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Dependencies:   Custom_LSM303 Custom_UBloxGPS LRAT-mbed-os USBDevice mbed-lora-radio-drv stm32EEPROM

Fork of LRAT-example-lorawan by SAIT ARIS

main.cpp@39:6da6cb44f22e, 2018-08-30 (annotated)

Committer:
Huot87
Date:
Thu Aug 30 21:29:22 2018 +0000
Revision:
39:6da6cb44f22e
Parent:
38:fd7a407bfe3e
Child:
40:eaf476b94684
Accelerometer Interrupt Init registers and sequence ported in. Code commenting upgrade.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mbed_official 0:7037ed05f54f 1 /**
mbed_official 0:7037ed05f54f 2 * Copyright (c) 2017, Arm Limited and affiliates.
mbed_official 0:7037ed05f54f 3 * SPDX-License-Identifier: Apache-2.0
mbed_official 0:7037ed05f54f 4 *
mbed_official 0:7037ed05f54f 5 * Licensed under the Apache License, Version 2.0 (the "License");
mbed_official 0:7037ed05f54f 6 * you may not use this file except in compliance with the License.
mbed_official 0:7037ed05f54f 7 * You may obtain a copy of the License at
mbed_official 0:7037ed05f54f 8 *
mbed_official 0:7037ed05f54f 9 * http://www.apache.org/licenses/LICENSE-2.0
mbed_official 0:7037ed05f54f 10 *
mbed_official 0:7037ed05f54f 11 * Unless required by applicable law or agreed to in writing, software
mbed_official 0:7037ed05f54f 12 * distributed under the License is distributed on an "AS IS" BASIS,
mbed_official 0:7037ed05f54f 13 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
mbed_official 0:7037ed05f54f 14 * See the License for the specific language governing permissions and
mbed_official 0:7037ed05f54f 15 * limitations under the License.
mbed_official 0:7037ed05f54f 16 */
lpeters 36:dcc6f89fa39a 17
lpeters 34:341fb423e74b 18 //#define TARGET_LRAT 1
lpeters 35:73b3963c6dd3 19 #define TARGET_DISCO1 1
lpeters 35:73b3963c6dd3 20 //#define TARGET_DISCO2 1
lpeters 34:341fb423e74b 21 //#define SENSOR_TEMP 1
lpeters 36:dcc6f89fa39a 22
lpeters 37:df69df1bcb1a 23 #define DCHILL 600 // Cycle delay in chill mode.
lpeters 37:df69df1bcb1a 24 #define DPANIC 60 // Cycle delay in panic mode.
lpeters 37:df69df1bcb1a 25 #define NPANIC 5 // Number of unprovoked panic cycles before cooldown.
lpeters 37:df69df1bcb1a 26
mbed_official 0:7037ed05f54f 27 #include <stdio.h>
tchari 30:ff249a9156dc 28 #include "mbed.h"
mbed_official 3:8c7198d1a2a1 29
mbed_official 0:7037ed05f54f 30 #include "lorawan/LoRaWANInterface.h"
mbed_official 0:7037ed05f54f 31 #include "lorawan/system/lorawan_data_structures.h"
mbed_official 0:7037ed05f54f 32 #include "events/EventQueue.h"
mbed_official 0:7037ed05f54f 33
mbed_official 0:7037ed05f54f 34 // Application helpers
mbed_official 0:7037ed05f54f 35 #include "DummySensor.h"
mbed_official 0:7037ed05f54f 36 #include "trace_helper.h"
mbed_official 0:7037ed05f54f 37 #include "lora_radio_helper.h"
mbed_official 0:7037ed05f54f 38
tchari 30:ff249a9156dc 39 #include "mbed-trace/mbed_trace.h"
tchari 30:ff249a9156dc 40 #define TRACE_GROUP "MAIN"
tchari 30:ff249a9156dc 41
mbed_official 0:7037ed05f54f 42 using namespace events;
mbed_official 0:7037ed05f54f 43
mbed_official 12:5015dfead3f2 44 // Max payload size can be LORAMAC_PHY_MAXPAYLOAD.
mbed_official 12:5015dfead3f2 45 // This example only communicates with much shorter messages (<30 bytes).
mbed_official 12:5015dfead3f2 46 // If longer messages are used, these buffers must be changed accordingly.
mbed_official 12:5015dfead3f2 47 uint8_t tx_buffer[30];
mbed_official 12:5015dfead3f2 48 uint8_t rx_buffer[30];
mbed_official 0:7037ed05f54f 49
mbed_official 0:7037ed05f54f 50 /*
mbed_official 0:7037ed05f54f 51 * Sets up an application dependent transmission timer in ms. Used only when Duty Cycling is off for testing
mbed_official 0:7037ed05f54f 52 */
mbed_official 0:7037ed05f54f 53 #define TX_TIMER 10000
mbed_official 0:7037ed05f54f 54
mbed_official 0:7037ed05f54f 55 /**
mbed_official 0:7037ed05f54f 56 * Maximum number of events for the event queue.
mbed_official 12:5015dfead3f2 57 * 10 is the safe number for the stack events, however, if application
mbed_official 0:7037ed05f54f 58 * also uses the queue for whatever purposes, this number should be increased.
mbed_official 0:7037ed05f54f 59 */
mbed_official 12:5015dfead3f2 60 #define MAX_NUMBER_OF_EVENTS 10
mbed_official 0:7037ed05f54f 61
mbed_official 0:7037ed05f54f 62 /**
mbed_official 0:7037ed05f54f 63 * Maximum number of retries for CONFIRMED messages before giving up
mbed_official 0:7037ed05f54f 64 */
tchari 30:ff249a9156dc 65 #define CONFIRMED_MSG_RETRY_COUNTER 15
mbed_official 0:7037ed05f54f 66
mbed_official 0:7037ed05f54f 67 /**
mbed_official 0:7037ed05f54f 68 * Dummy pin for dummy sensor
mbed_official 0:7037ed05f54f 69 */
mbed_official 0:7037ed05f54f 70 #define PC_9 0
mbed_official 0:7037ed05f54f 71
mbed_official 0:7037ed05f54f 72 /**
mbed_official 0:7037ed05f54f 73 * Dummy sensor class object
mbed_official 0:7037ed05f54f 74 */
mbed_official 0:7037ed05f54f 75 DS1820 ds1820(PC_9);
mbed_official 0:7037ed05f54f 76
mbed_official 0:7037ed05f54f 77 /**
mbed_official 0:7037ed05f54f 78 * This event queue is the global event queue for both the
mbed_official 0:7037ed05f54f 79 * application and stack. To conserve memory, the stack is designed to run
mbed_official 0:7037ed05f54f 80 * in the same thread as the application and the application is responsible for
mbed_official 0:7037ed05f54f 81 * providing an event queue to the stack that will be used for ISR deferment as
mbed_official 0:7037ed05f54f 82 * well as application information event queuing.
mbed_official 0:7037ed05f54f 83 */
mbed_official 0:7037ed05f54f 84 static EventQueue ev_queue(MAX_NUMBER_OF_EVENTS * EVENTS_EVENT_SIZE);
mbed_official 0:7037ed05f54f 85
mbed_official 0:7037ed05f54f 86 /**
mbed_official 0:7037ed05f54f 87 * Event handler.
mbed_official 0:7037ed05f54f 88 *
mbed_official 0:7037ed05f54f 89 * This will be passed to the LoRaWAN stack to queue events for the
mbed_official 0:7037ed05f54f 90 * application which in turn drive the application.
mbed_official 0:7037ed05f54f 91 */
mbed_official 0:7037ed05f54f 92 static void lora_event_handler(lorawan_event_t event);
mbed_official 0:7037ed05f54f 93
mbed_official 0:7037ed05f54f 94 /**
mbed_official 2:dc95ac6d6d4e 95 * Constructing Mbed LoRaWANInterface and passing it down the radio object.
mbed_official 0:7037ed05f54f 96 */
mbed_official 2:dc95ac6d6d4e 97 static LoRaWANInterface lorawan(radio);
mbed_official 0:7037ed05f54f 98
mbed_official 0:7037ed05f54f 99 /**
mbed_official 0:7037ed05f54f 100 * Application specific callbacks
mbed_official 0:7037ed05f54f 101 */
mbed_official 0:7037ed05f54f 102 static lorawan_app_callbacks_t callbacks;
mbed_official 0:7037ed05f54f 103
lpeters 35:73b3963c6dd3 104 /*
lpeters 35:73b3963c6dd3 105 #if defined(TARGET_LRAT) or defined(TARGET_DISCO2)
lpeters 34:341fb423e74b 106 #include "USBSerial.h"
lpeters 34:341fb423e74b 107 USBSerial serial;
lpeters 34:341fb423e74b 108 FileHandle* mbed::mbed_override_console(int) {
lpeters 34:341fb423e74b 109 return &serial;
lpeters 34:341fb423e74b 110 }
lpeters 34:341fb423e74b 111 #endif
lpeters 35:73b3963c6dd3 112 */
lpeters 34:341fb423e74b 113
lpeters 35:73b3963c6dd3 114 uint32_t mytime = 0;
lpeters 35:73b3963c6dd3 115 uint8_t mybatt = 0;
lpeters 35:73b3963c6dd3 116 double mylat = 0;
lpeters 35:73b3963c6dd3 117 double mylon = 0;
lpeters 33:e47306c32791 118
lpeters 33:e47306c32791 119 int16_t myAccX = 0;
lpeters 33:e47306c32791 120 int16_t myAccY = 0;
lpeters 33:e47306c32791 121 int16_t myAccZ = 0;
lpeters 33:e47306c32791 122 int16_t myMagX = 0;
lpeters 33:e47306c32791 123 int16_t myMagY = 0;
lpeters 33:e47306c32791 124 int16_t myMagZ = 0;
lpeters 33:e47306c32791 125 int16_t myOffX = 0;
lpeters 33:e47306c32791 126 int16_t myOffY = 0;
lpeters 33:e47306c32791 127 int16_t myOffZ = 0;
lpeters 33:e47306c32791 128 int16_t myTemp = 0;
lpeters 33:e47306c32791 129
lpeters 33:e47306c32791 130 int16_t accMinX = 0;
lpeters 33:e47306c32791 131 int16_t accMinY = 0;
lpeters 33:e47306c32791 132 int16_t accMinZ = 0;
lpeters 33:e47306c32791 133 int16_t accMaxX = 0;
lpeters 33:e47306c32791 134 int16_t accMaxY = 0;
lpeters 33:e47306c32791 135 int16_t accMaxZ = 0;
lpeters 33:e47306c32791 136
lpeters 33:e47306c32791 137 int16_t magMinX = 0;
lpeters 33:e47306c32791 138 int16_t magMinY = 0;
lpeters 33:e47306c32791 139 int16_t magMinZ = 0;
lpeters 33:e47306c32791 140 int16_t magMaxX = 0;
lpeters 33:e47306c32791 141 int16_t magMaxY = 0;
lpeters 33:e47306c32791 142 int16_t magMaxZ = 0;
lpeters 33:e47306c32791 143
lpeters 33:e47306c32791 144 #define NEOM8M_ADR_GPS 0x84
lpeters 34:341fb423e74b 145 //#define LSM303_ADR_ACC 0x32
lpeters 33:e47306c32791 146 #define LSM303_ADR_MAG 0x3C
tchari 30:ff249a9156dc 147
lpeters 33:e47306c32791 148 #define NEOM8M_REG_GPS_LENH 0xFD
lpeters 33:e47306c32791 149 #define NEOM8M_REG_GPS_LENL 0xFE
lpeters 33:e47306c32791 150 #define NEOM8M_REG_GPS_DATA 0xFE
lpeters 33:e47306c32791 151 #define LSM303_REG_ACC_STATUS_REG_AUX_A 0x07
lpeters 34:341fb423e74b 152 //#define LSM303_REG_ACC_OUT_TEMP_L_A 0x0C
lpeters 34:341fb423e74b 153 //#define LSM303_REG_ACC_OUT_TEMP_H_A 0x0D
lpeters 33:e47306c32791 154 #define LSM303_REG_ACC_WHO_AM_I_A 0x0F
lpeters 34:341fb423e74b 155 //#define LSM303_REG_ACC_TEMP_CFG_REG_A 0x1F
lpeters 33:e47306c32791 156 #define LSM303_REG_ACC_CTRL_REG1_A 0x20
lpeters 33:e47306c32791 157 #define LSM303_REG_ACC_CTRL_REG2_A 0x21
lpeters 33:e47306c32791 158 #define LSM303_REG_ACC_CTRL_REG3_A 0x22
lpeters 33:e47306c32791 159 #define LSM303_REG_ACC_CTRL_REG4_A 0x23
lpeters 33:e47306c32791 160 #define LSM303_REG_ACC_CTRL_REG5_A 0x24
lpeters 34:341fb423e74b 161 #define LSM303_REG_ACC_CTRL_REG6_A 0x25
lpeters 33:e47306c32791 162 #define LSM303_REG_ACC_STATUS_REG_A 0x27
lpeters 33:e47306c32791 163 #define LSM303_REG_ACC_OUT_X_L_A 0x28
lpeters 33:e47306c32791 164 #define LSM303_REG_ACC_OUT_X_H_A 0x29
lpeters 33:e47306c32791 165 #define LSM303_REG_ACC_OUT_Y_L_A 0x2A
lpeters 33:e47306c32791 166 #define LSM303_REG_ACC_OUT_Y_H_A 0x2B
lpeters 33:e47306c32791 167 #define LSM303_REG_ACC_OUT_Z_L_A 0x2C
lpeters 33:e47306c32791 168 #define LSM303_REG_ACC_OUT_Z_H_A 0x2D
lpeters 33:e47306c32791 169 #define LSM303_REG_ACC_INT1_CFG_A 0x30
