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Merge pull request #74 from alanbjohnston/dev

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Added MAX and MIN frames for DUV FSK mode, XS 1 to 3 from Payload added, EEPROM storage in Arduino
pull/77/head
alanbjohnston 5 years ago committed by GitHub
parent a4a5afba06 0605451258
commit a534fabf69
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GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 525 additions and 235 deletions
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420
afsk/main.c
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@ -57,6 +57,24 @@
#define PLUS_Z 6 #define PLUS_Z 6
#define MINUS_Z 7 #define MINUS_Z 7
#define TEMP 2
#define PRES 3
#define ALT 4
#define HUMI 5
#define GYRO_X 7
#define GYRO_Y 8
#define GYRO_Z 9
#define ACCEL_X 10
#define ACCEL_Y 11
#define ACCEL_Z 12
#define XS1 14
#define XS2 15
#define XS3 16
#define RSSI 0
#define IHU_TEMP 2
#define SPIN 1
#define OFF -1 #define OFF -1
#define ON 1 #define ON 1
@ -135,6 +153,7 @@ char pythonStr[100], pythonConfigStr[100], busStr[10];
int map[8] = { 0, 1, 2, 3, 4, 5, 6, 7}; int map[8] = { 0, 1, 2, 3, 4, 5, 6, 7};
char src_addr[5] = ""; char src_addr[5] = "";
char dest_addr[5] = "CQ"; char dest_addr[5] = "CQ";
float voltage_min[9], current_min[9], voltage_max[9], current_max[9], sensor_max[17], sensor_min[17], other_max[3], other_min[3];
int main(int argc, char *argv[]) { int main(int argc, char *argv[]) {
@ -426,10 +445,9 @@ printf("INFO: I2C bus status 0: %d 1: %d 3: %d camera: %d\n",i2c_bus0, i2c_bus1,
#endif #endif
if ((i2c_bus1 == OFF) && (i2c_bus3 == OFF)) if ((i2c_bus1 == OFF) && (i2c_bus3 == OFF))
sim_mode = TRUE; {
if (sim_mode) sim_mode = TRUE;
{
printf("Simulated telemetry mode!\n"); printf("Simulated telemetry mode!\n");
@ -491,6 +509,24 @@ printf("batt: %f speed: %f eclipse_time: %f eclipse: %d period: %f temp: %f max:
fprintf(stderr, " See http://cubesatsim.org/wiki for info about building a CubeSatSim\n\n"); fprintf(stderr, " See http://cubesatsim.org/wiki for info about building a CubeSatSim\n\n");
} }
for(int i=0; i < 9; i++)
{
voltage_min[i] = 1000.0;
current_min[i] = 1000.0;
voltage_max[i] = -1000.0;
current_max[i] = -1000.0;
}
for(int i=0; i < 17; i++)
{
sensor_min[i] = 1000.0;
sensor_max[i] = -1000.0;
printf("Sensor min and max initialized!");
}
for(int i=0; i < 3; i++)
{
other_min[i] = 1000.0;
other_max[i] = -1000.0;
}
while (loop-- != 0) while (loop-- != 0)
{ {
@ -1100,9 +1136,11 @@ if (firstTime != ON)
const char space[2] = " "; const char space[2] = " ";
token = strtok(cmdbuffer, space); token = strtok(cmdbuffer, space);
float voltage[9], current[9]; float voltage[9], current[9], sensor[17], other[3];
memset(voltage, 0, sizeof(voltage)); memset(voltage, 0, sizeof(voltage));
memset(current, 0, sizeof(current)); memset(current, 0, sizeof(current));
memset(sensor, 0, sizeof(sensor));
memset(other, 0, sizeof(other));
for (count1 = 0; count1 < 8; count1++) for (count1 = 0; count1 < 8; count1++)
{ {
@ -1148,9 +1186,84 @@ if (firstTime != ON)
printf("CPU Temp Read: %6.1f\n", cpuTemp); printf("CPU Temp Read: %6.1f\n", cpuTemp);
