Alan Johnston
2 months ago
committed by
GitHub
parent
4be7a80a6b
commit
9eecaf8d48
@ -0,0 +1,904 @@
|
||||
// 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 file
|
||||
// adds absolute orientation yaw, pitch, roll as Sensor 1, 2, and 3.
|
||||
|
||||
#include <Wire.h>
|
||||
#include <Adafruit_Sensor.h>
|
||||
#include <Adafruit_BME280.h>
|
||||
//#include <MPU6050_tockn.h>
|
||||
#include "MPU6050_6Axis_MotionApps20.h"
|
||||
#if !defined(ARDUINO_ARCH_MBED_RP2040) // && defined(ARDUINO_ARCH_RP2040)
|
||||
#include <EEPROM.h>
|
||||
#endif
|
||||
|
||||
#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);
|
||||
|
||||
MPU6050 mpu;
|
||||
int const INTERRUPT_PIN = 6;
|
||||
bool DMPReady = false;
|
||||
uint8_t devStatus;
|
||||
uint8_t MPUIntStatus; // Holds actual interrupt status byte from MPU
|
||||
uint16_t packetSize; // Expected DMP packet size (default is 42 bytes)
|
||||
uint8_t FIFOBuffer[64]; // FIFO storage buffer
|
||||
|
||||
Quaternion q; // [w, x, y, z] Quaternion container
|
||||
VectorFloat gravity; // [x, y, z] Gravity vector
|
||||
float ypr[3]; // [yaw, pitch, roll] Yaw/Pitch/Roll container and gravity vector
|
||||
int16_t ax, ay, az;
|
||||
int16_t gx, gy, gz;
|
||||
float accelx, accely, accelz, acceleration;
|
||||
float gyrox, gyroy, gyroz, rotation;
|
||||
int yaw, pitch, roll;
|
||||
int reset_count;
|
||||
|
||||
long timer = 0;
|
||||
int bmePresent;
|
||||
int RXLED = 17; // The RX LED has a defined Arduino pin
|
||||
int whiteLED = 9;
|
||||
int yellowLED = 8;
|
||||
int Sensor1 = 0;
|
||||
float Sensor2 = 0;
|
||||
float temp;
|
||||
int calibration = 0;
|
||||
|
||||
void ee_prom_word_write(int addr, int val);
|
||||
short ee_prom_word_read(int addr);
|
||||
int first_time = true;
|
||||
int first_read = true;
|
||||
|
||||
#if defined (ARDUINO_ARCH_MBED_RP2040) || (ARDUINO_ARCH_RP2040)
|
||||
float T2 = 24; // Temperature data point 1
|
||||
float R2 = 169; // Reading data point 1
|
||||
float T1 = 6; // Temperature data point 2
|
||||
float R1 = 181; // Reading data point 2
|
||||
#endif
|
||||
#if defined __AVR_ATmega32U4__
|
||||
float T2 = 26.3; // Temperature data point 1
|
||||
float R2 = 167; // Reading data point 1
|
||||
float T1 = 2; // Temperature data point 2
|
||||
float R1 = 179; // Reading data point 2
|
||||
#endif
|
||||
#if defined(ARDUINO_ARCH_STM32F0) || defined(ARDUINO_ARCH_STM32F1) || defined(ARDUINO_ARCH_STM32F3) || defined(ARDUINO_ARCH_STM32F4) || defined(ARDUINO_ARCH_STM32L4)
|
||||
float T2 = 25; // Temperature data point 1
|
||||
float R2 = 671; // Reading data point 1
|
||||
float T1 = 15.5; // Temperature data point 2
|
||||
float R1 = 695; // Reading data point 2
|
||||
#endif
|
||||
|
||||
int sensorValue;
|
||||
float Temp;
|
||||
float rest;
|
||||
|
||||
char sensor_end_flag[] = "_END_FLAG_";
|
||||
char sensor_start_flag[] = "_START_FLAG_";
|
||||
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
|
||||
|
||||
volatile bool MPUInterrupt = false; // Indicates whether MPU6050 interrupt pin has gone high
|
||||
void DMPDataReady()
|
||||
{
|
||||
MPUInterrupt = true;
|
||||