lpeters 33:e47306c32791 170 #define LSM303_REG_ACC_INT1_SRC_A 0x31
lpeters 33:e47306c32791 171 #define LSM303_REG_ACC_INT1_THS_A 0x32
lpeters 33:e47306c32791 172 #define LSM303_REG_ACC_INT1_DURATION_A 0x33
lpeters 35:73b3963c6dd3 173
lpeters 33:e47306c32791 174 #define LSM303_REG_MAG_OFFSET_X_REG_L_M 0x45
lpeters 33:e47306c32791 175 #define LSM303_REG_MAG_OFFSET_X_REG_H_M 0x46
lpeters 33:e47306c32791 176 #define LSM303_REG_MAG_OFFSET_Y_REG_L_M 0x47
lpeters 33:e47306c32791 177 #define LSM303_REG_MAG_OFFSET_Y_REG_H_M 0x48
lpeters 33:e47306c32791 178 #define LSM303_REG_MAG_OFFSET_Z_REG_L_M 0x49
lpeters 33:e47306c32791 179 #define LSM303_REG_MAG_OFFSET_Z_REG_H_M 0x4A
lpeters 34:341fb423e74b 180 //#define LSM303_REG_MAG_WHO_AM_I_M 0x4F
lpeters 34:341fb423e74b 181 //#define LSM303_REG_MAG_CFG_REG_A_M 0x60
lpeters 34:341fb423e74b 182 //#define LSM303_REG_MAG_CFG_REG_B_M 0x61
lpeters 34:341fb423e74b 183 //#define LSM303_REG_MAG_CFG_REG_C_M 0x62
lpeters 33:e47306c32791 184 #define LSM303_REG_MAG_INT_CTRL_REG_M 0x63
lpeters 33:e47306c32791 185 #define LSM303_REG_MAG_INT_SOURCE_REG_M 0x64
lpeters 33:e47306c32791 186 #define LSM303_REG_MAG_INT_THS_L_REG_M 0x65
lpeters 33:e47306c32791 187 #define LSM303_REG_MAG_INT_THS_H_REG_M 0x66
lpeters 34:341fb423e74b 188 //#define LSM303_REG_MAG_STATUS_REG_M 0x67
lpeters 34:341fb423e74b 189 //#define LSM303_REG_MAG_OUTX_L_REG_M 0x68
lpeters 34:341fb423e74b 190 //#define LSM303_REG_MAG_OUTX_H_REG_M 0x69
lpeters 34:341fb423e74b 191 //#define LSM303_REG_MAG_OUTY_L_REG_M 0x6A
lpeters 34:341fb423e74b 192 //#define LSM303_REG_MAG_OUTY_H_REG_M 0x6B
lpeters 34:341fb423e74b 193 //#define LSM303_REG_MAG_OUTZ_L_REG_M 0x6C
lpeters 34:341fb423e74b 194 //#define LSM303_REG_MAG_OUTZ_H_REG_M 0x6D
lpeters 33:e47306c32791 195
lpeters 35:73b3963c6dd3 196 #define EEPROM_MAX 0x17FF
lpeters 35:73b3963c6dd3 197
lpeters 34:341fb423e74b 198 #if defined(TARGET_LRAT)
lpeters 34:341fb423e74b 199 #define LEDR PB_6
lpeters 34:341fb423e74b 200 #define LEDG PB_7
lpeters 34:341fb423e74b 201 #define LEDB PB_5
lpeters 34:341fb423e74b 202 #define LEDW PB_2
lpeters 35:73b3963c6dd3 203 #define PIN_ACC PB_14
lpeters 35:73b3963c6dd3 204 #define PIN_MAG PB_12
lpeters 35:73b3963c6dd3 205 #define PIN_BTN PA_5
lpeters 35:73b3963c6dd3 206 #define PIN_ALT PA_4
lpeters 34:341fb423e74b 207 #define LSM303_ADR_ACC 0x3A
lpeters 34:341fb423e74b 208 #define LSM303_REG_MAG_WHO_AM_I_M 0x0F
lpeters 34:341fb423e74b 209 #define LSM303_WHO_ACC 0x41
lpeters 34:341fb423e74b 210 #define LSM303_WHO_MAG 0x3D
lpeters 34:341fb423e74b 211 #define LSM303_CTRL_REG7_A 0x26
lpeters 34:341fb423e74b 212 #define LSM303_REG_MAG_CTRL_REG1_M 0x20
lpeters 34:341fb423e74b 213 #define LSM303_REG_MAG_CTRL_REG2_M 0x21
lpeters 34:341fb423e74b 214 #define LSM303_REG_MAG_CTRL_REG3_M 0x22
lpeters 34:341fb423e74b 215 #define LSM303_REG_MAG_CTRL_REG4_M 0x23
lpeters 34:341fb423e74b 216 #define LSM303_REG_MAG_CTRL_REG5_M 0x24
lpeters 34:341fb423e74b 217 #define LSM303_REG_MAG_STATUS_REG_M 0x27
lpeters 34:341fb423e74b 218 #define LSM303_REG_MAG_OUTX_L_REG_M 0x28
lpeters 34:341fb423e74b 219 #define LSM303_REG_MAG_OUTX_H_REG_M 0x29
lpeters 34:341fb423e74b 220 #define LSM303_REG_MAG_OUTY_L_REG_M 0x2A
lpeters 34:341fb423e74b 221 #define LSM303_REG_MAG_OUTY_H_REG_M 0x2B
lpeters 34:341fb423e74b 222 #define LSM303_REG_MAG_OUTZ_L_REG_M 0x2C
lpeters 34:341fb423e74b 223 #define LSM303_REG_MAG_OUTZ_H_REG_M 0x2D
lpeters 34:341fb423e74b 224 #define LSM303_REG_MAG_TEMP_L_M 0x2E
lpeters 34:341fb423e74b 225 #define LSM303_REG_MAG_TEMP_H_M 0x2F
lpeters 34:341fb423e74b 226 #define LSM303_REG_MAG_TEMP_CFG_REG_A 0x1F
lpeters 34:341fb423e74b 227 #define CFG_ACC_ADR LSM303_REG_ACC_CTRL_REG1_A
lpeters 34:341fb423e74b 228 #define CFG_ACC_LEN 7
lpeters 34:341fb423e74b 229 #define CFG_MAG_ADR LSM303_REG_MAG_CTRL_REG1_M
lpeters 34:341fb423e74b 230 #define CFG_MAG_LEN 5
Huot87 39:6da6cb44f22e 231
Huot87 39:6da6cb44f22e 232 // HUOT ADDITIONS -- 08/30/2018 -- Port of LRAT LSM303CTR ACC Register definitions
Huot87 39:6da6cb44f22e 233 // LSM303CTR Specific ACC Register ID's
Huot87 39:6da6cb44f22e 234 #define LSM303_REG_ACC_INT1_THS_X1_A 0x32
Huot87 39:6da6cb44f22e 235 #define LSM303_REG_ACC_INT1_THS_Y1_A 0x33
Huot87 39:6da6cb44f22e 236 #define LSM303_REG_ACC_INT1_THS_Z1_A 0x34
Huot87 39:6da6cb44f22e 237 #define LSM303_REG_ACC_INT1_DURATION_A 0x35
Huot87 39:6da6cb44f22e 238 #define LSM303_REG_ACC_INT2_CFG_A 0x36
Huot87 39:6da6cb44f22e 239 #define LSM303_REG_ACC_INT2_SRC_A 0x37
Huot87 39:6da6cb44f22e 240 #define LSM303_REG_ACC_INT2_THS_A 0x38
Huot87 39:6da6cb44f22e 241 #define LSM303_REG_ACC_INT2_DURATION_A 0x39
Huot87 39:6da6cb44f22e 242 #define LSM303_REG_ACC_XL_REFERENCE 0x3A
Huot87 39:6da6cb44f22e 243 #define LSM303_REG_ACC_XH_REFERENCE 0x3B
Huot87 39:6da6cb44f22e 244 #define LSM303_REG_ACC_YL_REFERENCE 0x3C
Huot87 39:6da6cb44f22e 245 #define LSM303_REG_ACC_YH_REFERENCE 0x3D
Huot87 39:6da6cb44f22e 246 #define LSM303_REG_ACC_ZL_REFERENCE 0x3E
Huot87 39:6da6cb44f22e 247 #define LSM303_REG_ACC_ZH_REFERENCE 0x3F
Huot87 39:6da6cb44f22e 248
lpeters 34:341fb423e74b 249 #else
lpeters 34:341fb423e74b 250 #define LEDR PB_7
lpeters 34:341fb423e74b 251 #define LEDG PB_5
lpeters 34:341fb423e74b 252 #define LEDB PB_6
lpeters 34:341fb423e74b 253 #define LEDW PA_5
lpeters 35:73b3963c6dd3 254 #define PIN_ACC PB_14 // Not really.
lpeters 35:73b3963c6dd3 255 #if defined(TARGET_DISCO2)
lpeters 35:73b3963c6dd3 256 #define PIN_MAG PB_13
lpeters 37:df69df1bcb1a 257 #define PIN_GPS PA_10
lpeters 35:73b3963c6dd3 258 #else
lpeters 35:73b3963c6dd3 259 #define PIN_MAG PA_10
lpeters 37:df69df1bcb1a 260 #define PIN_GPS PB_13
lpeters 35:73b3963c6dd3 261 #endif
lpeters 35:73b3963c6dd3 262 #define PIN_BTN PB_2
lpeters 34:341fb423e74b 263 #define LSM303_ADR_ACC 0x32
lpeters 34:341fb423e74b 264 #define LSM303_REG_MAG_WHO_AM_I_M 0x4F
lpeters 34:341fb423e74b 265 #define LSM303_WHO_ACC 0x33
lpeters 34:341fb423e74b 266 #define LSM303_WHO_MAG 0x40
lpeters 34:341fb423e74b 267 #define LSM303_REG_ACC_OUT_TEMP_L_A 0x0C
lpeters 34:341fb423e74b 268 #define LSM303_REG_ACC_OUT_TEMP_H_A 0x0D
lpeters 34:341fb423e74b 269 #define LSM303_REG_ACC_TEMP_CFG_REG_A 0x1F
lpeters 34:341fb423e74b 270 #define LSM303_REG_MAG_CFG_REG_A_M 0x60
lpeters 34:341fb423e74b 271 #define LSM303_REG_MAG_CFG_REG_B_M 0x61
lpeters 34:341fb423e74b 272 #define LSM303_REG_MAG_CFG_REG_C_M 0x62
lpeters 34:341fb423e74b 273 #define LSM303_REG_MAG_STATUS_REG_M 0x67
lpeters 34:341fb423e74b 274 #define LSM303_REG_MAG_OUTX_L_REG_M 0x68
lpeters 34:341fb423e74b 275 #define LSM303_REG_MAG_OUTX_H_REG_M 0x69
lpeters 34:341fb423e74b 276 #define LSM303_REG_MAG_OUTY_L_REG_M 0x6A
lpeters 34:341fb423e74b 277 #define LSM303_REG_MAG_OUTY_H_REG_M 0x6B
lpeters 34:341fb423e74b 278 #define LSM303_REG_MAG_OUTZ_L_REG_M 0x6C
lpeters 34:341fb423e74b 279 #define LSM303_REG_MAG_OUTZ_H_REG_M 0x6D
lpeters 34:341fb423e74b 280 #define CFG_ACC_ADR LSM303_REG_ACC_TEMP_CFG_REG_A // Start Disco at TEMP CFG.
lpeters 34:341fb423e74b 281 #define CFG_ACC_LEN 7
lpeters 34:341fb423e74b 282 #define CFG_MAG_ADR LSM303_REG_MAG_CFG_REG_A_M
lpeters 34:341fb423e74b 283 #define CFG_MAG_LEN 3
lpeters 34:341fb423e74b 284 #endif
tchari 30:ff249a9156dc 285
tchari 30:ff249a9156dc 286 I2C i2c(PB_9, PB_8);
lpeters 35:73b3963c6dd3 287 InterruptIn accPin(PIN_ACC);
lpeters 35:73b3963c6dd3 288 InterruptIn magPin(PIN_MAG);
lpeters 35:73b3963c6dd3 289 InterruptIn btnPin(PIN_BTN);
lpeters 33:e47306c32791 290
lpeters 37:df69df1bcb1a 291 #if defined(TARGET_DISCO1) or defined(TARGET_DISCO2)
lpeters 37:df69df1bcb1a 292 DigitalOut gpsPin(PIN_GPS);
lpeters 37:df69df1bcb1a 293 #endif
lpeters 37:df69df1bcb1a 294
lpeters 35:73b3963c6dd3 295 uint8_t cfg;
lpeters 33:e47306c32791 296 char ret;
lpeters 33:e47306c32791 297 char rda = '\0';
lpeters 33:e47306c32791 298 char cmd[2];
lpeters 37:df69df1bcb1a 299 //char buf[83];
lpeters 37:df69df1bcb1a 300 char buf[192];
lpeters 35:73b3963c6dd3 301 uint8_t pos = 0;
lpeters 35:73b3963c6dd3 302
lpeters 33:e47306c32791 303 int accShift = 0;
lpeters 33:e47306c32791 304 int accScale = 0;
lpeters 33:e47306c32791 305 int accEvent = 0;
lpeters 35:73b3963c6dd3 306 uint8_t accSFire = 0;
lpeters 35:73b3963c6dd3 307 uint8_t accHFire = 0;
lpeters 35:73b3963c6dd3 308 uint8_t accSLIRQ = 0;
lpeters 35:73b3963c6dd3 309 uint8_t accSHIRQ = 0;
lpeters 33:e47306c32791 310 int magEvent = 0;
lpeters 35:73b3963c6dd3 311 uint8_t magSFire = 0;
lpeters 35:73b3963c6dd3 312 uint8_t magHFire = 0;
lpeters 35:73b3963c6dd3 313 uint8_t magSLIRQ = 0;
lpeters 35:73b3963c6dd3 314 uint8_t magSHIRQ = 0;
lpeters 35:73b3963c6dd3 315 uint8_t btnHFire = 0;
lpeters 33:e47306c32791 316
lpeters 35:73b3963c6dd3 317 char *res;
lpeters 35:73b3963c6dd3 318 char sPass[26] = "[\u001b[32mPASS\u001b[0m]";
lpeters 35:73b3963c6dd3 319 char sFail[26] = "[\u001b[31mFAIL\u001b[0m]";
lpeters 33:e47306c32791 320 char cmdSendLoop[9] = "SendLoop";
lpeters 37:df69df1bcb1a 321 //char cmdStopGNSS[14] = {0xB5, 0x62, 0x06, 0x57, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x53, 0x54, 0x4F, 0x50};
lpeters 37:df69df1bcb1a 322
lpeters 37:df69df1bcb1a 323 //#define CMDSTOPGNSS {0xFF, 0xB5, 0x62, 0x06, 0x57, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x53, 0x54, 0x4F, 0x50}
lpeters 37:df69df1bcb1a 324 //char cmdStopGNSS[16] {0xB5, 0x62, 0x06, 0x57, 0x08, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}; // Leave 2 bytes for CRC.
lpeters 37:df69df1bcb1a 325 //char cmdStopGNSS[16] {0xB5, 0x62, 0x06, 0x57, 0x08, 0x00, 0x01, 0x00, 0x00, 0x00, 0x53, 0x54, 0x4F, 0x50}; // Leave 2 bytes for CRC.
Huot87 38:fd7a407bfe3e 326 char cmdStopGNSS[16] {0xB5, 0x62, 0x06, 0x57, 0x08, 0x00, 0x01, 0x00, 0x00, 0x00, 0x50, 0x4F, 0x54, 0x53}; // Leave 2 bytes for CRC. // Note Byte character is Little Endian from what doc says
lpeters 37:df69df1bcb1a 327 char cmdReadGNSS[8] {0xB5, 0x62, 0x06, 0x57, 0x00, 0x00};
lpeters 37:df69df1bcb1a 328 char cmdReadCfgU[8] {0xB5, 0x62, 0x06, 0x1B, 0x00, 0x00}; // Leave 2 bytes for CRC.
lpeters 37:df69df1bcb1a 329 char cmdPollPort[9] {0xB5, 0x62, 0x06, 0x00, 0x01, 0x00, 0x00};
lpeters 33:e47306c32791 330
Huot87 39:6da6cb44f22e 331 // HUOT ADDITIONS - 08/29/18 -- ADDED UBX-CFG CHAR BUFFERS -- BOTTOM TWO WORK!
