SAKURA Internet / Mbed 2 deprecated SakuraIO_Evaluation_Board_Standard

Example code of sakura.io Evaluation board.

Dependencies:   AQM0802A BME280 MPU9250_SPI SakuraIO gps mbed

SakuraIo Evaluation Board Standard

Overview

This program is example code of sakura.io Evaluation board.

Functions

  • Periodic measure from onboard sensors(period is 200ms)
    • Motion sensor(gyro, accelometer, magnetometer)
    • Environment sensor(temperatur, humidity, airpressur)
    • GPS(longitude, latitude, timestamp)
  • Periodic send the measuring datas to sakura.io platform(period is 300sec)
  • Output the measured datas output to USB-Serial port
    • baudrate is 9600bps
  • Can select on / off of periodic running with switch `SW5`

Description

See the Getting Started page.

main.cpp@1:faf04d99f302, 2017-11-29 (annotated)

Committer:
misodengaku
Date:
Wed Nov 29 06:30:47 2017 +0000
Revision:
1:faf04d99f302
Parent:
0:db3ec2781484
Child:
3:e5e53c1f6fda
add GPS

Who changed what in which revision?

UserRevisionLine numberNew contents of line
misodengaku 0:db3ec2781484 1 #include <mbed.h>
misodengaku 0:db3ec2781484 2 #include <AQM0802A.h>
misodengaku 0:db3ec2781484 3 #include <BME280.h>
misodengaku 0:db3ec2781484 4 #include <MPU9250.h>
misodengaku 0:db3ec2781484 5 #include <SakuraIO.h>
misodengaku 0:db3ec2781484 6 #include "SakuraPinNames.h"
misodengaku 0:db3ec2781484 7 #include "sensors.h"
misodengaku 1:faf04d99f302 8 #include "gps.h"
misodengaku 0:db3ec2781484 9
misodengaku 0:db3ec2781484 10 // Serial over CMSIS_DAP
misodengaku 0:db3ec2781484 11 Serial pc(DAP_UART_TX, DAP_UART_RX, 9600);
misodengaku 0:db3ec2781484 12
misodengaku 0:db3ec2781484 13 // GPS
misodengaku 0:db3ec2781484 14 Serial gps(GPS_TX, GPS_RX, 9600);
misodengaku 0:db3ec2781484 15 DigitalOut gps_en(GPS_EN);
misodengaku 0:db3ec2781484 16
misodengaku 0:db3ec2781484 17 // LED
misodengaku 0:db3ec2781484 18 DigitalOut led_1(LED1);
misodengaku 0:db3ec2781484 19 DigitalOut led_2(LED2);
misodengaku 0:db3ec2781484 20 DigitalOut led_3(LED3);
misodengaku 0:db3ec2781484 21 DigitalOut led_4(LED4);
misodengaku 0:db3ec2781484 22
misodengaku 0:db3ec2781484 23 // LCD backlight
misodengaku 0:db3ec2781484 24 DigitalOut lcd_led(LED_LCD);
misodengaku 0:db3ec2781484 25
misodengaku 0:db3ec2781484 26 // Switch
misodengaku 0:db3ec2781484 27 DigitalIn sw_1(SW1);
misodengaku 0:db3ec2781484 28 DigitalIn sw_2(SW2);
misodengaku 0:db3ec2781484 29 DigitalIn sw_3(SW3);
misodengaku 0:db3ec2781484 30 DigitalIn sw_4(SW4);
misodengaku 0:db3ec2781484 31 DigitalIn sw_5(SW5);
misodengaku 0:db3ec2781484 32 DigitalIn sw_6(SW6);
misodengaku 0:db3ec2781484 33
misodengaku 0:db3ec2781484 34 // Internal I2C
misodengaku 0:db3ec2781484 35 I2C internal_i2c(I2C_INTERNAL_SDA, I2C_INTERNAL_SCL);
misodengaku 0:db3ec2781484 36 AQM0802A lcd(internal_i2c);
misodengaku 0:db3ec2781484 37 BME280 bme280(internal_i2c);
misodengaku 0:db3ec2781484 38
misodengaku 0:db3ec2781484 39 // SPI
misodengaku 0:db3ec2781484 40 SPI internal_mpu9250_spi(SPI_MPU_MOSI, SPI_MPU_MISO, SPI_MPU_SCK);
