Revision 2:e7d7e80256cc, committed 2019-06-17

Comitter:

LucasKB

Date:

Mon Jun 17 00:10:40 2019 +0000

Parent:

1:bd8b9ad01400

Commit message:

RX;

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BufferedSerial.lib	Mon Jun 17 00:10:40 2019 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/sam_grove/code/BufferedSerial/#7e5e866edd3d

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SDCard_Y.cpp	Mon Jun 17 00:10:40 2019 +0000
@@ -0,0 +1,243 @@
+#include "SDCard_Y.hh"
+
+
+
+#define SD_COMMAND_TIMEOUT 5000
+
+#define R1_IDLE_STATE           (1 << 0)
+#define R1_ERASE_RESET          (1 << 1)
+#define R1_ILLEGAL_COMMAND      (1 << 2)
+#define R1_COM_CRC_ERROR        (1 << 3)
+#define R1_ERASE_SEQUENCE_ERROR (1 << 4)
+#define R1_ADDRESS_ERROR        (1 << 5)
+#define R1_PARAMETER_ERROR      (1 << 6)
+
+
+
+
+SDCard::SDCard(SPI *t_spi, PinName t_cs) : cs(t_cs)
+{
+  spi = t_spi;
+  cs = 1;
+}
+
+SDCard::~SDCard()
+{
+  delete spi;
+}
+
+int SDCard::init(void)
+{
+  spi->frequency(100000);
+  cs = 1;
+
+  for( int i=0 ; i<16 ; i++)
+    spi->write(0xFF);
+
+  if(cmd(0,0) != R1_IDLE_STATE)
+    return -1;
+
+  int r = cmd8();
+
+  if(r == R1_IDLE_STATE){
+    return init_card_v2();      
+  } else if(r == (R1_IDLE_STATE | R1_ILLEGAL_COMMAND)) {
+    return init_card_v1();
+  } else {
+    return -1;
+  }
+  
+  return 0;
+}
+
+int SDCard::init_card_v1()
+{
+  for (int i = 0; i < SD_COMMAND_TIMEOUT; i++)
+    {
+      cmd(55, 0);
+      if(cmd(41, 0) == 0)
+    {
+      cdv = 512;
+          return 1;
+        }
+    }
+
+  return -1;
+}
+
+
+int SDCard::init_card_v2()
+{
+  for (int i = 0; i < SD_COMMAND_TIMEOUT; i++)
+    {
+      wait_ms(50);
+      cmd58();
+      cmd(55, 0);
+      if (cmd(41, 0x40000000) == 0)
+    {
+      cmd58();
+          cdv = 1;
+          return 2;
+        }
+    }
+
+  return -1;
+}
+
+
+int SDCard::cmd(int cmd, int arg)
+{
+  cs = 0;
+  spi->write(0x40 | cmd);
+  spi->write(arg >> 24);
+  spi->write(arg >> 16);
+  spi->write(arg >> 8);
+  spi->write(arg >> 0);
+  spi->write(0x95);
+
+  for( int i=0 ; i<SD_COMMAND_TIMEOUT ; i++)
+    {
+      int respuesta = spi->write(0xFF);
+      if( !(respuesta & 0x80) )
+    {
+      cs = 1;
+      spi->write(0xFF);
+      return respuesta;
+    }
+    }
+
+  cs = 1;
+  spi->write(0xFF);
+  return -1;
+
+}
+
+
+int SDCard::cmd8()
+{
+  cs = 0;
+
+  spi->write(0x40 | 8); // CMD8
+  spi->write(0x00);     // reserved
+  spi->write(0x00);     // reserved
+  spi->write(0x01);     // 3.3v
+  spi->write(0xAA);     // check pattern
+  spi->write(0x87);     // crc
+
+  for( int i=0 ; i<SD_COMMAND_TIMEOUT * 1000 ; i++)
+    {
+      char respuesta[5];
+      respuesta[0] = spi->write(0xFF);
+      
+      if( !(respuesta[0] & 0x80))
+    {
+      for( int j=1; j<5 ; j++)
+        respuesta[i] = spi->write(0xFF);
+
+      cs = 1;
+      spi->write(0xFF);
+      return respuesta[0];
+    }
+    }
+
+  cs = 1;
+  spi->write(0xFF);
+  return -1;
+  
+}
+
+
+
+int SDCard::cmd58()
+{
+  cs = 0;
+  
+  int arg = 0;
+
+  spi->write(0x40 | 58);
+  spi->write(arg >> 24);
+  spi->write(arg >> 16);
+  spi->write(arg >> 8);
+  spi->write(arg >> 0);
+  spi->write(0x95);
+
+  // wait for the repsonse (response[7] == 0)
+  for(int i = 0; i < SD_COMMAND_TIMEOUT; i++)
+    {
+      int respuesta = spi->write(0xFF);
+
+      if( !(respuesta & 0x80) )
+    {
+      int ocr = spi->write(0xFF) << 24;
+          ocr |= spi->write(0xFF) << 16;
+          ocr |= spi->write(0xFF) << 8;
+          ocr |= spi->write(0xFF) << 0;
+          cs = 1;
+          spi->write(0xFF);
+          return respuesta;
+        }
+    }
+    cs = 1;
+    spi->write(0xFF);
+    
+    return -1; // timeout
+}
+
+
+
+bool SDCard::read(uint8_t *vect, int post)
+{
+  while( cmd(17,post*512) == -1);
+
+  cs = 0;
+
+  while (spi->write(0xFF) != 0xFE);
+
+  for (uint32_t i = 0; i < 512; i++)
+    *(vect+i) = spi->write(0xFF);
+
+  spi->write(0xFF); // checksum
+  spi->write(0xFF);
+
+  cs = 1;
+  spi->write(0xFF);
+
+  while(cmd(12,512) == -1);
+
+  return 1;
+}
+
+
+
+bool SDCard::write(uint8_t *vect, int post)
+{
+  
+  while( cmd(24,post*512) == -1 );
+  
+  cs = 0;
+  
+  spi->write(0xFE);
+  
+  for (uint32_t i = 0; i < 512; i++)
+    spi->write(*(vect+i));
+
+  spi->write(0xFF);
+  spi->write(0xFF);
+
+  if( (spi->write(0xFF) & 0x1F) != 0x05 )
+    {
+      cs = 1;
+      spi->write(0xFF);
+      return 0;
+    }
+
+  while(spi->write(0xFF) == 0);
+
+  cs = 1;
+  spi->write(0xFF);
+
+  while(cmd(12,512) == -1);
+
+  return 1;
+    
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SDCard_Y.hh	Mon Jun 17 00:10:40 2019 +0000
@@ -0,0 +1,29 @@
+#include "mbed.h"
+
+
+class SDCard
+{
+public:
+
+  SDCard(SPI *t_spi, PinName t_cs);
+  ~SDCard();
+
+  int init(void);
+  
+  bool read(uint8_t *vect, int post);  //Lextura de un bloque de 512
+  bool write(uint8_t *vect, int post); //Escritura de un bloque de 512
+
+private:
+
+  SPI *spi;
+  DigitalOut cs;
+  int cdv;
+
+  int init_card_v1();
+  int init_card_v2();
+  
+  int cmd(int cmd, int arg);
+  int cmd8();
+  int cmd58();
+  
+};

