Diff: main.cpp

Revision:

0:d2c4ee597498

Child:

1:11957db1faa5

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Nov 21 08:54:34 2018 +0000
@@ -0,0 +1,303 @@
+#include <mbed.h>
+#include <AQM0802A.h>
+#include <BME280.h>
+#include <MPU9250.h>
+#include <SakuraIO.h>
+#include "SakuraPinNames.h"
+#include "sensors.h"
+#include "gps.h"
+
+#define MESG_NORMAL 0
+#define MESG_INIT 1
+
+
+// Serial over CMSIS_DAP
+Serial pc(DAP_UART_TX, DAP_UART_RX, 9600);
+
+// GPS
+Serial gps(GPS_TX, GPS_RX, 9600);
+DigitalOut gps_en(GPS_EN);
+
+// LED
+DigitalOut led_1(LED1);
+DigitalOut led_2(LED2);
+DigitalOut led_3(LED3);
+DigitalOut led_4(LED4);
+
+// LCD backlight
+DigitalOut lcd_led(LED_LCD);
+
+// Switch
+DigitalIn sw_1(SW1);
+DigitalIn sw_2(SW2);
+DigitalIn sw_3(SW3);
+DigitalIn sw_4(SW4);
+DigitalIn sw_5(SW5);
+DigitalIn sw_6(SW6);
+
+// Internal I2C
+I2C internal_i2c(I2C_INTERNAL_SDA, I2C_INTERNAL_SCL);
+AQM0802A lcd(internal_i2c);
+BME280 bme280(internal_i2c);
+
+// SPI
+SPI internal_mpu9250_spi(SPI_MPU_MOSI, SPI_MPU_MISO, SPI_MPU_SCK);
+mpu9250_spi mpu9250(internal_mpu9250_spi, SPI_MPU_CS);
+
+// sakura.io
+SakuraIO_I2C sakuraio(I2C_SDA, I2C_SCL);
+
+SensorData sensor_data;
+
+// GPS UART buffer
+char uart_buffer[128] = {0};
+int uart_buffer_index = 0;
+int connected_now = 0;
+
+// NMEA Decoder
+GPSDecoder gps_decoder;
+
+void gps_uart_buffering_handler();
+
+const int SEND_INTERVAL_TICKS_PAR_COUNT = 25;
+
+const int RETRY_INTERVAL_TICKS_PAR_COUNT = 25;
+
+void setup()
+{
+    lcd_led = 1;
+    pc.printf("Hello World !\r\n");
+    lcd.cls();
+    lcd.printf("Hello");
+    connected_now = 0;
+
+    // Initialize sensors
+    bme280.initialize();
+    pc.printf("BME280 ok.\r\n");
+    mpu9250.init(1, BITS_DLPF_CFG_188HZ);
+    pc.printf("MPU9250 ok. WHOAMI=%02x\r\n", mpu9250.whoami());
+    if (mpu9250.whoami() != 0x71) {
+        pc.printf("[ERROR] MPU9250 init fail.\r\n");
+    }
+
+    mpu9250.set_gyro_scale(BITS_FS_2000DPS);    //Set full scale range for gyros
+    mpu9250.set_acc_scale(BITS_FS_16G);          //Set full scale range for accs
+    mpu9250.calib_acc();
+    mpu9250.AK8963_calib_Magnetometer();
+
+    // active high
+    gps_en = 1;
+    gps.attach(&gps_uart_buffering_handler, Serial::RxIrq);
+
+    led_1 = 1;
+    led_2 = 0;
+    
+    pc.printf("Send par %d seconds.\r\n", (SEND_INTERVAL_TICKS_PAR_COUNT * 200) / 1000);
+}
+
+void read_sensor_data()
+{
+    sensor_data.bme280.temperature = bme280.getTemperature();
+    sensor_data.bme280.pressure = bme280.getPressure();
+    sensor_data.bme280.humidity = bme280.getHumidity();
+
+    mpu9250.read_all();
+    sensor_data.mpu9250.temperature = mpu9250.Temperature;
+    for (int cnt_send = 0; cnt_send < 3; cnt_send++) {
+        sensor_data.mpu9250.accelerometer[cnt_send] = mpu9250.accelerometer_data[cnt_send];
+        sensor_data.mpu9250.gyroscope[cnt_send] = mpu9250.gyroscope_data[cnt_send];
+        sensor_data.mpu9250.magnetometer[cnt_send] =  mpu9250.Magnetometer[cnt_send];
+    }
+}
+
+void enqueue_sensor_data(int counter)
+{
+    sakuraio.enqueueTx(0, (int32_t)counter);
+    sakuraio.enqueueTx(1, sensor_data.bme280.temperature);
+    sakuraio.enqueueTx(2, sensor_data.bme280.pressure);
+    sakuraio.enqueueTx(3, sensor_data.bme280.humidity);
+    sakuraio.enqueueTx(4, sensor_data.mpu9250.accelerometer[0]);
+    sakuraio.enqueueTx(5, sensor_data.mpu9250.accelerometer[1]);
+    sakuraio.enqueueTx(6, sensor_data.mpu9250.accelerometer[2]);
