Lucas Kierulff Balabram
TX
Dependencies: mbed BufferedSerial SX1276GenericLib X_NUCLEO_IKS01A2
Diff: main.cpp
- Revision:
- 2:91a80cc7d87d
- Parent:
- 1:bd8b9ad01400
--- a/main.cpp Tue Jun 04 23:58:46 2019 +0000
+++ b/main.cpp Mon Jun 17 00:07:48 2019 +0000
@@ -7,16 +7,42 @@
#include "PinMap.h"
#include "sx1276-mbed-hal.h"
+/* Serial communication include */
+#include "BufferedSerial.h"
+
+/* SD card includes */
+#include "SDCard_Y.hh"
+
+/* GPS include */
+#include "UbxGpsNavSol.hh"
+
+
+/* GPS definitions */
+#define GPS_BAUDRATE 115200
+//#define GPS_EN
+
+/* Definition of buzzer time in ms */
+#define BUZZER_TIME 500
+
+/* Definition of Disable enable flag */
+//#define KEY_ENABLE
+
+/* Definition of the SD card */
+#define SPI_FREQUENCY 1000000
+
+/* Definition of the SD card */
+//#define SD_EN
+
/* LoRa definitions */
-/* Set this flag to '1' to display debug messages on the console */
-#define DEBUG_MESSAGE 1
+/* Set this flag to display debug messages on the console */
+#define DEBUG_MESSAGE
-/* 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
+/* Set this flag to '1' to use the LoRa modulation */
+#define USE_MODEM_LORA 1
+#define USE_MODEM_FSK !USE_MODEM_LORA
#define RF_FREQUENCY RF_FREQUENCY_915_0 // Hz
-#define TX_OUTPUT_POWER 14 // 14 dBm
+#define TX_OUTPUT_POWER 14 // 20 dBm
#if USE_MODEM_LORA == 1
@@ -35,13 +61,13 @@
#endif
-#define RX_TIMEOUT_VALUE 3500 // in ms
-
-//#define BUFFER_SIZE 32 // Define the payload size here
-#define BUFFER_SIZE 64 // Define the payload size here
+#define RX_TIMEOUT_VALUE 0 // In ms
+#define TX_TIMEOUT_VALUE 1000000 // In ms
+#define BUFFER_SIZE 64 // In bytes
/* Sensors instances */
+
/* Instantiate the expansion board */
static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5);
@@ -52,186 +78,578 @@
static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro;
static LSM303AGRAccSensor *accelerometer = mems_expansion_board->accelerometer;
-//uint32_t dados[16]; //data vector
+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;
+
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 - 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 {
+ 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*/
+/* Configuration function */
void SystemClock_Config(void);
- bool transmited = true;
+bool transmited = true;// Flag to indicate the end of transmission
+uint8_t state = 0; // Flag to indicate state of transmission, i.e. which package is to be transmited
/* 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);
-void OnCadDone(void *radio, void *userThisPtr, void *userData);
-
+#ifdef DEBUG_MESSAGE
/* Serial communication to debug program */
+BufferedSerial *ser;
+#endif
-Serial pc(USBTX,USBRX);
+/* Buzzer definition */
+DigitalOut buzzer (PA_0);
+
+Timer timer2;
int main() {
- /* General Header*/
+ #ifdef SD_EN
+ Timer timerSD;
+ uint8_t bufferSD[512]; // Buffer to store data to save in SD card
+ uint8_t bufferSDCounter = 0; // Counter to access correct position of bufferSD
+ for(int i = 0; i < 512; i++){
+ bufferSD[i] = 0;
+ }
+ timerSD.start();
+ #endif
+ timer2.start();