Huot87 38:fd7a407bfe3e 332 // UBX-CFG-GNSS -- Disable Glonass (also leave 2 bytes)
Huot87 38:fd7a407bfe3e 333 char cmdDisableGLONASS[68] {0xB5, 0x62, 0x06, 0x3E, 0x3C, 0x00, 0x00, 0x20, 0x20, 0x07, 0x00, 0x08, 0x10, 0x00, 0x01, 0x00, 0x01, 0x01, 0x01, 0x01, 0x03, 0x00, 0x01, 0x00, 0x01, 0x01, 0x02, 0x04, 0x08, 0x00, 0x00, 0x00, 0x01, 0x01, 0x03, 0x08, 0x10, 0x00, 0x00, 0x00, 0x01, 0x01, 0x04, 0x00, 0x08, 0x00, 0x00, 0x00, 0x01, 0x03, 0x05, 0x00, 0x03, 0x00, 0x01, 0x00, 0x01, 0x05, 0x06, 0x08, 0x0E, 0x00, 0x01, 0x00, 0x01, 0x01};
Huot87 38:fd7a407bfe3e 334 // UBX-CFG-TP5 -- Disable Timepulse (also leave 2 bytes)
Huot87 38:fd7a407bfe3e 335 char cmdDisableTimePulse[40] {0xB5, 0x62, 0x06, 0x31, 0x20, 0x00, 0x00, 0x01, 0x00, 0x00, 0x32, 0x00, 0x00, 0x00, 0x40, 0x42, 0x0F, 0x00, 0x40, 0x42, 0x0F, 0x00, 0x00, 0x00, 0x00, 0x00, 0xA0, 0x86, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x76, 0x00, 0x00, 0x00};
Huot87 38:fd7a407bfe3e 336 // UBX-CFG-PM2 -- Configure Power Management Setup (also leave 2 bytes)
Huot87 38:fd7a407bfe3e 337 char cmdConfigPMS[52] {0xB5, 0x62, 0x06, 0x3B, 0x2C, 0x00, 0x01, 0x06, 0x00, 0x00, 0x2E, 0x08, 0x40, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x2C, 0x01, 0x00, 0x00, 0x4F, 0xC1, 0x03, 0x00, 0x86, 0x02, 0x00, 0x00, 0xFE, 0x00, 0x00, 0x00, 0x64, 0x40, 0x01, 0x00, 0x56, 0xA4};
Huot87 38:fd7a407bfe3e 338 char cmdSaveConfig[21] {0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03}; // UBX-CFG-CFG -- Save Configuration (also leave 2 bytes)
Huot87 38:fd7a407bfe3e 339 char cmdResetDefaults[21] {0xB5, 0x62, 0x06, 0x09, 0x0D, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0x00, 0x00, 0x03}; // UBX-CFG-CFG -- Reset to Defaults (also leave 2 bytes)
Huot87 38:fd7a407bfe3e 340
Huot87 38:fd7a407bfe3e 341 // THIS WORKS
Huot87 38:fd7a407bfe3e 342 char secondTimeSleep[12] {0xB5, 0x62, 0x06, 0x04, 0x04, 0x00, 0x00, 0x00,0x08, 0x00};
Huot87 38:fd7a407bfe3e 343 char secondTimeAwake[12] {0xB5, 0x62, 0x06, 0x04, 0x04, 0x00, 0x00, 0x00,0x09, 0x00};
Huot87 38:fd7a407bfe3e 344
lpeters 35:73b3963c6dd3 345 time_t tInit = 0;
lpeters 35:73b3963c6dd3 346 time_t tBump = 0;
lpeters 35:73b3963c6dd3 347 time_t tLast = 0;
lpeters 35:73b3963c6dd3 348 time_t tNext = 0;
lpeters 36:dcc6f89fa39a 349 time_t tSend = 0;
lpeters 37:df69df1bcb1a 350 time_t tCalm = 0;
lpeters 35:73b3963c6dd3 351
lpeters 34:341fb423e74b 352 DigitalOut myLedR(LEDR);
lpeters 34:341fb423e74b 353 DigitalOut myLedG(LEDG);
lpeters 34:341fb423e74b 354 DigitalOut myLedB(LEDB);
lpeters 34:341fb423e74b 355 DigitalOut myLedW(LEDW);
lpeters 34:341fb423e74b 356
lpeters 34:341fb423e74b 357 void magInitSequence();
lpeters 34:341fb423e74b 358 void accInitSequence();
lpeters 34:341fb423e74b 359 void gpsInitSequence();
Huot87 38:fd7a407bfe3e 360 void gpsExecuteCommand(char *command, int length);
lpeters 34:341fb423e74b 361 void tmpRead();
lpeters 34:341fb423e74b 362 void magRead();
lpeters 34:341fb423e74b 363 void accRead();
Huot87 38:fd7a407bfe3e 364 int gpsRead();
lpeters 37:df69df1bcb1a 365 void ubxRead();
lpeters 36:dcc6f89fa39a 366 void send_message();
lpeters 34:341fb423e74b 367
lpeters 35:73b3963c6dd3 368 void onBtnIrq()
lpeters 35:73b3963c6dd3 369 {
lpeters 35:73b3963c6dd3 370 btnHFire++;
lpeters 36:dcc6f89fa39a 371 tSend = 0;
lpeters 35:73b3963c6dd3 372 }
lpeters 35:73b3963c6dd3 373
lpeters 33:e47306c32791 374 void onAccIrq()
lpeters 33:e47306c32791 375 {
lpeters 33:e47306c32791 376 accHFire++;
lpeters 36:dcc6f89fa39a 377 tSend = 0;
lpeters 33:e47306c32791 378 }
lpeters 33:e47306c32791 379
lpeters 33:e47306c32791 380 void onMagIrq()
lpeters 33:e47306c32791 381 {
lpeters 33:e47306c32791 382 magHFire++;
lpeters 36:dcc6f89fa39a 383 tSend = 0;
lpeters 33:e47306c32791 384 }
lpeters 33:e47306c32791 385
lpeters 33:e47306c32791 386 void accDumpCfg()
lpeters 33:e47306c32791 387 {
lpeters 34:341fb423e74b 388 char start = CFG_ACC_ADR;
lpeters 34:341fb423e74b 389 for (int i = 0; i < CFG_ACC_LEN; i++)
lpeters 33:e47306c32791 390 {
lpeters 33:e47306c32791 391 cmd[0] = start + i;
lpeters 33:e47306c32791 392 i2c.write(LSM303_ADR_ACC, cmd, 1);
lpeters 33:e47306c32791 393 i2c.read(LSM303_ADR_ACC, &buf[i], 1);
lpeters 33:e47306c32791 394 }
lpeters 34:341fb423e74b 395 printf("CFGACC: | ");
lpeters 34:341fb423e74b 396 for (int i = 0; i < CFG_ACC_LEN; i++)
lpeters 34:341fb423e74b 397 {
lpeters 34:341fb423e74b 398 printf("%02X ", buf[i]);
lpeters 34:341fb423e74b 399 }
lpeters 34:341fb423e74b 400 printf("|\r\n");
lpeters 33:e47306c32791 401 }
lpeters 33:e47306c32791 402
lpeters 33:e47306c32791 403 void magDumpCfg()
lpeters 33:e47306c32791 404 {
lpeters 34:341fb423e74b 405 char start = CFG_MAG_ADR;
lpeters 34:341fb423e74b 406 for (int i = 0; i < CFG_MAG_LEN; i++)
lpeters 33:e47306c32791 407 {
lpeters 33:e47306c32791 408 cmd[0] = start + i;
lpeters 33:e47306c32791 409 i2c.write(LSM303_ADR_MAG, cmd, 1);
lpeters 33:e47306c32791 410 i2c.read(LSM303_ADR_MAG, &buf[i], 1);
lpeters 33:e47306c32791 411 }
lpeters 34:341fb423e74b 412 printf("CFGMAG: | ");
lpeters 34:341fb423e74b 413 for (int i = 0; i < CFG_MAG_LEN; i++)
lpeters 34:341fb423e74b 414 {
lpeters 34:341fb423e74b 415 printf("%02X ", buf[i]);
lpeters 34:341fb423e74b 416 }
lpeters 34:341fb423e74b 417 printf("|\r\n");
lpeters 33:e47306c32791 418 }
lpeters 33:e47306c32791 419
lpeters 37:df69df1bcb1a 420 // Clear any pending MAG IRQs
lpeters 37:df69df1bcb1a 421 inline void magWipeIrq() {
lpeters 37:df69df1bcb1a 422 cmd[0] = LSM303_REG_MAG_INT_SOURCE_REG_M;
lpeters 37:df69df1bcb1a 423 i2c.write(LSM303_ADR_MAG, cmd, 1);
lpeters 37:df69df1bcb1a 424 i2c.read(LSM303_ADR_MAG, &ret, 1);
lpeters 37:df69df1bcb1a 425 }
lpeters 37:df69df1bcb1a 426
mbed_official 0:7037ed05f54f 427 /**
mbed_official 0:7037ed05f54f 428 * Entry point for application
mbed_official 0:7037ed05f54f 429 */
mbed_official 0:7037ed05f54f 430 int main (void)
mbed_official 0:7037ed05f54f 431 {
lpeters 35:73b3963c6dd3 432 //i2c.frequency(400000);
lpeters 33:e47306c32791 433 wait(4);
lpeters 33:e47306c32791 434 printf("\r\n-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-\r\n");
lpeters 34:341fb423e74b 435
lpeters 34:341fb423e74b 436 // Boot Flash
lpeters 34:341fb423e74b 437 for (int i = 0; i <= 64; i++)
lpeters 33:e47306c32791 438 {
lpeters 34:341fb423e74b 439 myLedR = i & 0x01;
lpeters 34:341fb423e74b 440 myLedG = i & 0x02;
lpeters 34:341fb423e74b 441 myLedB = i & 0x04;
lpeters 34:341fb423e74b 442 myLedW = i & 0x08;
lpeters 34:341fb423e74b 443 wait(0.01);
lpeters 33:e47306c32791 444 }
lpeters 34:341fb423e74b 445 wait(4);
lpeters 35:73b3963c6dd3 446 // btnPin.rise(&onBtnIrq);
lpeters 37:df69df1bcb1a 447 printf("Boot flash complete.\r\n");
mbed_official 0:7037ed05f54f 448 // setup tracing
mbed_official 0:7037ed05f54f 449 setup_trace();
mbed_official 0:7037ed05f54f 450
lpeters 37:df69df1bcb1a 451 printf("Trace setup complete.\r\n");
lpeters 37:df69df1bcb1a 452
mbed_official 0:7037ed05f54f 453 // stores the status of a call to LoRaWAN protocol
mbed_official 0:7037ed05f54f 454 lorawan_status_t retcode;
lpeters 33:e47306c32791 455
lpeters 37:df69df1bcb1a 456 printf("Pre-sensor init.\r\n");
lpeters 37:df69df1bcb1a 457
lpeters 34:341fb423e74b 458 /* I2C init */
lpeters 34:341fb423e74b 459 ret = 0x00;
lpeters 34:341fb423e74b 460 magDumpCfg();
lpeters 34:341fb423e74b 461 accDumpCfg();
lpeters 34:341fb423e74b 462 magInitSequence();
lpeters 34:341fb423e74b 463 accInitSequence();
Huot87 38:fd7a407bfe3e 464
Huot87 39:6da6cb44f22e 465 // HUOT ADDITION -- 08/30/2018 -- RESET GPS TO DEFAULT BEFORE MOVING FORWARD
Huot87 38:fd7a407bfe3e 466 gpsExecuteCommand(cmdResetDefaults, sizeof(cmdResetDefaults));
Huot87 38:fd7a407bfe3e 467
lpeters 34:341fb423e74b 468 gpsInitSequence();
lpeters 33:e47306c32791 469 magDumpCfg();
lpeters 33:e47306c32791 470 accDumpCfg();
lpeters 37:df69df1bcb1a 471 printf("Post-sensor init.\r\n");
lpeters 33:e47306c32791 472
lpeters 34:341fb423e74b 473 cfg = 0x00;
lpeters 34:341fb423e74b 474 #if defined(TARGET_LRAT)
lpeters 33:e47306c32791 475 cmd[0] = LSM303_REG_ACC_CTRL_REG1_A;
lpeters 33:e47306c32791 476 i2c.write(LSM303_ADR_ACC, cmd, 1);
lpeters 33:e47306c32791 477 i2c.read(LSM303_ADR_ACC, &ret, 1);
lpeters 34:341fb423e74b 478 cfg |= (ret & 0x80) >> 7;
lpeters 33:e47306c32791 479 cmd[0] = LSM303_REG_ACC_CTRL_REG4_A;
lpeters 33:e47306c32791 480 i2c.write(LSM303_ADR_ACC, cmd, 1);
lpeters 33:e47306c32791 481 i2c.read(LSM303_ADR_ACC, &ret, 1);
lpeters 34:341fb423e74b 482 accScale = 1 << (!(ret & 0x30) ? 0 : ((ret & 0x30) >> 4) - 1);
lpeters 34:341fb423e74b 483 cmd[0] = LSM303_REG_MAG_CTRL_REG2_M;
lpeters 34:341fb423e74b 484 i2c.write(LSM303_ADR_MAG, cmd, 1);
lpeters 34:341fb423e74b 485 i2c.read(LSM303_ADR_MAG, &ret, 1);
lpeters 34:341fb423e74b 486 cfg |= (ret & 0x60) >> 1;
lpeters 34:341fb423e74b 487 //accShift = 0; // Full 16-bit resolution
lpeters 34:341fb423e74b 488 accShift = 4;
lpeters 34:341fb423e74b 489 #else
lpeters 33:e47306c32791 490 cmd[0] = LSM303_REG_ACC_CTRL_REG1_A;
lpeters 33:e47306c32791 491 i2c.write(LSM303_ADR_ACC, cmd, 1);
lpeters 33:e47306c32791 492 i2c.read(LSM303_ADR_ACC, &ret, 1);
lpeters 33:e47306c32791 493 cfg |= (ret & 0x08) >> 3;
lpeters 33:e47306c32791 494 cmd[0] = LSM303_REG_ACC_CTRL_REG4_A;
lpeters 33:e47306c32791 495 i2c.write(LSM303_ADR_ACC, cmd, 1);
lpeters 33:e47306c32791 496 i2c.read(LSM303_ADR_ACC, &ret, 1);
lpeters 33:e47306c32791 497 cfg |= (ret & 0x08) >> 2;
lpeters 33:e47306c32791 498 accScale = 1 << ((ret & 0x30) >> 4);
lpeters 33:e47306c32791 499 cmd[0] = LSM303_REG_MAG_CFG_REG_A_M;
lpeters 33:e47306c32791 500 i2c.write(LSM303_ADR_MAG, cmd, 1);
lpeters 33:e47306c32791 501 i2c.read(LSM303_ADR_MAG, &ret, 1);
lpeters 33:e47306c32791 502 cfg |= (ret & 0x10);
lpeters 33:e47306c32791 503 if (cfg & 0x01)
lpeters 33:e47306c32791 504 accShift = 8;
lpeters 33:e47306c32791 505 else if (cfg & 0x02)
lpeters 33:e47306c32791 506 accShift = 4;
lpeters 33:e47306c32791 507 else
lpeters 33:e47306c32791 508 accShift = 6;
lpeters 34:341fb423e74b 509 #endif
lpeters 33:e47306c32791 510 printf("Quality: %02x AccShift: %d AccScale: %d\r\n", cfg, accShift, accScale);
lpeters 33:e47306c32791 511
lpeters 35:73b3963c6dd3 512 time_t tNow;
lpeters 35:73b3963c6dd3 513 /*
lpeters 35:73b3963c6dd3 514 // while(1)
lpeters 35:73b3963c6dd3 515 // {
lpeters 35:73b3963c6dd3 516 tNow = time(NULL);
lpeters 35:73b3963c6dd3 517 printf("RTC: %08X\r\n", tNow);
lpeters 34:341fb423e74b 518 #if defined(SENSOR_TEMP)
lpeters 34:341fb423e74b 519 tmpRead();
lpeters 34:341fb423e74b 520 #endif
lpeters 34:341fb423e74b 521 magRead();
lpeters 34:341fb423e74b 522 accRead();
lpeters 34:341fb423e74b 523 gpsRead();
lpeters 35:73b3963c6dd3 524 printf("TIM: %d, SAT: %d, LAT: %f, LON: %f\r\n", mytime, mybatt, mylat, mylon);
lpeters 35:73b3963c6dd3 525 printf("IRQ: A=%02X M=%02X B=%02X\r\n", accHFire, magHFire, btnHFire);
lpeters 35:73b3963c6dd3 526 wait(1);
lpeters 35:73b3963c6dd3 527 // }
lpeters 35:73b3963c6dd3 528 */
lpeters 35:73b3963c6dd3 529
lpeters 35:73b3963c6dd3 530 for (int i = 0; i <= 64; i++)
lpeters 35:73b3963c6dd3 531 {
lpeters 35:73b3963c6dd3 532 myLedR = i & 0x01;
lpeters 35:73b3963c6dd3 533 myLedG = i & 0x02;
lpeters 35:73b3963c6dd3 534 myLedB = i & 0x04;
lpeters 35:73b3963c6dd3 535 myLedW = i & 0x08;
lpeters 35:73b3963c6dd3 536 wait(0.01);
lpeters 33:e47306c32791 537 }
