File content as of revision 0:674f1e460248:

#/* Includes */
#include "mbed.h" /* Mbed include */

/* Lora includes */
#include "PinMap.h"
#include "sx1276-mbed-hal.h"

/* Serial communication include */
#include "BufferedSerial.h"

/* SD card includes */
#include "SDCard_Y.hh"

/* Set this flag to display debug messages on the console */
#define DEBUG_MESSAGE   


/* Definition of the SD card */
#define SPI_FREQUENCY 1000000

/* Definition of the SD card */
//#define SD_EN

/* LoRa definitions */

/* Set this flag to display debug messages on the console */
#define DEBUG_MESSAGE

/* 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                  // 20 dBm

#if USE_MODEM_LORA == 1

#define LORA_BANDWIDTH          125000  // LoRa default, details in SX1276::BandwidthMap
#define LORA_SPREADING_FACTOR   LORA_SF7
#define LORA_CODINGRATE         LORA_ERROR_CODING_RATE_4_5

#define LORA_PREAMBLE_LENGTH    8       // Same for Tx and Rx
#define LORA_SYMBOL_TIMEOUT     5       // Symbols
#define LORA_FIX_LENGTH_PAYLOAD_ON  false
#define LORA_FHSS_ENABLED       false  
#define LORA_NB_SYMB_HOP        4     
#define LORA_IQ_INVERSION_ON    false
#define LORA_CRC_ENABLED        true
    
#endif 


#define RX_TIMEOUT_VALUE    0       // In ms
#define TX_TIMEOUT_VALUE    1000000 // In ms

typedef struct {
    /* Header for identification of updated informations */
    bool header [8];
    int time; // Time between transmissions
    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
    float p;  // Pressure of LPS22HB
    float temperatureLPS22HB; // Temperature from LPS22HB
    float humidity; // Humidity of HTS221 
    float temperatureHTS221; // Temperature from HTS221
    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
    bool drogueStatus; // Drogue parachute status provided by Avionics
    bool mainStatus; //Main parachute status provided by Avionics
    float pressureBar; // Pressure by COTS Altimeter
    float temperature; // Temperature by COTS Altimeter
    bool mainStatusCOTS; // Main parachute status provided by COTS Altimeter
    bool drogueStatusCOTS; // Drogue status provided 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
}Data; // Data struct

Data data;

/* LoRa modem instances and configurations */

static RadioEvents_t RadioEvents; // Calback functions struct

SX1276Generic *Radio; // Definition of a Radio object

/* Configuration function */
void SystemClock_Config(void);

bool received = false; // Flag to indicate the end of reception


/* 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);

#ifdef DEBUG_MESSAGE
/* Serial communication to debug program */
BufferedSerial *ser;
#endif

int main() {
    data.header [0] = 0;
    data.header [1] = 0; 
    data.header [2] = 0; 
    data.header [3] = 0; 
    data.header [4] = 0; 
    data.header [5] = 0; 
    data.header [6] = 0; 
    data.header [7] = 0;  
    data.time = 0; 
    data.ag[0] = 0;
    data.ag[1] = 0;
    data.ag[2] = 0;
    data.w[0] = 0;
    data.w[1] = 0;
    data.w[2] = 0;
    data.a[0] = 0;
    data.a[1] = 0;
    data.a[2] = 0;
    data.m [0] = 0;
    data.m [1] = 0;
    data.m [2] = 0;
    data.p = 0;  
    data.temperatureLPS22HB = 0; 
    data.humidity = 0; 
    data.temperatureHTS221 = 0; 
    data.timeOfWeek = 0; 
    data.timeOfWeekFracPart = 0;
    data.gpsFix = 0; 
    data.ecefx = 0; 
    data.ecefy = 0; 
    data.ecefz = 0; 
    data.positionAcc3D = 0; 
    data.ecefvx = 0; 
    data.ecefvy = 0; 
    data.ecefvz = 0; 
    data.speedAcc = 0; 
    data.numbSat = 0; 
    data.drogueStatus = 0; 
    data.mainStatus = 0; 
    data.pressureBar = 0; 
    data.temperature = 0; 
    data.mainStatusCOTS = 0; 
    data.drogueStatusCOTS = 0; 
    data.timeStamp = 0; 
    data.aglAlt = 0; 
    data.battery = 0;
      
    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 Rx inicial version program\r\n\r\n");
    #endif
    
    /* 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);
    #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; 
    
    for (int i = 0; Radio->Init( &RadioEvents ) == false && i < 40; i++) {
        #ifdef DEBUG_MESSAGE
        ser->printf("Radio could not be detected!\r\n");
        #endif
        wait_ms(500);
    }
    