}
|
||||
|
||||
void setup() {
|
||||
|
||||
Serial.begin(115200); // Serial Monitor for testing
|
||||
|
||||
#if !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
|
||||
Serial1.setRX(1);
|
||||
delay(100);
|
||||
Serial1.setTX(0);
|
||||
delay(100);
|
||||
#endif
|
||||
|
||||
Serial1.begin(115200); // for communication with Pi Zero
|
||||
|
||||
#if !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040) // if Raspberry Pi RP2040 Boards in Arduino IDE
|
||||
EEPROM.begin(512);
|
||||
#endif
|
||||
|
||||
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!");
|
||||
|
||||
#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 GPS or other serial sensor. Some GPS need 115200
|
||||
|
||||
// set all Pico GPIO connected pins to input
|
||||
for (int i = 10; i < 22; i++) {
|
||||
pinMode(i, INPUT);
|
||||
}
|
||||
pinMode(26, INPUT);
|
||||
pinMode(27, INPUT);
|
||||
pinMode(28, INPUT);
|
||||
pinMode(15, INPUT_PULLUP); // squelch
|
||||
#endif
|
||||
|
||||
blink_setup();
|
||||
|
||||
blink(500);
|
||||
delay(250);
|
||||
blink(500);
|
||||
delay(250);
|
||||
led_set(whiteLED, HIGH);
|
||||
delay(250);
|
||||
led_set(whiteLED, LOW);
|
||||
led_set(yellowLED, HIGH);
|
||||
delay(250);
|
||||
led_set(yellowLED, LOW);
|
||||
|
||||
if (bme.begin(0x76)) {
|
||||
bmePresent = 1;
|
||||
} else {
|
||||
Serial.println("Could not find a valid BME280 sensor, check wiring!");
|
||||
bmePresent = 0;
|
||||
}
|
||||
|
||||
// mpu6050.begin();
|
||||
|
||||
ax = 0;
|
||||
ay = 0;
|
||||
az = 0;
|
||||
gx = 0;
|
||||
gy = 0;
|
||||
gz = 0;
|
||||
yaw = 0;
|
||||
pitch = 0;
|
||||
roll = 0;
|
||||
accelx = 0;
|
||||
accely = 0;
|
||||
accelz = 0;
|
||||
acceleration = 1.0;
|
||||
gyrox = 0;
|
||||
gyroy = 0;
|
||||
gyroz = 0;
|
||||
|
||||
mpu.initialize(ACCEL_FS::A2G, GYRO_FS::G250DPS);
|
||||
// mpu.initialize();
|
||||
|
||||
pinMode(INTERRUPT_PIN, INPUT);
|
||||
|
||||
// Verify connection
|
||||
if (mpu.testConnection())
|
||||
{
|
||||
Serial.println("MPU6050 connection successful");
|
||||
}
|
||||
else
|
||||
{
|
||||
Serial.println("MPU6050 connection failed");
|
||||
}
|
||||
|
||||
/* Initializate and configure the DMP*/
|
||||
Serial.println(F("Initializing DMP..."));
|
||||
devStatus = mpu.dmpInitialize();
|
||||
|
||||
if (eeprom_word_read(0) == 0xA08)
|
||||
{
|
||||
Serial.println("Reading gyro and accel offsets from EEPROM\n");
|
||||
|
||||
int axOffset = eeprom_word_read(1);
|
||||
int ayOffset = eeprom_word_read(2);
|
||||
int azOffset = eeprom_word_read(3);
|
||||
int gxOffset = eeprom_word_read(4);
|
||||
int gyOffset = eeprom_word_read(5);
|
||||
int gzOffset = eeprom_word_read(6);
|
||||
|
||||
Serial.println(axOffset, DEC);
|
||||
Serial.println(ayOffset, DEC);
|
||||
Serial.println(azOffset, DEC);
|
||||
Serial.println(gxOffset, DEC);
|
||||
Serial.println(gyOffset, DEC);
|
||||
Serial.println(gzOffset, DEC);
|
||||
|
||||
mpu.setXGyroOffset(gxOffset);
|
||||
mpu.setYGyroOffset(gyOffset);
|
||||
mpu.setZGyroOffset(gzOffset);
|
||||
mpu.setXAccelOffset(axOffset);
|
||||
mpu.setYAccelOffset(ayOffset);
|
||||
mpu.setZAccelOffset(azOffset);