lpeters 33:e47306c32791 538
Huot87 38:fd7a407bfe3e 539 // uint8_t crcA = 0;
Huot87 38:fd7a407bfe3e 540 // uint8_t crcB = 0;
Huot87 38:fd7a407bfe3e 541 // for(int i = 2; i <= 13; i++)
Huot87 38:fd7a407bfe3e 542 // {
Huot87 38:fd7a407bfe3e 543 // crcA = crcA + cmdStopGNSS[i];
Huot87 38:fd7a407bfe3e 544 // crcB = crcB + crcA;
Huot87 38:fd7a407bfe3e 545 // }
Huot87 38:fd7a407bfe3e 546 // cmdStopGNSS[14] = crcA;
Huot87 38:fd7a407bfe3e 547 // cmdStopGNSS[15] = crcB;
Huot87 38:fd7a407bfe3e 548 // printf("UBX CRC: %02X %02X\r\n", crcA, crcB);
Huot87 38:fd7a407bfe3e 549 // i2c.write(NEOM8M_ADR_GPS, cmdStopGNSS, 16);
Huot87 38:fd7a407bfe3e 550 // ubxRead();
Huot87 38:fd7a407bfe3e 551 // ubxRead();
Huot87 38:fd7a407bfe3e 552 // ubxRead();
Huot87 38:fd7a407bfe3e 553 // wait(1);
Huot87 38:fd7a407bfe3e 554 // ubxRead();
Huot87 38:fd7a407bfe3e 555 // return 0;
Huot87 38:fd7a407bfe3e 556
Huot87 39:6da6cb44f22e 557 // HUOT ADDITION -- 08/30/2018 -- MAIN LOOP TO TEST GPS SLEEP/WAKE FUNCTIONALITY -- GOT IT WORKING
Huot87 39:6da6cb44f22e 558 int x = 0;
Huot87 38:fd7a407bfe3e 559 printf("Putting to sleep... Good Luck ================ \r\n");
Huot87 38:fd7a407bfe3e 560 gpsExecuteCommand(secondTimeSleep, sizeof(secondTimeSleep));
Huot87 38:fd7a407bfe3e 561
Huot87 38:fd7a407bfe3e 562 while(1)
lpeters 37:df69df1bcb1a 563 {
Huot87 38:fd7a407bfe3e 564 if ((x != 0) && (x % 10 == 0))
Huot87 38:fd7a407bfe3e 565 {
Huot87 38:fd7a407bfe3e 566 printf("Waking up GPS... Good luck, Huot \r\n");
Huot87 38:fd7a407bfe3e 567 gpsExecuteCommand(secondTimeAwake, sizeof(secondTimeAwake));
Huot87 38:fd7a407bfe3e 568
Huot87 38:fd7a407bfe3e 569 while (gpsRead() == 1);
Huot87 38:fd7a407bfe3e 570
Huot87 38:fd7a407bfe3e 571 printf("GPS Fix is good! Going to sleep... \r\n");
Huot87 38:fd7a407bfe3e 572 gpsExecuteCommand(secondTimeSleep, sizeof(secondTimeSleep));
Huot87 38:fd7a407bfe3e 573 }
Huot87 38:fd7a407bfe3e 574 printf("Waiting 5 seconds... \r\n");
Huot87 38:fd7a407bfe3e 575 wait(5);
Huot87 38:fd7a407bfe3e 576 x++;
Huot87 38:fd7a407bfe3e 577 printf("=== New loop incoming === \r\n");
lpeters 37:df69df1bcb1a 578 }
Huot87 38:fd7a407bfe3e 579
lpeters 37:df69df1bcb1a 580
mbed_official 0:7037ed05f54f 581 // Initialize LoRaWAN stack
mbed_official 2:dc95ac6d6d4e 582 if (lorawan.initialize(&ev_queue) != LORAWAN_STATUS_OK) {
mbed_official 0:7037ed05f54f 583 printf("\r\n LoRa initialization failed! \r\n");
mbed_official 0:7037ed05f54f 584 return -1;
mbed_official 0:7037ed05f54f 585 }
mbed_official 0:7037ed05f54f 586
mbed_official 0:7037ed05f54f 587 printf("\r\n Mbed LoRaWANStack initialized \r\n");
lpeters 36:dcc6f89fa39a 588 printf("MBED_CONF_LORA_APP_PORT: %d\r\n", MBED_CONF_LORA_APP_PORT);
lpeters 36:dcc6f89fa39a 589 printf("MBED_CONF_LORA_DUTY_CYCLE_ON: %d\r\n", MBED_CONF_LORA_DUTY_CYCLE_ON);
mbed_official 0:7037ed05f54f 590
mbed_official 0:7037ed05f54f 591 // prepare application callbacks
mbed_official 0:7037ed05f54f 592 callbacks.events = mbed::callback(lora_event_handler);
mbed_official 2:dc95ac6d6d4e 593 lorawan.add_app_callbacks(&callbacks);
mbed_official 0:7037ed05f54f 594
mbed_official 0:7037ed05f54f 595 // Set number of retries in case of CONFIRMED messages
mbed_official 2:dc95ac6d6d4e 596 if (lorawan.set_confirmed_msg_retries(CONFIRMED_MSG_RETRY_COUNTER)
mbed_official 0:7037ed05f54f 597 != LORAWAN_STATUS_OK) {
mbed_official 0:7037ed05f54f 598 printf("\r\n set_confirmed_msg_retries failed! \r\n\r\n");
mbed_official 0:7037ed05f54f 599 return -1;
mbed_official 0:7037ed05f54f 600 }
mbed_official 0:7037ed05f54f 601
mbed_official 0:7037ed05f54f 602 printf("\r\n CONFIRMED message retries : %d \r\n",
mbed_official 0:7037ed05f54f 603 CONFIRMED_MSG_RETRY_COUNTER);
mbed_official 0:7037ed05f54f 604
mbed_official 0:7037ed05f54f 605 // Enable adaptive data rate
mbed_official 2:dc95ac6d6d4e 606 if (lorawan.enable_adaptive_datarate() != LORAWAN_STATUS_OK) {
mbed_official 0:7037ed05f54f 607 printf("\r\n enable_adaptive_datarate failed! \r\n");
mbed_official 0:7037ed05f54f 608 return -1;
mbed_official 0:7037ed05f54f 609 }
mbed_official 0:7037ed05f54f 610
mbed_official 0:7037ed05f54f 611 printf("\r\n Adaptive data rate (ADR) - Enabled \r\n");
mbed_official 0:7037ed05f54f 612
mbed_official 2:dc95ac6d6d4e 613 retcode = lorawan.connect();
lpeters 33:e47306c32791 614
mbed_official 0:7037ed05f54f 615 if (retcode == LORAWAN_STATUS_OK ||
mbed_official 0:7037ed05f54f 616 retcode == LORAWAN_STATUS_CONNECT_IN_PROGRESS) {
mbed_official 0:7037ed05f54f 617 } else {
mbed_official 0:7037ed05f54f 618 printf("\r\n Connection error, code = %d \r\n", retcode);
mbed_official 0:7037ed05f54f 619 return -1;
mbed_official 0:7037ed05f54f 620 }
mbed_official 0:7037ed05f54f 621
mbed_official 0:7037ed05f54f 622 printf("\r\n Connection - In Progress ...\r\n");
mbed_official 0:7037ed05f54f 623
mbed_official 0:7037ed05f54f 624 // make your event queue dispatching events forever
lpeters 36:dcc6f89fa39a 625 //ev_queue.dispatch_forever();
lpeters 36:dcc6f89fa39a 626 ev_queue.dispatch();
lpeters 36:dcc6f89fa39a 627 printf("\r\n- = - = - = - = - = - DISPATCH 1 COMPLETE - = - = - = - = - = -\r\n");
lpeters 36:dcc6f89fa39a 628 /*
lpeters 36:dcc6f89fa39a 629 printf("CONTROL LOOP GOES HERE!\r\n");
lpeters 36:dcc6f89fa39a 630 #if defined(TARGET_LRAT)
lpeters 36:dcc6f89fa39a 631 #else
lpeters 36:dcc6f89fa39a 632 for (int i = 0; i < 6; i++)
lpeters 36:dcc6f89fa39a 633 {
lpeters 36:dcc6f89fa39a 634 tNow = time(NULL);
lpeters 36:dcc6f89fa39a 635 printf("RTC: %08X\r\n", tNow);
lpeters 36:dcc6f89fa39a 636 tNext = tNow + 10;
lpeters 36:dcc6f89fa39a 637 printf("NXT: %08X\r\n", tNext);
lpeters 36:dcc6f89fa39a 638 // Clear any pending IRQs
lpeters 36:dcc6f89fa39a 639 cmd[0] = LSM303_REG_MAG_INT_SOURCE_REG_M;
lpeters 36:dcc6f89fa39a 640 i2c.write(LSM303_ADR_MAG, cmd, 1);
lpeters 36:dcc6f89fa39a 641 i2c.read(LSM303_ADR_MAG, &ret, 1);
lpeters 36:dcc6f89fa39a 642 while (time(NULL) < tNext)
lpeters 36:dcc6f89fa39a 643 {
lpeters 36:dcc6f89fa39a 644 wait(1);
lpeters 36:dcc6f89fa39a 645 }
lpeters 36:dcc6f89fa39a 646 printf("Timer #%d complete.\r\n", i);
lpeters 36:dcc6f89fa39a 647 }
lpeters 36:dcc6f89fa39a 648 #endif
lpeters 36:dcc6f89fa39a 649 */
lpeters 36:dcc6f89fa39a 650 tSend = time(NULL) + 1;
lpeters 36:dcc6f89fa39a 651 while (1) {
lpeters 36:dcc6f89fa39a 652 while (time(NULL) < tSend)
lpeters 36:dcc6f89fa39a 653 wait(0.1);
lpeters 37:df69df1bcb1a 654 if (tSend == 0)
lpeters 37:df69df1bcb1a 655 tCalm = time(NULL) + (DPANIC * NPANIC);
lpeters 37:df69df1bcb1a 656 tSend = time(NULL) + (time(NULL) < tCalm ? DPANIC : DCHILL);
lpeters 37:df69df1bcb1a 657 magWipeIrq();
lpeters 36:dcc6f89fa39a 658 printf("IT'S PACKET TIME!\r\n");
lpeters 36:dcc6f89fa39a 659 ev_queue.call(send_message);
lpeters 36:dcc6f89fa39a 660 ev_queue.dispatch();
lpeters 36:dcc6f89fa39a 661 printf("\r\n- = - = - = - = - = - DISPATCH 2 COMPLETE - = - = - = - = - = -\r\n");
lpeters 37:df69df1bcb1a 662 //tSend = time(NULL) + 300;
lpeters 37:df69df1bcb1a 663 //tSend = time(NULL) + (time(NULL) < tCalm ? DPANIC : DCHILL);
lpeters 36:dcc6f89fa39a 664 // Clear any pending IRQs
lpeters 37:df69df1bcb1a 665 // cmd[0] = LSM303_REG_MAG_INT_SOURCE_REG_M;
lpeters 37:df69df1bcb1a 666 // i2c.write(LSM303_ADR_MAG, cmd, 1);
lpeters 37:df69df1bcb1a 667 // i2c.read(LSM303_ADR_MAG, &ret, 1);
lpeters 36:dcc6f89fa39a 668 }
mbed_official 3:8c7198d1a2a1 669
mbed_official 3:8c7198d1a2a1 670 return 0;
mbed_official 0:7037ed05f54f 671 }
mbed_official 0:7037ed05f54f 672
mbed_official 0:7037ed05f54f 673 /**
mbed_official 0:7037ed05f54f 674 * Sends a message to the Network Server
mbed_official 0:7037ed05f54f 675 */
mbed_official 0:7037ed05f54f 676 static void send_message()
mbed_official 0:7037ed05f54f 677 {
lpeters 36:dcc6f89fa39a 678 printf("In send_message()...\r\n");
mbed_official 0:7037ed05f54f 679 uint16_t packet_len;
mbed_official 0:7037ed05f54f 680 int16_t retcode;
mbed_official 0:7037ed05f54f 681 float sensor_value;
mbed_official 0:7037ed05f54f 682
mbed_official 0:7037ed05f54f 683 if (ds1820.begin()) {
mbed_official 0:7037ed05f54f 684 ds1820.startConversion();
mbed_official 0:7037ed05f54f 685 sensor_value = ds1820.read();
mbed_official 0:7037ed05f54f 686 printf("\r\n Dummy Sensor Value = %3.1f \r\n", sensor_value);
mbed_official 0:7037ed05f54f 687 ds1820.startConversion();
mbed_official 0:7037ed05f54f 688 } else {
mbed_official 0:7037ed05f54f 689 printf("\r\n No sensor found \r\n");
mbed_official 0:7037ed05f54f 690 return;
mbed_official 0:7037ed05f54f 691 }
mbed_official 0:7037ed05f54f 692
tchari 30:ff249a9156dc 693 time_t tNow = time(NULL);
tchari 30:ff249a9156dc 694 printf("Clock: %d\r\n", tNow);
lpeters 34:341fb423e74b 695
lpeters 34:341fb423e74b 696 #if defined(SENSOR_TEMP)
lpeters 34:341fb423e74b 697 tmpRead();
lpeters 34:341fb423e74b 698 #endif
lpeters 34:341fb423e74b 699 magRead();
lpeters 34:341fb423e74b 700 accRead();
lpeters 34:341fb423e74b 701 gpsRead();
lpeters 34:341fb423e74b 702
lpeters 34:341fb423e74b 703 int ilat = (int)(mylat * 100000);
lpeters 34:341fb423e74b 704 int ilon = (int)(mylon * 100000);
lpeters 34:341fb423e74b 705 printf("TIM: %d, SAT: %d, LAT: %d, LON: %d\r\n", mytime, mybatt, ilat, ilon);
lpeters 34:341fb423e74b 706 packet_len = 11;
lpeters 34:341fb423e74b 707 tx_buffer[0] = (mytime >> 24) & 0xFF;
lpeters 34:341fb423e74b 708 tx_buffer[1] = (mytime >> 16) & 0xFF;
lpeters 34:341fb423e74b 709 tx_buffer[2] = (mytime >> 8) & 0xFF;
lpeters 34:341fb423e74b 710 tx_buffer[3] = (mytime >> 0) & 0xFF;
lpeters 34:341fb423e74b 711 tx_buffer[4] = ((mybatt << 4) & 0xF0) | ((ilat >> 22) & 0x0F);
lpeters 34:341fb423e74b 712 tx_buffer[5] = (ilat >> 14) & 0xFF;
lpeters 34:341fb423e74b 713 tx_buffer[6] = (ilat >> 6) & 0xFF;
lpeters 34:341fb423e74b 714 tx_buffer[7] = ((ilat << 2) & 0xFC) | ((ilon >> 24) & 0x03);
lpeters 34:341fb423e74b 715 tx_buffer[8] = (ilon >> 16) & 0xFF;
lpeters 34:341fb423e74b 716 tx_buffer[9] = (ilon >> 8) & 0xFF;
lpeters 34:341fb423e74b 717 tx_buffer[10] = (ilon >> 0) & 0xFF;
lpeters 34:341fb423e74b 718 printf("\r\nBUF: |");
lpeters 34:341fb423e74b 719 for (int i = 0; i < packet_len; i++) { printf("%02X", tx_buffer[i]); }
lpeters 34:341fb423e74b 720 printf("|\r\n");
lpeters 34:341fb423e74b 721 retcode = lorawan.send(MBED_CONF_LORA_APP_PORT, tx_buffer, packet_len,
lpeters 34:341fb423e74b 722 MSG_CONFIRMED_FLAG);
lpeters 33:e47306c32791 723
lpeters 34:341fb423e74b 724 if (retcode < 0) {
lpeters 34:341fb423e74b 725 retcode == LORAWAN_STATUS_WOULD_BLOCK ? printf("send - WOULD BLOCK\r\n")
lpeters 34:341fb423e74b 726 : printf("\r\n send() - Error code %d \r\n", retcode);
lpeters 34:341fb423e74b 727
lpeters 34:341fb423e74b 728 if (retcode == LORAWAN_STATUS_WOULD_BLOCK) {
lpeters 34:341fb423e74b 729 //retry in 3 seconds
lpeters 34:341fb423e74b 730 if (MBED_CONF_LORA_DUTY_CYCLE_ON) {
lpeters 34:341fb423e74b 731 ev_queue.call_in(3000, send_message);
lpeters 34:341fb423e74b 732 }
lpeters 34:341fb423e74b 733 }
lpeters 34:341fb423e74b 734 return;
lpeters 34:341fb423e74b 735 }
lpeters 34:341fb423e74b 736
lpeters 34:341fb423e74b 737 printf("\r\n %d bytes scheduled for transmission \r\n", retcode);
lpeters 34:341fb423e74b 738 memset(tx_buffer, 0, sizeof(tx_buffer));
lpeters 34:341fb423e74b 739
lpeters 34:341fb423e74b 740 //LED Confirmation Output - MESSAGE SENT
lpeters 34:341fb423e74b 741 for (int i = 0; i < 10; i++) {
