main.cpp

00001 /* Includes */
00002 #include "mbed.h" /* Mbed include */
00003 
00004 #include "XNucleoIKS01A2.h" /* Sensors include*/
00005 
00006 /* LoRa includes */
00007 #include "PinMap.h" 
00008 #include "sx1276-mbed-hal.h" 
00009 
00010 /* Serial communication include */
00011 #include "BufferedSerial.h"
00012 
00013 /* LoRa definitions */
00014 
00015 /* Set this flag to '1' to display debug messages on the console */
00016 #define DEBUG_MESSAGE   1
00017 
00018 /* Set this flag to '1' to use the LoRa modulation or to '0' to use FSK modulation */
00019 #define USE_MODEM_LORA  1
00020 #define USE_MODEM_FSK   !USE_MODEM_LORA
00021 #define RF_FREQUENCY            RF_FREQUENCY_915_0  // Hz
00022 #define TX_OUTPUT_POWER         14                  // 14 dBm
00023 
00024 #if USE_MODEM_LORA == 1
00025 
00026 #define LORA_BANDWIDTH          125000  // LoRa default, details in SX1276::BandwidthMap
00027 #define LORA_SPREADING_FACTOR   LORA_SF7
00028 #define LORA_CODINGRATE         LORA_ERROR_CODING_RATE_4_5
00029 
00030 #define LORA_PREAMBLE_LENGTH    8       // Same for Tx and Rx
00031 #define LORA_SYMBOL_TIMEOUT     5       // Symbols
00032 #define LORA_FIX_LENGTH_PAYLOAD_ON  false
00033 #define LORA_FHSS_ENABLED       false  
00034 #define LORA_NB_SYMB_HOP        4     
00035 #define LORA_IQ_INVERSION_ON    false
00036 #define LORA_CRC_ENABLED        true
00037     
00038 #endif 
00039 
00040 
00041 #define RX_TIMEOUT_VALUE    0       // In ms
00042 #define TX_TIMEOUT_VALUE    1000000 // In ms
00043 
00044 //#define BUFFER_SIZE       32        // Define the payload size here
00045 #define BUFFER_SIZE         64        // Define the payload size here
00046 
00047 /* Sensors instances */
00048 
00049 /* Instantiate the expansion board */
00050 static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5);
00051 
00052 /* Retrieve the composing elements of the expansion board */
00053 static LSM303AGRMagSensor *magnetometer = mems_expansion_board->magnetometer;
00054 static HTS221Sensor *hum_temp = mems_expansion_board->ht_sensor;
00055 static LPS22HBSensor *press_temp = mems_expansion_board->pt_sensor;
00056 static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro;
00057 static LSM303AGRAccSensor *accelerometer = mems_expansion_board->accelerometer;
00058 
00059 typedef struct {
00060             float p; // Pressure
00061             float temperatureHTS221; // Temperature from HTS221
00062             float humidity; // Humidity
00063             float temperatureLPS22HB; // Temperature from LPS22HB
00064             int32_t w[3]; // Angular velocity
00065             int32_t a[3]; // Acceleration of the accelerometer LSM303AGR
00066             int32_t ag[3]; // Acceleration of the accelerometer and gyroscope LSM6DSL 
00067             int32_t m [3]; // Heading 
00068 }Data; // Data struct
00069         
00070 Data data;
00071 
00072 /* LoRa modem instances and configurations */
00073 
00074 static RadioEvents_t RadioEvents; // Calback functions struct
00075 
00076 SX1276Generic *Radio; // Defenition of a Radio object
00077 
00078 /* Configuration function */
00079 void SystemClock_Config(void);
00080 
00081 bool transmited = true;// Flag to indicate the and of transmission
00082 
00083 /* Callback functions prototypes */
00084 
00085 // Brief Function to be executed on Radio Tx Done event
00086 void OnTxDone(void *radio, void *userThisPtr, void *userData);
00087 
00088 // Brief Function to be executed on Radio Rx Done event
