main.cpp

00001 #include <mbed.h>
00002 #include <AQM0802A.h>
00003 #include <BME280.h>
00004 #include <MPU9250.h>
00005 #include <SakuraIO.h>
00006 #include "SakuraPinNames.h"
00007 #include "sensors.h"
00008 #include "gps.h"
00009 
00010 // Serial over CMSIS_DAP
00011 Serial pc(DAP_UART_TX, DAP_UART_RX, 9600);
00012 
00013 // GPS
00014 Serial gps(GPS_TX, GPS_RX, 9600);
00015 DigitalOut gps_en(GPS_EN);
00016 
00017 // LED
00018 DigitalOut led_1(LED1);
00019 DigitalOut led_2(LED2);
00020 DigitalOut led_3(LED3);
00021 DigitalOut led_4(LED4);
00022 
00023 // LCD backlight
00024 DigitalOut lcd_led(LED_LCD);
00025 
00026 // Switch
00027 DigitalIn sw_1(SW1);
00028 DigitalIn sw_2(SW2);
00029 DigitalIn sw_3(SW3);
00030 DigitalIn sw_4(SW4);
00031 DigitalIn sw_5(SW5);
00032 DigitalIn sw_6(SW6);
00033 
00034 // Internal I2C
00035 I2C internal_i2c(I2C_INTERNAL_SDA, I2C_INTERNAL_SCL);
00036 AQM0802A lcd(internal_i2c);
00037 BME280 bme280(internal_i2c);
00038 
00039 // SPI
00040 SPI internal_mpu9250_spi(SPI_MPU_MOSI, SPI_MPU_MISO, SPI_MPU_SCK);
00041 mpu9250_spi mpu9250(internal_mpu9250_spi, SPI_MPU_CS);
00042 
00043 // sakura.io
00044 SakuraIO_I2C sakuraio(I2C_SDA, I2C_SCL);
00045 
00046 SensorData sensor_data;
00047 
00048 // GPS UART buffer
00049 char uart_buffer[128] = {0};
00050 int uart_buffer_index = 0;
00051 
00052 // NMEA Decoder
00053 GPSDecoder gps_decoder;
00054 
00055 void gps_uart_buffering_handler();
00056 
00057 const int SEND_INTERVAL_TICKS_PAR_COUNT = 1500;
00058 
00059 void setup()
00060 {
00061     lcd_led = 1;
00062     pc.printf("Hello World !\r\n");
00063     lcd.cls();
00064     lcd.printf("Hello");
00065 
00066     // Initialize sensors
00067     bme280.initialize();
00068     pc.printf("BME280 ok.\r\n");
00069     mpu9250.init(1, BITS_DLPF_CFG_188HZ);
00070     pc.printf("MPU9250 ok. WHOAMI=%02x\r\n", mpu9250.whoami());
00071     if (mpu9250.whoami() != 0x71) {
00072         pc.printf("[ERROR] MPU9250 init fail.\r\n");
00073     }
00074 
00075     mpu9250.set_gyro_scale(BITS_FS_2000DPS);    //Set full scale range for gyros
00076     mpu9250.set_acc_scale(BITS_FS_16G);          //Set full scale range for accs
00077     mpu9250.calib_acc();
00078     mpu9250.AK8963_calib_Magnetometer();
00079 
00080     // active high
00081     gps_en = 1;
00082     gps.attach(&gps_uart_buffering_handler, Serial::RxIrq);
00083 
00084     led_1 = 1;
00085     led_2 = 0;
00086     
00087     pc.printf("Send par %d seconds.\r\n", (SEND_INTERVAL_TICKS_PAR_COUNT * 200) / 1000);
00088 }
00089 
00090 void read_sensor_data()
00091 {
00092     sensor_data.bme280.temperature = bme280.getTemperature();
00093     sensor_data.bme280.pressure = bme280.getPressure();
00094     sensor_data.bme280.humidity = bme280.getHumidity();
00095 
00096     mpu9250.read_all();
00097     sensor_data.mpu9250.temperature = mpu9250.Temperature;
00098     for (int cnt_send = 0; cnt_send < 3; cnt_send++) {
00099         sensor_data.mpu9250.accelerometer[cnt_send] = mpu9250.accelerometer_data[cnt_send];
00100         sensor_data.mpu9250.gyroscope[cnt_send] = mpu9250.gyroscope_data[cnt_send];
00101         sensor_data.mpu9250.magnetometer[cnt_send] =  mpu9250.Magnetometer[cnt_send];
00102     }
00103 }
00104 
00105 void enqueue_sensor_data(int counter)
00106 {
00107     sakuraio.enqueueTx(0, (int32_t)counter);
00108     sakuraio.enqueueTx(1, sensor_data.bme280.temperature);
00109     sakuraio.enqueueTx(2, sensor_data.bme280.pressure);
00110     sakuraio.enqueueTx(3, sensor_data.bme280.humidity);
00111     sakuraio.enqueueTx(4, sensor_data.mpu9250.accelerometer[0]);
00112     sakuraio.enqueueTx(5, sensor_data.mpu9250.accelerometer[1]);
00113     sakuraio.enqueueTx(6, sensor_data.mpu9250.accelerometer[2]);
00114     sakuraio.enqueueTx(7, sensor_data.mpu9250.gyroscope[0]);
00115     sakuraio.enqueueTx(8, sensor_data.mpu9250.gyroscope[1]);
00116     sakuraio.enqueueTx(9, sensor_data.mpu9250.gyroscope[2]);
00117     sakuraio.enqueueTx(10, sensor_data.mpu9250.magnetometer[0]);
00118     sakuraio.enqueueTx(11, sensor_data.mpu9250.magnetometer[1]);
00119     sakuraio.enqueueTx(12, sensor_data.mpu9250.magnetometer[2]);
00120     sakuraio.enqueueTx(13, gps_decoder.get_longitude());