misodengaku 0:db3ec2781484 41 mpu9250_spi mpu9250(internal_mpu9250_spi, SPI_MPU_CS);
misodengaku 0:db3ec2781484 42
misodengaku 0:db3ec2781484 43 // sakura.io
misodengaku 0:db3ec2781484 44 SakuraIO_I2C sakuraio(I2C_SDA, I2C_SCL);
misodengaku 0:db3ec2781484 45
misodengaku 0:db3ec2781484 46 SensorData sensor_data;
misodengaku 0:db3ec2781484 47
misodengaku 1:faf04d99f302 48 // GPS UART buffer
misodengaku 1:faf04d99f302 49 char uart_buffer[128] = {0};
misodengaku 1:faf04d99f302 50 int uart_buffer_index = 0;
misodengaku 1:faf04d99f302 51
misodengaku 1:faf04d99f302 52 // NMEA Decoder
misodengaku 1:faf04d99f302 53 GPSDecoder gps_decoder;
misodengaku 1:faf04d99f302 54
misodengaku 1:faf04d99f302 55 void gps_uart_buffering_handler();
misodengaku 0:db3ec2781484 56
misodengaku 0:db3ec2781484 57 void setup()
misodengaku 0:db3ec2781484 58 {
misodengaku 0:db3ec2781484 59 lcd_led = 1;
misodengaku 0:db3ec2781484 60 pc.printf("Hello World !\r\n");
misodengaku 0:db3ec2781484 61 lcd.cls();
misodengaku 0:db3ec2781484 62 lcd.printf("Hello");
misodengaku 0:db3ec2781484 63
misodengaku 0:db3ec2781484 64 // Initialize sensors
misodengaku 0:db3ec2781484 65 bme280.initialize();
misodengaku 0:db3ec2781484 66 pc.printf("BME280 ok.\r\n");
misodengaku 0:db3ec2781484 67 mpu9250.init(1, BITS_DLPF_CFG_188HZ);
misodengaku 0:db3ec2781484 68 pc.printf("MPU9250 ok. WHOAMI=%02x\r\n", mpu9250.whoami());
misodengaku 0:db3ec2781484 69 if (mpu9250.whoami() != 0x71) {
misodengaku 0:db3ec2781484 70 pc.printf("[ERROR] MPU9250 init fail.\r\n");
misodengaku 0:db3ec2781484 71 }
misodengaku 0:db3ec2781484 72
misodengaku 0:db3ec2781484 73 mpu9250.set_gyro_scale(BITS_FS_2000DPS); //Set full scale range for gyros
misodengaku 0:db3ec2781484 74 mpu9250.set_acc_scale(BITS_FS_16G); //Set full scale range for accs
misodengaku 0:db3ec2781484 75 mpu9250.calib_acc();
misodengaku 0:db3ec2781484 76 mpu9250.AK8963_calib_Magnetometer();
misodengaku 0:db3ec2781484 77
misodengaku 1:faf04d99f302 78 // active high
misodengaku 0:db3ec2781484 79 gps_en = 1;
misodengaku 1:faf04d99f302 80 gps.attach(&gps_uart_buffering_handler, Serial::RxIrq);
misodengaku 0:db3ec2781484 81 }
misodengaku 0:db3ec2781484 82
misodengaku 0:db3ec2781484 83 void read_sensor_data()
misodengaku 0:db3ec2781484 84 {
misodengaku 0:db3ec2781484 85 sensor_data.bme280.temperature = bme280.getTemperature();
misodengaku 0:db3ec2781484 86 sensor_data.bme280.pressure = bme280.getPressure();
misodengaku 0:db3ec2781484 87 sensor_data.bme280.humidity = bme280.getHumidity();
misodengaku 0:db3ec2781484 88
misodengaku 0:db3ec2781484 89 mpu9250.read_all();
misodengaku 0:db3ec2781484 90 sensor_data.mpu9250.temperature = mpu9250.Temperature;
misodengaku 0:db3ec2781484 91 for (int i = 0; i < 3; i++) {
misodengaku 0:db3ec2781484 92 sensor_data.mpu9250.accelerometer[i] = mpu9250.accelerometer_data[i];
misodengaku 0:db3ec2781484 93 sensor_data.mpu9250.gyroscope[i] = mpu9250.gyroscope_data[i];