+ buzzer = 0;
+ /* Power on*/
+ buzzer = 1;
+ wait_ms (BUZZER_TIME);
+ buzzer = 0;
+ wait_ms (BUZZER_TIME);
+ /* Set to zero all parameters of the data struct */
+ /*
+ pkg1.header = 0x00;
+ pkg2.header = 0x40;
+ pkg3.header = 0x80;
+ pkg1.time = 0;
+ pkg2.time = 0;
+ pkg3.time = 0;
+ pkg1.ag[0] = 0;
+ pkg1.ag[1] = 0;
+ pkg1.ag[2] = 0;
+ pkg1.w[0] = 0;
+ pkg1.w[1] = 0;
+ pkg1.w[2] = 0;
+ pkg1.a[0] = 0;
+ pkg1.a[1] = 0;
+ pkg1.a[2] = 0;
+ pkg1.m [0] = 0;
+ pkg1.m [1] = 0;
+ pkg1.m [2] = 0;
+ pkg1.p = 0;
+ pkg1.temperatureLPS22HB = 0;
+ pkg2.humidity = 0;
+ pkg2.temperatureHTS221 = 0;
+ pkg3.timeOfWeek = 0;
+ pkg3.timeOfWeekFracPart = 0;
+ pkg3.gpsFix = 0;
+ pkg3.ecefx = 0;
+ pkg3.ecefy = 0;
+ pkg3.ecefz = 0;
+ pkg3.positionAcc3D = 0;
+ pkg3.ecefvx = 0;
+ pkg3.ecefvy = 0;
+ pkg3.ecefvz = 0;
+ pkg3.speedAcc = 0;
+ pkg3.numbSat = 0;
+ pkg2.drogueStatus = 0;
+ pkg2.mainStatus = 0;
+ pkg2.pressureBar = 0;
+ pkg2.temperature = 0;
+ pkg2.mainStatusCOTS = 0;
+ pkg2.drogueStatusCOTS = 0;
+ pkg2.timeStamp = 0;
+ pkg2.aglAlt = 0;
+ pkg2.battery = 0;
- pc.printf("Telemetry Tx inicial version program\r\n\r\n");
+ for(int i = 0; i < sizeof(pkg2.filler); i++){
+ pkg2.filler[i] = 0;
+ }
+ for(int i = 0; i < sizeof(pkg3.filler); i++){
+ pkg3.filler[i] = 0;
+ }
+ */
+
+ #ifdef GPS_EN
+ //Serial connections (GPS)(TX,RX,baud)
+ UbxGpsNavSol gps(PA_9, PA_10, GPS_BAUDRATE);
+ #endif
+ SystemClock_Config(); /* Synchronize clock for TX and RX boards */
+
+ /* Serial configuration */
+ #ifdef DEBUG_MESSAGE
+ ser = new BufferedSerial(USBTX, USBRX);
+ ser->baud(115200);
+ ser->format(8);
+ #endif
+
+ /* General Header*/
+ #ifdef DEBUG_MESSAGE
+ ser->printf ("Telemetry Tx inicial version program\r\n\r\n");
uint8_t id; //Sensor id parameter for debug purpose
+ #endif
/* 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");
+ if (hum_temp->enable() != 0) {
+ #ifdef DEBUG_MESSAGE
+ ser->printf ("Humidity sensor not enabled\r\n");
+ #endif
+ }
+ if (press_temp->enable() != 0) {
+ #ifdef DEBUG_MESSAGE
+ ser->printf ("Temperature sensor not enabled\r\n");
+ #endif
+ }
+ if (magnetometer->enable() != 0) {
+ #ifdef DEBUG_MESSAGE
+ ser->printf ("Magnetometer sensor not enabled\r\n");
+ #endif
+ }
+ if (accelerometer->enable() != 0) {
+ #ifdef DEBUG_MESSAGE
+ ser->printf ("Accelerometer1 sensor not enabled\r\n");
+ #endif
+ }
+ if (acc_gyro->enable_x() != 0) {
+ #ifdef DEBUG_MESSAGE
+ ser->printf ("Gyroscope sensor not enabled\r\n");
+ #endif
+ }
+ if (acc_gyro->enable_g() != 0) {
+ #ifdef DEBUG_MESSAGE
+ ser->printf ("Accelerometer2 sensor not enabled\r\n");
+ #endif
+ }
+ #ifdef DEBUG_MESSAGE
+ ser->printf("\r\n--- Starting the sensors ---\r\n");
+
hum_temp->read_id(&id);
- pc.printf("HTS221 humidity & temperature = 0x%X\r\n", id);
+ ser->printf("HTS221 humidity & temperature = 0x%X\r\n", id);
press_temp->read_id(&id);
- pc.printf("LPS22HB pressure & temperature = 0x%X\r\n", id);
+ ser->printf("LPS22HB pressure & temperature = 0x%X\r\n", id);
magnetometer->read_id(&id);
- pc.printf("LSM303AGR magnetometer = 0x%X\r\n", id);
+ ser->printf("LSM303AGR magnetometer = 0x%X\r\n", id);