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/UbxGpsNavSol.cpp	Mon Jun 17 00:10:40 2019 +0000
@@ -0,0 +1,398 @@
+#include "UbxGpsNavSol.hh"
+#include "mbed.h"
+
+UbxGpsNavSol::UbxGpsNavSol(PinName tx, PinName rx, int baud):UARTSerial(tx, rx, baud){
+    this->carriagePosition = 0;
+    // this->setLength(52);
+    offsetClassProperties = 8;
+    offsetHeaders = 4;
+}
+
+UbxGpsNavSol::~UbxGpsNavSol(){}
+
+bool UbxGpsNavSol::ready(){
+    unsigned char buffer[60];
+
+    if(this->readable()){
+      for(int k = 0; k < 60; k++)
+        buffer[k] = 0;
+
+      this->read(buffer, 60);
+    }
+
+    if(buffer[0] != UBX_NAV_SOL_HEADER_1 || buffer[1] != UBX_NAV_SOL_HEADER_2)
+      return false;
+
+    if(buffer[2] != UBX_NAV_SOL_CLASS || buffer[3] != UBX_NAV_SOL_ID)
+      return false;
+
+    payload_length = buffer[5];
+    payload_length = payload_length << 8;
+    payload_length = buffer[4];
+
+    if(payload_length != UBX_NAV_SOL_PAYLOAD_LENGTH)
+      return false;
+
+    // if(calculateChecksum(buffer) == false)
+    //   return false;
+
+    iTOW = buffer[9] << 8;
+    iTOW |= buffer[8];
+    iTOW <<= 8;
+    iTOW |= buffer[7];
+    iTOW <<= 8;
+    iTOW |= buffer[6];
+
+    fTOW = buffer[13] << 8;
+    fTOW |= buffer[12];
+    fTOW <<= 8;
+    fTOW |= buffer[11];
+    fTOW <<= 8;
+    fTOW |= buffer[10];
+
+    week = buffer[15] << 8;
+    week |= buffer[14];
+
+    gpsFix = buffer[16];
+
+    flags = buffer[17];
+
+    ecefX = buffer[21] << 8;
+    ecefX |= buffer[20];
+    ecefX <<= 8;
+    ecefX |= buffer[19];
+    ecefX <<= 8;
+    ecefX |= buffer[18];
+
+    ecefY = buffer[25] << 8;
+    ecefY |= buffer[24];
+    ecefY <<= 8;
+    ecefY |= buffer[23];
+    ecefY <<= 8;
+    ecefY |= buffer[22];
+
+    ecefZ = buffer[29] << 8;
+    ecefZ |= buffer[28];
+    ecefZ <<= 8;
+    ecefZ |= buffer[27];
+    ecefZ <<= 8;
+    ecefZ |= buffer[26];
+
+    pAcc = buffer[33] << 8;
+    pAcc |= buffer[32];
+    pAcc <<= 8;
+    pAcc |= buffer[31];
+    pAcc <<= 8;
+    pAcc |= buffer[30];
+
+    ecefVX = buffer[37] << 8;
+    ecefVX |= buffer[36];
+    ecefVX <<= 8;
+    ecefVX |= buffer[35];
+    ecefVX <<= 8;
+    ecefVX |= buffer[34];
+
+    ecefVY = buffer[41] << 8;
+    ecefVY |= buffer[40];
+    ecefVY <<= 8;
+    ecefVY |= buffer[39];
+    ecefVY <<= 8;
+    ecefVY |= buffer[38];
+
+    ecefVZ = buffer[45] << 8;
+    ecefVZ |= buffer[44];
+    ecefVZ <<= 8;
+    ecefVZ |= buffer[43];
+    ecefVZ <<= 8;
+    ecefVZ |= buffer[42];
+
+    sAcc = buffer[49] << 8;
+    sAcc |= buffer[48];
+    sAcc <<= 8;
+    sAcc |= buffer[47];
+    sAcc <<= 8;
+    sAcc |= buffer[46];
+
+    pDOP = buffer[51] << 8;
+    pDOP |= buffer[50];
+
+    reserved1 = buffer[52];
+
+    numSV = buffer[53];
+
+    reserved2 = buffer[57] << 8;
+    reserved2 |= buffer[56];
+    reserved2 <<= 8;
+    reserved2 |= buffer[55];
+    reserved2 <<= 8;
+    reserved2 |= buffer[54];
+
+    return true;
+}
+
+bool UbxGpsNavSol::calculateChecksum(unsigned char *buffer){
+  uint8_t check_a, check_b;
+  check_a = check_b = 0;
+
+  for(int i = 2; i < 58; i++){
+    check_a += buffer[i];
+    check_b += check_a;
+  }
+
+  if(check_a == buffer[59] && check_b == buffer[58])
+    return true;
+
+  else
+    return false;
+}
+
+bool UbxGpsNavSol::enableNAVSOL(){
+  const uint8_t buffer[] = {
+    0xB5, // sync char 1
+    0x62, // sync char 2
+    0x06, // class
+    0x01, // id
+    0x08, // length
+    0x00, // length
+    0x01, // payload
+    0x06, // payload
+    0x00, // payload
+    0x00, // payload
+    0x01, // payload
+    0x00, // payload
+    0x00, // payload
+    0x00, // payload
+    0x17, // CK_A
+    0xD9, // CK_B
+  };
+  if(this->writable()){
+    this->write(buffer, 16);
+    return true;
+  }
+
+  return false;
+}
+
+bool UbxGpsNavSol::restoreDefaults(){
+  const uint8_t packet[] = {
+    0xB5, // sync char 1
+    0x62, // sync char 2