misodengaku 0:db3ec2781484 94 sensor_data.mpu9250.magnetometer[i] = mpu9250.Magnetometer[i];
misodengaku 0:db3ec2781484 95 }
misodengaku 0:db3ec2781484 96 }
misodengaku 0:db3ec2781484 97
misodengaku 0:db3ec2781484 98 void enqueue_sensor_data(int counter)
misodengaku 0:db3ec2781484 99 {
misodengaku 0:db3ec2781484 100 sakuraio.enqueueTx(0, counter);
misodengaku 0:db3ec2781484 101 sakuraio.enqueueTx(1, sensor_data.bme280.temperature);
misodengaku 0:db3ec2781484 102 sakuraio.enqueueTx(2, sensor_data.bme280.pressure);
misodengaku 0:db3ec2781484 103 sakuraio.enqueueTx(3, sensor_data.bme280.humidity);
misodengaku 1:faf04d99f302 104 sakuraio.enqueueTx(4, sensor_data.mpu9250.accelerometer[0]);
misodengaku 1:faf04d99f302 105 sakuraio.enqueueTx(5, sensor_data.mpu9250.accelerometer[1]);
misodengaku 1:faf04d99f302 106 sakuraio.enqueueTx(6, sensor_data.mpu9250.accelerometer[2]);
misodengaku 1:faf04d99f302 107 sakuraio.enqueueTx(7, sensor_data.mpu9250.gyroscope[0]);
misodengaku 1:faf04d99f302 108 sakuraio.enqueueTx(8, sensor_data.mpu9250.gyroscope[1]);
misodengaku 1:faf04d99f302 109 sakuraio.enqueueTx(9, sensor_data.mpu9250.gyroscope[2]);
misodengaku 1:faf04d99f302 110 sakuraio.enqueueTx(10, sensor_data.mpu9250.magnetometer[0]);
misodengaku 1:faf04d99f302 111 sakuraio.enqueueTx(11, sensor_data.mpu9250.magnetometer[1]);
misodengaku 1:faf04d99f302 112 sakuraio.enqueueTx(12, sensor_data.mpu9250.magnetometer[2]);
misodengaku 1:faf04d99f302 113 sakuraio.enqueueTx(13, gps_decoder.get_longitude());
misodengaku 1:faf04d99f302 114 sakuraio.enqueueTx(14, gps_decoder.get_latitude());
misodengaku 1:faf04d99f302 115 sakuraio.enqueueTx(15, gps_decoder.get_unixtime());
misodengaku 1:faf04d99f302 116 }
misodengaku 1:faf04d99f302 117
misodengaku 1:faf04d99f302 118 void gps_uart_buffering_handler()
misodengaku 1:faf04d99f302 119 {
misodengaku 1:faf04d99f302 120 while (gps.readable() == 1) {
misodengaku 1:faf04d99f302 121 char c = gps.getc();
misodengaku 1:faf04d99f302 122 if (c == '\r') {
misodengaku 1:faf04d99f302 123 continue;
misodengaku 1:faf04d99f302 124 }
misodengaku 1:faf04d99f302 125 uart_buffer[uart_buffer_index] = c;
misodengaku 1:faf04d99f302 126 uart_buffer_index++;
misodengaku 1:faf04d99f302 127 if (c == '\n') {
misodengaku 1:faf04d99f302 128 uart_buffer[uart_buffer_index - 1] = '\0';
misodengaku 1:faf04d99f302 129 gps_decoder.set_nmea_message(uart_buffer);
misodengaku 1:faf04d99f302 130 gps_decoder.decode();
misodengaku 1:faf04d99f302 131 uart_buffer_index = 0;
misodengaku 1:faf04d99f302 132 }
misodengaku 1:faf04d99f302 133 }
misodengaku 0:db3ec2781484 134 }
misodengaku 0:db3ec2781484 135
misodengaku 0:db3ec2781484 136
misodengaku 0:db3ec2781484 137 void loop()
misodengaku 0:db3ec2781484 138 {
misodengaku 1:faf04d99f302 139 pc.printf("\r\n\r\n--------------------\r\n");
misodengaku 1:faf04d99f302 140
misodengaku 0:db3ec2781484 141 static int i = 1;
misodengaku 0:db3ec2781484 142 read_sensor_data();
misodengaku 0:db3ec2781484 143 wait(1);