+    sakuraio.enqueueTx(7, sensor_data.mpu9250.gyroscope[0]);
+    sakuraio.enqueueTx(8, sensor_data.mpu9250.gyroscope[1]);
+    sakuraio.enqueueTx(9, sensor_data.mpu9250.gyroscope[2]);
+    sakuraio.enqueueTx(10, sensor_data.mpu9250.magnetometer[0]);
+    sakuraio.enqueueTx(11, sensor_data.mpu9250.magnetometer[1]);
+    sakuraio.enqueueTx(12, sensor_data.mpu9250.magnetometer[2]);
+    sakuraio.enqueueTx(13, gps_decoder.get_longitude());
+    sakuraio.enqueueTx(14, gps_decoder.get_latitude());
+    sakuraio.enqueueTx(15, gps_decoder.get_unixtime());
+}
+
+void gps_uart_buffering_handler()
+{
+    while (gps.readable() == 1) {
+        char c = gps.getc();
+        if (c == '\r') {
+            continue;
+        }
+        uart_buffer[uart_buffer_index] = c;
+        uart_buffer_index++;
+        if (c == '\n') {
+            uart_buffer[uart_buffer_index - 1] = '\0';
+            gps_decoder.set_nmea_message(uart_buffer);
+            gps_decoder.decode();
+            uart_buffer_index = 0;
+        }
+    }
+}
+
+
+void loop()
+{
+    static int cnt_send = 1;
+    static int tick_by_200ms = 0;
+    static int stat_sw5 = -1;
+    uint8_t rx_available = 0;
+    uint8_t rx_queued = 0;
+    uint8_t rx_ch=0;
+    uint8_t rx_type=0;
+    uint8_t rx_value[8];
+    int64_t rx_offset=0;
+    int64_t rx_val;
+    uint32_t tx_tmp;
+    uint8_t ch20_ctrl;
+    uint32_t ch20_id;
+    uint8_t ch20_mesg;
+
+    if((sakuraio.getConnectionStatus() & 0x80) == 0x00) {
+        //Offline
+        lcd.cls();
+        lcd.printf("Offline");
+        pc.printf("Network is offline.\r\n(After 1 sec to running retry.)\r\n");
+        wait(1);
+        connected_now = 0;
+        return;    
+    }
+    else {
+        if(0 == connected_now){
+            tx_tmp = (MESG_INIT << 8) | (lcd_led & 0xFF);
+            sakuraio.enqueueTx(20, tx_tmp);
+            sakuraio.send();
+            connected_now = 1;
+            stat_sw5 = -1;
+        }
+        if(1 == connected_now){
+            if((tick_by_200ms % RETRY_INTERVAL_TICKS_PAR_COUNT) == 0){
+                tx_tmp = (MESG_INIT<<8) | (lcd_led & 0xFF);
+                sakuraio.enqueueTx(20, tx_tmp);
+                sakuraio.send();
+            }
+        }   
+    }
+
+            
+            
+
+    if (stat_sw5 != sw_5) {
+        stat_sw5 = sw_5;
+        led_3 = stat_sw5;   //State: `Send Enable'
+        if (stat_sw5 == 0) {
+            lcd.cls();
+            lcd.printf("Send:OFF");
+        } else {
+            cnt_send = 1;
+            tick_by_200ms = 0;
+            lcd.cls();
+            lcd.printf("Send:ON");
+        }
+    }
+    
+    if (stat_sw5 == 1) {
+        if ((tick_by_200ms % SEND_INTERVAL_TICKS_PAR_COUNT) == 0) {  //Send data intarval is 5 minutes.
+            pc.printf("\r\n\r\n--------------------\r\n");
+            read_sensor_data();
+            pc.printf("BME280\r\n");
+            pc.printf("\tTemp: %.2fC\r\n", sensor_data.bme280.temperature);
+            pc.printf("\tPres: %.2fhPa\r\n", sensor_data.bme280.pressure);
+            pc.printf("\tHum: %.2f%%\r\n", sensor_data.bme280.humidity);
+            pc.printf("MPU9250\r\n");
+            pc.printf("\tTemp: %.2fC\r\n", sensor_data.mpu9250.temperature);
+            for (int j = 0; j < 3; j++) {
+                pc.printf("\tacc[%d]: %.2f\r\n", j, sensor_data.mpu9250.accelerometer[j]);
+                pc.printf("\tgyro[%d]: %.2f\r\n", j, sensor_data.mpu9250.gyroscope[j]);