00089 void OnRxDone(void *radio, void *userThisPtr, void *userData, uint8_t *payload, uint16_t size, int16_t rssi, int8_t snr );
00090 
00091 // Brief Function executed on Radio Tx Timeout event
00092 void OnTxTimeout(void *radio, void *userThisPtr, void *userData);
00093 
00094 // Brief Function executed on Radio Rx Timeout event
00095 void OnRxTimeout(void *radio, void *userThisPtr, void *userData);
00096 
00097 // Brief Function executed on Radio Rx Error event
00098 void OnRxError(void *radio, void *userThisPtr, void *userData);
00099 
00100 // Brief Function executed on Radio Fhss Change Channel event
00101 void OnFhssChangeChannel(void *radio, void *userThisPtr, void *userData, uint8_t channelIndex);
00102 
00103 /* Serial communication to debug program */
00104 BufferedSerial *ser;
00105 
00106 int main() {
00107     SystemClock_Config(); /* Synchronize clock for TX and RX boards*/
00108     
00109     /* Serial configuration */
00110     if (DEBUG_MESSAGE) {
00111         ser = new BufferedSerial(USBTX, USBRX);
00112         ser->baud(115200);
00113         ser->format(8);
00114     }
00115         
00116     /* General Header*/
00117     if (DEBUG_MESSAGE)
00118         ser->printf("Telemetry Rx inicial version program\r\n\r\n");
00119     
00120     uint8_t id; //Sensor id parameter for debug purpose
00121     
00122     /* Enable all sensors */
00123     hum_temp->enable();
00124     press_temp->enable();
00125     magnetometer->enable();
00126     accelerometer->enable();
00127     acc_gyro->enable_x();
00128     acc_gyro->enable_g();
00129     
00130     if (DEBUG_MESSAGE) {  
00131         ser->printf("\r\n--- Starting the sensors ---\r\n");
00132         
00133         hum_temp->read_id(&id);
00134         ser->printf("HTS221  humidity & temperature    = 0x%X\r\n", id);
00135         press_temp->read_id(&id);
00136         ser->printf("LPS22HB  pressure & temperature   = 0x%X\r\n", id);
00137         magnetometer->read_id(&id);
00138         ser->printf("LSM303AGR magnetometer            = 0x%X\r\n", id);
00139         accelerometer->read_id(&id);
00140         ser->printf("LSM303AGR accelerometer           = 0x%X\r\n", id);
00141         acc_gyro->read_id(&id);
00142         ser->printf("LSM6DSL accelerometer & gyroscope = 0x%X\r\n", id);
00143         
00144         ser->printf("\r\n");
00145     }
00146     /* Radio setup */
00147     if (DEBUG_MESSAGE)
00148         ser->printf("\r\n--- Starting the modem LoRa ---\r\n");
00149     
00150     Radio = new SX1276Generic(NULL, MURATA_SX1276,
00151             LORA_SPI_MOSI, LORA_SPI_MISO, LORA_SPI_SCLK, LORA_CS, LORA_RESET,
00152             LORA_DIO0, LORA_DIO1, LORA_DIO2, LORA_DIO3, LORA_DIO4, LORA_DIO5,
00153             LORA_ANT_RX, LORA_ANT_TX, LORA_ANT_BOOST, LORA_TCXO);
00154     if (DEBUG_MESSAGE) {
00155         ser->printf("SX1276 Simple transmission aplication\r\n" );
00156         ser->printf("Frequency: %.1f\r\n", (double)RF_FREQUENCY/1000000.0);
00157         ser->printf("TXPower: %d dBm\r\n",  TX_OUTPUT_POWER);
00158         ser->printf("Bandwidth: %d Hz\r\n", LORA_BANDWIDTH);
00159         ser->printf("Spreading factor: SF%d\r\n", LORA_SPREADING_FACTOR);
00160     }
00161     // Initialize Radio driver
00162     RadioEvents.TxDone = OnTxDone;
00163     RadioEvents.RxDone = OnRxDone;
00164     RadioEvents.RxError = OnRxError;
00165     RadioEvents.TxTimeout = OnTxTimeout;
00166     RadioEvents.RxTimeout = OnRxTimeout; 
00167     
00168     while (Radio->Init( &RadioEvents ) == false) {
00169         if (DEBUG_MESSAGE)
00170             ser->printf("Radio could not be detected!\r\n");