|
||||
|
||||
mpu.PrintActiveOffsets();
|
||||
|
||||
Serial.println("\nTemperature calibration data from EEPROM\n");
|
||||
|
||||
T1 = ((float)eeprom_word_read(7)) / 10.0;
|
||||
R1 = ((float)eeprom_word_read(8));
|
||||
T2 = ((float)eeprom_word_read(9)) / 10.0;
|
||||
R2 = ((float)eeprom_word_read(10));
|
||||
|
||||
Serial.println(T1, DEC);
|
||||
Serial.println(R1, DEC);
|
||||
Serial.println(" ");
|
||||
Serial.println(T2, DEC);
|
||||
Serial.println(R2, DEC);
|
||||
Serial.println(" ");
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
// Serial.println("Calculating gyro offsets\n");
|
||||
// mpu6050.calcGyroOffsets(true);
|
||||
|
||||
if (devStatus == 0)
|
||||
{
|
||||
// if (first_read == true) {
|
||||
mpu.CalibrateAccel(6); // Calibration Time: generate offsets and calibrate our MPU6050
|
||||
mpu.CalibrateGyro(6);
|
||||
Serial.println("These are the Active offsets: ");
|
||||
mpu.PrintActiveOffsets();
|
||||
|
||||
int16_t *offsets;
|
||||
offsets = mpu.GetActiveOffsets();
|
||||
|
||||
// A_OFFSET_H_READ_A_OFFS(Data);
|
||||
Serial.print((float)offsets[0], 5); Serial.print(",\t");
|
||||
Serial.print((float)offsets[1], 5); Serial.print(",\t");
|
||||
Serial.print((float)offsets[2], 5); Serial.print(",\t");
|
||||
|
||||
// XG_OFFSET_H_READ_OFFS_USR(Data);
|
||||
Serial.print((float)offsets[3], 5); Serial.print(",\t");
|
||||
Serial.print((float)offsets[4], 5); Serial.print(",\t");
|
||||
Serial.print((float)offsets[5], 5); Serial.print("\n\n");
|
||||
|
||||
// }
|
||||
|
||||
#if !defined(ARDUINO_ARCH_MBED_RP2040) // && defined(ARDUINO_ARCH_RP2040) // if Raspberry Pi RP2040 Boards is used in Arduino IDE
|
||||
Serial.println("Storing gyro and accel offsets in EEPROM\n");
|
||||
|
||||
eeprom_word_write(0, 0xA08);
|
||||
/* eeprom_word_write(1, (int)(mpu6050.getGyroXoffset() * 100.0) + 0.5);
|
||||
eeprom_word_write(2, (int)(mpu6050.getGyroYoffset() * 100.0) + 0.5);
|
||||
eeprom_word_write(3, (int)(mpu6050.getGyroZoffset() * 100.0) + 0.5);
|
||||
*/
|
||||
/*
|
||||
Serial.println(eeprom_word_read(0), HEX);
|
||||
Serial.println(((float)eeprom_word_read(1)) / 100.0, DEC);
|
||||
Serial.println(((float)eeprom_word_read(2)) / 100.0, DEC);
|
||||
Serial.println(((float)eeprom_word_read(3)) / 100.0, DEC);
|
||||
*/
|
||||
eeprom_word_write(1, offsets[0]);
|
||||
eeprom_word_write(2, offsets[1]);
|
||||
eeprom_word_write(3, offsets[2]);
|
||||
eeprom_word_write(4, offsets[3]);
|
||||
eeprom_word_write(5, offsets[4]);
|
||||
eeprom_word_write(6, offsets[5]);
|
||||
|
||||
Serial.println("\nStoring temperature calibration data in EEPROM\n");
|
||||
|
||||
eeprom_word_write(7, (int)(T1 * 10.0) + 0.5);
|
||||
eeprom_word_write(8, (int) R1);
|
||||
eeprom_word_write(9, (int)(T2 * 10.0) + 0.5);
|
||||
eeprom_word_write(10, (int) R2);
|
||||
|
||||
T1 = ((float)eeprom_word_read(7)) / 10.0;
|
||||
R1 = ((float)eeprom_word_read(8));
|
||||
T2 = ((float)eeprom_word_read(9)) / 10.0;
|
||||
R2 = ((float)eeprom_word_read(10));
|
||||
|
||||
Serial.println(T1, DEC);
|
||||
Serial.println(R1, DEC);
|
||||
Serial.println(" ");
|
||||