+    0x06, // class
+    0x09, // id
+    0x0D, // length
+    0x00, // length
+    0xFF, // payload
+    0xFF, // payload
+    0x00, // payload
+    0x00, // payload
+    0x00, // payload
+    0x00, // payload
+    0x00, // payload
+    0x00, // payload
+    0xFF, // payload
+    0xFF, // payload
+    0x00, // payload
+    0x00, // payload
+    0x17, // payload
+    0x2F, // CK_A
+    0xAE, // CK_B
+  };
+
+  if(this->writable()){
+    this->write(packet, 21);
+    return true;
+  }
+
+  return false;
+}
+
+void UbxGpsNavSol::disableNmea(){
+  const uint8_t messages[][2] = {
+      {0xF0, 0x0A},
+      {0xF0, 0x09},
+      {0xF0, 0x00},
+      {0xF0, 0x01},
+      {0xF0, 0x0D},
+      {0xF0, 0x06},
+      {0xF0, 0x02},
+      {0xF0, 0x07},
+      {0xF0, 0x03},
+      {0xF0, 0x04},
+      {0xF0, 0x0E},
+      {0xF0, 0x0F},
+      {0xF0, 0x05},
+      {0xF0, 0x08},
+      {0xF1, 0x00},
+      {0xF1, 0x01},
+      {0xF1, 0x03},
+      {0xF1, 0x04},
+      {0xF1, 0x05},
+      {0xF1, 0x06},
+  };
+
+  // CFG-MSG packet buffer
+  uint8_t packet[] = {
+      0xB5, // sync char 1
+      0x62, // sync char 2
+      0x06, // class
+      0x01, // id
+      0x03, // length
+      0x00, // length
+      0x00, // payload (first byte from messages array element)
+      0x00, // payload (second byte from messages array element)
+      0x00, // payload (not changed in the case)
+      0x00, // CK_A
+      0x00, // CK_B
+  };
+
+  uint8_t packetSize = sizeof(packet);
+
+  // Offset to the place where payload starts
+  uint8_t payloadOffset = 6;
+
+  // Iterate over the messages array
+  for (uint8_t i = 0; i < sizeof(messages) / sizeof(*messages); i++)
+  {
+      // Copy two bytes of payload to the packet buffer
+      for (uint8_t j = 0; j < sizeof(*messages); j++)
+      {
+          packet[payloadOffset + j] = messages[i][j];
+      }
+
+      // Set checksum bytes to the null
+      packet[packetSize - 2] = 0x00;
+      packet[packetSize - 1] = 0x00;
+
+      // Calculate checksum over the packet buffer excluding sync (first two) and checksum chars (last two)
+      for (uint8_t j = 0; j < packetSize - 4; j++)
+      {
+          packet[packetSize - 2] += packet[2 + j];
+          packet[packetSize - 1] += packet[packetSize - 2];
+      }
+
+      if(this->writable()){
+        this->write(packet, packetSize);
+      }
+    }
+}
+
+bool UbxGpsNavSol::changeBaudrate(){
+  const uint8_t packet[] = {
+    0xB5, // sync char 1
+    0x62, // sync char 2
+    0x06, // class
+    0x00, // id
+    0x14, // length
+    0x00, // length
+    0x01, // payload
+    0x00, // payload
+    0x00, // payload
+    0x00, // payload
+    0xD0, // payload
+    0x08, // payload
+    0x00, // payload
+    0x00, // payload
+    0x00, // payload
+    0xC2, // payload
+    0x01, // payload
+    0x00, // payload
+    0x07, // payload
+    0x00, // payload
+    0x03, // payload
+    0x00, // payload
+    0x00, // payload
+    0x00, // payload
+    0x00, // payload
+    0x00, // payload
+    0xC0, // CK_A
+    0x7E, // CK_B
+  };
+
+  if(this->writable()){
+    this->write(packet, sizeof(packet));
+    return true;
+  }
+
+  return false;
+}
+
+bool UbxGpsNavSol::disableUnnecessaryChannels(){
+  const uint8_t packet[] = {
+    0xB5, // sync char 1
+    0x62, // sync char 2
+    0x06, // class
+    0x3E, // id
+    0x24, // length
+    0x00, // length
+
+    0x00, 0x00, 0x16, 0x04, 0x00, 0x04, 0xFF, 0x00, // payload
+    0x01, 0x00, 0x00, 0x01, 0x01, 0x01, 0x03, 0x00, // payload
+    0x00, 0x00, 0x00, 0x01, 0x05, 0x00, 0x03, 0x00, // payload
+    0x00, 0x00, 0x00, 0x01, 0x06, 0x08, 0xFF, 0x00, // payload
+    0x00, 0x00, 0x00, 0x01,                         // payload
+
+    0xA4, // CK_A
+    0x25, // CK_B
+  };
+
+  if(this->writable()){
+    this->write(packet, sizeof(packet));
+    return true;
+  }
+
+  return false;
+}
+
+bool UbxGpsNavSol::changeFrequency(){