accelerometer->read_id(&id);
- pc.printf("LSM303AGR accelerometer = 0x%X\r\n", id);
+ ser->printf("LSM303AGR accelerometer = 0x%X\r\n", id);
acc_gyro->read_id(&id);
- pc.printf("LSM6DSL accelerometer & gyroscope = 0x%X\r\n", id);
-
- pc.printf("\r\n");
+ ser->printf("LSM6DSL accelerometer & gyroscope = 0x%X\r\n", id);
+
+ ser->printf("\r\n");
+ #endif
- /* Radio setup */
- pc.printf("\r\n--- Starting the modem LoRa ---\r\n");
-
+ /* Radio setup */
+ #ifdef DEBUG_MESSAGE
+ ser->printf("\r\n--- Starting the modem LoRa ---\r\n");
+ #endif
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);
+ #ifdef DEBUG_MESSAGE
+ ser->printf("SX1276 Simple transmission 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);
+ #endif
// Initialize Radio driver
RadioEvents.TxDone = OnTxDone;
RadioEvents.RxDone = OnRxDone;
RadioEvents.RxError = OnRxError;
RadioEvents.TxTimeout = OnTxTimeout;
- RadioEvents.RxTimeout = OnRxTimeout;
- while (Radio->Init( &RadioEvents ) == false) {
- pc.printf("Radio could not be detected!\r\n");
- wait( 1 );
+ RadioEvents.RxTimeout = OnRxTimeout;
+
+ for (int i = 0; Radio->Init( &RadioEvents ) != true && i < 40; i++) {
+ #ifdef DEBUG_MESSAGE
+ ser->printf("Radio could not be detected!\r\n");
+ #endif
+ buzzer = 1;
+ wait_ms (BUZZER_TIME);
+ buzzer = 0;
+ wait_ms (BUZZER_TIME);
}
+ // Display the board type
+ #ifdef DEBUG_MESSAGE
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");
+ break;
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");
+ ser->printf(" > HopeRF RFM95xx <\r\n");
break;
default:
- pc.printf(" > Board Type: unknown <\r\n");
+ ser->printf(" > Board Type: unknown <\r\n");
}
-
- Radio->SetChannel(RF_FREQUENCY );
+ #endif
+ 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
+ #ifdef DEBUG_MESSAGE
+ if (LORA_FHSS_ENABLED) {
+ ser->printf(" > LORA FHSS Mode <\r\n");
+ }
+ if (!LORA_FHSS_ENABLED) {
+ ser->printf(" > LORA Mode <\r\n");
+ }
+ #endif
+ // 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);
+
+ #ifdef SD_EN
+ SPI spi (PA_7, PA_6, PA_5);
+ spi.frequency (SPI_FREQUENCY);
+ SDCard sdCard (&spi, PB_10);
+ uint8_t sdData[BUFFER_SIZE];
+ int block = 0;
+ #endif
+
- while(1) {
+ Radio->Tx(TX_TIMEOUT_VALUE); // Puts the device in transmission mode for a long period
+ Timer timerHTS221; // Timer for HTS221
+ Timer timerGPS; // Timer for GPS
+ timerHTS221.start(); // Starting timer for humidity sensor
+ timerGPS.start();
+
+ //----------------> Starting the main loop <----------------
+ while(1) { // 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(state == 0){ // Update and send pkg1 // 2
+ #ifdef DEBUG_MESSAGE
+ //ser->printf(" Here\r\n");
+ #endif
+ // Initialization of pkg1
+ data.pkg1.header = 0xC0;
+ data.pkg1.time = 0;
+ data.pkg1.ag[0] = 0;
+ data.pkg1.ag[1] = 0;
+ data.pkg1.ag[2] = 0;
+ data.pkg1.w[0] = 0;
+ data.pkg1.w[1] = 0;
+ data.pkg1.w[2] = 0;
+ data.pkg1.a[0] = 0;
+ data.pkg1.a[1] = 0;
+ data.pkg1.a[2] = 0;
+ data.pkg1.m [0] = 0;
+ data.pkg1.m [1] = 0;
+ data.pkg1.m [2] = 0;
+ data.pkg1.p = 0;
+ data.pkg1.temperatureLPS22HB = 0;
+