lpeters 34:341fb423e74b 742 myLedG = 1;
lpeters 34:341fb423e74b 743 wait(0.1);
lpeters 34:341fb423e74b 744 myLedG = 0;
lpeters 34:341fb423e74b 745 myLedR = 1;
lpeters 34:341fb423e74b 746 wait(0.1);
lpeters 34:341fb423e74b 747 myLedR = 0;
lpeters 34:341fb423e74b 748 myLedB = 1;
lpeters 34:341fb423e74b 749 wait(0.1);
lpeters 34:341fb423e74b 750 myLedB = 0;
lpeters 34:341fb423e74b 751 }
lpeters 34:341fb423e74b 752 }
lpeters 34:341fb423e74b 753
lpeters 34:341fb423e74b 754 /**
lpeters 34:341fb423e74b 755 * Receive a message from the Network Server
lpeters 34:341fb423e74b 756 */
lpeters 34:341fb423e74b 757 static void receive_message()
lpeters 34:341fb423e74b 758 {
lpeters 36:dcc6f89fa39a 759 printf("In receive_message()...\r\n");
lpeters 34:341fb423e74b 760 int16_t retcode;
lpeters 34:341fb423e74b 761 retcode = lorawan.receive(MBED_CONF_LORA_APP_PORT, rx_buffer,
lpeters 34:341fb423e74b 762 sizeof(rx_buffer),
lpeters 34:341fb423e74b 763 MSG_CONFIRMED_FLAG|MSG_UNCONFIRMED_FLAG);
lpeters 34:341fb423e74b 764
lpeters 34:341fb423e74b 765 if (retcode < 0) {
lpeters 34:341fb423e74b 766 printf("\r\n receive() - Error code %d \r\n", retcode);
lpeters 34:341fb423e74b 767 return;
lpeters 34:341fb423e74b 768 }
lpeters 34:341fb423e74b 769
lpeters 34:341fb423e74b 770 printf(" Data:");
lpeters 34:341fb423e74b 771
lpeters 34:341fb423e74b 772 for (uint8_t i = 0; i < retcode; i++) {
lpeters 34:341fb423e74b 773 printf("%x", rx_buffer[i]);
lpeters 34:341fb423e74b 774 }
lpeters 34:341fb423e74b 775
lpeters 34:341fb423e74b 776 printf("\r\n Data Length: %d\r\n", retcode);
lpeters 34:341fb423e74b 777
lpeters 34:341fb423e74b 778 /*
lpeters 34:341fb423e74b 779 int startLoop = 0;
lpeters 34:341fb423e74b 780 if (strncmp((char *)rx_buffer, cmdSendLoop, 8) == 0)
lpeters 34:341fb423e74b 781 {
lpeters 34:341fb423e74b 782 printf("SendLoop Command Received!\r\n");
lpeters 34:341fb423e74b 783 startLoop = 1;
lpeters 34:341fb423e74b 784 }
lpeters 34:341fb423e74b 785 */
lpeters 34:341fb423e74b 786
lpeters 34:341fb423e74b 787 memset(rx_buffer, 0, sizeof(rx_buffer));
lpeters 34:341fb423e74b 788 /*
lpeters 34:341fb423e74b 789 if (startLoop)
lpeters 34:341fb423e74b 790 send_message();
lpeters 34:341fb423e74b 791 */
lpeters 34:341fb423e74b 792 }
lpeters 34:341fb423e74b 793
lpeters 34:341fb423e74b 794 /**
lpeters 34:341fb423e74b 795 * Event handler
lpeters 34:341fb423e74b 796 */
lpeters 34:341fb423e74b 797 static void lora_event_handler(lorawan_event_t event)
lpeters 34:341fb423e74b 798 {
lpeters 34:341fb423e74b 799 tr_debug("In lora_event_handler(%d)...", event);
lpeters 34:341fb423e74b 800 switch (event) {
lpeters 34:341fb423e74b 801 case CONNECTED:
lpeters 34:341fb423e74b 802 printf("\r\n Connection - Successful \r\n");
lpeters 36:dcc6f89fa39a 803 ev_queue.break_dispatch();
lpeters 36:dcc6f89fa39a 804 /*
lpeters 34:341fb423e74b 805 if (MBED_CONF_LORA_DUTY_CYCLE_ON) {
lpeters 34:341fb423e74b 806 send_message();
lpeters 34:341fb423e74b 807 } else {
lpeters 34:341fb423e74b 808 ev_queue.call_every(TX_TIMER, send_message);
lpeters 34:341fb423e74b 809 }
lpeters 36:dcc6f89fa39a 810 */
lpeters 34:341fb423e74b 811 break;
lpeters 34:341fb423e74b 812 case DISCONNECTED:
lpeters 34:341fb423e74b 813 ev_queue.break_dispatch();
lpeters 34:341fb423e74b 814 printf("\r\n Disconnected Successfully \r\n");
lpeters 34:341fb423e74b 815 break;
lpeters 34:341fb423e74b 816 case TX_DONE:
lpeters 34:341fb423e74b 817 printf("\r\n Message Sent to Network Server \r\n");
lpeters 36:dcc6f89fa39a 818 ev_queue.break_dispatch();
lpeters 36:dcc6f89fa39a 819 /*
lpeters 34:341fb423e74b 820 if (MBED_CONF_LORA_DUTY_CYCLE_ON) {
lpeters 34:341fb423e74b 821 send_message();
lpeters 34:341fb423e74b 822 }
lpeters 36:dcc6f89fa39a 823 */
lpeters 34:341fb423e74b 824 break;
lpeters 34:341fb423e74b 825 case TX_TIMEOUT:
lpeters 34:341fb423e74b 826 case TX_ERROR:
lpeters 34:341fb423e74b 827 case TX_CRYPTO_ERROR:
lpeters 34:341fb423e74b 828 case TX_SCHEDULING_ERROR:
lpeters 34:341fb423e74b 829 printf("\r\n Transmission Error - EventCode = %d \r\n", event);
lpeters 34:341fb423e74b 830 // try again
lpeters 36:dcc6f89fa39a 831 /*
lpeters 34:341fb423e74b 832 if (MBED_CONF_LORA_DUTY_CYCLE_ON) {
lpeters 34:341fb423e74b 833 send_message();
lpeters 34:341fb423e74b 834 }
lpeters 36:dcc6f89fa39a 835 */
lpeters 34:341fb423e74b 836 break;
lpeters 34:341fb423e74b 837 case RX_DONE:
lpeters 34:341fb423e74b 838 printf("\r\n Received message from Network Server \r\n");
lpeters 34:341fb423e74b 839 receive_message();
lpeters 34:341fb423e74b 840 break;
lpeters 34:341fb423e74b 841 case RX_TIMEOUT:
lpeters 34:341fb423e74b 842 case RX_ERROR:
lpeters 34:341fb423e74b 843 printf("\r\n Error in reception - Code = %d \r\n", event);
lpeters 34:341fb423e74b 844 break;
lpeters 34:341fb423e74b 845 case JOIN_FAILURE:
lpeters 34:341fb423e74b 846 printf("\r\n OTAA Failed - Check Keys \r\n");
lpeters 34:341fb423e74b 847 break;
lpeters 34:341fb423e74b 848 case UPLINK_REQUIRED:
lpeters 34:341fb423e74b 849 printf("\r\n Uplink required by NS \r\n");
lpeters 36:dcc6f89fa39a 850 /*
lpeters 34:341fb423e74b 851 if (MBED_CONF_LORA_DUTY_CYCLE_ON) {
lpeters 34:341fb423e74b 852 send_message();
lpeters 34:341fb423e74b 853 }
lpeters 36:dcc6f89fa39a 854 */
lpeters 34:341fb423e74b 855 break;
lpeters 34:341fb423e74b 856 default:
lpeters 34:341fb423e74b 857 MBED_ASSERT("Unknown Event");
lpeters 34:341fb423e74b 858 }
lpeters 34:341fb423e74b 859 }
lpeters 34:341fb423e74b 860
lpeters 34:341fb423e74b 861 void magInitSequence()
lpeters 34:341fb423e74b 862 {
lpeters 35:73b3963c6dd3 863 printf("In magInitSequence()...\r\n");
lpeters 34:341fb423e74b 864 myLedR = 0;
lpeters 34:341fb423e74b 865 myLedG = 0;
lpeters 34:341fb423e74b 866 cmd[0] = LSM303_REG_MAG_WHO_AM_I_M;
lpeters 34:341fb423e74b 867 i2c.write(LSM303_ADR_MAG, cmd, 1);
lpeters 34:341fb423e74b 868 i2c.read(LSM303_ADR_MAG, &ret, 1);
lpeters 34:341fb423e74b 869 res = (ret == LSM303_WHO_MAG ? sPass : sFail);
lpeters 34:341fb423e74b 870 printf("MAG WhoAmI: %02X %s\r\n", ret, res);
lpeters 34:341fb423e74b 871
lpeters 34:341fb423e74b 872 if (ret == LSM303_WHO_MAG)
lpeters 34:341fb423e74b 873 myLedG = 1;
lpeters 34:341fb423e74b 874 else
lpeters 34:341fb423e74b 875 myLedR = 1;
lpeters 34:341fb423e74b 876
lpeters 34:341fb423e74b 877 for (int i = 0; i < 2; i++) {
lpeters 34:341fb423e74b 878 myLedB = 1;
lpeters 34:341fb423e74b 879 wait(0.3);
lpeters 34:341fb423e74b 880 myLedB = 0;
lpeters 34:341fb423e74b 881 wait(0.3);
lpeters 34:341fb423e74b 882 }
lpeters 34:341fb423e74b 883
lpeters 34:341fb423e74b 884 #if defined(TARGET_LRAT)
lpeters 34:341fb423e74b 885 cmd[0] = LSM303_REG_MAG_CTRL_REG1_M;
lpeters 34:341fb423e74b 886 cmd[1] = 0x70; // Ultra-High Performance Mode on XY axes, ODR=10Hz
lpeters 34:341fb423e74b 887 i2c.write(LSM303_ADR_MAG, cmd, 2);
lpeters 34:341fb423e74b 888 cmd[0] = LSM303_REG_MAG_CTRL_REG3_M;
lpeters 34:341fb423e74b 889 cmd[1] = 0x00; // High Resolution? (Full-power), Continuous
lpeters 34:341fb423e74b 890 i2c.write(LSM303_ADR_MAG, cmd, 2);
lpeters 34:341fb423e74b 891 cmd[0] = LSM303_REG_MAG_CTRL_REG4_M;
lpeters 34:341fb423e74b 892 cmd[1] = 0x0C; // Ultra-High Performance Mode on Z axis
lpeters 34:341fb423e74b 893 i2c.write(LSM303_ADR_MAG, cmd, 2);
lpeters 34:341fb423e74b 894 #if defined(SENSOR_TEMP)
lpeters 34:341fb423e74b 895 // Enable Temp Sensor
lpeters 34:341fb423e74b 896 cmd[0] = LSM303_REG_MAG_CTRL_REG1_M;
lpeters 34:341fb423e74b 897 i2c.write(LSM303_ADR_MAG, cmd, 1);
lpeters 34:341fb423e74b 898 i2c.read(LSM303_ADR_MAG, &ret, 1);
lpeters 34:341fb423e74b 899 cmd[0] = LSM303_REG_MAG_CTRL_REG1_M;
lpeters 34:341fb423e74b 900 cmd[1] = ret | 0x80;
lpeters 34:341fb423e74b 901 i2c.write(LSM303_ADR_MAG, cmd, 2);
lpeters 34:341fb423e74b 902 /*
lpeters 34:341fb423e74b 903 cmd[0] = LSM303_REG_MAG_CTRL_REG5_M;
lpeters 34:341fb423e74b 904 i2c.write(LSM303_ADR_MAG, cmd, 1);
lpeters 34:341fb423e74b 905 i2c.read(LSM303_ADR_MAG, &ret, 1);
lpeters 34:341fb423e74b 906 cmd[0] = LSM303_REG_MAG_CTRL_REG5_M;
lpeters 34:341fb423e74b 907 cmd[1] = ret | 0x40;
lpeters 34:341fb423e74b 908 i2c.write(LSM303_ADR_MAG, cmd, 2);
lpeters 34:341fb423e74b 909 */
lpeters 34:341fb423e74b 910 #endif
lpeters 34:341fb423e74b 911 #else
lpeters 34:341fb423e74b 912 cmd[0] = LSM303_REG_MAG_CFG_REG_A_M;
lpeters 34:341fb423e74b 913 cmd[1] = 0x00; // Mag = 10 Hz (high-resolution and continuous mode)
lpeters 34:341fb423e74b 914 i2c.write(LSM303_ADR_MAG, cmd, 2);
lpeters 34:341fb423e74b 915 cmd[0] = LSM303_REG_MAG_CFG_REG_C_M;
lpeters 34:341fb423e74b 916 //cmd[1] = 0x01; // Mag data-ready interrupt enable
lpeters 34:341fb423e74b 917 cmd[1] = 0x40; // Mag enable interrupt on pin
lpeters 34:341fb423e74b 918 i2c.write(LSM303_ADR_MAG, cmd, 2);
lpeters 34:341fb423e74b 919 #endif
lpeters 34:341fb423e74b 920
lpeters 34:341fb423e74b 921 for (int i = 0; i < 2; i++) {
lpeters 34:341fb423e74b 922 myLedR = 1;
lpeters 34:341fb423e74b 923 myLedG = 1;
lpeters 34:341fb423e74b 924 myLedB = 1;
lpeters 34:341fb423e74b 925 wait(0.5);
lpeters 34:341fb423e74b 926 myLedR = 0;
lpeters 34:341fb423e74b 927 myLedG = 0;
lpeters 34:341fb423e74b 928 myLedB = 0;
lpeters 34:341fb423e74b 929 wait(0.5);
lpeters 34:341fb423e74b 930 }
lpeters 35:73b3963c6dd3 931 #if defined(TARGET_LRAT)
lpeters 35:73b3963c6dd3 932 // LRAT MAG IRQ SETUP GOES HERE
lpeters 35:73b3963c6dd3 933 #else
lpeters 34:341fb423e74b 934 // MAG INTERRUPT SETUP
lpeters 34:341fb423e74b 935 cmd[0] = LSM303_REG_MAG_INT_THS_L_REG_M;
lpeters 35:73b3963c6dd3 936 cmd[1] = 0xE8;
lpeters 34:341fb423e74b 937 i2c.write(LSM303_ADR_MAG, cmd, 2);
lpeters 34:341fb423e74b 938 cmd[0] = LSM303_REG_MAG_INT_THS_H_REG_M;
lpeters 35:73b3963c6dd3 939 cmd[1] = 0x03;
lpeters 34:341fb423e74b 940 i2c.write(LSM303_ADR_MAG, cmd, 2);
lpeters 34:341fb423e74b 941 cmd[0] = LSM303_REG_MAG_INT_CTRL_REG_M;
lpeters 34:341fb423e74b 942 cmd[1] = 0xE7;
lpeters 34:341fb423e74b 943 i2c.write(LSM303_ADR_MAG, cmd, 2);
lpeters 34:341fb423e74b 944 magPin.rise(&onMagIrq);
lpeters 35:73b3963c6dd3 945 #endif
lpeters 34:341fb423e74b 946 }
lpeters 34:341fb423e74b 947
lpeters 34:341fb423e74b 948 void accInitSequence()
lpeters 34:341fb423e74b 949 {
lpeters 35:73b3963c6dd3 950 printf("In accInitSequence()...\r\n");
lpeters 34:341fb423e74b 951 myLedR = 0;
lpeters 34:341fb423e74b 952 myLedG = 0;
lpeters 34:341fb423e74b 953 cmd[0] = LSM303_REG_ACC_WHO_AM_I_A;
lpeters 34:341fb423e74b 954 i2c.write(LSM303_ADR_ACC, cmd, 1);
lpeters 34:341fb423e74b 955 i2c.read(LSM303_ADR_ACC, &ret, 1);
lpeters 34:341fb423e74b 956 res = (ret == LSM303_WHO_ACC ? sPass : sFail);
lpeters 34:341fb423e74b 957 printf("ACC WhoAmI: %02X %s\r\n", ret, res);
lpeters 34:341fb423e74b 958
lpeters 34:341fb423e74b 959 if (ret == LSM303_WHO_ACC)
lpeters 34:341fb423e74b 960 myLedG = 1;
lpeters 34:341fb423e74b 961 else
lpeters 34:341fb423e74b 962 myLedR = 1;
lpeters 34:341fb423e74b 963
lpeters 34:341fb423e74b 964 for (int i = 0; i < 2; i++) {
lpeters 34:341fb423e74b 965 myLedB = 1;
lpeters 34:341fb423e74b 966 wait(0.3);
lpeters 34:341fb423e74b 967 myLedB = 0;
lpeters 34:341fb423e74b 968 wait(0.3);
lpeters 34:341fb423e74b 969 }
lpeters 34:341fb423e74b 970
lpeters 34:341fb423e74b 971 #if defined(TARGET_LRAT)
lpeters 34:341fb423e74b 972 cmd[0] = LSM303_REG_ACC_CTRL_REG1_A;
lpeters 34:341fb423e74b 973 cmd[1] = 0xB7; // High Resolution, ODR=100Hz, Enable XYZ Axes
