARDUINO_ARCH_STM32F3) || defined(ARDUINO_ARCH_STM32F4) || defined(ARDUINO_ARCH_STM32L4)
sensorValue = analogRead(PA7);
#endif
#if defined ARDUINO_ARCH_RP2040
#if defined (ARDUINO_ARCH_MBED_RP2040) || (ARDUINO_ARCH_RP2040)
sensorValue = analogRead(28);
#endif
return(sensorValue);
}
#if !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
bool check_for_wifi() {
#ifndef PICO_W
Serial.println("WiFi disabled in software");
return(false); // skip check if not Pico W board or compilation will fail
#endif
pinMode(29, INPUT);
const float conversion_factor = 3.3f / (1 << 12);
uint16_t result = analogRead(29);
@ -470,9 +496,11 @@ bool check_for_wifi() {
return(false);
}
}
#endif
#if defined (ARDUINO_ARCH_MBED_RP2040) || (ARDUINO_ARCH_RP2040)
void get_gps() {
// Serial.println("Getting GPS data");
bool newData = false;
unsigned long start = millis();
@ -489,7 +517,9 @@ void get_gps() {
}
}
if (newData) {
Serial.printf("GPS read new data in ms: %d\n", millis() - start);
Serial.print("GPS read new data in ms: ");
Serial.println(millis() - start);
// float flon = 0.0, flat = 0.0, flalt = 0.0;
// unsigned long age;
// starting = millis();
@ -515,5 +545,5 @@ void get_gps() {
} else
// Serial.printf("GPS read no new data: %d\n", millis() - start);
;
}
#endif

7
stempayload/Payload_BME280_MPU6050_XS/payload_extension.cpp
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@ -9,7 +9,7 @@
// put your setup code here
void payload_setup() {
Serial.println("Starting new sensor!");
// Serial.println("Starting new sensor!");
}
@ -17,4 +17,9 @@ void payload_setup() {
// Very Important: only use print, not println!!
void payload_loop() {
/*
Serial1.print(" NEW 0.0"); // send sensor data over serial to Pi Zero
Serial.print(" NEW 0.0"); // send sensor data over serial monitor for testing
*/
}

170
stempayload/Payload_BME280_MPU6050_XS_Extended/Payload_BME280_MPU6050_XS_Extended.ino
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@ -1,19 +1,32 @@
// code for Pico or Pro Micro or STM32 on the CubeSat Simulator STEM Payload board
// works wih CubeSatSim software v1.3.2 or later
// extra sensors can be added in payload_extension.cpp
// extra sensors can be added in payload_extension.cpp file
#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_BME280.h>
#include <MPU6050_tockn.h>
#include <EEPROM.h>
#if defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040) // if Arduino Mbed OS RP2040 Boards is used in Arduino IDE
#include <TinyGPS++.h>
TinyGPSPlus gps;
UART Serial2(8, 9, 0, 0);
#elif !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040) // if Raspberry Pi RP2040 Boards in Arduino IDE
#include <TinyGPS++.h>
TinyGPSPlus gps;
bool check_for_wifi();
bool wifi = false;
int led_builtin_pin;
#else // if Sparkfun Pro Micro or STM32
#include <EEPROM.h>
#endif
#define SEALEVELPRESSURE_HPA (1013.25)
Adafruit_BME280 bme;
MPU6050 mpu6050(Wire);
TinyGPSPlus gps;
long timer = 0;
int bmePresent;
@ -26,12 +39,8 @@ void ee_prom_word_write(int addr, int val);
short ee_prom_word_read(int addr);
int first_time = true;
int first_read = true;
bool check_for_wifi();
bool wifi = false;
int led_builtin_pin;
#define PICO_W // define if Pico W board. Otherwise, compilation fail for Pico or runtime fail if compile as Pico W
#if defined ARDUINO_ARCH_RP2040
#if defined (ARDUINO_ARCH_MBED_RP2040) || (ARDUINO_ARCH_RP2040)
float T2 = 26.3; // Temperature data point 1
float R2 = 167; // Reading data point 1
float T1 = 2; // Temperature data point 2
@ -60,48 +69,54 @@ bool show_gps = true; // set to false to not see all messages
float flon = 0.0, flat = 0.0, flalt = 0.0;
void get_gps();
extern void payload_setup(); // sensor extension setup function defined in payload_extension.cpp
extern void payload_loop(); // sensor extension read function defined in payload_extension.cpp