+                pc.printf("\tmag[%d]: %.2f\r\n", j, sensor_data.mpu9250.magnetometer[j]);
+            }
+            pc.printf("GPS\r\n");
+            pc.printf("\tlat: %f%c\r\n", 
+                    gps_decoder.get_latitude(), 
+                    gps_decoder.get_latitude() >= 0 ? 'N' : 'S');
+            pc.printf("\tlon: %f%c\r\n", 
+                    gps_decoder.get_longitude(),
+                    gps_decoder.get_longitude() >= 0 ? 'E' : 'W');
+            pc.printf("\tspeed: %fkm/h\r\n", gps_decoder.get_speed());
+            pc.printf("\tmove_direction: %f\r\n", gps_decoder.get_move_direction());
+            pc.printf("\tdate: %d/%02d/%02d %02d:%02d:%02d (UTC)\r\n",
+                    gps_decoder.get_year(), gps_decoder.get_month(), gps_decoder.get_day(),
+                    gps_decoder.get_hour(), gps_decoder.get_min(), gps_decoder.get_sec());
+            pc.printf("\tUNIX time: %d\r\n", gps_decoder.get_unixtime());
+            led_2 = 1;
+            pc.printf("Send:%d\r\n", cnt_send);
+            lcd.setCursor(0, 1);
+            lcd.printf("%d", cnt_send);
+            enqueue_sensor_data(cnt_send);
+            sakuraio.send();
+            cnt_send++;
+            led_2 = 0;
+            pc.printf("After %d sec to send.\r\n", (int)(SEND_INTERVAL_TICKS_PAR_COUNT * 0.2));
+        }
+    }
+    
+    do {
+        rx_available = 0;
+        if ( CMD_ERROR_NONE == sakuraio.getRxQueueLength(&rx_available, &rx_queued)) {
+            if (0 < rx_queued) {
+                if ( CMD_ERROR_NONE == sakuraio.dequeueRx(&rx_ch, &rx_type, rx_value, &rx_offset)) {
+                    if ( (20 == rx_ch) && (0x49 == rx_type) ) {
+                        rx_val = ( (int64_t)rx_value[3] << 24) + ( (int64_t)rx_value[2] << 16) + ( (int64_t)rx_value[1] << 8) + ( (int64_t)rx_value[0] << 0);
+                        ch20_ctrl = rx_val & 0xFF;
+                        ch20_mesg = (rx_val>>8) & 0xFF;
+                        ch20_id = (rx_val>>16) & 0xFFFF;
+                        if ( (1 == ch20_ctrl) && (MESG_NORMAL == ch20_mesg)) {
+                            tx_tmp = (ch20_id<<16) | (MESG_NORMAL<<8) | (lcd_led & 0xFF);
+                            sakuraio.enqueueTx(20, tx_tmp);
+                            sakuraio.send();
+                        }
+                        if ( (1 == ch20_ctrl) && (MESG_INIT == ch20_mesg)) {
+                            connected_now = 2;
+                        }
+                    }
+                    if ( (21 == rx_ch) && (0x49 == rx_type) ) {
+                        rx_val = ( (int64_t)rx_value[3] << 24) + ( (int64_t)rx_value[2] << 16) + ( (int64_t)rx_value[1] << 8) + ( (int64_t)rx_value[0] << 0);
+                        ch20_ctrl = rx_val & 0xFF;
+                        ch20_mesg = (rx_val>>8) & 0xFF;
+                        ch20_id = (rx_val>>16) & 0xFFFF;
+                        if ( 1 == ch20_ctrl || 0 == ch20_ctrl ) {
+                            lcd_led = ch20_ctrl;
+                            tx_tmp = (ch20_id<<16) | (MESG_NORMAL<<8) | (lcd_led & 0xFF);
+                            sakuraio.enqueueTx(20, tx_tmp);
+                            sakuraio.send();
+                        }
+                    }
+                }
+            }
+        }
+    }while(0 < rx_queued);
+                            
+                
+    
+    led_1 = !led_1;
+    led_4 = !sw_4;
+    tick_by_200ms++;
+    wait(0.2);
+}
+
+
+int main()
+{
+    setup();
+    while(1) {
+        loop();
+    }
+}