Serial.println(T2, DEC);
|
||||
Serial.println(R2, DEC);
|
||||
Serial.println(" ");
|
||||
|
||||
#if !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040) // if Raspberry Pi RP2040 Boards is used in Arduino IDE
|
||||
if (EEPROM.commit()) {
|
||||
Serial.println("EEPROM successfully committed\n");
|
||||
} else {
|
||||
Serial.println("ERROR! EEPROM commit failed\n");
|
||||
}
|
||||
#endif
|
||||
#endif
|
||||
}
|
||||
}
|
||||
|
||||
/* Supply your gyro offsets here, scaled for min sensitivity */
|
||||
/* mpu.setXGyroOffset(57);
|
||||
mpu.setYGyroOffset(99);
|
||||
mpu.setZGyroOffset(19);
|
||||
mpu.setXAccelOffset(-4922);
|
||||
mpu.setYAccelOffset(-2136);
|
||||
mpu.setZAccelOffset(3104);
|
||||
|
||||
mpu.setXGyroOffset(0);
|
||||
mpu.setYGyroOffset(0);
|
||||
mpu.setZGyroOffset(0);
|
||||
mpu.setXAccelOffset(0);
|
||||
mpu.setYAccelOffset(0);
|
||||
mpu.setZAccelOffset(0);
|
||||
*/
|
||||
if (devStatus == 0)
|
||||
{
|
||||
/* if (first_read == true) {
|
||||
mpu.CalibrateAccel(6); // Calibration Time: generate offsets and calibrate our MPU6050
|
||||
mpu.CalibrateGyro(6);
|
||||
Serial.println("These are the Active offsets: ");
|
||||
mpu.PrintActiveOffsets();
|
||||
}
|
||||
*/
|
||||
Serial.println(F("Enabling DMP...")); // Turning ON DMP
|
||||
mpu.setDMPEnabled(true);
|
||||
|
||||
Serial.print(F("Enabling interrupt detection (Arduino external interrupt "));
|
||||
Serial.print(digitalPinToInterrupt(INTERRUPT_PIN));
|
||||
Serial.println(F(")..."));
|
||||
attachInterrupt(digitalPinToInterrupt(INTERRUPT_PIN), DMPDataReady, RISING);
|
||||
MPUIntStatus = mpu.getIntStatus();
|
||||
|
||||
/* Set the DMP Ready flag so the main loop() function knows it is okay to use it */
|
||||
Serial.println(F("DMP ready! Waiting for first interrupt..."));
|
||||
DMPReady = true;
|
||||
packetSize = mpu.dmpGetFIFOPacketSize();
|
||||
// Serial.print(packetSize);
|
||||
}
|
||||
else
|
||||
{
|
||||
Serial.print(F("DMP Initialization failed (code ")); // Print the error code
|
||||
Serial.print(devStatus);
|
||||
Serial.println(F(")"));
|
||||
// 1 = initial memory load failed
|
||||
// 2 = DMP configuration updates failed
|
||||
}
|
||||
|
||||
|
||||
payload_setup(); // sensor extension setup function defined in payload_extension.cpp
|
||||
|
||||
reset_count = 100;
|
||||
}
|
||||
|
||||
void loop() {
|
||||
|
||||
blink(50);
|
||||
|
||||
if (Serial1.available() > 0) {
|
||||
Serial.print("Received serial data!!!\n");
|
||||
delay(10);
|
||||
while (Serial1.available() > 0) {
|
||||
char result = Serial1.read();
|
||||
Serial.print(result);
|
||||
}
|
||||
Serial.println(" ");
|
||||
}
|
||||
{
|
||||
// if (result == '?')
|
||||
{
|
||||
if (bmePresent) {
|
||||
Serial1.print(sensor_start_flag);
|
||||
Serial1.print("OK BME280 ");
|
||||
Serial1.print(bme.readTemperature());
|
||||
Serial1.print(" ");
|
||||
Serial1.print(bme.readPressure() / 100.0F);
|
||||
Serial1.print(" ");
|
||||
Serial1.print(bme.readAltitude(SEALEVELPRESSURE_HPA));
|
||||
Serial1.print(" ");
|
||||
Serial1.print(bme.readHumidity());
|
||||
|
||||
Serial.print("OK BME280 ");
|
||||