+ if (press_temp->get_pressure(&data.pkg1.p) == 0) { // Get the pressure // 3
+ data.pkg1.header |= 0xE0; // LPS22HB updated
+ #ifdef DEBUG_MESSAGE
+ //ser->printf("The pressure data from LPS22HB was read\r\n");
+ #endif
+ } else { // 3 4
+ data.pkg1.header &= 0xDC; // LPS22HB was not updated
+ } // 4
+
+ if (press_temp->get_temperature(&data.pkg1.temperatureLPS22HB) == 0) { // Get temperature from LPS22HB // 5
+ data.pkg1.header |= 0xD0; // LPS22HB updated
+ #ifdef DEBUG_MESSAGE
+ //ser->printf("The temperature data from LPS22HB was read\r\n");
+ #endif
+ } else { // 5 6
+ data.pkg1.header &= 0xEC; // LPS22HB not updated
+ } // 6
+
+ if (accelerometer->get_x_axes(data.pkg1.a) == 0) {// Get the acceleration // 7
+ data.pkg1.header |= 0xC4; // LSM303AGR updated
+ #ifdef DEBUG_MESSAGE
+ //ser->printf("The acceleration data from LSM303AGR was read\r\n");
+ #endif
+ } else { // 7 8
+ data.pkg1.header &= 0xF8; // LSM303AGR not updated
+ } // 8
+
+ if (acc_gyro->get_x_axes(data.pkg1.ag) == 0) {// Get the acceleration // 9
+ data.pkg1.header |= 0xC8; // LSM6DSL updated
+ #ifdef DEBUG_MESSAGE
+ //ser->printf("The acceleration data from LSM6DSL was read\r\n");
+ #endif
+ } else { // 9 10
+ data.pkg1.header &= 0xF4; // LSM6DSL not updated
+ } // 10
+
+ if (acc_gyro->get_g_axes(data.pkg1.w) == 0) {// Get the angular velocity // 11
+ data.pkg1.header |= 0xC8; // LSM6DSL updated
+ #ifdef DEBUG_MESSAGE
+ //ser->printf("The angular velocity data from LSM6DSL was read\r\n");
+ #endif
+ } else { //11 12
+ data.pkg1.header &= 0xF4; // LSM6DSL not updated
+ } // 12
+
+ if (magnetometer->get_m_axes(data.pkg1.m) == 0) { // Get the magnetometer heading // 13
+ data.pkg1.header |= 0xC4; // LSM303AGR updated
+ #ifdef DEBUG_MESSAGE
+ //ser->printf("The heading data from LSM6DSL was read\r\n");
+ #endif
+ } else { // 13 14
+ data.pkg1.header &= 0xF8; // LSM303AGR not updated
+ } // 14
+
+ #ifdef SD_EN
+ data.pkg1.time = timerSD.read_ms();
+ memcpy(&bufferSD[bufferSDCounter], &data, BUFFER_SIZE);
+ bufferSDCounter += BUFFER_SIZE;
+ timerSD.reset();
+ #endif
+ data.pkg1.time = timer2.read_ms();
+ if(transmited){ // Only sends a new packet when the device already have transmited the previous one //15
+ transmited = false;
+ Radio->Send( &data, BUFFER_SIZE );
+ #ifdef DEBUG_MESSAGE
+ //ser->printf(" Transmited = true, State = %d\r\n", state);
+ 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]);
+ #endif
+ state = 1;
+ } // 15
+ } // 2
- /*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;*/
-
+ else if(state == 1){ // Update and send pkg2 // 16
+ #ifdef DEBUG_MESSAGE
+ //ser->printf(" Here1\r\n");
+ #endif
+ // Initialization of pkg2
+ data.pkg2.header = 0x40;
+ data.pkg2.time = 0;
+ data.pkg2.humidity = 0;
+ data.pkg2.temperatureHTS221 = 0;
+ data.pkg2.drogueStatus = 0;
+ data.pkg2.mainStatus = 0;
+ data.pkg2.pressureBar = 0;
+ data.pkg2.temperature = 0;
+ data.pkg2.mainStatusCOTS = 0;
+ data.pkg2.drogueStatusCOTS = 0;
+ data.pkg2.timeStamp = 0;
+ data.pkg2.aglAlt = 0;
+ data.pkg2.battery = 0;
+
+ // Check internal comunication for avionicas data
+ // Implement this part here
+ // ...