00171         wait( 1 );
00172     }
00173     
00174     // Display the board type
00175     switch(Radio->DetectBoardType()) {
00176         case SX1276MB1LAS:
00177             if (DEBUG_MESSAGE)
00178                 ser->printf(" > Board Type: SX1276MB1LAS <\r\n");
00179             break;
00180         case SX1276MB1MAS:
00181             if (DEBUG_MESSAGE)
00182                 ser->printf(" > Board Type: SX1276MB1LAS <\r\n");
00183         case MURATA_SX1276:
00184             if (DEBUG_MESSAGE)
00185                 ser->printf(" > Board Type: MURATA_SX1276_STM32L0 <\r\n");
00186             break;
00187         case RFM95_SX1276:
00188             if (DEBUG_MESSAGE)
00189                 ser->printf(" > HopeRF RFM95xx <\r\n");
00190             break;
00191         default:
00192             if (DEBUG_MESSAGE)
00193                 ser->printf(" > Board Type: unknown <\r\n");
00194     }
00195     
00196     Radio->SetChannel(RF_FREQUENCY ); // Sets the frequency of the communication
00197     
00198     // Debug message of the state of fhss
00199     if (LORA_FHSS_ENABLED) {
00200         if (DEBUG_MESSAGE)
00201             ser->printf("             > LORA FHSS Mode <\r\n");
00202     }    
00203     if (!LORA_FHSS_ENABLED) {
00204         if (DEBUG_MESSAGE)
00205             ser->printf("             > LORA Mode <\r\n");
00206     }
00207     
00208     // Sets the configuration of the transmission    
00209     Radio->SetTxConfig( MODEM_LORA, TX_OUTPUT_POWER, 0, LORA_BANDWIDTH,
00210                          LORA_SPREADING_FACTOR, LORA_CODINGRATE,
00211                          LORA_PREAMBLE_LENGTH, LORA_FIX_LENGTH_PAYLOAD_ON,
00212                          LORA_CRC_ENABLED, LORA_FHSS_ENABLED, LORA_NB_SYMB_HOP, 
00213                          LORA_IQ_INVERSION_ON, 2000 );
00214     
00215     // Sets the configuration of the reception
00216     Radio->SetRxConfig( MODEM_LORA, LORA_BANDWIDTH, LORA_SPREADING_FACTOR,
00217                          LORA_CODINGRATE, 0, LORA_PREAMBLE_LENGTH,
00218                          LORA_SYMBOL_TIMEOUT, LORA_FIX_LENGTH_PAYLOAD_ON, 0,
00219                          LORA_CRC_ENABLED, LORA_FHSS_ENABLED, LORA_NB_SYMB_HOP, 
00220                          LORA_IQ_INVERSION_ON, true );
00221       
00222     Radio->Tx(TX_TIMEOUT_VALUE); // Puts the device in transmission mode for a long period
00223     
00224     while(1) {   
00225     
00226         press_temp->get_pressure(&data.p); // Get the pressure
00227         press_temp->get_temperature(&data.temperatureLPS22HB); // Get temperature from LPS22HB
00228         accelerometer->get_x_axes(data.a);// Get the acceleration
00229         acc_gyro->get_x_axes(data.ag);// Get the acceleration
00230         acc_gyro->get_g_axes(data.w);// Get the angular velocity
00231         magnetometer->get_m_axes(data.m); // Get the magnetometer heading
00232         hum_temp->get_temperature(&data.temperatureHTS221); // Get temperature from HTS221
00233         hum_temp->get_humidity(&data.humidity); // Get humidity
00234         
00235         // Only sends a new packet when the device already have transmited the previous one 
00236         if (transmited==true) {
00237             transmited = false;
00238             wait_ms(10);
00239             Radio->Send( &data, sizeof(data) );
00240         }
00241     }
00242 }
00243 
00244 void SystemClock_Config(void)
00245 {
00246 #ifdef B_L072Z_LRWAN1_LORA
00247     /* 
00248      * The L072Z_LRWAN1_LORA clock setup is somewhat differnt from the Nucleo board.