#endif #endif
IHUcpuTemp = (int)((cpuTemp * 10.0) + 0.5); other[IHU_TEMP] = cpuTemp;
// IHUcpuTemp = (int)((cpuTemp * 10.0) + 0.5);
} }
fclose(cpuTempSensor); fclose(cpuTempSensor);
char sensor_payload[500];
if (payload == ON)
{
STEMBoardFailure = 0;
char c;
int charss = serialDataAvail (uart_fd);
if (charss != 0)
printf("Clearing buffer of %d chars \n", charss);
while ((charss-- > 0))
c = serialGetchar (uart_fd); // clear buffer
unsigned int waitTime;
int i = 0;
serialPutchar (uart_fd, '?');
printf("Querying payload with ?\n");
waitTime = millis() + 500;
int end = FALSE;
// int retry = FALSE;
while ((millis() < waitTime) && !end)
{
int chars = serialDataAvail (uart_fd);
while ((chars-- > 0) && !end)
{
c = 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("Payload string: %s \n", sensor_payload);
if ((sensor_payload[0] == 'O') && (sensor_payload[1] == 'K')) // only process if valid payload response
{
int count1;
char *token;
// char cmdbuffer[1000];
// FILE *file = popen("python3 /home/pi/CubeSatSim/python/voltcurrent.py 1 11", "r");
// fgets(cmdbuffer, 1000, file);
// printf("result: %s\n", cmdbuffer);
// pclose(file);
const char space[2] = " ";
token = strtok(sensor_payload, space);
for (count1 = 0; count1 < 17; count1++)
{
if (token != NULL)
{
sensor[count1] = atof(token);
#ifdef DEBUG_LOGGING
printf("sensor: %f ", sensor[count1]);
#endif
token = strtok(NULL, space);
}
}
printf("\n");
}
}
if (sim_mode) if (sim_mode)
{ {
@ -1197,7 +1310,9 @@ if (sim_mode)
// printf("temp: %f Time: %f Eclipse: %d : %f %f | %f %f | %f %f\n",tempS, time, eclipse, voltage[map[PLUS_X]], voltage[map[MINUS_X]], voltage[map[PLUS_Y]], voltage[map[MINUS_Y]], current[map[PLUS_Z]], current[map[MINUS_Z]]); // printf("temp: %f Time: %f Eclipse: %d : %f %f | %f %f | %f %f\n",tempS, time, eclipse, voltage[map[PLUS_X]], voltage[map[MINUS_X]], voltage[map[PLUS_Y]], voltage[map[MINUS_Y]], current[map[PLUS_Z]], current[map[MINUS_Z]]);
tempS += (eclipse > 0) ? ((temp_max - tempS)/50.0): ((temp_min - tempS)/50.0); tempS += (eclipse > 0) ? ((temp_max - tempS)/50.0): ((temp_min - tempS)/50.0);
IHUcpuTemp = (int)((tempS + rnd_float(-1.0, 1.0)) * 10 + 0.5); tempS += + rnd_float(-1.0, 1.0);
// IHUcpuTemp = (int)((tempS + rnd_float(-1.0, 1.0)) * 10 + 0.5);
other[IHU_TEMP] = tempS;
voltage[map[BUS]] = rnd_float(5.0, 5.005); voltage[map[BUS]] = rnd_float(5.0, 5.005);
current[map[BUS]] = rnd_float(158, 171); current[map[BUS]] = rnd_float(158, 171);
@ -1227,6 +1342,79 @@ if (sim_mode)
// end of simulated telemetry // end of simulated telemetry
} }
for (count1 = 0; count1 < 8; count1++)
{
if (voltage[count1] < voltage_min[count1])
voltage_min[count1] = voltage[count1];
if (current[count1] < current_min[count1])
current_min[count1] = current[count1];
if (voltage[count1] > voltage_max[count1])
voltage_max[count1] = voltage[count1];
if (current[count1] > current_max[count1])
current_max[count1] = current[count1];
printf("Vmin %f Vmax %f Imin %f Imax %f \n", voltage_min[count1], voltage_max[count1], current_min[count1], current_max[count1]);
}