+  const uint8_t packet[] = {
+        0xB5, // sync char 1
+        0x62, // sync char 2
+        0x06, // class
+        0x08, // id
+        0x06, // length
+        0x00, // length
+        0x64, // payload
+        0x00, // payload
+        0x01, // payload
+        0x00, // payload
+        0x01, // payload
+        0x00, // payload
+        0x7A, // CK_A
+        0x12, // CK_B
+    };
+
+    if(this->writable()){
+      this->write(packet, sizeof(packet));
+      return true;
+    }
+
+    return false;
+}
+
+bool UbxGpsNavSol::disableGNSS(){
+    const uint8_t packet[] = {
+      0xB5, 0x62, 0x06, 0x3E, 0x3C, 0x00,
+      0x00, 0x00, 0x20, 0x07, 0x00, 0x08,
+      0x10, 0x00, 0x01, 0x00, 0x01, 0x01,
+      0x01, 0x01, 0x03, 0x00, 0x00, 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, 0x01, 0x05, 0x00, 0x03, 0x00,
+      0x00, 0x00, 0x01, 0x01, 0x06, 0x08,
+      0x0E, 0x00, 0x00, 0x00, 0x01, 0x01,
+      0x2C, 0x4D
+    };
+
+    if(this->writable()){
+      this->write(packet, sizeof(packet));
+      return true;
+    }
+
+    return false;
+}
+
+void UbxGpsNavSol::baud(int baud){
+  this->set_baud(baud);
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/UbxGpsNavSol.hh	Mon Jun 17 00:10:40 2019 +0000
@@ -0,0 +1,63 @@
+#ifndef UBXGPSNAVSOL_H_
+#define UBXGPSNAVSOL_H_
+
+#include "mbed.h"
+
+#define  UBX_NAV_SOL_HEADER_1          (0xB5)
+#define  UBX_NAV_SOL_HEADER_2          (0x62)
+#define  UBX_NAV_SOL_CLASS                (0x01)
+#define  UBX_NAV_SOL_ID             (0x06)
+#define  UBX_NAV_SOL_PAYLOAD_LENGTH    (52)
+
+class UbxGpsNavSol : public UARTSerial{
+  public:
+    UbxGpsNavSol(PinName tx, PinName rx, int baud);
+    ~UbxGpsNavSol();
+
+    bool ready();
+    void disableNmea();
+    bool enableNAVSOL();
+    bool changeFrequency();
+    bool changeBaudrate();
+    bool disableUnnecessaryChannels();
+    bool disableGNSS();
+    bool restoreDefaults();
+    void baud(int baud);
+    // void setLength(unsigned char length);
+    // Type         Name           Unit     Description (scaling)
+    unsigned long   iTOW;       // ms       GPS time of week of the navigation epoch. See the description of iTOW for
+                                //          details
+    long            fTOW;       // ns       Fractional part of iTOW (range: +/-500000). The precise GPS time of week in
+                                //          seconds is: (iTOW * 1e-3) + (fTOW * 1e-9)
+    short           week;       // weeks    GPS week number of the navigation epoch
+    unsigned char   gpsFix;     // -        GPSfix Type, range 0..5
+    char            flags;      // -        Fix Status Flags (see graphic below)
+    long            ecefX;      // cm       ECEF X coordinate
+    long            ecefY;      // cm       ECEF Y coordinate
+    long            ecefZ;      // cm       ECEF Z coordinate
+    unsigned long   pAcc;       // cm       3D Position Accuracy Estimate
+    long            ecefVX;     // cm/s     ECEF X velocity
+    long            ecefVY;     // cm/s     ECEF Y velocity
+    long            ecefVZ;     // cm/s     ECEF Z velocity
+    unsigned long   sAcc;       // cm/s     Speed Accuracy Estimate
+    unsigned short  pDOP;       // -        Position DOP (0.01)
+    unsigned char   reserved1;  // -        Reserved
+    unsigned char   numSV;      // -        Number of satellites used in Nav Solution
+    unsigned long   reserved2;  // -        Reserved
+
+  private:
+    bool calculateChecksum(unsigned char *data);
+    // Class properties
+    unsigned char offsetClassProperties;
+    unsigned char offsetHeaders;
+    unsigned char size;
+    unsigned char carriagePosition;
+    unsigned char checksum[2];
+
+    // Headers (common).
+    unsigned char headerClass;
+    unsigned char headerId;
+    unsigned short headerLength;
+    uint16_t payload_length;
+};
+#endif