00249      * It has no LSE.
00250      */
00251     RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
00252     RCC_OscInitTypeDef RCC_OscInitStruct = {0};
00253 
00254     /* Enable HSE Oscillator and Activate PLL with HSE as source */
00255     RCC_OscInitStruct.OscillatorType      = RCC_OSCILLATORTYPE_HSI;
00256     RCC_OscInitStruct.HSEState            = RCC_HSE_OFF;
00257     RCC_OscInitStruct.HSIState            = RCC_HSI_ON;
00258     RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
00259     RCC_OscInitStruct.PLL.PLLState        = RCC_PLL_ON;
00260     RCC_OscInitStruct.PLL.PLLSource       = RCC_PLLSOURCE_HSI;
00261     RCC_OscInitStruct.PLL.PLLMUL          = RCC_PLLMUL_6;
00262     RCC_OscInitStruct.PLL.PLLDIV          = RCC_PLLDIV_3;
00263 
00264     if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
00265         // Error_Handler();
00266     }
00267 
00268     /* Set Voltage scale1 as MCU will run at 32MHz */
00269     __HAL_RCC_PWR_CLK_ENABLE();
00270     __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
00271 
00272     /* Poll VOSF bit of in PWR_CSR. Wait until it is reset to 0 */
00273     while (__HAL_PWR_GET_FLAG(PWR_FLAG_VOS) != RESET) {};
00274 
00275     /* Select PLL as system clock source and configure the HCLK, PCLK1 and PCLK2
00276     clocks dividers */
00277     RCC_ClkInitStruct.ClockType = (RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2);
00278     RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
00279     RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
00280     RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
00281     RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
00282     if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK) {
00283         // Error_Handler();
00284     }
00285 #endif
00286 }
00287 
00288 /* Helper function for printing floats & doubles */
00289 
00290 
00291 void OnTxDone(void *radio, void *userThisPtr, void *userData)
00292 {   
00293     Radio->Sleep( );
00294     transmited = true;
00295     if (DEBUG_MESSAGE) {
00296         ser->printf("> OnTxDone\r\n");
00297         ser->printf("I transmited %d mg, %d mg, %d mg, %d mg, %d mg, %d mg, %d mdps, %d mdps, %d mdps\r\n", data.a[0], data.a[1], data.a[2], data.ag[0], data.ag[1], data.ag[2], data.w[0], data.w[1], data.w[2]);
00298         ser->printf("and %d mG, %d mG, %d mG, %g %%, %g C, %g C, %g mBar\r\n", data.m[0], data.m[1], data.m[2], data.humidity, data.temperatureHTS221, data.temperatureLPS22HB, data.p);
00299     }    
00300 }
00301 
00302 void OnRxDone(void *radio, void *userThisPtr, void *userData, uint8_t *payload, uint16_t size, int16_t rssi, int8_t snr)
00303 {
00304     Radio->Sleep( );
00305     if (DEBUG_MESSAGE)
00306         ser->printf("> OnRxDone: RssiValue=%d dBm, SnrValue=%d\r\n", rssi, snr);
00307 }
00308 
00309 void OnTxTimeout(void *radio, void *userThisPtr, void *userData)
00310 {
00311     Radio->Sleep( );
00312     if(DEBUG_MESSAGE)
00313         ser->printf("> OnTxTimeout\r\n");
00314 }
00315 
00316 void OnRxTimeout(void *radio, void *userThisPtr, void *userData)
00317 {
00318     Radio->Sleep( );
00319     if (DEBUG_MESSAGE)
00320         ser->printf("> OnRxTimeout\r\n");
00321 }
00322 
00323 void OnRxError(void *radio, void *userThisPtr, void *userData)
00324 {
00325     Radio->Sleep( );
00326     if (DEBUG_MESSAGE)
00327         ser->printf("> OnRxError\r\n");
00328 }