if ((sensor_payload[0] == 'O') && (sensor_payload[1] == 'K'))
{
for (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]);
}
}
for (count1 = 0; count1 < 3; count1++)
{
if (other[count1] < other_min[count1])
other_min[count1] = other[count1];
if (other[count1] > other_max[count1])
other_max[count1] = other[count1];
printf("Other min %f max %f \n", other_min[count1], other_max[count1]);
}
if (loop % 8 == 0)
{
printf("Sending MIN frame \n");
frm_type = 0x03;
for (count1 = 0; count1 < 17; count1++)
{
if (count1 < 3)
other[count1] = other_min[count1];
if (count1 < 8)
{
voltage[count1] = voltage_min[count1];
current[count1] = current_min[count1];
}
if (sensor_min[count1] != 1000.0) // make sure values are valid
sensor[count1] = sensor_min[count1];
}
}
if ((loop + 4) % 8 == 0)
{
printf("Sending MAX frame \n");
frm_type = 0x02;
for (count1 = 0; count1 < 17; count1++)
{
if (count1 < 3)
other[count1] = other_max[count1];
if (count1 < 8)
{
voltage[count1] = voltage_max[count1];
current[count1] = current_max[count1];
}
if (sensor_max[count1] != -1000.0) // make sure values are valid
sensor[count1] = sensor_max[count1];
}
}
memset(rs_frame,0,sizeof(rs_frame)); memset(rs_frame,0,sizeof(rs_frame));
memset(parities,0,sizeof(parities)); memset(parities,0,sizeof(parities));
@ -1283,185 +1471,24 @@ if (sim_mode)
// read payload sensor if available // read payload sensor if available
char sensor_payload[500];
if (payload == ON)
{
STEMBoardFailure = 0;
char c;
int charss = serialDataAvail (uart_fd);
if (charss != 0)
printf("Clearing buffer of %d chars \n", charss);
while ((charss-- > 0))
c = serialGetchar (uart_fd); // clear buffer
unsigned int waitTime;
int i = 0;
serialPutchar (uart_fd, '?');
printf("Querying payload with ?\n");
waitTime = millis() + 500;
int end = FALSE;
// int retry = FALSE;
while ((millis() < waitTime) && !end)
{
int chars = serialDataAvail (uart_fd);
while ((chars-- > 0) && !end)
{
c = 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("Payload string: %s \n", sensor_payload);
int count1;
char *token;
// char cmdbuffer[1000];
// FILE *file = popen("python3 /home/pi/CubeSatSim/python/voltcurrent.py 1 11", "r");
// fgets(cmdbuffer, 1000, file);
// printf("result: %s\n", cmdbuffer);
// pclose(file);
const char space[2] = " ";
token = strtok(sensor_payload, space);
float gyroX, gyroY, gyroZ;
/*
for (count1 = 0; count1 < 7; count1++) // skipping over BME280 data
{
if (token != NULL)
if (count1 == 2)
RXTemperature = (int)((atof(token) * 10.0) + 0.5);
token = strtok(NULL, space);
}
printf("RXTemperature: %d \n", RXTemperature);
*/
if (token != NULL)
{
token = strtok(NULL, space); // OK token
}
if (token != NULL)
{
token = strtok(NULL, space); // BME280 token
}
if (token != NULL)
{
BME280temperature = atof(token);
printf("temperature %f ", BME280temperature);
token = strtok(NULL, space); // get next token
}
if (token != NULL)
{
BME280pressure = atof(token);
printf("pressure %f ",BME280pressure);
token = strtok(NULL, space); // get next token
}
if (token != NULL)
{
BME280altitude = atof(token);
printf("altitude %f ",BME280altitude);
token = strtok(NULL, space); // get next token