extern void payload_setup(); // sensor extension setup function defined in payload_extension.cpp
extern void payload_loop(); // sensor extension read function defined in payload_extension.cpp
void setup() {
Serial.begin(115200); // Serial Monitor for testing
#ifdef ARDUINO_ARCH_RP2040
#if !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
Serial1.setRX(1);
delay(100);
Serial1.setTX(0);
delay(100);
#endif
#endif
Serial.begin(115200); // Serial Monitor for testing
Serial1.begin(115200); // Pi UART faster spd
// Serial1.begin(9600); // Pi UART faster spd
Serial1.begin(115200); // for communication with Pi Zero
delay(10000);
delay(2000);
#if defined (ARDUINO_ARCH_MBED_RP2040) && (ARDUINO_ARCH_RP2040)
Serial.println("Pico with Mbed");
#elif !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
Serial.println("Pico with RP2040");
#elif defined(ARDUINO_ARCH_STM32F0) || defined(ARDUINO_ARCH_STM32F1) || defined(ARDUINO_ARCH_STM32F3) || defined(ARDUINO_ARCH_STM32F4) || defined(ARDUINO_ARCH_STM32L4)
Serial.println("STM32");
#elif defined __AVR_ATmega32U4__
Serial.println("Pro Micro");
#else
Serial.println("Unknown board");
#endif
Serial.println("Starting!");
#ifdef ARDUINO_ARCH_RP2040
Serial.println("This code is for the Raspberry Pi Pico hardware.");
#if defined (ARDUINO_ARCH_MBED_RP2040) || (ARDUINO_ARCH_RP2040)
Serial.println("Starting Serial2 for optional GPS on JP12");
// Serial2.begin(9600); // serial from - some modules need 115200
// Serial2.begin(9600); // serial from - some modules need 115200
Serial2.begin(9600); // serial from GPS or other serial sensor. Some GPS need 115200
// pinMode(0, INPUT);
// pinMode(1, INPUT);
// set all Pico GPIO connected pins to input
for (int i = 6; i < 22; i++) {
for (int i = 10; i < 22; i++) {
pinMode(i, INPUT);
}
pinMode(26, INPUT);
pinMode(27, INPUT);
pinMode(28, INPUT);
pinMode(15, INPUT_PULLUP); // squelch
pinMode(15, INPUT_PULLUP); // squelch
#endif
blink_setup(); // sensor extension setup function defined in payload_extension.cpp
blink_setup();
blink(500);
delay(250);
@ -139,13 +154,10 @@ void setup() {
}
else
{
#ifdef ARDUINO_ARCH_RP2040
Serial.println("Calculating gyro offsets\n");
mpu6050.calcGyroOffsets(true);
#endif
#ifndef ARDUINO_ARCH_RP2040
Serial.println("Calculating gyro offsets and storing in EEPROM\n");
mpu6050.calcGyroOffsets(true);
mpu6050.calcGyroOffsets(true);
#if !defined (ARDUINO_ARCH_RP2040)
Serial.println("Storing gyro offsets in EEPROM\n");
eeprom_word_write(0, 0xA07);
eeprom_word_write(1, (int)(mpu6050.getGyroXoffset() * 100.0) + 0.5);
@ -158,7 +170,7 @@ void setup() {
Serial.println(((float)eeprom_word_read(3)) / 100.0, DEC);
#endif
}
payload_setup();
payload_setup(); // sensor extension setup function defined in payload_extension.cpp
}
void loop() {
@ -302,7 +314,7 @@ void loop() {
// Serial.println(result);
// Serial.println("OK");
// Serial.println(counter++);
#ifndef ARDUINO_ARCH_RP2040
#if !defined (ARDUINO_ARCH_RP2040)
if (result == 'R') {
Serial1.println("OK");
delay(100);
@ -318,25 +330,32 @@ void loop() {
#endif
}
#ifdef ARDUINO_ARCH_RP2040
#if defined (ARDUINO_ARCH_MBED_RP2040) || (ARDUINO_ARCH_RP2040)
Serial.print("Squelch: ");
Serial.println(digitalRead(15));
get_gps();
#else
delay(1000); // not needed due to gps 1 second polling delay
#endif
// delay(1000); not needed due to gps 1 second polling delay
get_gps();
}
void eeprom_word_write(int addr, int val)
{
#if !defined(ARDUINO_ARCH_MBED_RP2040) && !defined(ARDUINO_ARCH_RP2040)
EEPROM.write(addr * 2, lowByte(val));
EEPROM.write(addr * 2 + 1, highByte(val));
#endif
}
short eeprom_word_read(int addr)
{
return ((EEPROM.read(addr * 2 + 1) << 8) | EEPROM.read(addr * 2));
int result = 0;
#if !defined(ARDUINO_ARCH_MBED_RP2040) && !defined(ARDUINO_ARCH_RP2040)
result = ((EEPROM.read(addr * 2 + 1) << 8) | EEPROM.read(addr * 2));
#endif
return result;
}
void blink_setup()