--- a/main.cpp	Tue Jun 04 23:58:46 2019 +0000
+++ b/main.cpp	Mon Jun 17 00:10:40 2019 +0000
@@ -1,13 +1,12 @@
 /* Includes */
 #include "mbed.h" /* Mbed include */
 
-#include "XNucleoIKS01A2.h" /* Sensors include*/
+/* Lora includes */
+#include "PinMap.h"
+#include "sx1276-mbed-hal.h"
 
-/* LoRa includes */
-#include "PinMap.h" 
-#include "sx1276-mbed-hal.h" 
-
-/* LoRa definitions */
+/* Serial communication include */
+#include "BufferedSerial.h"
 
 /* Set this flag to '1' to display debug messages on the console */
 #define DEBUG_MESSAGE   1
@@ -15,7 +14,7 @@
 /* Set this flag to '1' to use the LoRa modulation or to '0' to use FSK modulation */
 #define USE_MODEM_LORA  1
 #define USE_MODEM_FSK   !USE_MODEM_LORA
-#define RF_FREQUENCY            RF_FREQUENCY_915_0  // Hz
+#define RF_FREQUENCY            RF_FREQUENCY_915_0 // Hz
 #define TX_OUTPUT_POWER         14                  // 14 dBm
 
 #if USE_MODEM_LORA == 1
@@ -34,206 +33,208 @@
     
 #endif 
 
-
-#define RX_TIMEOUT_VALUE    3500    // in ms
+#define RX_TIMEOUT_VALUE    0       // In ms
+#define TX_TIMEOUT_VALUE    1000000 // In ms
 
 //#define BUFFER_SIZE       32        // Define the payload size here
-#define BUFFER_SIZE         64        // Define the payload size here
-
-/* Sensors instances */
-
-/* Instantiate the expansion board */
-static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5);
+#define BUFFER_SIZE         64      // Define the payload size here
 
-/* Retrieve the composing elements of the expansion board */
-static LSM303AGRMagSensor *magnetometer = mems_expansion_board->magnetometer;
-static HTS221Sensor *hum_temp = mems_expansion_board->ht_sensor;
-static LPS22HBSensor *press_temp = mems_expansion_board->pt_sensor;
-static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro;
-static LSM303AGRAccSensor *accelerometer = mems_expansion_board->accelerometer;
+typedef struct {
+        uint8_t header; // Header for identification of updated informations - 0 0 p temp LSM6DSL LSM303AGR
+        int time; // Time between transmissions
+        float p;  // Pressure of LPS22HB
+        float temperatureLPS22HB; // Temperature from LPS22HB
+        int32_t ag[3]; // Acceleration of the accelerometer and gyroscope LSM6DSL 
+        int32_t w[3]; // Angular velocity of LSM6DSL
+        int32_t a[3]; // Acceleration of the accelerometer LSM303AGR
+        int32_t m[3]; // Heading of LSM303AGR
+}Pkg1;
 
-//uint32_t dados[16]; //data vector
+typedef struct {
+        uint8_t header; // Header for identification of updated informations - 0 1 InternalCommunication HTS221
+        int time; // Time between transmissions
+        bool drogueStatus; // Drogue parachute status provided by Avionics
+        bool mainStatus; //Main parachute status provided by Avionics
+        bool mainStatusCOTS; // Main parachute status provided by COTS Altimeter
+        bool drogueStatusCOTS; // Drogue status provided by COTS Altimeter
+        float pressureBar; // Pressure by COTS Altimeter
+        float temperature; // Temperature by COTS Altimeter
+        int16_t timeStamp; // Timestamp from COTS Altimeter
+        int16_t aglAlt; // AGL Altitude from COTS Altimeter
+        int8_t battery; // Battery voltage reading from COTS Altimeter
+        float humidity; // Humidity of HTS221
+        float temperatureHTS221; // Temperature from HTS221
+        //uint8_t filler[25];
+}Pkg2;
+
 typedef struct {
-            float p; //pressure
-            float temperatureHTS221; //temperature from HTS221
-            float humidity; //humidity
-            float temperatureLPS22HB; //temperature from LPS22HB
-            int32_t w[3]; //angular velocity
-            int32_t a[3]; //acceleration of the accelerometer LSM303AGR
-            int32_t ag[3]; //acceleration of the accelerometer and gyroscope LSM6DSL 
-            int32_t m [3]; //heading 
-}Dados;
-        
-Dados dados;
+        uint8_t header; // Header for identification of updated informations - 1 0 GPS 
+        int time; // Time between transmissions
+        unsigned long timeOfWeek; //GPS time of week
+        long timeOfWeekFracPart; // GPS time of week fractional part
+        unsigned char gpsFix; // GPS fix
+        long ecefx; // GPS X posiition
+        long ecefy; // GPS Y posistion
+        long ecefz; // GPS Z postion
+        unsigned long positionAcc3D; // GPS 3D position accuracy
+        long ecefvx; // GPS X velocity
+        long ecefvy; // GPS Y velocity
+        long ecefvz; // GPS Z velocity
+        unsigned long speedAcc; // GPS speed accuracy
+        unsigned char numbSat; // GPS number of satellites conected
+        //uint8_t filler[8];
+}Pkg3;
+
+
+union Data {
+    Pkg1 pkg1;
+    Pkg2 pkg2;
+    Pkg3 pkg3;
+};
+
+Data data;
 
 /* LoRa modem instances and configurations */
 
 static RadioEvents_t RadioEvents; // Calback functions struct
 
-SX1276Generic *Radio; //Defenition of a Radio object
+SX1276Generic *Radio; // Definition of a Radio object
 
-/*Configuration function*/
+bool received = false; // Flag to indicate the end of reception
+
+/* Configuration function */
 void SystemClock_Config(void);
 