}
if (token != NULL)
{
BME280humidity = atof(token);
printf("humidity %f ",BME280humidity);
token = strtok(NULL, space); // get next token
}
if (token != NULL)
{
token = strtok(NULL, space); // start of MPU6050 data
}
if (token != NULL)
{
gyroX = atof(token);
printf("gyroX %f ", gyroX);
token = strtok(NULL, space);
}
if (token != NULL)
{
gyroY = atof(token);
printf("gyroY %f ", gyroY);
token = strtok(NULL, space);
}
if (token != NULL)
{
gyroZ = atof(token);
printf("gyroZ %f \n", gyroZ);
token = strtok(NULL, space);
}
if (token != NULL)
{
xAccel = atof(token);
printf("accelX %f ", xAccel);
token = strtok(NULL, space);
}
if (token != NULL)
{
yAccel = atof(token);
printf("accelY %f ", yAccel);
token = strtok(NULL, space);
}
if (token != NULL)
{
zAccel = atof(token);
printf("accelZ %f ", zAccel);
token = strtok(NULL, space);
}
if (token != NULL)
{
token = strtok(NULL, space); // start of XS extra sensor data
}
if (token != NULL)
{
XSsensor1 = atof(token);
printf("Sensor1%f ", XSsensor1);
token = strtok(NULL, space);
}
if (token != NULL)
{
XSsensor2 = atof(token);
printf("Sensor2 %f ", XSsensor2);
token = strtok(NULL, space);
}
if (token != NULL)
{
XSsensor3 = atof(token);
printf("Sensor3 %f \n", XSsensor3);
}
xAngularVelocity = (int)(gyroX + 0.5) + 2048;
yAngularVelocity = (int)(gyroY + 0.5) + 2048;
zAngularVelocity = (int)(gyroZ + 0.5) + 2048;
}
encodeA(b, 0 + head_offset, batt_a_v); encodeA(b, 0 + head_offset, batt_a_v);
encodeB(b, 1 + head_offset, batt_b_v); encodeB(b, 1 + head_offset, batt_b_v);
encodeA(b, 3 + head_offset, batt_c_v); encodeA(b, 3 + head_offset, batt_c_v);
encodeB(b, 4 + head_offset, (int)(xAccel * 100 + 0.5) + 2048); // Xaccel // encodeB(b, 4 + head_offset, (int)(xAccel * 100 + 0.5) + 2048); // Xaccel
encodeA(b, 6 + head_offset, (int)(yAccel * 100 + 0.5) + 2048); // Yaccel // encodeA(b, 6 + head_offset, (int)(yAccel * 100 + 0.5) + 2048); // Yaccel
encodeB(b, 7 + head_offset, (int)(zAccel * 100 + 0.5) + 2048); // Zaccel // encodeB(b, 7 + head_offset, (int)(zAccel * 100 + 0.5) + 2048); // Zaccel
// encodeA(b, 6 + head_offset,yAccel); //Yaccel
// encodeB(b, 7 + head_offset,zAccel); //Zaccel encodeB(b, 4 + head_offset, (int)(sensor[ACCEL_X] * 100 + 0.5) + 2048); // Xaccel
encodeA(b, 6 + head_offset, (int)(sensor[ACCEL_Y] * 100 + 0.5) + 2048); // Yaccel
encodeB(b, 7 + head_offset, (int)(sensor[ACCEL_Z] * 100 + 0.5) + 2048); // Zaccel
encodeA(b, 9 + head_offset, battCurr); encodeA(b, 9 + head_offset, battCurr);
encodeB(b, 10 + head_offset,(int)(BME280temperature * 10 + 0.5)); // Temp // encodeB(b, 10 + head_offset,(int)(BME280temperature * 10 + 0.5)); // Temp
encodeB(b, 10 + head_offset,(int)(sensor[TEMP] * 10 + 0.5)); // Temp
if (mode == FSK) if (mode == FSK)
{ {
@ -1497,24 +1524,41 @@ if (payload == ON)
} }
encodeA(b, 30 + head_offset,PSUVoltage); encodeA(b, 30 + head_offset,PSUVoltage);
encodeB(b, 31 + head_offset,(spin * 10) + 2048); // encodeB(b, 31 + head_offset,(spin * 10) + 2048);
encodeB(b, 31 + head_offset,(other[SPIN] * 10) + 2048);
encodeA(b, 33 + head_offset,(int)(BME280pressure + 0.5)); // Pressure // encodeA(b, 33 + head_offset,(int)(BME280pressure + 0.5)); // Pressure