lpeters 34:341fb423e74b 974 i2c.write(LSM303_ADR_ACC, cmd, 2);
Huot87 39:6da6cb44f22e 975
Huot87 39:6da6cb44f22e 976 // HUOT ADDITION -- 08/30/2018 -- Accelerometer Intterupt Init Sequence
Huot87 39:6da6cb44f22e 977 #if defined(ACC_INTERRUPT_ON)
Huot87 39:6da6cb44f22e 978 // ACC INTERRUPT SETUP
Huot87 39:6da6cb44f22e 979 // Enable Interrupt Pin
Huot87 39:6da6cb44f22e 980 cmd[0] = LSM303_REG_ACC_CTRL_REG3_A;
Huot87 39:6da6cb44f22e 981 i2c.write(LSM303_ADR_ACC, cmd, 1);
Huot87 39:6da6cb44f22e 982 i2c.read(LSM303_ADR_ACC, &ret, 1);
Huot87 39:6da6cb44f22e 983
Huot87 39:6da6cb44f22e 984 // Configure Control Register 3
Huot87 39:6da6cb44f22e 985 cmd[0] = LSM303_REG_ACC_CTRL_REG3_A;
Huot87 39:6da6cb44f22e 986 cmd[1] = 0x08;
Huot87 39:6da6cb44f22e 987 // cmd[1] = ret | 0x40;
Huot87 39:6da6cb44f22e 988 i2c.write(LSM303_ADR_ACC, cmd, 2);
Huot87 39:6da6cb44f22e 989
Huot87 39:6da6cb44f22e 990 cmd[0] = LSM303_CTRL_REG7_A;
Huot87 39:6da6cb44f22e 991 i2c.write(LSM303_ADR_ACC, cmd, 1);
Huot87 39:6da6cb44f22e 992 i2c.read(LSM303_ADR_ACC, &ret, 1);
Huot87 39:6da6cb44f22e 993
Huot87 39:6da6cb44f22e 994 // Latch Interrupt Enabling
Huot87 39:6da6cb44f22e 995 cmd[0] = LSM303_CTRL_REG7_A;
Huot87 39:6da6cb44f22e 996 cmd[1] = 0x04;
Huot87 39:6da6cb44f22e 997 //cmd[1] = ret | 0x08;
Huot87 39:6da6cb44f22e 998 i2c.write(LSM303_ADR_ACC, cmd, 2);
Huot87 39:6da6cb44f22e 999
Huot87 39:6da6cb44f22e 1000 // Set Threshold/Duration/Config
Huot87 39:6da6cb44f22e 1001 // Set Threshold on X axis
Huot87 39:6da6cb44f22e 1002 cmd[0] = LSM303_REG_ACC_INT1_THS_X1_A;
Huot87 39:6da6cb44f22e 1003 cmd[1] = 0x7D;
Huot87 39:6da6cb44f22e 1004 i2c.write(LSM303_ADR_ACC, cmd, 2);
Huot87 39:6da6cb44f22e 1005
Huot87 39:6da6cb44f22e 1006 // Set Threshold on Y axis
Huot87 39:6da6cb44f22e 1007 cmd[0] = LSM303_REG_ACC_INT1_THS_Y1_A;
Huot87 39:6da6cb44f22e 1008 i2c.write(LSM303_ADR_ACC, cmd, 2);
Huot87 39:6da6cb44f22e 1009
Huot87 39:6da6cb44f22e 1010 // Set Y Threshold on Z axis
Huot87 39:6da6cb44f22e 1011 cmd[0] = LSM303_REG_ACC_INT1_THS_Z1_A;
Huot87 39:6da6cb44f22e 1012 i2c.write(LSM303_ADR_ACC, cmd, 2);
Huot87 39:6da6cb44f22e 1013
Huot87 39:6da6cb44f22e 1014 // Set Interrupt Duration
Huot87 39:6da6cb44f22e 1015 cmd[0] = LSM303_REG_ACC_INT1_DURATION_A;
Huot87 39:6da6cb44f22e 1016 cmd[1] = 0x00;
Huot87 39:6da6cb44f22e 1017 i2c.write(LSM303_ADR_ACC, cmd, 2);
Huot87 39:6da6cb44f22e 1018
Huot87 39:6da6cb44f22e 1019 // Set Interrupt Configuration
Huot87 39:6da6cb44f22e 1020 cmd[0] = LSM303_REG_ACC_INT1_CFG_A;
Huot87 39:6da6cb44f22e 1021 cmd[1] = 0x02; // Set Interrupt Generation on X-Axis High event
Huot87 39:6da6cb44f22e 1022 i2c.write(LSM303_ADR_ACC, cmd, 2);
Huot87 39:6da6cb44f22e 1023 accPin.rise(&onAccIrq);
Huot87 39:6da6cb44f22e 1024 #endif
Huot87 39:6da6cb44f22e 1025
lpeters 34:341fb423e74b 1026 #else
lpeters 34:341fb423e74b 1027 cmd[0] = LSM303_REG_ACC_CTRL_REG1_A;
lpeters 34:341fb423e74b 1028 cmd[1] = 0x57; // Enable XYZ Axes, ODR=100Hz
lpeters 34:341fb423e74b 1029 i2c.write(LSM303_ADR_ACC, cmd, 2);
lpeters 34:341fb423e74b 1030
lpeters 34:341fb423e74b 1031 // Enable High Resolution Mode
lpeters 34:341fb423e74b 1032 cmd[0] = LSM303_REG_ACC_CTRL_REG4_A;
lpeters 34:341fb423e74b 1033 i2c.write(LSM303_ADR_ACC, cmd, 1);
lpeters 34:341fb423e74b 1034 i2c.read(LSM303_ADR_ACC, &ret, 1);
lpeters 34:341fb423e74b 1035 cmd[0] = LSM303_REG_ACC_CTRL_REG4_A;
lpeters 34:341fb423e74b 1036 cmd[1] = ret | 0x08; // High Resolution
lpeters 34:341fb423e74b 1037 i2c.write(LSM303_ADR_ACC, cmd, 2);
lpeters 34:341fb423e74b 1038
lpeters 34:341fb423e74b 1039 #if defined(SENSOR_TEMP)
lpeters 34:341fb423e74b 1040 // Enable Temp Sensor
lpeters 34:341fb423e74b 1041 cmd[0] = LSM303_REG_ACC_TEMP_CFG_REG_A;
lpeters 34:341fb423e74b 1042 cmd[1] = 0xC0;
lpeters 34:341fb423e74b 1043 i2c.write(LSM303_ADR_ACC, cmd, 2);
lpeters 34:341fb423e74b 1044 cmd[0] = LSM303_REG_ACC_CTRL_REG4_A;
lpeters 34:341fb423e74b 1045 i2c.write(LSM303_ADR_ACC, cmd, 1);
lpeters 34:341fb423e74b 1046 i2c.read(LSM303_ADR_ACC, &ret, 1);
lpeters 34:341fb423e74b 1047 cmd[0] = LSM303_REG_ACC_CTRL_REG4_A;
lpeters 34:341fb423e74b 1048 cmd[1] = ret | 0x80;
lpeters 34:341fb423e74b 1049 i2c.write(LSM303_ADR_ACC, cmd, 2);
lpeters 34:341fb423e74b 1050 #endif
lpeters 34:341fb423e74b 1051 #endif
lpeters 34:341fb423e74b 1052
lpeters 34:341fb423e74b 1053 //LED Confirmation Output - ACC INIT COMPLETE
lpeters 34:341fb423e74b 1054 for (int i = 0; i < 2; i++) {
lpeters 34:341fb423e74b 1055 myLedR = 1;
lpeters 34:341fb423e74b 1056 myLedG = 1;
lpeters 34:341fb423e74b 1057 myLedB = 1;
lpeters 34:341fb423e74b 1058 wait(0.5);
lpeters 34:341fb423e74b 1059 myLedR = 0;
lpeters 34:341fb423e74b 1060 myLedG = 0;
lpeters 34:341fb423e74b 1061 myLedB = 0;
lpeters 34:341fb423e74b 1062 wait(0.5);
lpeters 34:341fb423e74b 1063 }
lpeters 34:341fb423e74b 1064
lpeters 34:341fb423e74b 1065 // Set Full Scale to 4g
lpeters 34:341fb423e74b 1066 /*
lpeters 34:341fb423e74b 1067 cmd[0] = LSM303_REG_ACC_CTRL_REG4_A;
lpeters 34:341fb423e74b 1068 i2c.write(LSM303_ADR_ACC, cmd, 1);
lpeters 34:341fb423e74b 1069 i2c.read(LSM303_ADR_ACC, &ret, 1);
lpeters 34:341fb423e74b 1070 cmd[0] = LSM303_REG_ACC_CTRL_REG4_A;
lpeters 34:341fb423e74b 1071 //cmd[1] = ret | 0x30; // 16g
lpeters 34:341fb423e74b 1072 //cmd[1] = (ret & ~0x10) | 0x20; // 8g
lpeters 34:341fb423e74b 1073 cmd[1] = (ret & ~0x20) | 0x10; // 4g
lpeters 34:341fb423e74b 1074 //cmd[1] = ret & ~0x30; // 2g
lpeters 34:341fb423e74b 1075 i2c.write(LSM303_ADR_ACC, cmd, 2);
lpeters 34:341fb423e74b 1076 */
lpeters 34:341fb423e74b 1077 /*
lpeters 34:341fb423e74b 1078 // IRQ Init from Datasheet.
lpeters 34:341fb423e74b 1079 cmd[0] = LSM303_REG_ACC_CTRL_REG1_A;
lpeters 34:341fb423e74b 1080 cmd[1] = 0xA7;
lpeters 34:341fb423e74b 1081 i2c.write(LSM303_ADR_ACC, cmd, 2);
lpeters 34:341fb423e74b 1082 cmd[0] = LSM303_REG_ACC_CTRL_REG2_A;
lpeters 34:341fb423e74b 1083 cmd[1] = 0x00;
lpeters 34:341fb423e74b 1084 i2c.write(LSM303_ADR_ACC, cmd, 2);
lpeters 34:341fb423e74b 1085 cmd[0] = LSM303_REG_ACC_CTRL_REG3_A;
lpeters 34:341fb423e74b 1086 cmd[1] = 0x40;
lpeters 34:341fb423e74b 1087 i2c.write(LSM303_ADR_ACC, cmd, 2);
lpeters 34:341fb423e74b 1088 cmd[0] = LSM303_REG_ACC_CTRL_REG4_A;
lpeters 34:341fb423e74b 1089 cmd[1] = 0x00;
lpeters 34:341fb423e74b 1090 //cmd[1] = 0x10;
lpeters 34:341fb423e74b 1091 i2c.write(LSM303_ADR_ACC, cmd, 2);
lpeters 34:341fb423e74b 1092 cmd[0] = LSM303_REG_ACC_CTRL_REG5_A;
lpeters 34:341fb423e74b 1093 cmd[1] = 0x08;
lpeters 34:341fb423e74b 1094 i2c.write(LSM303_ADR_ACC, cmd, 2);
lpeters 34:341fb423e74b 1095 */
lpeters 35:73b3963c6dd3 1096 #if defined(TARGET_LRAT)
lpeters 35:73b3963c6dd3 1097 // LRAT ACC IRQ SETUP GOES HERE
lpeters 35:73b3963c6dd3 1098 #else
lpeters 34:341fb423e74b 1099 // ACC INTERRUPT SETUP
lpeters 34:341fb423e74b 1100 // Enable Interrupt Pin
lpeters 34:341fb423e74b 1101 cmd[0] = LSM303_REG_ACC_CTRL_REG3_A;
lpeters 34:341fb423e74b 1102 i2c.write(LSM303_ADR_ACC, cmd, 1);
lpeters 34:341fb423e74b 1103 i2c.read(LSM303_ADR_ACC, &ret, 1);
lpeters 34:341fb423e74b 1104 cmd[0] = LSM303_REG_ACC_CTRL_REG3_A;
lpeters 34:341fb423e74b 1105 cmd[1] = ret | 0x40;
lpeters 34:341fb423e74b 1106 i2c.write(LSM303_ADR_ACC, cmd, 2);
lpeters 34:341fb423e74b 1107 // Enable Interrupt Latch
lpeters 34:341fb423e74b 1108 cmd[0] = LSM303_REG_ACC_CTRL_REG5_A;
lpeters 34:341fb423e74b 1109 i2c.write(LSM303_ADR_ACC, cmd, 1);
lpeters 34:341fb423e74b 1110 i2c.read(LSM303_ADR_ACC, &ret, 1);
lpeters 34:341fb423e74b 1111 cmd[0] = LSM303_REG_ACC_CTRL_REG5_A;
lpeters 34:341fb423e74b 1112 cmd[1] = ret | 0x08;
lpeters 34:341fb423e74b 1113 i2c.write(LSM303_ADR_ACC, cmd, 2);
lpeters 34:341fb423e74b 1114
lpeters 34:341fb423e74b 1115 // Set Threshold/Duration/Config
lpeters 34:341fb423e74b 1116 cmd[0] = LSM303_REG_ACC_INT1_THS_A;
lpeters 34:341fb423e74b 1117 //cmd[1] = 0x10;
lpeters 34:341fb423e74b 1118 //cmd[1] = 0x40;
lpeters 34:341fb423e74b 1119 //cmd[1] = 0x60;
lpeters 34:341fb423e74b 1120 cmd[1] = 0x7D;
lpeters 34:341fb423e74b 1121 i2c.write(LSM303_ADR_ACC, cmd, 2);
lpeters 34:341fb423e74b 1122 cmd[0] = LSM303_REG_ACC_INT1_DURATION_A;
lpeters 34:341fb423e74b 1123 cmd[1] = 0x00;
lpeters 34:341fb423e74b 1124 i2c.write(LSM303_ADR_ACC, cmd, 2);
lpeters 34:341fb423e74b 1125 cmd[0] = LSM303_REG_ACC_INT1_CFG_A;
lpeters 34:341fb423e74b 1126 cmd[1] = 0x2A;
lpeters 34:341fb423e74b 1127 //cmd[1] = 0x0A;
lpeters 34:341fb423e74b 1128 i2c.write(LSM303_ADR_ACC, cmd, 2);
lpeters 35:73b3963c6dd3 1129 accPin.rise(&onAccIrq);
lpeters 35:73b3963c6dd3 1130 #endif
lpeters 34:341fb423e74b 1131 }
lpeters 34:341fb423e74b 1132
lpeters 34:341fb423e74b 1133 void gpsInitSequence()
lpeters 34:341fb423e74b 1134 {
lpeters 35:73b3963c6dd3 1135 printf("In gpsInitSequence()...\r\n");
lpeters 35:73b3963c6dd3 1136 gpsRead();
lpeters 35:73b3963c6dd3 1137 if (mytime > 0)
lpeters 35:73b3963c6dd3 1138 {
lpeters 35:73b3963c6dd3 1139 set_time(mytime);
lpeters 35:73b3963c6dd3 1140 tInit = mytime;
lpeters 35:73b3963c6dd3 1141 myLedG = 1;
lpeters 35:73b3963c6dd3 1142 }
lpeters 35:73b3963c6dd3 1143 else
lpeters 35:73b3963c6dd3 1144 myLedR = 1;
lpeters 34:341fb423e74b 1145
lpeters 34:341fb423e74b 1146 for (int i = 0; i < 2; i++) {
lpeters 34:341fb423e74b 1147 myLedB = 1;
lpeters 34:341fb423e74b 1148 wait(0.3);
lpeters 34:341fb423e74b 1149 myLedB = 0;
lpeters 34:341fb423e74b 1150 wait(0.3);
lpeters 34:341fb423e74b 1151 }
lpeters 34:341fb423e74b 1152 myLedG = 0;
lpeters 34:341fb423e74b 1153 myLedR = 0;
Huot87 38:fd7a407bfe3e 1154
Huot87 38:fd7a407bfe3e 1155 // HUOT ADDITION -- GPS LOW POWER SETUP
Huot87 38:fd7a407bfe3e 1156 //printf("Disabling GLONASS... \r\n");
Huot87 38:fd7a407bfe3e 1157 //gpsExecuteCommand(cmdDisableGLONASS, sizeof(cmdDisableGLONASS)); // Disable GLONASS
Huot87 38:fd7a407bfe3e 1158 //printf("Disabling Time Pulse... \r\n");
Huot87 38:fd7a407bfe3e 1159 //gpsExecuteCommand(cmdDisableTimePulse, sizeof(cmdDisableTimePulse)); // Disable Time Pulse
Huot87 38:fd7a407bfe3e 1160 //printf("Configuring PMS... \r\n");
Huot87 38:fd7a407bfe3e 1161 //gpsExecuteCommand(cmdConfigPMS, sizeof(cmdConfigPMS)); // Configure Power Management Setup
Huot87 38:fd7a407bfe3e 1162 //printf("LPM Init Sequence Complete. \r\n");
Huot87 38:fd7a407bfe3e 1163 }
Huot87 38:fd7a407bfe3e 1164
Huot87 39:6da6cb44f22e 1165 // HUOT ADDITION 08/30/2018 -- GENERIC GPS EXECUTE COMMAND FUNCTION
Huot87 38:fd7a407bfe3e 1166 void gpsExecuteCommand(char *command, int length)
Huot87 38:fd7a407bfe3e 1167 {
Huot87 38:fd7a407bfe3e 1168
Huot87 38:fd7a407bfe3e 1169 uint8_t crcA = 0;
Huot87 38:fd7a407bfe3e 1170 uint8_t crcB = 0;
Huot87 38:fd7a407bfe3e 1171 for(int i = 2; i <= (length - 3); i++)
Huot87 38:fd7a407bfe3e 1172 {
Huot87 38:fd7a407bfe3e 1173 crcA = crcA + command[i];
Huot87 38:fd7a407bfe3e 1174 crcB = crcB + crcA;
Huot87 38:fd7a407bfe3e 1175 }
Huot87 38:fd7a407bfe3e 1176
Huot87 38:fd7a407bfe3e 1177 command[(length - 2)] = crcA;
Huot87 38:fd7a407bfe3e 1178 command[(length - 1)] = crcB;
Huot87 38:fd7a407bfe3e 1179 printf("UBX CRC: %02X %02X\r\n", crcA, crcB);
Huot87 38:fd7a407bfe3e 1180 i2c.write(NEOM8M_ADR_GPS, command, length);
Huot87 38:fd7a407bfe3e 1181 printf("Command Executed \r\n");
Huot87 38:fd7a407bfe3e 1182 wait(1);
lpeters 34:341fb423e74b 1183 }
lpeters 34:341fb423e74b 1184
lpeters 34:341fb423e74b 1185 void magRead()