@ -355,8 +374,14 @@ void blink_setup()
pinMode(blueLED,OUTPUT);
#endif
#if defined ARDUINO_ARCH_RP2040
if (check_for_wifi()) {
#if defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
pinMode(LED_BUILTIN, OUTPUT);
pinMode(18, OUTPUT); // blue LED on STEM Payload Board v1.3.2
pinMode(19, OUTPUT); // green LED on STEM Payload Board v1.3.2
#endif
#if !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
if (check_for_wifi()) {
wifi = true;
led_builtin_pin = LED_BUILTIN; // use default GPIO for Pico W
pinMode(LED_BUILTIN, OUTPUT);
@ -369,8 +394,7 @@ void blink_setup()
pinMode(18, OUTPUT);
pinMode(19, OUTPUT);
}
#endif
#endif
}
void blink(int length)
@ -384,12 +408,18 @@ void blink(int length)
TXLED0; //TX LED is not tied to a normally controlled pin so a macro is needed, turn LED OFF
#endif
#if defined ARDUINO_ARCH_RP2040
if (wifi)
#if defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
digitalWrite(LED_BUILTIN, HIGH); // set the built-in LED ON
#endif
#if !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
if (wifi)
digitalWrite(LED_BUILTIN, HIGH); // set the built-in LED ON
else
digitalWrite(led_builtin_pin, HIGH); // set the built-in LED ON
#endif
#endif
delay(length);
#if defined(ARDUINO_ARCH_STM32F0) || defined(ARDUINO_ARCH_STM32F1) || defined(ARDUINO_ARCH_STM32F3) || defined(ARDUINO_ARCH_STM32F4) || defined(ARDUINO_ARCH_STM32L4)
digitalWrite(PC13, HIGH); // turn the LED off by making the voltage LOW
@ -400,15 +430,16 @@ void blink(int length)
TXLED0; //TX LED macro to turn LED ON
#endif
#if defined ARDUINO_ARCH_RP2040
if (wifi)
#if defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
digitalWrite(LED_BUILTIN, LOW); // set the built-in LED OFF
else
digitalWrite(led_builtin_pin, LOW); // set the built-in LED OFF
// delay(length); // wait for a lenth of time
#endif
#endif
#if !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
if (wifi)
digitalWrite(LED_BUILTIN, LOW); // set the built-in LED ON
else
digitalWrite(led_builtin_pin, LOW); // set the built-in LED ON
#endif
}
void led_set(int ledPin, bool state)
@ -424,7 +455,7 @@ void led_set(int ledPin, bool state)
digitalWrite(ledPin, state);
#endif
#ifdef ARDUINO_ARCH_RP2040
#if defined (ARDUINO_ARCH_MBED_RP2040) || (ARDUINO_ARCH_RP2040)
if (ledPin == greenLED)
digitalWrite(19, state);
else if (ledPin == blueLED)
@ -438,24 +469,19 @@ int read_analog()
#if defined __AVR_ATmega32U4__
sensorValue = analogRead(A3);
#endif
#if defined(ARDUINO_ARCH_STM32F0) || defined(ARDUINO_ARCH_STM32F1) || defined(ARDUINO_ARCH_STM32F3) || defined(ARDUINO_ARCH_STM32F4) || defined(ARDUINO_ARCH_STM32L4)
sensorValue = analogRead(PA7);
#endif
#if defined ARDUINO_ARCH_RP2040
#if defined (ARDUINO_ARCH_MBED_RP2040) || (ARDUINO_ARCH_RP2040)
sensorValue = analogRead(28);
#endif
return(sensorValue);
}
#if !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
bool check_for_wifi() {
#ifndef PICO_W
Serial.println("WiFi disabled in software");
return(false); // skip check if not Pico W board or compilation will fail
#endif
pinMode(29, INPUT);
const float conversion_factor = 3.3f / (1 << 12);
uint16_t result = analogRead(29);
@ -470,9 +496,11 @@ bool check_for_wifi() {
return(false);
}
}
#endif
#if defined (ARDUINO_ARCH_MBED_RP2040) || (ARDUINO_ARCH_RP2040)
void get_gps() {
// Serial.println("Getting GPS data");
bool newData = false;
unsigned long start = millis();
@ -489,7 +517,9 @@ void get_gps() {
}
}
if (newData) {
Serial.printf("GPS read new data in ms: %d\n", millis() - start);
Serial.print("GPS read new data in ms: ");
Serial.println(millis() - start);
// float flon = 0.0, flat = 0.0, flalt = 0.0;
// unsigned long age;
// starting = millis();
@ -515,5 +545,5 @@ void get_gps() {
} else
// Serial.printf("GPS read no new data: %d\n", millis() - start);
;
}
#endif

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