encodeB(b, 34 + head_offset,(int)(BME280altitude + 0.5)); // Altitude // encodeB(b, 34 + head_offset,(int)(BME280altitude + 0.5)); // Altitude
encodeA(b, 33 + head_offset,(int)(sensor[PRES] + 0.5)); // Pressure
encodeB(b, 34 + head_offset,(int)(sensor[ALT] * 10.0 + 0.5)); // Altitude
encodeA(b, 36 + head_offset, Resets); encodeA(b, 36 + head_offset, Resets);
encodeB(b, 37 + head_offset, Rssi); // encodeB(b, 37 + head_offset, Rssi);
encodeB(b, 37 + head_offset, (int)(other[RSSI] + 0.5) + 2048);
// encodeA(b, 39 + head_offset, IHUcpuTemp);
encodeA(b, 39 + head_offset, (int)(other[IHU_TEMP] * 10 + 0.5));
// encodeB(b, 40 + head_offset, xAngularVelocity);
// encodeA(b, 42 + head_offset, yAngularVelocity);
// encodeB(b, 43 + head_offset, zAngularVelocity);
encodeB(b, 40 + head_offset, (int)(sensor[GYRO_X] + 0.5) + 2048);
encodeA(b, 42 + head_offset, (int)(sensor[GYRO_Y] + 0.5) + 2048);
encodeB(b, 43 + head_offset, (int)(sensor[GYRO_Z] + 0.5) + 2048);
encodeA(b, 39 + head_offset, IHUcpuTemp);
encodeB(b, 40 + head_offset, xAngularVelocity);
encodeA(b, 42 + head_offset, yAngularVelocity);
encodeB(b, 43 + head_offset, zAngularVelocity);
encodeA(b, 45 + head_offset, (int)(BME280humidity + 0.5)); // in place of sensor1 // encodeA(b, 45 + head_offset, (int)(BME280humidity + 0.5)); // in place of sensor1
encodeA(b, 45 + head_offset, (int)(sensor[HUMI] + 0.5)); // in place of sensor1
encodeB(b, 46 + head_offset,PSUCurrent); encodeB(b, 46 + head_offset,PSUCurrent);
encodeA(b, 48 + head_offset, (int)(XSsensor2) + 2048); // encodeA(b, 48 + head_offset, (int)(XSsensor2) + 2048);
encodeB(b, 49 + head_offset, (int)(XSsensor3 * 100 + 0.5) + 2048); // encodeB(b, 49 + head_offset, (int)(XSsensor3 * 100 + 0.5) + 2048);
encodeA(b, 48 + head_offset, (int)(sensor[XS2]) + 2048);
encodeB(b, 49 + head_offset, (int)(sensor[XS3] * 100 + 0.5) + 2048);
// camera = ON; // camera = ON;

50
arduino/Payload_BME280_MPU6050_Pro_Micro.ino
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@ -2,6 +2,7 @@
#include <Adafruit_Sensor.h> #include <Adafruit_Sensor.h>
#include <Adafruit_BME280.h> #include <Adafruit_BME280.h>
#include <MPU6050_tockn.h> #include <MPU6050_tockn.h>
#include <EEPROM.h>
#define SEALEVELPRESSURE_HPA (1013.25) #define SEALEVELPRESSURE_HPA (1013.25)
@ -19,6 +20,8 @@ int blueLED = 8;
int Sensor1 = 0; int Sensor1 = 0;
int Sensor2 = 0; int Sensor2 = 0;
float Sensor3 = 0; float Sensor3 = 0;
void eeprom_word_write(int addr, int val);
short eeprom_word_read(int addr);
void setup() { void setup() {
@ -42,8 +45,41 @@ void setup() {
} }
mpu6050.begin(); mpu6050.begin();
if (eeprom_word_read(0) == 0xA07)
{
Serial.println("Reading gyro offsets from EEPROM\n");
float xOffset = ((float)eeprom_word_read(1))/100.0;
float yOffset = ((float)eeprom_word_read(2))/100.0;
float zOffset = ((float)eeprom_word_read(3))/100.0;
Serial.println(xOffset, DEC);
Serial.println(yOffset, DEC);
Serial.println(zOffset, DEC);
mpu6050.setGyroOffsets(xOffset, yOffset, zOffset);
}
else
{
Serial.println("Calculating gyro offsets and storing in EEPROM\n");