temp = bme.readTemperature();
|
||||
Serial.print(temp);
|
||||
Serial.print(" ");
|
||||
Serial.print(bme.readPressure() / 100.0F);
|
||||
Serial.print(" ");
|
||||
Serial.print(bme.readAltitude(SEALEVELPRESSURE_HPA));
|
||||
Serial.print(" ");
|
||||
Serial.print(bme.readHumidity());
|
||||
} else
|
||||
{
|
||||
Serial1.print(sensor_start_flag);
|
||||
Serial1.print("OK BME280 0.0 0.0 0.0 0.0");
|
||||
|
||||
Serial.print("OK BME280 0.0 0.0 0.0 0.0");
|
||||
}
|
||||
|
||||
/*
|
||||
mpu6050.update();
|
||||
|
||||
Serial1.print(" MPU6050 ");
|
||||
Serial1.print(mpu6050.getGyroX());
|
||||
Serial1.print(" ");
|
||||
Serial1.print(mpu6050.getGyroY());
|
||||
Serial1.print(" ");
|
||||
Serial1.print(mpu6050.getGyroZ());
|
||||
|
||||
Serial1.print(" ");
|
||||
Serial1.print(mpu6050.getAccX());
|
||||
Serial1.print(" ");
|
||||
Serial1.print(mpu6050.getAccY());
|
||||
Serial1.print(" ");
|
||||
Serial1.print(mpu6050.getAccZ());
|
||||
|
||||
Serial.print(" MPU6050 ");
|
||||
Serial.print(mpu6050.getGyroX());
|
||||
Serial.print(" ");
|
||||
Serial.print(mpu6050.getGyroY());
|
||||
Serial.print(" ");
|
||||
Serial.print(mpu6050.getGyroZ());
|
||||
|
||||
Serial.print(" ");
|
||||
Serial.print(mpu6050.getAccX());
|
||||
Serial.print(" ");
|
||||
Serial.print(mpu6050.getAccY());
|
||||
Serial.print(" ");
|
||||
Serial.print(mpu6050.getAccZ());
|
||||
*/
|
||||
|
||||
// if (MPUInterrupt) {
|
||||
// if (true) {
|
||||
|
||||
if (mpu.dmpGetCurrentFIFOPacket(FIFOBuffer))
|
||||
{
|
||||
/* Display Euler angles in degrees */
|
||||
mpu.dmpGetQuaternion(&q, FIFOBuffer);
|
||||
mpu.dmpGetGravity(&gravity, &q);
|
||||
mpu.dmpGetYawPitchRoll(ypr, &q, &gravity);
|
||||
|
||||
mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);
|
||||
|
||||
accelx = ax / 16384.0;
|
||||
accely = ay / 16384.0;
|
||||
accelz = (az - 16384) / 16384.0;
|
||||
acceleration = sqrt(accelx*accelx + accely*accely + accelz*accelz);
|
||||
|
||||
gyrox = gx / 6.75;
|
||||
gyroy = gy / 6.75;
|
||||
gyroz = gz / 6.75;
|
||||
rotation = sqrt(gyrox*gyrox + gyroy*gyroy + gyroz*gyroz);
|
||||
|
||||
yaw = ypr[0] * 180 / M_PI;
|
||||
if (yaw < 0) yaw += 360;
|
||||
pitch = ypr[1] * 180 / M_PI;
|
||||
if (pitch < 0) pitch += 360;
|
||||
roll = ypr[2] * 180 / M_PI;
|
||||
if (roll < 0) roll += 360;
|
||||
|
||||
// Serial.print("_"); Serial.print(yaw); Serial.print("_");
|
||||
// } else
|
||||
// Serial.print("*");
|
||||
|
||||
MPUInterrupt = false;
|
||||
} else
|
||||
// Serial.print("/");
|
||||
|
||||
Serial1.print(" "); // Don't know why this is needed
|
||||
Serial1.print(" MPU6050 ");
|
||||
Serial1.print(gyrox); Serial1.print(" ");
|
||||
Serial1.print(gyroy); Serial1.print(" ");
|
||||
Serial1.print(gyroz); Serial1.print(" ");
|
||||
Serial1.print(accelx); Serial1.print(" ");
|
||||
Serial1.print(accely); Serial1.print(" ");
|
||||
Serial1.print(accelz);
|
||||
|
||||
Serial.print(" MPU6050 ");
|
||||
Serial.print(gyrox); Serial.print(" ");
|
||||
Serial.print(gyroy); Serial.print(" ");
|
||||
Serial.print(gyroz); Serial.print(" ");
|
||||
Serial.print(accelx); Serial.print(" ");
|
||||