+ // end
+
+ if (timerHTS221.read_ms() >= 10) { //17
+ if (hum_temp->get_humidity(&data.pkg2.humidity)) { // Get humidity //18
+ data.pkg2.header |= 0x50; // HTS221 updated
+ #ifdef DEBUG_MESSAGE
+ //ser->printf("The humidity data from HTS221 was read\r\n");
+ #endif
+ } else {
+ data.pkg2.header &= 0x60; // HTS221 not updated
+ } // 18
+
+ if (hum_temp->get_temperature(&data.pkg2.temperatureHTS221)== 0) { // Get temperature from HTS221 //19
+ data.pkg2.header |= 0x50; // HTS221 updated
+ #ifdef DEBUG_MESSAGE
+ //ser->printf("The temperature data from HTS221 was read\r\n");
+ #endif
+ } else {
+ data.pkg2.header &= 0x60; // HTS221 not updated
+ } //19
+
+ timerHTS221.reset();
+ }//17
+
+ #ifdef SD_EN
+ data.pkg2.time = timerSD.read_ms();
+ memcpy(&bufferSD[bufferSDCounter], &data, BUFFER_SIZE);
+ bufferSDCounter += BUFFER_SIZE;
+ timerSD.reset();
+ #endif
+ data.pkg2.time = timer2.read_ms();
+ #ifdef DEBUG_MESSAGE
+ //ser->printf(" Transmited = %d\r\n, State = %d", transmited, state);
+ #endif
+ if(transmited){ // Only sends a new packet when the device already have transmited the previous one //20
+ transmited = false;
+ Radio->Send( &data, BUFFER_SIZE );
+ #ifdef DEBUG_MESSAGE
+ //ser->printf(" Transmited = true, State = %d\r\n", state);
+ 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);
+ #endif
+ state = 2;
+ }//20
+ }//16
- if (transmited==true) {
- transmited = false;
- wait_ms(10);
- Radio->Send( &dados, sizeof(dados) );
- }
- }
+ else if(state == 2){//21
+ data.pkg3.header = 0x80;
+ data.pkg3.time = 0;
+ data.pkg3.timeOfWeek = 0;
+ data.pkg3.timeOfWeekFracPart = 0;
+ data.pkg3.gpsFix = 0;
+ data.pkg3.ecefx = 0;
+ data.pkg3.ecefy = 0;
+ data.pkg3.ecefz = 0;
+ data.pkg3.positionAcc3D = 0;
+ data.pkg3.ecefvx = 0;
+ data.pkg3.ecefvy = 0;
+ data.pkg3.ecefvz = 0;
+ data.pkg3.speedAcc = 0;
+ data.pkg3.numbSat = 0;
+
+ if (timerGPS.read_ms() >= 10) {//22
+ #ifdef GPS_EN
+ if (gps.readable()) {//23
+ if (gps.ready()) {//24
+ data.pkg3.ecefx = gps.ecefX;
+ data.pkg3.ecefy = gps.ecefY;
+ data.pkg3.ecefz = gps.ecefZ;
+ data.pkg3.ecefvx = gps.ecefVX;
+ data.pkg3.ecefvy = gps.ecefVY;
+ data.pkg3.ecefvz = gps.ecefVZ;
+ data.pkg3.timeOfWeek = gps.iTOW;
+ data.pkg3.timeOfWeekFracPart = gps.fTOW;
+ data.pkg3.positionAcc3D = gps.pAcc;
+ data.pkg3.speedAcc = gps.sAcc;
+ data.pkg3.numbSat = gps.numSV;
+ data.pkg3.gpsFix = gps.gpsFix;
+ data.pkg3.header |= 0xA0; // GPS updated
+ #ifdef DEBUG_MESSAGE
+ //ser->printf("The GPS data was read\r\n");
+ #endif
+ } else {
+ data.pkg3.header &= 0x80; // GPS not updated
+ }//24
+ }//23
+ #endif
+
+ timerGPS.reset();
+ }//22
+ #ifdef SD_EN