mpu6050.calcGyroOffsets(true); mpu6050.calcGyroOffsets(true);
eeprom_word_write(0, 0xA07);
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);
}
pinMode(greenLED, OUTPUT); pinMode(greenLED, OUTPUT);
pinMode(blueLED, OUTPUT); pinMode(blueLED, OUTPUT);
@ -204,3 +240,17 @@ void loop() {
delay(100); delay(100);
} }
void eeprom_word_write(int addr, int val)
{
EEPROM.write(addr * 2, lowByte(val));
EEPROM.write(addr * 2 + 1, highByte(val));
}
short eeprom_word_read(int addr)
{
return((EEPROM.read(addr * 2 + 1) << 8) | EEPROM.read(addr * 2));
}

220
arduino/Payload_BME280_MPU6050_STM32.ino
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@ -2,6 +2,7 @@
#include <Adafruit_Sensor.h> #include <Adafruit_Sensor.h>
#include <Adafruit_BME280.h> #include <Adafruit_BME280.h>
#include <MPU6050_tockn.h> #include <MPU6050_tockn.h>
#include <EEPROM.h>
#define SEALEVELPRESSURE_HPA (1013.25) #define SEALEVELPRESSURE_HPA (1013.25)
@ -13,6 +14,13 @@ MPU6050 mpu6050(Wire);
int counter = 0; int counter = 0;
long timer = 0; long timer = 0;
int bmePresent; int bmePresent;
int greenLED = 9;
int blueLED = 8;
int Sensor1 = 0;
int Sensor2 = 0;
float Sensor3 = 0;
void eeprom_word_write(int addr, int val);
short eeprom_word_read(int addr);
void setup() { void setup() {
@ -23,9 +31,9 @@ void setup() {
Serial.println("Starting!"); Serial.println("Starting!");
pinMode(PC13, OUTPUT); pinMode(PC13, OUTPUT);
digitalWrite(PC13, LOW); // turn the LED on digitalWrite(PC13, LOW); // turn the LED on
delay(50); // wait for a second delay(50); // wait for a second
digitalWrite(PC13, HIGH); // turn the LED off digitalWrite(PC13, HIGH); // turn the LED off
if (bme.begin(0x76)) { if (bme.begin(0x76)) {
bmePresent = 1; bmePresent = 1;
@ -33,9 +41,43 @@ void setup() {
Serial.println("Could not find a valid BME280 sensor, check wiring!"); Serial.println("Could not find a valid BME280 sensor, check wiring!");
bmePresent = 0; bmePresent = 0;
} }
mpu6050.begin(); mpu6050.begin();
mpu6050.calcGyroOffsets(true);
if (eeprom_word_read(0) == 0xA07)
{
Serial.println("Reading gyro offsets from EEPROM\n");
float xOffset = ((float)eeprom_word_read(1)) / 100.0;
float yOffset = ((float)eeprom_word_read(2)) / 100.0;
float zOffset = ((float)eeprom_word_read(3)) / 100.0;
Serial.println(xOffset, DEC);
Serial.println(yOffset, DEC);
Serial.println(zOffset, DEC);
mpu6050.setGyroOffsets(xOffset, yOffset, zOffset);
}
else
{
Serial.println("Calculating gyro offsets and storing in EEPROM\n");
mpu6050.calcGyroOffsets(true);
eeprom_word_write(0, 0xA07);
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);
}
} }
void loop() { void loop() {
@ -46,36 +88,71 @@ void loop() {
delay(50); // wait for a second delay(50); // wait for a second
digitalWrite(PC13, HIGH); // turn the LED off digitalWrite(PC13, HIGH); // turn the LED off
char result = Serial.read(); char result = Serial.read();
// Serial.println(result); // Serial.println(result);
if (result == 'R') { if (result == 'R') {
Serial.println("OK"); Serial.println("OK");
delay(500); delay(500);
setup(); setup();
} }
if (bmePresent) {
Serial.print("OK BME280 "); if (result == '?')