Serial.print(accely); Serial.print(" ");
|
||||
Serial.print(accelz);
|
||||
|
||||
/*
|
||||
} else {
|
||||
Serial1.print("OK MPU6050 0.0 0.0 0.0 0.0 0.0 0.0");
|
||||
Serial.print("OK MPU6050 0.0 0.0 0.0 0.0 0.0 0.0");
|
||||
}
|
||||
*/
|
||||
sensorValue = read_analog();
|
||||
|
||||
// Serial.println(sensorValue);
|
||||
Temp = T1 + (sensorValue - R1) *((T2 - T1)/(R2 - R1));
|
||||
|
||||
// Serial1.print(" GPS 0 0 0 TMP ");
|
||||
|
||||
Serial1.print(" GPS ");
|
||||
Serial1.print(flat,4);
|
||||
Serial1.print(" ");
|
||||
Serial1.print(flon,4);
|
||||
Serial1.print(" ");
|
||||
Serial1.print(flalt,2);
|
||||
|
||||
Serial1.print(" TMP ");
|
||||
Serial1.print(Temp);
|
||||
|
||||
// Serial1.print(" ");
|
||||
// Serial1.println(Sensor2);
|
||||
|
||||
Serial.print(" GPS ");
|
||||
Serial.print(flat,4);
|
||||
Serial.print(" ");
|
||||
Serial.print(flon,4);
|
||||
Serial.print(" ");
|
||||
Serial.print(flalt,2);
|
||||
|
||||
// Serial.print(" GPS 0 0 0 TMP ");
|
||||
Serial.print(" TMP ");
|
||||
Serial.print(Temp);
|
||||
// Serial.print(" ");
|
||||
// Serial.println(Sensor2);
|
||||
|
||||
// float rotation = 0;
|
||||
// rotation = sqrt(mpu6050.getGyroX()*mpu6050.getGyroX() + mpu6050.getGyroY()*mpu6050.getGyroY() + mpu6050.getGyroZ()*mpu6050.getGyroZ());
|
||||
// float acceleration = 0;
|
||||
// acceleration = sqrt(mpu6050.getAccX()*mpu6050.getAccX() + mpu6050.getAccY()*mpu6050.getAccY() + mpu6050.getAccZ()*mpu6050.getAccZ());
|
||||
// Serial.println(" ");
|
||||
// Serial.print(rotation);
|
||||
// Serial.print(" ");
|
||||
// Serial.println(acceleration);
|
||||
|
||||
if (first_read == true) {
|
||||
first_read = false;
|
||||
rest = acceleration;
|
||||
Serial.println(" ");
|
||||
Serial.print("rest acceleration: ");
|
||||
Serial.println(rest);
|
||||
}
|
||||
|
||||
if (acceleration > 1.1 * rest)
|
||||
led_set(whiteLED, HIGH);
|
||||
else
|
||||
led_set(whiteLED, LOW);
|
||||
|
||||
if (rotation > 20)
|
||||
led_set(yellowLED, HIGH);
|
||||
else
|
||||
led_set(yellowLED, LOW);
|
||||
}
|
||||
|
||||
Serial1.print(" YPR ");
|
||||
Serial1.print(yaw);
|
||||
Serial1.print(" ");
|
||||
Serial1.print(pitch);
|
||||
Serial1.print(" ");
|
||||
Serial1.print(roll);
|
||||
Serial1.print(" ");
|
||||
|
||||
Serial.print(" YPR ");
|
||||
Serial.print(yaw);
|
||||
Serial.print(" ");
|
||||
Serial.print(pitch);
|
||||
Serial.print(" ");
|
||||
Serial.print(roll);
|
||||
Serial.println(" ");
|
||||
|
||||
payload_loop(); // sensor extension read function defined in payload_extension.cpp
|
||||
|
||||
// Serial1.println(" ");
|
||||
Serial1.println(sensor_end_flag);
|
||||
Serial.println(" ");
|
||||
|
||||
}
|
||||
|
||||
if (Serial.available() > 0) {
|
||||
blink(50);
|
||||
char result = Serial.read();
|
||||
// Serial.println(result);
|
||||
// Serial.println("OK");
|
||||
// Serial.println(counter++);
|
||||
//#if !defined (ARDUINO_ARCH_RP2040)
|
||||
if (result == 'R' || result == 'r') {
|
||||
// Serial1.println("OK");
|
||||
// delay(100);
|
||||
Serial.println("Resetting\n");
|
||||
first_read = true;
|
||||
setup();
|
||||
}
|
||||