+ data.pkg3.time = timerSD.read_ms();
+ memcpy(&bufferSD[bufferSDCounter], &data, BUFFER_SIZE);
+ bufferSDCounter += BUFFER_SIZE;
+ timerSD.reset();
+ #endif
+ data.pkg3.time = timer2.read_ms();
+ if(transmited){ // Only sends a new packet when the device already have transmited the previous one //25
+ transmited = false;
+ Radio->Send( &data, BUFFER_SIZE );
+ #ifdef DEBUG_MESSAGE
+ //ser->printf(" Transmited = true, State = %d\r\n", state);
+ 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);
+ #endif
+ state = 0;
+ }//25
+ }//21
+
+ #ifdef SD_EN
+ if(bufferSDCounter >= 511){ // When the bufferSD is full, save the informations //26
+ while(sdCard.write(&sdData[0],block) == 0);
+ block ++;
+ }//26
+ #endif
+
+ #ifdef DEBUG_MESSAGE
+ //ser->printf(" Fim do loop\r\n");
+ #endif
+
+
+ }//1
+ //----------------> Ending the main loop <----------------
}
void SystemClock_Config(void)
@@ -278,44 +696,63 @@
#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);
- }
+ #ifdef DEBUG_MESSAGE
+ ser->printf("> OnTxDone\r\n");
+ //if(state == 0){
+ //ser->printf("Package transmited: %d\r\n", pkg3.header >> 6);
+ //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", pkg3.header, pkg3.time, pkg3.timeOfWeek, pkg3.timeOfWeekFracPart, pkg3.gpsFix, pkg3.ecefx, pkg3.ecefy, pkg3.ecefz, pkg3.positionAcc3D, pkg3.ecefvx, pkg3.ecefvy, pkg3.ecefvz, pkg3.speedAcc, pkg3.numbSat);
+ //}
+ //else if(state == 1){
+ //ser->printf("Package transmited: %d\r\n", pkg1.header >> 6);
+ //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", 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]);
+ //}
+ //else if(state == 2){
+ //ser->printf("Package transmited: %d\r\n", pkg2.header >> 6);
+ //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", 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);
+ //}
+ #endif
+ timer2.reset();
}
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);
+ #ifdef DEBUG_MESSAGE
+ ser->printf("> OnRxDone: RssiValue=%d dBm, SnrValue=%d\r\n", rssi, snr);
+ #endif
}
void OnTxTimeout(void *radio, void *userThisPtr, void *userData)
{
Radio->Sleep( );
- if(DEBUG_MESSAGE)
- pc.printf("> OnTxTimeout\r\n");
+ #ifdef DEBUG_MESSAGE
+ ser->printf("> OnTxTimeout\r\n");
+ #endif
}
void OnRxTimeout(void *radio, void *userThisPtr, void *userData)
{
Radio->Sleep( );
- if (DEBUG_MESSAGE)
- pc.printf("> OnRxTimeout\r\n");
+ #ifdef DEBUG_MESSAGE
+ ser->printf("> OnRxTimeout\r\n");
+ #endif
}
void OnRxError(void *radio, void *userThisPtr, void *userData)
{
Radio->Sleep( );
- if (DEBUG_MESSAGE)
- pc.printf("> OnRxError\r\n");
+ #ifdef DEBUG_MESSAGE
+ ser->printf("> OnRxError\r\n");
+ #endif
}