Serial.print(bme.readTemperature()); {
Serial.print(" ");
Serial.print(bme.readPressure() / 100.0F); if (bmePresent) {
Serial.print("OK BME280 ");
Serial.print(bme.readTemperature());
Serial.print(" ");
Serial.print(bme.readPressure() / 100.0F);
Serial.print(" ");
Serial.print(bme.readAltitude(SEALEVELPRESSURE_HPA));
Serial.print(" ");
Serial.print(bme.readHumidity());
} else
{
Serial.print("OK BME280 0.0 0.0 0.0 0.0");
}
mpu6050.update();
Serial.print(" MPU6050 ");
Serial.print(mpu6050.getGyroX());
Serial.print(" "); Serial.print(" ");
Serial.print(bme.readAltitude(SEALEVELPRESSURE_HPA)); Serial.print(mpu6050.getGyroY());
Serial.print(" "); Serial.print(" ");
Serial.print(bme.readHumidity()); Serial.print(mpu6050.getGyroZ());
} else
{ Serial.print(" ");
Serial.print("OK BME280 0.0 0.0 0.0 0.0"); Serial.print(mpu6050.getAccX());
} Serial.print(" ");
mpu6050.update(); Serial.print(mpu6050.getAccY());
Serial.print(" ");
Serial.print(mpu6050.getAccZ());
Serial.print(" MPU6050 "); Serial.print(" XS ");
Serial.print(mpu6050.getGyroX()); Serial.print(Sensor1);
Serial.print(" "); Serial.print(" ");
Serial.print(mpu6050.getGyroY()); Serial.print(Sensor2);
Serial.print(" "); Serial.print(" ");
Serial.println(mpu6050.getGyroZ()); Serial.println(Sensor3);
// Serial1.println(counter++); float rotation = sqrt(mpu6050.getGyroX()*mpu6050.getGyroX() + mpu6050.getGyroY()*mpu6050.getGyroY() + mpu6050.getGyroZ()* mpu6050.getGyroZ());
float acceleration = sqrt(mpu6050.getAccX()*mpu6050.getAccX() + mpu6050.getAccY()*mpu6050.getAccY() + mpu6050.getAccZ()*mpu6050.getAccZ());
// Serial.print(rotation);
// Serial.print(" ");
// Serial.println(acceleration);
if (acceleration > 1.2)
digitalWrite(greenLED, HIGH);
else
digitalWrite(greenLED, LOW);
if (rotation > 5)
digitalWrite(blueLED, HIGH);
else
digitalWrite(blueLED, LOW);
// Serial1.println(counter++);
}
} }
#else #else
if (Serial1.available() > 0) { if (Serial1.available() > 0) {
@ -83,38 +160,87 @@ void loop() {
delay(50); // wait for a second delay(50); // wait for a second
digitalWrite(PC13, HIGH); // turn the LED off digitalWrite(PC13, HIGH); // turn the LED off
char result = Serial1.read(); char result = Serial1.read();
// Serial1.println(result); // Serial1.println(result);
if (result == 'R') { if (result == 'R') {
Serial1.println("OK"); Serial1.println("OK");
delay(500); delay(500);
setup(); setup();
} }
if (bmePresent) {
Serial1.print("OK BME280 "); if (result == '?')