- bool transmited = true;
+/* Callback functions prototypes */
 
-/* Callback functions prototypes */
+// Brief Function to be executed on Radio Tx Done event
 void OnTxDone(void *radio, void *userThisPtr, void *userData);
 
+// Brief Function to be executed on Radio Rx Done event
 void OnRxDone(void *radio, void *userThisPtr, void *userData, uint8_t *payload, uint16_t size, int16_t rssi, int8_t snr );
 
+// Brief Function executed on Radio Tx Timeout event
 void OnTxTimeout(void *radio, void *userThisPtr, void *userData);
 
+// Brief Function executed on Radio Rx Timeout event
 void OnRxTimeout(void *radio, void *userThisPtr, void *userData);
 
+// Brief Function executed on Radio Rx Error event
 void OnRxError(void *radio, void *userThisPtr, void *userData);
 
+// Brief Function executed on Radio Fhss Change Channel event
 void OnFhssChangeChannel(void *radio, void *userThisPtr, void *userData, uint8_t channelIndex);
 
+// Brief Function executed on CAD Done event
 void OnCadDone(void *radio, void *userThisPtr, void *userData);
 
 /* Serial communication to debug program */
-
-Serial pc(USBTX,USBRX);
+BufferedSerial *ser;
 
 int main() {
-    /* General Header*/
-    
-    pc.printf("Telemetry Tx inicial version program\r\n\r\n");
-    
-    uint8_t id; //Sensor id parameter for debug purpose
-    
-    /* Enable all sensors */
-    hum_temp->enable();
-    press_temp->enable();
-    magnetometer->enable();
-    accelerometer->enable();
-    acc_gyro->enable_x();
-    acc_gyro->enable_g();
-      
-    pc.printf("\r\n--- Starting the sensors ---\r\n");
+    SystemClock_Config(); /* Synchronize clock for TX and RX boards */
     
-    hum_temp->read_id(&id);
-    pc.printf("HTS221  humidity & temperature    = 0x%X\r\n", id);
-    press_temp->read_id(&id);
-    pc.printf("LPS22HB  pressure & temperature   = 0x%X\r\n", id);
-    magnetometer->read_id(&id);
-    pc.printf("LSM303AGR magnetometer            = 0x%X\r\n", id);
-    accelerometer->read_id(&id);
-    pc.printf("LSM303AGR accelerometer           = 0x%X\r\n", id);
-    acc_gyro->read_id(&id);
-    pc.printf("LSM6DSL accelerometer & gyroscope = 0x%X\r\n", id);
+    /* Serial configuration */
+    if (DEBUG_MESSAGE) {
+        ser = new BufferedSerial(USBTX, USBRX);
+        ser->baud(115200);
+        ser->format(8);
+    }
     
-    pc.printf("\r\n");
-    
-        /* Radio setup */
-     pc.printf("\r\n--- Starting the modem LoRa ---\r\n");
+    /* General Header*/
+    if (DEBUG_MESSAGE)
+        ser->printf("Telemetry Rx inicial version program\r\n\r\n");
     
     Radio = new SX1276Generic(NULL, MURATA_SX1276,
             LORA_SPI_MOSI, LORA_SPI_MISO, LORA_SPI_SCLK, LORA_CS, LORA_RESET,
             LORA_DIO0, LORA_DIO1, LORA_DIO2, LORA_DIO3, LORA_DIO4, LORA_DIO5,
             LORA_ANT_RX, LORA_ANT_TX, LORA_ANT_BOOST, LORA_TCXO);
-    pc.printf("SX1276 Simple transmission aplication\r\n" );
-    pc.printf("Frequency: %.1f\r\n", (double)RF_FREQUENCY/1000000.0);
-    pc.printf("TXPower: %d dBm\r\n",  TX_OUTPUT_POWER);
-    pc.printf("Bandwidth: %d Hz\r\n", LORA_BANDWIDTH);
-    pc.printf("Spreading factor: SF%d\r\n", LORA_SPREADING_FACTOR);
+    
+    if (DEBUG_MESSAGE) {        
+        ser->printf("SX1276 Simple receiver aplication\r\n" );
+        ser->printf("Frequency: %.1f\r\n", (double)RF_FREQUENCY/1000000.0);
+        ser->printf("TXPower: %d dBm\r\n",  TX_OUTPUT_POWER);
+        ser->printf("Bandwidth: %d Hz\r\n", LORA_BANDWIDTH);
+        ser->printf("Spreading factor: SF%d\r\n", LORA_SPREADING_FACTOR);
+    }
     
     // Initialize Radio driver
     RadioEvents.TxDone = OnTxDone;
     RadioEvents.RxDone = OnRxDone;
     RadioEvents.RxError = OnRxError;
     RadioEvents.TxTimeout = OnTxTimeout;
-    RadioEvents.RxTimeout = OnRxTimeout;    
+    RadioEvents.RxTimeout = OnRxTimeout; 
+    
+    // Initializes the radio    
     while (Radio->Init( &RadioEvents ) == false) {
-        pc.printf("Radio could not be detected!\r\n");
+        if (DEBUG_MESSAGE)
+            ser->printf("Radio could not be detected!\r\n");
         wait( 1 );
     }
     