else if (result == 'D' || result == 'd') {
|
||||
Serial.println("\nCurrent temperature calibration data\n");
|
||||
Serial.println(T1, DEC);
|
||||
Serial.println(R1, DEC);
|
||||
Serial.println(" ");
|
||||
Serial.println(T2, DEC);
|
||||
Serial.println(R2, DEC);
|
||||
|
||||
Serial.println("\nCurrent raw temperature reading\n");
|
||||
Serial.println(sensorValue, DEC);
|
||||
Serial.println(" ");
|
||||
}
|
||||
else if (result == 'C' || result == 'c') {
|
||||
Serial.println("\nClearing stored gyro and accel offsets in EEPROM\n");
|
||||
eeprom_word_write(0, 0x00);
|
||||
#if !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040) // if Raspberry Pi RP2040 Boards is used in Arduino IDE
|
||||
|
||||
if (EEPROM.commit()) {
|
||||
Serial.println("EEPROM successfully committed\n");
|
||||
} else {
|
||||
Serial.println("ERROR! EEPROM commit failed\n");
|
||||
}
|
||||
#endif
|
||||
first_time = true;
|
||||
setup();
|
||||
}
|
||||
else if (result == 'S' || result == 's') {
|
||||
Serial.print("\nStoring temperature calibration data point "); // in EEPROM\n");
|
||||
Serial.print(calibration + 1);
|
||||
Serial.print(" in EEPROM\n");
|
||||
|
||||
Serial.println(temp);
|
||||
Serial.println(sensorValue);
|
||||
Serial.println(" ");
|
||||
|
||||
eeprom_word_write(calibration * 2 + 7 , (int)(temp * 10.0) + 0.5);
|
||||
eeprom_word_write(calibration * 2 + 8, sensorValue);
|
||||
|
||||
if (calibration == 0) {
|
||||
T1 = temp;
|
||||
R1 = sensorValue;
|
||||
calibration = 1;
|
||||
} else {
|
||||
T2 = temp;
|
||||
R2 = sensorValue;
|
||||
calibration = 0;
|
||||
}
|
||||
|
||||
// calibration = (calibration + 1) % 2;
|
||||
// Serial.println(calibration + 1);
|
||||
|
||||
#if !defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040) // if Raspberry Pi RP2040 Boards is used in Arduino IDE
|
||||
|
||||
if (EEPROM.commit()) {
|
||||
Serial.println("EEPROM successfully committed\n");
|
||||
} else {
|
||||
Serial.println("ERROR! EEPROM commit failed\n");
|
||||
}
|
||||
#endif
|
||||
|
||||
}
|
||||
//#endif
|
||||
}
|
||||
|
||||
#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
|
||||
// if (reset_count-- == 0)
|
||||
// setup();
|
||||
}
|
||||
|
||||
void eeprom_word_write(int addr, int val)
|
||||
{
|
||||
#if !defined(ARDUINO_ARCH_MBED_RP2040) // && defined(ARDUINO_ARCH_RP2040) // if Raspberry Pi RP2040 Boards is used in Arduino IDE
|
||||
EEPROM.write(addr * 2, lowByte(val));
|
||||
EEPROM.write(addr * 2 + 1, highByte(val));
|
||||
#endif
|
||||
}
|
||||
|
||||
short eeprom_word_read(int addr)
|
||||
{
|
||||
int result = 0;
|
||||
#if !defined(ARDUINO_ARCH_MBED_RP2040) // && defined(ARDUINO_ARCH_RP2040) // if Raspberry Pi RP2040 Boards is used in Arduino IDE
|
||||
result = ((EEPROM.read(addr * 2 + 1) << 8) | EEPROM.read(addr * 2));
|
||||
#endif
|
||||
return result;
|
||||
}
|
||||
|
||||
void blink_setup()
|
||||
{
|
||||
#if defined(ARDUINO_ARCH_STM32F0) || defined(ARDUINO_ARCH_STM32F1) || defined(ARDUINO_ARCH_STM32F3) || defined(ARDUINO_ARCH_STM32F4) || defined(ARDUINO_ARCH_STM32L4)
|
||||
// initialize digital pin PB1 as an output.