misodengaku 0:db3ec2781484 144 pc.printf("This program runs since %d seconds.\r\n", i);
misodengaku 0:db3ec2781484 145 pc.printf("BME280\r\n");
misodengaku 1:faf04d99f302 146 pc.printf("\tTemp: %.2fC\r\n", sensor_data.bme280.temperature);
misodengaku 1:faf04d99f302 147 pc.printf("\tPres: %.2fhPa\r\n", sensor_data.bme280.pressure);
misodengaku 1:faf04d99f302 148 pc.printf("\tHum: %.2f%%\r\n", sensor_data.bme280.humidity);
misodengaku 0:db3ec2781484 149 pc.printf("MPU9250\r\n");
misodengaku 1:faf04d99f302 150 pc.printf("\tTemp: %.2fC\r\n", sensor_data.mpu9250.temperature);
misodengaku 0:db3ec2781484 151 for (int j = 0; j < 3; j++) {
misodengaku 1:faf04d99f302 152 pc.printf("\tacc[%d]: %.2f\r\n", j, sensor_data.mpu9250.accelerometer[j]);
misodengaku 1:faf04d99f302 153 pc.printf("\tgyro[%d]: %.2f\r\n", j, sensor_data.mpu9250.gyroscope[j]);
misodengaku 1:faf04d99f302 154 pc.printf("\tmag[%d]: %.2f\r\n", j, sensor_data.mpu9250.magnetometer[j]);
misodengaku 0:db3ec2781484 155 }
misodengaku 1:faf04d99f302 156 pc.printf("GPS\r\n");
misodengaku 1:faf04d99f302 157 pc.printf("\tlat: %f%c\r\n",
misodengaku 1:faf04d99f302 158 gps_decoder.get_latitude(),
misodengaku 1:faf04d99f302 159 gps_decoder.get_latitude() >= 0 ? 'N' : 'S');
misodengaku 1:faf04d99f302 160 pc.printf("\tlon: %f%c\r\n",
misodengaku 1:faf04d99f302 161 gps_decoder.get_longitude(),
misodengaku 1:faf04d99f302 162 gps_decoder.get_longitude() >= 0 ? 'E' : 'W');
misodengaku 1:faf04d99f302 163 pc.printf("\tspeed: %fkm/h\r\n", gps_decoder.get_speed());
misodengaku 1:faf04d99f302 164 pc.printf("\tmove_direction: %f\r\n", gps_decoder.get_move_direction());
misodengaku 1:faf04d99f302 165 pc.printf("\tdate: %d/%02d/%02d %02d:%02d:%02d (UTC)\r\n",
misodengaku 1:faf04d99f302 166 gps_decoder.get_year(), gps_decoder.get_month(), gps_decoder.get_day(),
misodengaku 1:faf04d99f302 167 gps_decoder.get_hour(), gps_decoder.get_min(), gps_decoder.get_sec());
misodengaku 1:faf04d99f302 168 pc.printf("\tUNIX time: %d\r\n", gps_decoder.get_unixtime());
misodengaku 0:db3ec2781484 169 lcd.cls();
misodengaku 0:db3ec2781484 170 if( (sakuraio.getConnectionStatus() & 0x80) == 0x80 ) {
misodengaku 0:db3ec2781484 171 lcd.printf("Online\n", i);
misodengaku 0:db3ec2781484 172 } else {
misodengaku 0:db3ec2781484 173 lcd.printf("Offline\n", i);
misodengaku 0:db3ec2781484 174 }
misodengaku 0:db3ec2781484 175 lcd.printf("%d", i);
misodengaku 0:db3ec2781484 176 i++;
misodengaku 0:db3ec2781484 177 led_1 = !led_1;
misodengaku 0:db3ec2781484 178 led_4 = !sw_4;
misodengaku 1:faf04d99f302 179
misodengaku 0:db3ec2781484 180 enqueue_sensor_data(i);
misodengaku 0:db3ec2781484 181 sakuraio.send();
misodengaku 0:db3ec2781484 182 }
misodengaku 0:db3ec2781484 183
misodengaku 0:db3ec2781484 184
misodengaku 0:db3ec2781484 185 int main()
misodengaku 0:db3ec2781484 186 {
misodengaku 0:db3ec2781484 187 setup();
misodengaku 0:db3ec2781484 188 while(1) {
misodengaku 0:db3ec2781484 189 loop();
misodengaku 0:db3ec2781484 190 }
misodengaku 0:db3ec2781484 191 }