+    // Display the board type
     switch(Radio->DetectBoardType()) {
         case SX1276MB1LAS:
             if (DEBUG_MESSAGE)
-                pc.printf(" > Board Type: SX1276MB1LAS <\r\n");
+                ser->printf(" > Board Type: SX1276MB1LAS <\r\n");
             break;
         case SX1276MB1MAS:
             if (DEBUG_MESSAGE)
-                pc.printf(" > Board Type: SX1276MB1LAS <\r\n");
+                ser->printf(" > Board Type: SX1276MB1LAS <\r\n");
         case MURATA_SX1276:
             if (DEBUG_MESSAGE)
-                pc.printf(" > Board Type: MURATA_SX1276_STM32L0 <\r\n");
+                ser->printf(" > Board Type: MURATA_SX1276_STM32L0 <\r\n");
             break;
         case RFM95_SX1276:
-            if (DEBUG_MESSAGE)
-                pc.printf(" > HopeRF RFM95xx <\r\n");
+            if (DEBUG_MESSAGE) 
+                ser->printf(" > HopeRF RFM95xx <\r\n");
             break;
         default:
-            pc.printf(" > Board Type: unknown <\r\n");
+            if (DEBUG_MESSAGE)
+                ser->printf(" > Board Type: unknown <\r\n");
     }
     
-    Radio->SetChannel(RF_FREQUENCY );
+    Radio->SetChannel(RF_FREQUENCY ); // Sets the frequency of the communication
     
-    if (LORA_FHSS_ENABLED)
-        pc.printf("             > LORA FHSS Mode <\r\n");
-    if (!LORA_FHSS_ENABLED)
-        pc.printf("             > LORA Mode <\r\n");
-        
-    pc.printf("\r\n");
-        
+    // Debug message of the state of fhss
+    if (LORA_FHSS_ENABLED) {
+        if (DEBUG_MESSAGE)
+            ser->printf("             > LORA FHSS Mode <\r\n");
+    }    
+    if (!LORA_FHSS_ENABLED) {
+        if (DEBUG_MESSAGE)
+            ser->printf("             > LORA Mode <\r\n");
+    }
+    // Sets the configuration of the transmission     
     Radio->SetTxConfig( MODEM_LORA, TX_OUTPUT_POWER, 0, LORA_BANDWIDTH,
                          LORA_SPREADING_FACTOR, LORA_CODINGRATE,
                          LORA_PREAMBLE_LENGTH, LORA_FIX_LENGTH_PAYLOAD_ON,
                          LORA_CRC_ENABLED, LORA_FHSS_ENABLED, LORA_NB_SYMB_HOP, 
                          LORA_IQ_INVERSION_ON, 2000 );
     
+    // Sets the configuration of the reception
     Radio->SetRxConfig( MODEM_LORA, LORA_BANDWIDTH, LORA_SPREADING_FACTOR,
                          LORA_CODINGRATE, 0, LORA_PREAMBLE_LENGTH,
                          LORA_SYMBOL_TIMEOUT, LORA_FIX_LENGTH_PAYLOAD_ON, 0,
                          LORA_CRC_ENABLED, LORA_FHSS_ENABLED, LORA_NB_SYMB_HOP, 
                          LORA_IQ_INVERSION_ON, true );
-      
-    Radio->Tx(1000000);
-    
-    while(1) {   
-    
-        
-        press_temp->get_pressure(&dados.p); //get the pressure
-        press_temp->get_temperature(&dados.temperatureLPS22HB); //get temperature from LPS22HB
-        accelerometer->get_x_axes(dados.a);//get the acceleration
-        acc_gyro->get_x_axes(dados.ag);//get the acceleration
-        acc_gyro->get_g_axes(dados.w);//get the angular velocity
-        magnetometer->get_m_axes(dados.m); //get the magnetometer heading
-        hum_temp->get_temperature(&dados.temperatureHTS221); //get temperature from HTS221
-        hum_temp->get_humidity(&dados.humidity); //get humidity
-        
-        
-        //sensors data
+    if (DEBUG_MESSAGE)
+        ser->printf("Starting Receive loop\r\n"); 
         
-        /*dados[0] = a[0];
-        dados[1] = a[1];
-        dados[2] = a[2];
-        dados[3] = ag[0];
-        dados[4] = ag[1];
-        dados[5] = ag[2];
-        dados[6] = w[0];
-        dados[7] = w[1];
-        dados[8] = w[2];
-        dados[9] = m[0];
-        dados[10] = m[1];
-        dados[11] = m[2];
-        dados[12] = humidity;
-        dados[13] = temperatureHTS221;
-        dados[14] = temperatureLPS22HB;
-        dados[15] = p;*/
-         
-        
-        if (transmited==true) {
-            transmited = false;
-            wait_ms(10);
-            Radio->Send( &dados, sizeof(dados) );
+    Radio->Rx(RX_TIMEOUT_VALUE); // Puts the device in reception mode continuously
+    
+    while( 1 )
+    {   
+        //After the receiving, puts the device again in receive mode 
+        if (received == true) {
+            received = false;
+            Radio->Rx(RX_TIMEOUT_VALUE); 
         }
     }
+    
 }
 
+
 void SystemClock_Config(void)
 {
 #ifdef B_L072Z_LRWAN1_LORA
@@ -278,44 +279,62 @@
 #endif
 }
 
-/* Helper function for printing floats & doubles */
-
-
 void OnTxDone(void *radio, void *userThisPtr, void *userData)
-{   
+{
     Radio->Sleep( );
-    transmited = true;
-    if (DEBUG_MESSAGE) {
-        pc.printf("> OnTxDone\r\n");
-        pc.printf("I transmited %d mg, %d mg, %d mg, %d mg, %d mg, %d mg, %d mdps, %d mdps, %d mdps\r\n", dados.a[0], dados.a[1], dados.a[2], dados.ag[0], dados.ag[1], dados.ag[2], dados.w[0], dados.w[1], dados.w[2]);
-        pc.printf("and %d mG, %d mG, %d mG, %g %%, %g C, %g C, %g mBar\r\n", dados.m[0], dados.m[1], dados.m[2], dados.humidity, dados.temperatureHTS221, dados.temperatureLPS22HB, dados.p);
-    }    
+    if (DEBUG_MESSAGE)
+        ser->printf("> OnTxDone\r\n");
 }
 