Serial1.print(bme.readTemperature()); {
Serial1.print(" ");
Serial1.print(bme.readPressure() / 100.0F); if (bmePresent) {
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());
} else
{
Serial1.print("OK BME280 0.0 0.0 0.0 0.0");
}
mpu6050.update();
Serial1.print(" MPU6050 ");
Serial1.print(mpu6050.getGyroX());
Serial1.print(" "); Serial1.print(" ");
Serial1.print(bme.readAltitude(SEALEVELPRESSURE_HPA)); Serial1.print(mpu6050.getGyroY());
Serial1.print(" "); Serial1.print(" ");
Serial1.print(bme.readHumidity()); Serial1.print(mpu6050.getGyroZ());
} else
{ Serial1.print(" ");
Serial1.print("OK BME280 0.0 0.0 0.0 0.0"); Serial1.print(mpu6050.getAccX());
}
mpu6050.update();
Serial1.print(" MPU6050 ");
Serial1.print(mpu6050.getGyroX());
Serial1.print(" "); Serial1.print(" ");
Serial1.print(mpu6050.getGyroY()); Serial1.print(mpu6050.getAccY());
Serial1.print(" "); Serial1.print(" ");
Serial1.println(mpu6050.getGyroZ()); Serial1.print(mpu6050.getAccZ());
Serial1.print(" XS ");
Serial1.print(Sensor1);
Serial1.print(" ");
Serial1.print(Sensor2);
Serial1.print(" ");
Serial1.println(Sensor3);
float rotation = sqrt(mpu6050.getGyroX()*mpu6050.getGyroX() + mpu6050.getGyroY()*mpu6050.getGyroY() + mpu6050.getGyroZ()* mpu6050.getGyroZ());
float acceleration = sqrt(mpu6050.getAccX()*mpu6050.getAccX() + mpu6050.getAccY()*mpu6050.getAccY() + mpu6050.getAccZ()*mpu6050.getAccZ());
// Serial.print(rotation);
// Serial.print(" ");
// Serial.println(acceleration);
if (acceleration > 1.2)
digitalWrite(greenLED, HIGH);
else
digitalWrite(greenLED, LOW);
if (rotation > 5)
digitalWrite(blueLED, HIGH);
else
digitalWrite(blueLED, LOW);
// Serial1.println(counter++); // Serial1.println(counter++);
}
} }
#endif #endif
delay(100); delay(100);
} }
void eeprom_word_write(int addr, int val)
{
EEPROM.write(addr * 2, lowByte(val));
EEPROM.write(addr * 2 + 1, highByte(val));
}
short eeprom_word_read(int addr)
{
return ((EEPROM.read(addr * 2 + 1) << 8) | EEPROM.read(addr * 2));
}

70
arduino/eeprom_read_write_reset.ino
Unescape View File

@ -0,0 +1,70 @@
/*
* EEPROM Write
*
* Stores values into the EEPROM.
* These values will stay in the EEPROM when the board is
* turned off and may be retrieved later by another sketch.
*
* Writes 8 values.
*
*/
#include <EEPROM.h>
/** the current address in the EEPROM (i.e. which byte we're going to write to next) **/
int addr = 0;
void setup() {
// initialize serial
Serial.begin(9600);
}
void loop() {
/***
Need to divide by 4 because analog inputs range from
0 to 1023 and each byte of the EEPROM can only hold a
value from 0 to 255.
***/
// int val = analogRead(0) / 4;
/***
Write the value to the appropriate byte of the EEPROM.
these values will remain there when the board is
turned off.
***/
Serial.println("\nEEPROM Write/Read test and Reset\n\n");
for (int i=0; i < 9; i++)
{
EEPROM.write(i,i);
delay(500);
Serial.println(EEPROM.read(i));
}
/***
Advance to the next address, when at the end restart at the beginning.
Larger AVR processors have larger EEPROM sizes, E.g:
- Arduno Duemilanove: 512b EEPROM storage.
- Arduino Uno: 1kb EEPROM storage.
- Arduino Mega: 4kb EEPROM storage.
Rather than hard-coding the length, you should use the pre-provided length function.
This will make your code portable to all AVR processors.
***/
// addr = addr + 1;
// if (addr == EEPROM.length()) {
// addr = 0;
// }
/***
As the EEPROM sizes are powers of two, wrapping (preventing overflow) of an
EEPROM address is also doable by a bitwise and of the length - 1.
++addr &= EEPROM.length() - 1;
***/
// delay(100);
}
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