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CubeSatSim/stempayload/Payload_BME280_MPU6050_XS/Payload_BME280_MPU6050_XS.ino

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// 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
#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_BME280.h>
#include <MPU6050_tockn.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);
long timer = 0;
int bmePresent;
int RXLED = 17; // The RX LED has a defined Arduino pin
int greenLED = 9;
int blueLED = 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
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(greenLED, HIGH);
delay(250);
led_set(greenLED, LOW);
led_set(blueLED, HIGH);
delay(250);
led_set(blueLED, LOW);
if (bme.begin(0x76)) {
bmePresent = 1;
} else {
Serial.println("Could not find a valid BME280 sensor, check wiring!");
bmePresent = 0;
}
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);
Serial.println("Temperature calibration data from EEPROM\n");
T1 = ((float)eeprom_word_read(4)) / 10.0;
R1 = ((float)eeprom_word_read(5));
T2 = ((float)eeprom_word_read(6)) / 10.0;
R2 = ((float)eeprom_word_read(7));
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 !defined(ARDUINO_ARCH_MBED_RP2040) // && defined(ARDUINO_ARCH_RP2040) // if Raspberry Pi RP2040 Boards is used in Arduino IDE
Serial.println("Storing gyro offsets in EEPROM\n");
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);
Serial.println("Storing temperature calibration data in EEPROM\n");
eeprom_word_write(4, (int)(T1 * 10.0) + 0.5);
eeprom_word_write(5, (int) R1);
eeprom_word_write(6, (int)(T2 * 10.0) + 0.5);
eeprom_word_write(7, (int) R2);
T1 = ((float)eeprom_word_read(4)) / 10.0;
R1 = ((float)eeprom_word_read(5));
T2 = ((float)eeprom_word_read(6)) / 10.0;
R2 = ((float)eeprom_word_read(7));
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
}
payload_setup(); // sensor extension setup function defined in payload_extension.cpp
}
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());
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 = 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 (first_read == true) {
first_read = false;
rest = acceleration;
}
if (acceleration > 1.2 * rest)
led_set(greenLED, HIGH);
else
led_set(greenLED, LOW);
if (rotation > 5)
led_set(blueLED, HIGH);
else
led_set(blueLED, LOW);
}
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(" ");
}
else if (result == 'C' || result == 'c') {
Serial.println("\nClearing stored gyro 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 + 4 , (int)(temp * 10.0) + 0.5);
eeprom_word_write(calibration * 2 + 5, 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
}
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(greenLED, OUTPUT);
pinMode(blueLED,OUTPUT);
#endif
#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);
// 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 == greenLED)
digitalWrite(PB9, state);
else if (ledPin == blueLED)
digitalWrite(PB8, state);
#endif
#if defined __AVR_ATmega32U4__
digitalWrite(ledPin, state);
#endif
#if defined (ARDUINO_ARCH_MBED_RP2040) || (ARDUINO_ARCH_RP2040)
if (ledPin == greenLED)
digitalWrite(19, state);
else if (ledPin == blueLED)
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
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