lpeters 34:341fb423e74b 1186 {
lpeters 34:341fb423e74b 1187 cmd[0] = LSM303_REG_MAG_STATUS_REG_M;
lpeters 34:341fb423e74b 1188 i2c.write(LSM303_ADR_MAG, cmd, 1);
lpeters 34:341fb423e74b 1189 i2c.read(LSM303_ADR_MAG, &rda, 1);
lpeters 34:341fb423e74b 1190 if (rda)
lpeters 34:341fb423e74b 1191 {
lpeters 34:341fb423e74b 1192 cmd[0] = LSM303_REG_MAG_OUTX_L_REG_M;
lpeters 34:341fb423e74b 1193 i2c.write(LSM303_ADR_MAG, cmd, 1);
lpeters 34:341fb423e74b 1194 i2c.read(LSM303_ADR_MAG, &buf[0], 1);
lpeters 34:341fb423e74b 1195 cmd[0] = LSM303_REG_MAG_OUTX_H_REG_M;
lpeters 34:341fb423e74b 1196 i2c.write(LSM303_ADR_MAG, cmd, 1);
lpeters 34:341fb423e74b 1197 i2c.read(LSM303_ADR_MAG, &buf[1], 1);
lpeters 34:341fb423e74b 1198 cmd[0] = LSM303_REG_MAG_OUTY_L_REG_M;
lpeters 34:341fb423e74b 1199 i2c.write(LSM303_ADR_MAG, cmd, 1);
lpeters 34:341fb423e74b 1200 i2c.read(LSM303_ADR_MAG, &buf[2], 1);
lpeters 34:341fb423e74b 1201 cmd[0] = LSM303_REG_MAG_OUTY_H_REG_M;
lpeters 34:341fb423e74b 1202 i2c.write(LSM303_ADR_MAG, cmd, 1);
lpeters 34:341fb423e74b 1203 i2c.read(LSM303_ADR_MAG, &buf[3], 1);
lpeters 34:341fb423e74b 1204 cmd[0] = LSM303_REG_MAG_OUTZ_L_REG_M;
lpeters 34:341fb423e74b 1205 i2c.write(LSM303_ADR_MAG, cmd, 1);
lpeters 34:341fb423e74b 1206 i2c.read(LSM303_ADR_MAG, &buf[4], 1);
lpeters 34:341fb423e74b 1207 cmd[0] = LSM303_REG_MAG_OUTZ_H_REG_M;
lpeters 34:341fb423e74b 1208 i2c.write(LSM303_ADR_MAG, cmd, 1);
lpeters 34:341fb423e74b 1209 i2c.read(LSM303_ADR_MAG, &buf[5], 1);
lpeters 34:341fb423e74b 1210 myMagX = (buf[0] | (buf[1] << 8));
lpeters 34:341fb423e74b 1211 myMagY = (buf[2] | (buf[3] << 8));
lpeters 34:341fb423e74b 1212 myMagZ = (buf[4] | (buf[5] << 8));
lpeters 34:341fb423e74b 1213 if (myMagX < magMinX)
lpeters 34:341fb423e74b 1214 magMinX = myMagX;
lpeters 34:341fb423e74b 1215 if (myMagY < magMinY)
lpeters 34:341fb423e74b 1216 magMinY = myMagY;
lpeters 34:341fb423e74b 1217 if (myMagZ < magMinZ)
lpeters 34:341fb423e74b 1218 magMinZ = myMagZ;
lpeters 34:341fb423e74b 1219 if (myMagX > magMaxX)
lpeters 34:341fb423e74b 1220 magMaxX = myMagX;
lpeters 34:341fb423e74b 1221 if (myMagY > magMaxY)
lpeters 34:341fb423e74b 1222 magMaxY = myMagY;
lpeters 34:341fb423e74b 1223 if (myMagZ > magMaxZ)
lpeters 34:341fb423e74b 1224 magMaxZ = myMagZ;
lpeters 34:341fb423e74b 1225 cmd[0] = LSM303_REG_MAG_INT_SOURCE_REG_M;
lpeters 34:341fb423e74b 1226 i2c.write(LSM303_ADR_MAG, cmd, 1);
lpeters 34:341fb423e74b 1227 i2c.read(LSM303_ADR_MAG, &ret, 1);
lpeters 34:341fb423e74b 1228 if (ret & 0x01 && magEvent == 0 && ret & 0xFC)
lpeters 34:341fb423e74b 1229 {
lpeters 34:341fb423e74b 1230 magSFire++;
lpeters 34:341fb423e74b 1231 magEvent = 1;
lpeters 34:341fb423e74b 1232 magSHIRQ++;
lpeters 34:341fb423e74b 1233 }
lpeters 34:341fb423e74b 1234 else if (!(ret & 0x01) && magEvent == 1 && !(ret & 0xFC))
lpeters 34:341fb423e74b 1235 {
lpeters 34:341fb423e74b 1236 magSFire++;
lpeters 34:341fb423e74b 1237 magEvent = 0;
lpeters 34:341fb423e74b 1238 magSLIRQ++;
lpeters 34:341fb423e74b 1239 }
lpeters 34:341fb423e74b 1240 printf("M|%02X|%02X %02X %02X %02X %02X %02X|%*d,%*d,%*d|%*d,%*d,%*d|%*d,%*d,%*d|%02X|%02X/%02X %02X/%02X\r\n", rda, buf[0], buf[1], buf[2], buf[3], buf[4], buf[5], 6, myMagX, 6, myMagY, 6, myMagZ, 6, magMinX, 6, magMinY, 6, magMinZ, 6, magMaxX, 6, magMaxY, 6, magMaxZ, ret, magSHIRQ, magSLIRQ, magSFire, magHFire);
lpeters 34:341fb423e74b 1241 }
lpeters 34:341fb423e74b 1242 }
lpeters 34:341fb423e74b 1243
lpeters 34:341fb423e74b 1244 void accRead()
lpeters 34:341fb423e74b 1245 {
lpeters 34:341fb423e74b 1246 cmd[0] = LSM303_REG_ACC_STATUS_REG_A;
lpeters 34:341fb423e74b 1247 i2c.write(LSM303_ADR_ACC, cmd, 1);
lpeters 34:341fb423e74b 1248 i2c.read(LSM303_ADR_ACC, &rda, 1);
lpeters 34:341fb423e74b 1249 if (rda)
lpeters 34:341fb423e74b 1250 {
lpeters 34:341fb423e74b 1251 cmd[0] = LSM303_REG_ACC_OUT_X_L_A;
lpeters 34:341fb423e74b 1252 i2c.write(LSM303_ADR_ACC, cmd, 1);
lpeters 34:341fb423e74b 1253 i2c.read(LSM303_ADR_ACC, &buf[0], 1);
lpeters 34:341fb423e74b 1254 cmd[0] = LSM303_REG_ACC_OUT_X_H_A;
lpeters 34:341fb423e74b 1255 i2c.write(LSM303_ADR_ACC, cmd, 1);
lpeters 34:341fb423e74b 1256 i2c.read(LSM303_ADR_ACC, &buf[1], 1);
lpeters 34:341fb423e74b 1257 cmd[0] = LSM303_REG_ACC_OUT_Y_L_A;
lpeters 34:341fb423e74b 1258 i2c.write(LSM303_ADR_ACC, cmd, 1);
lpeters 34:341fb423e74b 1259 i2c.read(LSM303_ADR_ACC, &buf[2], 1);
lpeters 34:341fb423e74b 1260 cmd[0] = LSM303_REG_ACC_OUT_Y_H_A;
lpeters 34:341fb423e74b 1261 i2c.write(LSM303_ADR_ACC, cmd, 1);
lpeters 34:341fb423e74b 1262 i2c.read(LSM303_ADR_ACC, &buf[3], 1);
lpeters 34:341fb423e74b 1263 cmd[0] = LSM303_REG_ACC_OUT_Z_L_A;
lpeters 34:341fb423e74b 1264 i2c.write(LSM303_ADR_ACC, cmd, 1);
lpeters 34:341fb423e74b 1265 i2c.read(LSM303_ADR_ACC, &buf[4], 1);
lpeters 34:341fb423e74b 1266 cmd[0] = LSM303_REG_ACC_OUT_Z_H_A;
lpeters 34:341fb423e74b 1267 i2c.write(LSM303_ADR_ACC, cmd, 1);
lpeters 34:341fb423e74b 1268 i2c.read(LSM303_ADR_ACC, &buf[5], 1);
lpeters 34:341fb423e74b 1269 myAccX = ((int16_t)(buf[0] | (buf[1] << 8)) >> accShift);
lpeters 34:341fb423e74b 1270 myAccY = ((int16_t)(buf[2] | (buf[3] << 8)) >> accShift);
lpeters 34:341fb423e74b 1271 myAccZ = ((int16_t)(buf[4] | (buf[5] << 8)) >> accShift);
lpeters 34:341fb423e74b 1272 if (myAccX < accMinX)
lpeters 34:341fb423e74b 1273 accMinX = myAccX;
lpeters 34:341fb423e74b 1274 if (myAccY < accMinY)
lpeters 34:341fb423e74b 1275 accMinY = myAccY;
lpeters 34:341fb423e74b 1276 if (myAccZ < accMinZ)
lpeters 34:341fb423e74b 1277 accMinZ = myAccZ;
lpeters 34:341fb423e74b 1278 if (myAccX > accMaxX)
lpeters 34:341fb423e74b 1279 accMaxX = myAccX;
lpeters 34:341fb423e74b 1280 if (myAccY > accMaxY)
lpeters 34:341fb423e74b 1281 accMaxY = myAccY;
lpeters 34:341fb423e74b 1282 if (myAccZ > accMaxZ)
lpeters 34:341fb423e74b 1283 accMaxZ = myAccZ;
lpeters 34:341fb423e74b 1284 cmd[0] = LSM303_REG_ACC_INT1_SRC_A;
lpeters 34:341fb423e74b 1285 i2c.write(LSM303_ADR_ACC, cmd, 1);
lpeters 34:341fb423e74b 1286 i2c.read(LSM303_ADR_ACC, &ret, 1);
lpeters 34:341fb423e74b 1287 if (ret & 0x40)
lpeters 34:341fb423e74b 1288 {
lpeters 34:341fb423e74b 1289 accSFire++;
lpeters 34:341fb423e74b 1290 if (accEvent == 1)
lpeters 34:341fb423e74b 1291 {
lpeters 34:341fb423e74b 1292 accEvent = 0;
lpeters 34:341fb423e74b 1293 accSLIRQ++;
lpeters 34:341fb423e74b 1294 cmd[0] = LSM303_REG_ACC_INT1_THS_A;
lpeters 34:341fb423e74b 1295 cmd[1] = 0x7D;
lpeters 34:341fb423e74b 1296 i2c.write(LSM303_ADR_ACC, cmd, 2);
lpeters 34:341fb423e74b 1297 cmd[0] = LSM303_REG_ACC_INT1_DURATION_A;
lpeters 34:341fb423e74b 1298 cmd[1] = 0x00;
lpeters 34:341fb423e74b 1299 i2c.write(LSM303_ADR_ACC, cmd, 2);
lpeters 34:341fb423e74b 1300 cmd[0] = LSM303_REG_ACC_INT1_CFG_A;
lpeters 34:341fb423e74b 1301 cmd[1] = 0x2A;
lpeters 34:341fb423e74b 1302 i2c.write(LSM303_ADR_ACC, cmd, 2);
lpeters 34:341fb423e74b 1303 }
lpeters 34:341fb423e74b 1304 else
lpeters 34:341fb423e74b 1305 {
lpeters 34:341fb423e74b 1306 accEvent = 1;
lpeters 34:341fb423e74b 1307 accSHIRQ++;
lpeters 34:341fb423e74b 1308 cmd[0] = LSM303_REG_ACC_INT1_THS_A;
lpeters 34:341fb423e74b 1309 cmd[1] = 0x50;
lpeters 34:341fb423e74b 1310 i2c.write(LSM303_ADR_ACC, cmd, 2);
lpeters 34:341fb423e74b 1311 cmd[0] = LSM303_REG_ACC_INT1_DURATION_A;
lpeters 34:341fb423e74b 1312 //cmd[1] = 0x7D;
lpeters 34:341fb423e74b 1313 cmd[1] = 0x03;
lpeters 34:341fb423e74b 1314 i2c.write(LSM303_ADR_ACC, cmd, 2);
lpeters 34:341fb423e74b 1315 cmd[0] = LSM303_REG_ACC_INT1_CFG_A;
lpeters 34:341fb423e74b 1316 cmd[1] = 0x95;
lpeters 34:341fb423e74b 1317 i2c.write(LSM303_ADR_ACC, cmd, 2);
lpeters 34:341fb423e74b 1318 }
lpeters 34:341fb423e74b 1319 }
lpeters 34:341fb423e74b 1320 printf("A|%02X|%02X %02X %02X %02X %02X %02X|%*d,%*d,%*d|%*d,%*d,%*d|%*d,%*d,%*d|%02X|%02X/%02X %02X/%02X\r\n", rda, buf[0], buf[1], buf[2], buf[3], buf[4], buf[5], 6, myAccX, 6, myAccY, 6, myAccZ, 6, accMinX, 6, accMinY, 6, accMinZ, 6, accMaxX, 6, accMaxY, 6, accMaxZ, ret, accSHIRQ, accSLIRQ, accSFire, accHFire);
lpeters 34:341fb423e74b 1321 }
lpeters 34:341fb423e74b 1322 }
lpeters 34:341fb423e74b 1323
lpeters 34:341fb423e74b 1324 void tmpRead()
lpeters 34:341fb423e74b 1325 {
lpeters 34:341fb423e74b 1326 #if defined(TARGET_LRAT)
lpeters 34:341fb423e74b 1327 cmd[0] = LSM303_REG_MAG_TEMP_L_M;
lpeters 34:341fb423e74b 1328 i2c.write(LSM303_ADR_MAG, cmd, 1);
lpeters 34:341fb423e74b 1329 i2c.read(LSM303_ADR_MAG, &buf[0], 1);
lpeters 34:341fb423e74b 1330 cmd[0] = LSM303_REG_MAG_TEMP_H_M;
lpeters 34:341fb423e74b 1331 i2c.write(LSM303_ADR_MAG, cmd, 1);
lpeters 34:341fb423e74b 1332 i2c.read(LSM303_ADR_MAG, &buf[1], 1);
lpeters 34:341fb423e74b 1333 myTemp = (int16_t)(buf[0] | (buf[1] << 8));
lpeters 34:341fb423e74b 1334 printf("T|%02X %02X| (%d)\r\n", buf[0], buf[1], myTemp);
lpeters 34:341fb423e74b 1335 #else
lpeters 34:341fb423e74b 1336 cmd[0] = LSM303_REG_ACC_STATUS_REG_AUX_A;
lpeters 34:341fb423e74b 1337 i2c.write(LSM303_ADR_ACC, cmd, 1);
lpeters 34:341fb423e74b 1338 i2c.read(LSM303_ADR_ACC, &rda, 1);
lpeters 34:341fb423e74b 1339 if (rda & 0x04)
lpeters 34:341fb423e74b 1340 {
lpeters 34:341fb423e74b 1341 cmd[0] = LSM303_REG_ACC_OUT_TEMP_L_A | 0x80;
lpeters 34:341fb423e74b 1342 i2c.write(LSM303_ADR_ACC, cmd, 1);
lpeters 34:341fb423e74b 1343 i2c.read(LSM303_ADR_ACC, &buf[0], 2);
lpeters 34:341fb423e74b 1344 myTemp = (int16_t)(buf[0] | (buf[1] << 8)) >> 6;
lpeters 34:341fb423e74b 1345 printf("T|%02X %02X %02X| (%d)\r\n", rda, buf[0], buf[1], myTemp);
lpeters 34:341fb423e74b 1346 }
lpeters 34:341fb423e74b 1347 #endif
lpeters 34:341fb423e74b 1348 }
lpeters 34:341fb423e74b 1349
Huot87 38:fd7a407bfe3e 1350
Huot87 39:6da6cb44f22e 1351 // HUOT ALTERATION -- 08/30/2018 -- Change GPS read from "void" to return "int" to solidfy if fix was good or bad
Huot87 38:fd7a407bfe3e 1352 int gpsRead()
lpeters 34:341fb423e74b 1353 {
lpeters 34:341fb423e74b 1354 bool gpsDone = false;
lpeters 34:341fb423e74b 1355 bool fixGood = false;
lpeters 35:73b3963c6dd3 1356 uint8_t crcPass = 0;
lpeters 35:73b3963c6dd3 1357 uint8_t crcFail = 0;
lpeters 35:73b3963c6dd3 1358 uint32_t tDate = 0;
lpeters 35:73b3963c6dd3 1359 uint32_t tTime = 0;
lpeters 34:341fb423e74b 1360 myLedW = 1;
lpeters 34:341fb423e74b 1361 pos = 0;
lpeters 33:e47306c32791 1362 ret = 0xFF;
lpeters 33:e47306c32791 1363 cmd[0] = 0xFF;
lpeters 33:e47306c32791 1364 i2c.write(NEOM8M_ADR_GPS, cmd, 1);
lpeters 33:e47306c32791 1365 while(!gpsDone)
lpeters 33:e47306c32791 1366 {
lpeters 33:e47306c32791 1367 while (ret == 0xFF)
lpeters 33:e47306c32791 1368 {
lpeters 33:e47306c32791 1369 i2c.read(NEOM8M_ADR_GPS, &ret, 1);
lpeters 33:e47306c32791 1370 }
lpeters 33:e47306c32791 1371 while (ret != 0xFF)
lpeters 33:e47306c32791 1372 {
lpeters 33:e47306c32791 1373 buf[pos++] = ret;
lpeters 33:e47306c32791 1374 i2c.read(NEOM8M_ADR_GPS, &ret, 1);
lpeters 33:e47306c32791 1375 if (ret == '\r')
lpeters 33:e47306c32791 1376 {
lpeters 33:e47306c32791 1377 i2c.read(NEOM8M_ADR_GPS, &ret, 1);
lpeters 33:e47306c32791 1378 if (ret == '\n')
lpeters 33:e47306c32791 1379 {
lpeters 33:e47306c32791 1380 buf[pos] = 0x00;
lpeters 34:341fb423e74b 1381 // NMEA Validation
lpeters 33:e47306c32791 1382 uint16_t crc = 0;
lpeters 35:73b3963c6dd3 1383 char clr = '\0';
lpeters 33:e47306c32791 1384 if (buf[0] == '$' && buf[pos-3] == '*')
lpeters 33:e47306c32791 1385 {