|
||||
pinMode(PC13, OUTPUT);
|
||||
pinMode(PB9, OUTPUT);
|
||||
pinMode(PB8, OUTPUT);
|
||||
#endif
|
||||
|
||||
#if defined __AVR_ATmega32U4__
|
||||
pinMode(RXLED, OUTPUT); // Set RX LED as an output
|
||||
// TX LED is set as an output behind the scenes
|
||||
pinMode(whiteLED, OUTPUT);
|
||||
pinMode(yellowLED,OUTPUT);
|
||||
#endif
|
||||
|
||||
#if defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
|
||||
pinMode(LED_BUILTIN, OUTPUT);
|
||||
pinMode(18, OUTPUT); // yellow LED (was blue LED on STEM Payload Board v1.3.2)
|
||||
pinMode(19, OUTPUT); // white LED (was 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);
|
||||
// configure_wifi();
|
||||
} else {
|
||||
led_builtin_pin = 25; // manually set GPIO 25 for Pico board
|
||||
// pinMode(25, OUTPUT);
|
||||
pinMode(led_builtin_pin, OUTPUT);
|
||||
}
|
||||
pinMode(18, OUTPUT);
|
||||
pinMode(19, OUTPUT);
|
||||
#endif
|
||||
}
|
||||
|
||||
void blink(int length)
|
||||
{
|
||||
#if defined(ARDUINO_ARCH_STM32F0) || defined(ARDUINO_ARCH_STM32F1) || defined(ARDUINO_ARCH_STM32F3) || defined(ARDUINO_ARCH_STM32F4) || defined(ARDUINO_ARCH_STM32L4)
|
||||
digitalWrite(PC13, LOW); // turn the LED on (HIGH is the voltage level)
|
||||
#endif
|
||||
|
||||
#if defined __AVR_ATmega32U4__
|
||||
digitalWrite(RXLED, LOW); // set the RX LED ON
|
||||
TXLED0; //TX LED is not tied to a normally controlled pin so a macro is needed, turn LED OFF
|
||||
#endif
|
||||
|
||||
#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
|
||||
|
||||
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
|
||||
#endif
|
||||
|
||||
#if defined __AVR_ATmega32U4__
|
||||
digitalWrite(RXLED, HIGH); // set the RX LED OFF
|
||||
TXLED0; //TX LED macro to turn LED ON
|
||||
#endif
|
||||
|
||||
#if defined(ARDUINO_ARCH_MBED_RP2040) && defined(ARDUINO_ARCH_RP2040)
|
||||
digitalWrite(LED_BUILTIN, LOW); // set the built-in LED OFF
|
||||
#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)
|
||||
{
|
||||
#if defined(ARDUINO_ARCH_STM32F0) || defined(ARDUINO_ARCH_STM32F1) || defined(ARDUINO_ARCH_STM32F3) || defined(ARDUINO_ARCH_STM32F4) || defined(ARDUINO_ARCH_STM32L4)
|
||||
if (ledPin == whiteLED)
|
||||
digitalWrite(PB9, state);
|
||||
else if (ledPin == yellowLED)
|
||||
digitalWrite(PB8, state);
|
||||
#endif
|
||||
|
||||
#if defined __AVR_ATmega32U4__
|
||||
digitalWrite(ledPin, state);
|
||||
#endif
|
||||
|
||||
#if defined (ARDUINO_ARCH_MBED_RP2040) || (ARDUINO_ARCH_RP2040)
|
||||
if (ledPin == whiteLED)
|
||||
digitalWrite(19, state);
|
||||
else if (ledPin == yellowLED)
|
||||
digitalWrite(18, state);
|
||||
#endif
|
||||
}
|
||||
|
||||
int read_analog()
|
||||
{
|
||||
int sensorValue;
|
||||
#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_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() {
|
||||
|
||||
pinMode(29, INPUT);
|
||||
const float conversion_factor = 3.3f / (1 << 12);
|
||||
uint16_t result = analogRead(29);
|
||||
// Serial.printf("ADC3 value: 0x%03x, voltage: %f V\n", result, result * conversion_factor);
|
||||
|
||||
if (result < 0x10) {
|
||||
Serial.println("\nPico W detected!\n");
|
||||
return(true);
|
||||
}
|
||||
else {
|
||||
Serial.println("\nPico detected!\n");
|
||||
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();
|
||||
|
||||
// for (unsigned long start = millis(); millis() - start < 1000;) // 5000;)
|
||||
while ((millis() - start) < 1000) // 5000;)
|
||||
{
|
||||
while (Serial2.available())
|
||||
{
|
||||
char c = Serial2.read();
|
||||
if (show_gps)
|
||||
Serial.write(c); // uncomment this line if you want to see the GPS data flowing
|
||||
if (gps.encode(c)) // Did a new valid sentence come in?
|
||||
newData = true;
|
||||
}
|
||||
}
|
||||
if (newData) {
|
||||
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();
|
||||
// gps.f_get_position(&flat, &flon, &age);
|
||||
|
||||
Serial.print(F("Location: "));
|
||||
if (gps.location.isValid())
|
||||
{
|
||||
Serial.print(gps.location.lat(), 6);
|
||||
Serial.print(F(","));
|
||||
Serial.print(gps.location.lng(), 6);
|
||||
|
||||
flat = gps.location.lat();
|
||||
flon = gps.location.lng();
|
||||
flalt = gps.altitude.meters();
|
||||
}
|
||||
else
|
||||
{
|
||||
Serial.print(F("INVALID"));
|
||||
}
|
||||
Serial.print("\r\n");
|
||||
|
||||
} else
|
||||
// Serial.printf("GPS read no new data: %d\n", millis() - start);
|
||||
;
|
||||
}
|
||||
#endif
|
||||
Loading…
Reference in new issue