00121     sakuraio.enqueueTx(14, gps_decoder.get_latitude());
00122     sakuraio.enqueueTx(15, gps_decoder.get_unixtime());
00123 }
00124 
00125 void gps_uart_buffering_handler()
00126 {
00127     while (gps.readable() == 1) {
00128         char c = gps.getc();
00129         if (c == '\r') {
00130             continue;
00131         }
00132         uart_buffer[uart_buffer_index] = c;
00133         uart_buffer_index++;
00134         if (c == '\n') {
00135             uart_buffer[uart_buffer_index - 1] = '\0';
00136             gps_decoder.set_nmea_message(uart_buffer);
00137             gps_decoder.decode();
00138             uart_buffer_index = 0;
00139         }
00140     }
00141 }
00142 
00143 
00144 void loop()
00145 {
00146     static int cnt_send = 1;
00147     static int tick_by_200ms = 0;
00148     static int stat_sw5 = -1;
00149 
00150     if((sakuraio.getConnectionStatus() & 0x80) == 0x00) {
00151         //Offline
00152         lcd.cls();
00153         lcd.printf("Offline");
00154         pc.printf("Network is offline.\r\n(After 1 sec to running retry.)\r\n");
00155         wait(1);
00156         return;    
00157     }
00158 
00159     if (stat_sw5 != sw_5) {
00160         stat_sw5 = sw_5;
00161         led_3 = stat_sw5;   //State: `Send Enable'
00162         if (stat_sw5 == 0) {
00163             lcd.cls();
00164             lcd.printf("Send:OFF");
00165         } else {
00166             cnt_send = 1;
00167             tick_by_200ms = 0;
00168             lcd.cls();
00169             lcd.printf("Send:ON");
00170         }
00171     }
00172     
00173     if (stat_sw5 == 1) {
00174         if ((tick_by_200ms % SEND_INTERVAL_TICKS_PAR_COUNT) == 0) {  //Send data intarval is 5 minutes.
00175             pc.printf("\r\n\r\n--------------------\r\n");
00176             read_sensor_data();
00177             pc.printf("BME280\r\n");
00178             pc.printf("\tTemp: %.2fC\r\n", sensor_data.bme280.temperature);
00179             pc.printf("\tPres: %.2fhPa\r\n", sensor_data.bme280.pressure);
00180             pc.printf("\tHum: %.2f%%\r\n", sensor_data.bme280.humidity);
00181             pc.printf("MPU9250\r\n");
00182             pc.printf("\tTemp: %.2fC\r\n", sensor_data.mpu9250.temperature);
00183             for (int j = 0; j < 3; j++) {
00184                 pc.printf("\tacc[%d]: %.2f\r\n", j, sensor_data.mpu9250.accelerometer[j]);
00185                 pc.printf("\tgyro[%d]: %.2f\r\n", j, sensor_data.mpu9250.gyroscope[j]);
00186                 pc.printf("\tmag[%d]: %.2f\r\n", j, sensor_data.mpu9250.magnetometer[j]);
00187             }
00188             pc.printf("GPS\r\n");
00189             pc.printf("\tlat: %f%c\r\n", 
00190                     gps_decoder.get_latitude(), 
00191                     gps_decoder.get_latitude() >= 0 ? 'N' : 'S');
00192             pc.printf("\tlon: %f%c\r\n", 
00193                     gps_decoder.get_longitude(),
00194                     gps_decoder.get_longitude() >= 0 ? 'E' : 'W');
00195             pc.printf("\tspeed: %fkm/h\r\n", gps_decoder.get_speed());
00196             pc.printf("\tmove_direction: %f\r\n", gps_decoder.get_move_direction());
00197             pc.printf("\tdate: %d/%02d/%02d %02d:%02d:%02d (UTC)\r\n",
00198                     gps_decoder.get_year(), gps_decoder.get_month(), gps_decoder.get_day(),
00199                     gps_decoder.get_hour(), gps_decoder.get_min(), gps_decoder.get_sec());
00200             pc.printf("\tUNIX time: %d\r\n", gps_decoder.get_unixtime());
00201             led_2 = 1;
00202             pc.printf("Send:%d\r\n", cnt_send);
00203             lcd.setCursor(0, 1);
00204             lcd.printf("%d", cnt_send);
00205             enqueue_sensor_data(cnt_send);
00206             sakuraio.send();
00207             cnt_send++;
00208             led_2 = 0;
00209             pc.printf("After %d sec to send.\r\n", (int)(SEND_INTERVAL_TICKS_PAR_COUNT * 0.2));
00210         }
00211     }
00212     led_1 = !led_1;
00213     led_4 = !sw_4;
00214     tick_by_200ms++;
00215     wait(0.2);
00216 }
00217 
00218 
00219 int main()
00220 {
00221     setup();
00222     while(1) {
00223         loop();
00224     }
00225 }