lpeters 35:73b3963c6dd3 1386 for (int i = 1; i < pos-3; i++)
lpeters 33:e47306c32791 1387 {
lpeters 33:e47306c32791 1388 crc ^= buf[i];
lpeters 33:e47306c32791 1389 }
lpeters 33:e47306c32791 1390 }
lpeters 33:e47306c32791 1391 if (crc == ((buf[pos-2] < 'A' ? buf[pos-2] - '0' : buf[pos-2] - '7') << 4 | (buf[pos-1] < 'A' ? buf[pos-1] - '0' : buf[pos-1] - '7')))
lpeters 35:73b3963c6dd3 1392 {
lpeters 33:e47306c32791 1393 clr = '2'; // 2 = Green
lpeters 35:73b3963c6dd3 1394 crcPass++;
lpeters 35:73b3963c6dd3 1395 }
lpeters 33:e47306c32791 1396 else
lpeters 35:73b3963c6dd3 1397 {
lpeters 33:e47306c32791 1398 clr = '1'; // 1 = Red
lpeters 35:73b3963c6dd3 1399 crcFail++;
lpeters 35:73b3963c6dd3 1400 }
lpeters 33:e47306c32791 1401 printf("GPS: [\u001b[3%cm%02X\u001b[0m] |%s|\r\n", clr, crc, buf);
lpeters 35:73b3963c6dd3 1402 if (clr == '2')
lpeters 35:73b3963c6dd3 1403 {
lpeters 33:e47306c32791 1404 // Global Positioning System Fix Data
lpeters 33:e47306c32791 1405 if(strncmp(buf, "$GNGGA", 6) == 0)
lpeters 33:e47306c32791 1406 {
lpeters 33:e47306c32791 1407 printf("GNGGA> ");
lpeters 33:e47306c32791 1408 //sscanf(cmd, "$GPGGA,%f,%f,%c,%f,%c,%d,%d,%*f,%f", &timefix, &latitude, &ns, &longitude, &ew, &fq, &nst, &altitude);
lpeters 33:e47306c32791 1409 //pc.printf("GPGGA Fix taken at: %f, Latitude: %f %c, Longitude: %f %c, Fix quality: %d, Number of sat: %d, Altitude: %f M\n", timefix, latitude, ns, longitude, ew, fq, nst, altitude);
lpeters 33:e47306c32791 1410 float fldTim, fldAlt;
lpeters 33:e47306c32791 1411 double fldLat, fldLon;
lpeters 33:e47306c32791 1412 char fldN_S, fldE_W;
lpeters 33:e47306c32791 1413 int fldFix, fldSat;
lpeters 33:e47306c32791 1414 sscanf(buf, "$GNGGA,%f,%lf,%c,%lf,%c,%d,%d,%*f,%f", &fldTim, &fldLat, &fldN_S, &fldLon, &fldE_W, &fldFix, &fldSat, &fldAlt);
lpeters 33:e47306c32791 1415 printf("Sec: %.2f, Lat: %.5f %c, Lon: %.5f %c, Fix: %d, Sat: %d, Alt: %.1f M\r\n", fldTim, fldLat, fldN_S, fldLon, fldE_W, fldFix, fldSat, fldAlt);
lpeters 33:e47306c32791 1416 if (clr == '2')
lpeters 33:e47306c32791 1417 {
lpeters 33:e47306c32791 1418 mylat = fldLat / (fldN_S == 'S' ? -100 : 100);
lpeters 33:e47306c32791 1419 mylon = fldLon / (fldE_W == 'W' ? -100 : 100);
lpeters 35:73b3963c6dd3 1420 //mytime = (uint32_t)fldTim;
lpeters 33:e47306c32791 1421 mybatt = (fldSat & 0xF0 ? 0x0F : fldSat & 0x0F);
lpeters 33:e47306c32791 1422 }
lpeters 33:e47306c32791 1423 }
lpeters 33:e47306c32791 1424 // Satellite status
lpeters 33:e47306c32791 1425 if(strncmp(buf, "$GNGSA", 6) == 0)
lpeters 33:e47306c32791 1426 {
lpeters 35:73b3963c6dd3 1427 //printf("GNGSA> ");
lpeters 33:e47306c32791 1428 //sscanf(cmd, "$GPGSA,%c,%d,%d", &tf, &fix, &nst);
lpeters 33:e47306c32791 1429 //pc.printf("GPGSA Type fix: %c, 3D fix: %d, number of sat: %d\r\n", tf, fix, nst);
lpeters 33:e47306c32791 1430 char fldTyp;
lpeters 33:e47306c32791 1431 int fldDim, fldSat;
lpeters 33:e47306c32791 1432 sscanf(buf, "$GNGSA,%c,%d,%d", &fldTyp, &fldDim, &fldSat);
lpeters 35:73b3963c6dd3 1433 //printf("Typ: %c, Pos: %d, Sat: %d\r\n", fldTyp, fldDim, fldSat);
lpeters 33:e47306c32791 1434 }
lpeters 33:e47306c32791 1435 // Geographic position, Latitude and Longitude
lpeters 33:e47306c32791 1436 if(strncmp(buf, "$GNGLL", 6) == 0)
lpeters 33:e47306c32791 1437 {
lpeters 35:73b3963c6dd3 1438 //printf("GNGLL> ");
lpeters 33:e47306c32791 1439 //sscanf(cmd, "$GPGLL,%f,%c,%f,%c,%f", &latitude, &ns, &longitude, &ew, &timefix);
lpeters 33:e47306c32791 1440 //pc.printf("GPGLL Latitude: %f %c, Longitude: %f %c, Fix taken at: %f\n", latitude, ns, longitude, ew, timefix);
lpeters 33:e47306c32791 1441 float fldTim;
lpeters 33:e47306c32791 1442 double fldLat, fldLon;
lpeters 33:e47306c32791 1443 char fldN_S, fldE_W;
lpeters 33:e47306c32791 1444 sscanf(buf, "$GNGLL,%lf,%c,%lf,%c,%f", &fldLat, &fldN_S, &fldLon, &fldE_W, &fldTim);
lpeters 35:73b3963c6dd3 1445 //printf("Lat: %.5f %c, Lon: %.5f %c, Sec: %.2f\r\n", fldLat, fldN_S, fldLon, fldE_W, fldTim);
lpeters 33:e47306c32791 1446 }
lpeters 33:e47306c32791 1447 // Geographic position, Latitude and Longitude
lpeters 33:e47306c32791 1448 if(strncmp(buf, "$GNRMC", 6) == 0)
lpeters 33:e47306c32791 1449 {
lpeters 35:73b3963c6dd3 1450 //printf("GPS: [\u001b[3%cm%02X\u001b[0m] |%s|\r\n", clr, crc, buf);
lpeters 33:e47306c32791 1451 printf("GNRMC> ");
lpeters 33:e47306c32791 1452 //sscanf(cmd, "$GPRMC,%f,%c,%f,%c,%f,%c,%f,,%d", &timefix, &status, &latitude, &ns, &longitude, &ew, &speed, &date);
lpeters 33:e47306c32791 1453 //pc.printf("GPRMC Fix taken at: %f, Status: %c, Latitude: %f %c, Longitude: %f %c, Speed: %f, Date: %d\n", timefix, status, latitude, ns, longitude, ew, speed, date);
lpeters 35:73b3963c6dd3 1454 float fldTim, fldSpd, fldTrk;
lpeters 35:73b3963c6dd3 1455 fldTrk = 0;
lpeters 33:e47306c32791 1456 double fldLat, fldLon;
lpeters 33:e47306c32791 1457 char fldSts, fldN_S, fldE_W;
lpeters 35:73b3963c6dd3 1458 uint32_t fldDat;
lpeters 35:73b3963c6dd3 1459 if (sscanf(buf, "$GNRMC,,%c", &fldSts) != 1 &&
lpeters 35:73b3963c6dd3 1460 sscanf(buf, "$GNRMC,%f,%c,,,,,,,%d", &fldTim, &fldSts, &fldDat) != 3 &&
lpeters 35:73b3963c6dd3 1461 sscanf(buf, "$GNRMC,%f,%c,%lf,%c,%lf,%c,%f,,%d", &fldTim, &fldSts, &fldLat, &fldN_S, &fldLon, &fldE_W, &fldSpd, &fldDat) != 8 &&
lpeters 35:73b3963c6dd3 1462 sscanf(buf, "$GNRMC,%f,%c,%lf,%c,%lf,%c,%f,%f,%d", &fldTim, &fldSts, &fldLat, &fldN_S, &fldLon, &fldE_W, &fldSpd, &fldTrk, &fldDat) != 9)
lpeters 35:73b3963c6dd3 1463 printf("[\u001b[33mWARN\u001b[0m] Invalid GNRMC packet detected.\r\n");
lpeters 35:73b3963c6dd3 1464 //sscanf(buf, "$GNRMC,%f,%c,%lf,%c,%lf,%c,%f,%7[^,],%d", &fldTim, &fldSts, &fldLat, &fldN_S, &fldLon, &fldE_W, &fldSpd, fldFoo, &fldDat);
lpeters 33:e47306c32791 1465 printf("Sec: %.2f, Sts: %c, Lat: %.5f %c, Lon: %.5f %c, Spd: %.3f, Dat: %06d\r\n", fldTim, fldSts, fldLat, fldN_S, fldLon, fldE_W, fldSpd, fldDat);
lpeters 35:73b3963c6dd3 1466 if (clr == '2')
lpeters 35:73b3963c6dd3 1467 {
lpeters 35:73b3963c6dd3 1468 tTime = (uint32_t)fldTim;
lpeters 35:73b3963c6dd3 1469 tDate = fldDat;
lpeters 35:73b3963c6dd3 1470 if (fldSts == 'A')
lpeters 35:73b3963c6dd3 1471 fixGood = true;
lpeters 35:73b3963c6dd3 1472 }
lpeters 35:73b3963c6dd3 1473 }
lpeters 33:e47306c32791 1474 }
lpeters 33:e47306c32791 1475 pos = 0;
lpeters 33:e47306c32791 1476 i2c.read(NEOM8M_ADR_GPS, &ret, 1);
lpeters 33:e47306c32791 1477 }
lpeters 33:e47306c32791 1478 else
lpeters 33:e47306c32791 1479 {
lpeters 35:73b3963c6dd3 1480 printf("[\u001b[33mWARN\u001b[0m] Expected '0A', received '%02X'.\r\n", ret);
lpeters 33:e47306c32791 1481 }
lpeters 33:e47306c32791 1482 }
lpeters 37:df69df1bcb1a 1483 //else if (pos == 82)
lpeters 37:df69df1bcb1a 1484 else if (pos == 191)
lpeters 33:e47306c32791 1485 {
lpeters 33:e47306c32791 1486 buf[pos] = 0x00;
lpeters 33:e47306c32791 1487 printf("GPS: |%s| ...\r\n", buf);
lpeters 33:e47306c32791 1488 pos = 0;
lpeters 33:e47306c32791 1489 i2c.read(NEOM8M_ADR_GPS, &ret, 1);
lpeters 33:e47306c32791 1490 }
lpeters 33:e47306c32791 1491 }
lpeters 33:e47306c32791 1492 buf[pos] = 0x00;
lpeters 33:e47306c32791 1493 gpsDone = true;
lpeters 33:e47306c32791 1494 }
lpeters 33:e47306c32791 1495 if (pos > 0)
lpeters 33:e47306c32791 1496 printf("GPS: |%s|\r\n", buf);
lpeters 34:341fb423e74b 1497 myLedW = 0;
lpeters 35:73b3963c6dd3 1498 if (crcFail)
lpeters 35:73b3963c6dd3 1499 printf("[\u001b[33mWARN\u001b[0m] CRC PASS: %d FAIL: %d\r\n", crcPass, crcFail);
lpeters 35:73b3963c6dd3 1500
lpeters 35:73b3963c6dd3 1501 struct tm ts;
lpeters 35:73b3963c6dd3 1502 time_t t;
lpeters 35:73b3963c6dd3 1503
lpeters 35:73b3963c6dd3 1504 uint8_t tDay = tDate / 10000;
lpeters 35:73b3963c6dd3 1505 uint8_t tMon = (tDate - (tDay * 10000)) / 100;
lpeters 35:73b3963c6dd3 1506 uint8_t tYear = (tDate - ((tDay * 10000) + (tMon * 100))) + 100;
lpeters 35:73b3963c6dd3 1507 uint8_t tHour = tTime / 10000;
lpeters 35:73b3963c6dd3 1508 uint8_t tMin = (tTime - (tHour * 10000)) / 100;
lpeters 35:73b3963c6dd3 1509 uint8_t tSec = (tTime - ((tHour * 10000) + (tMin * 100)));
lpeters 35:73b3963c6dd3 1510
lpeters 35:73b3963c6dd3 1511 ts.tm_year = tYear;
lpeters 35:73b3963c6dd3 1512 ts.tm_mon = tMon - 1;
lpeters 35:73b3963c6dd3 1513 ts.tm_mday = tDay;
lpeters 35:73b3963c6dd3 1514 ts.tm_hour = tHour;
lpeters 35:73b3963c6dd3 1515 ts.tm_min = tMin;
lpeters 35:73b3963c6dd3 1516 ts.tm_sec = tSec;
lpeters 35:73b3963c6dd3 1517 t = mktime(&ts);
lpeters 35:73b3963c6dd3 1518 //printf("DAT: %06d TIM: %d\r\n", tDate, tTime);
lpeters 35:73b3963c6dd3 1519 //printf("CNV: %04d-%02d-%02d@%02d:%02d:%02d\r\n", tYear, tMon, tDay, tHour, tMin, tSec);
lpeters 35:73b3963c6dd3 1520 //printf("T: %d\t%s", t, ctime(&t));
lpeters 35:73b3963c6dd3 1521 printf("GPS: %08X\t%s", t, ctime(&t));
lpeters 35:73b3963c6dd3 1522 mytime = t;
lpeters 35:73b3963c6dd3 1523
lpeters 34:341fb423e74b 1524 if (fixGood)
lpeters 34:341fb423e74b 1525 myLedG = 1;
lpeters 34:341fb423e74b 1526 else
lpeters 34:341fb423e74b 1527 myLedR = 1;
lpeters 33:e47306c32791 1528
lpeters 34:341fb423e74b 1529 for (int i = 0; i < 10; i++) {
lpeters 34:341fb423e74b 1530 myLedB = 1;
lpeters 34:341fb423e74b 1531 wait(0.1);
lpeters 34:341fb423e74b 1532 myLedB = 0;
lpeters 34:341fb423e74b 1533 wait(0.1);
mbed_official 0:7037ed05f54f 1534 }
Huot87 38:fd7a407bfe3e 1535
Huot87 38:fd7a407bfe3e 1536 if (fixGood)
Huot87 38:fd7a407bfe3e 1537 return 0;
Huot87 38:fd7a407bfe3e 1538 else
Huot87 38:fd7a407bfe3e 1539 return 1;
mbed_official 0:7037ed05f54f 1540 }
mbed_official 0:7037ed05f54f 1541
lpeters 37:df69df1bcb1a 1542 void ubxRead()
lpeters 37:df69df1bcb1a 1543 {
lpeters 37:df69df1bcb1a 1544 uint8_t crcPass = 0;
lpeters 37:df69df1bcb1a 1545 uint8_t crcFail = 0;
lpeters 37:df69df1bcb1a 1546
lpeters 37:df69df1bcb1a 1547 myLedW = 1;
lpeters 37:df69df1bcb1a 1548 pos = 0;
lpeters 37:df69df1bcb1a 1549 ret = 0xFF;
lpeters 37:df69df1bcb1a 1550 cmd[0] = 0xFF;
lpeters 37:df69df1bcb1a 1551 i2c.write(NEOM8M_ADR_GPS, cmd, 1);
lpeters 37:df69df1bcb1a 1552 while (ret == 0xFF)
lpeters 37:df69df1bcb1a 1553 {
lpeters 37:df69df1bcb1a 1554 i2c.read(NEOM8M_ADR_GPS, &ret, 1);
lpeters 37:df69df1bcb1a 1555 }
lpeters 37:df69df1bcb1a 1556 while (ret != 0xFF)
lpeters 37:df69df1bcb1a 1557 {
lpeters 37:df69df1bcb1a 1558 buf[pos++] = ret;
lpeters 37:df69df1bcb1a 1559 i2c.read(NEOM8M_ADR_GPS, &ret, 1);
lpeters 37:df69df1bcb1a 1560 }
lpeters 37:df69df1bcb1a 1561 printf("UBX: | ");
lpeters 37:df69df1bcb1a 1562 for (int i = 0; i <= pos; i++) { printf("%02X ", buf[i]); }
lpeters 37:df69df1bcb1a 1563 printf("|\r\n", buf);
lpeters 37:df69df1bcb1a 1564 myLedW = 0;
lpeters 37:df69df1bcb1a 1565 //if (crcFail)
lpeters 37:df69df1bcb1a 1566 // printf("[\u001b[33mWARN\u001b[0m] CRC PASS: %d FAIL: %d\r\n", crcPass, crcFail);
lpeters 37:df69df1bcb1a 1567
lpeters 37:df69df1bcb1a 1568 if (pos > 0)
lpeters 37:df69df1bcb1a 1569 myLedG = 1;
lpeters 37:df69df1bcb1a 1570 else
lpeters 37:df69df1bcb1a 1571 myLedR = 1;
lpeters 37:df69df1bcb1a 1572
lpeters 37:df69df1bcb1a 1573 for (int i = 0; i < 10; i++) {
lpeters 37:df69df1bcb1a 1574 myLedB = 1;
lpeters 37:df69df1bcb1a 1575 wait(0.1);
lpeters 37:df69df1bcb1a 1576 myLedB = 0;
lpeters 37:df69df1bcb1a 1577 wait(0.1);
lpeters 37:df69df1bcb1a 1578 }
lpeters 37:df69df1bcb1a 1579 }
lpeters 37:df69df1bcb1a 1580
mbed_official 0:7037ed05f54f 1581 // EOF