 void OnRxDone(void *radio, void *userThisPtr, void *userData, uint8_t *payload, uint16_t size, int16_t rssi, int8_t snr)
 {
     Radio->Sleep( );
-    if (DEBUG_MESSAGE)
-        pc.printf("> OnRxDone: RssiValue=%d dBm, SnrValue=%d\r\n", rssi, snr);
+    received = true;
+    uint8_t state = payload[0] >> 6;
+    
+    //ser->printf("The state is %x\r\n", state);
+    ser->printf("> OnRxDone: RssiValue=%d dBm, SnrValue=%d, State=%d\r\n", rssi, snr, state);
+    //for(int i = 0; i < BUFFER_SIZE; i++){
+    //    ser->printf("%x ", payload[i]);   
+    //}
+    ser->printf("\r\n");
+    if(state == 3){
+        memcpy(&data.pkg1, payload, BUFFER_SIZE);
+        //ser->printf("Header: %x, time: %d, p: %f, tempLPS22HB: %f, ag: %d; %d; %d, w: %d; %d; %d, a: %d; %d; %d, m: %d; %d; %d\r\n", pkg1.header, pkg1.time, pkg1.p, pkg1.temperatureLPS22HB, pkg1.ag[0], pkg1.ag[1], pkg1.ag[2], pkg1.w[0], pkg1.w[1], pkg1.w[2], pkg1.a[0], pkg1.a[1], pkg1.a[2], pkg1.m[0], pkg1.m[1], pkg1.m[2]);   
+        ser->printf("%x,%d,%f,%f,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\r\n", data.pkg1.header, data.pkg1.time, data.pkg1.p, data.pkg1.temperatureLPS22HB, data.pkg1.ag[0], data.pkg1.ag[1], data.pkg1.ag[2], data.pkg1.w[0], data.pkg1.w[1], data.pkg1.w[2], data.pkg1.a[0], data.pkg1.a[1], data.pkg1.a[2], data.pkg1.m[0], data.pkg1.m[1], data.pkg1.m[2]);
+    }
+    else if(state == 1){
+        memcpy(&data.pkg2, payload, BUFFER_SIZE);
+        //ser->printf("Header: %x, time: %d, parachuteStatus: %d%d%d%d, pressureBar: %f, temperature: %f, timeStamp: %d, aglAlt: %d, battery: %d, humidity: %f, tempHTS221: %f\r\n", pkg2.header, pkg2.time, pkg2.drogueStatus, pkg2.mainStatus, pkg2.mainStatusCOTS, pkg2.drogueStatusCOTS, pkg2.pressureBar, pkg2.temperature, pkg2.timeStamp, pkg2.aglAlt, pkg2.battery, pkg2.humidity, pkg2.temperatureHTS221);
+        ser->printf("%x,%d,%d%d%d%d,%f,%f,%d,%d,%d,%f,%f\r\n", data.pkg2.header, data.pkg2.time, data.pkg2.drogueStatus, data.pkg2.mainStatus, data.pkg2.mainStatusCOTS, data.pkg2.drogueStatusCOTS, data.pkg2.pressureBar, data.pkg2.temperature, data.pkg2.timeStamp, data.pkg2.aglAlt, data.pkg2.battery, data.pkg2.humidity, data.pkg2.temperatureHTS221);
+    }
+    else if(state == 2){
+        memcpy(&data.pkg3, payload, BUFFER_SIZE);
+        //ser->printf("Header: %x, time: %d, timeOfWeek: %d, frac: %d, gpsFix: %d\r\n", pkg3.header, pkg3.time, pkg3.timeOfWeek, pkg3.timeOfWeekFracPart, pkg3.gpsFix);
+        //ser->printf("eceFx: %d, eceFy: %d, eceFz: %d, posAcc3D: %d, eceFvx: %d, eceFvy: %d, eceFvz: %d\r\n", pkg3.ecefx, pkg3.ecefy, pkg3.ecefz, pkg3.positionAcc3D, pkg3.ecefvx, pkg3.ecefvy, pkg3.ecefvz);
+        //ser->printf("speedAcc: %d, numbSat: %d\r\n", pkg3.speedAcc, pkg3.numbSat);
+        ser->printf("%x,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d,%d\r\n", data.pkg3.header, data.pkg3.time, data.pkg3.timeOfWeek, data.pkg3.timeOfWeekFracPart, data.pkg3.gpsFix, data.pkg3.ecefx, data.pkg3.ecefy, data.pkg3.ecefz, data.pkg3.positionAcc3D, data.pkg3.ecefvx, data.pkg3.ecefvy, data.pkg3.ecefvz, data.pkg3.speedAcc, data.pkg3.numbSat);
+    }
 }
 
 void OnTxTimeout(void *radio, void *userThisPtr, void *userData)
 {
     Radio->Sleep( );
     if(DEBUG_MESSAGE)
-        pc.printf("> OnTxTimeout\r\n");
+        ser->printf("> OnTxTimeout\r\n");
 }
 
 void OnRxTimeout(void *radio, void *userThisPtr, void *userData)
 {
     Radio->Sleep( );
     if (DEBUG_MESSAGE)
-        pc.printf("> OnRxTimeout\r\n");
+        ser->printf("> OnRxTimeout\r\n");
 }
 
 void OnRxError(void *radio, void *userThisPtr, void *userData)
 {
     Radio->Sleep( );
+    received = true;
     if (DEBUG_MESSAGE)
-        pc.printf("> OnRxError\r\n");
+        ser->printf("> OnRxError\r\n");
 }