    // Display the board type
    #ifdef DEBUG_MESSAGE
    switch(Radio->DetectBoardType()) {
        case SX1276MB1LAS:
            ser->printf(" > Board Type: SX1276MB1LAS <\r\n");
            break;
        case SX1276MB1MAS:
            ser->printf(" > Board Type: SX1276MB1LAS <\r\n");
            break;
        case MURATA_SX1276:
            ser->printf(" > Board Type: MURATA_SX1276_STM32L0 <\r\n");
            break;
        case RFM95_SX1276:
            ser->printf(" > HopeRF RFM95xx <\r\n");
            break;
        default:
            ser->printf(" > Board Type: unknown <\r\n");
    }
    #endif
    Radio->SetChannel(RF_FREQUENCY ); // Sets the frequency of the communication
    
    // 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 );

    #ifdef SD_EN
    SPI spi (PA_7, PA_6, PA_5);
    spi.frequency (SPI_FREQUENCY);
    SDCard sdCard (&spi, PB_10);
    uint8_t sdData[sizeof(data)];
    int block = 0;
    #endif
    
    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) {
            #ifdef SD_EN    
            // Saving the data on SD Card
            memcpy (sdData, &data, sizeof(data));
            while(sdCard.write(&sdData[0],block) == 0);
            block ++;
            while (sdCard.write (&sdData[64],block) == 0);
            block++;
            while (sdCard.write(&sdData[128],block) == 0);
            block++;
            #endif
            #ifdef DEBUG_MESSAGE
            ser->printf("I received %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]);
            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);
            ser->printf("and time - %d ms, time of the week - %d ms, time of week frac part - %d ns\r\n",data.time, data.timeOfWeek, data.timeOfWeekFracPart);
            ser->printf("and GPS fix %c, ECEFX %d cm, ECEFY %d cm, ECEFZ %d cm\r\n", data.gpsFix, data.ecefx, data.ecefy, data.ecefz);
            ser->printf("and 3D Position accuracy %d cm, ECEFVX %d cm/s, ECEFVY %d cm/s, ECEFVZ %d cm/s, Speed accuracy %d cm/s\r\n", data.positionAcc3D, data.ecefvx, data.ecefvy, data.ecefvz, data.speedAcc);    
            ser->printf("and Number of satelites %x, Drogue Status %x, Main status %x, BMP280 %f bar, temperature %f C\r\n", data.numbSat, data.drogueStatus, data.mainStatus, data.pressureBar, data.temperature);
            ser->printf("Main Status COTS %x, Drogue Status COTS %x, Time Stamp %d s, AGL altitude %d m, Battery voltage %d V\r\n",data.mainStatusCOTS, data.drogueStatusCOTS, data.timeStamp, data.aglAlt, data.battery);
            ser->printf("Header: %d, %d, %d, %d, %d, %d, %d, %d\r\n",data.header[0], data.header[1], data.header[2], data.header[3], data.header[4], data.header[5], data.header[6], data.header[7]);
        #endif    
            received = false;
            Radio->Rx(RX_TIMEOUT_VALUE); 
        }
    }
}


void SystemClock_Config(void)
{
#ifdef B_L072Z_LRWAN1_LORA
    /* 
     * The L072Z_LRWAN1_LORA clock setup is somewhat differnt from the Nucleo board.
     * It has no LSE.
     */
    RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
    RCC_OscInitTypeDef RCC_OscInitStruct = {0};

    /* Enable HSE Oscillator and Activate PLL with HSE as source */
    RCC_OscInitStruct.OscillatorType      = RCC_OSCILLATORTYPE_HSI;
    RCC_OscInitStruct.HSEState            = RCC_HSE_OFF;
    RCC_OscInitStruct.HSIState            = RCC_HSI_ON;
    RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
    RCC_OscInitStruct.PLL.PLLState        = RCC_PLL_ON;
    RCC_OscInitStruct.PLL.PLLSource       = RCC_PLLSOURCE_HSI;
    RCC_OscInitStruct.PLL.PLLMUL          = RCC_PLLMUL_6;
    RCC_OscInitStruct.PLL.PLLDIV          = RCC_PLLDIV_3;

    if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) {
        // Error_Handler();
    }

    /* Set Voltage scale1 as MCU will run at 32MHz */
    __HAL_RCC_PWR_CLK_ENABLE();
    __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);

    /* Poll VOSF bit of in PWR_CSR. Wait until it is reset to 0 */
    while (__HAL_PWR_GET_FLAG(PWR_FLAG_VOS) != RESET) {};

    /* Select PLL as system clock source and configure the HCLK, PCLK1 and PCLK2
    clocks dividers */
    RCC_ClkInitStruct.ClockType = (RCC_CLOCKTYPE_SYSCLK | RCC_CLOCKTYPE_HCLK | RCC_CLOCKTYPE_PCLK1 | RCC_CLOCKTYPE_PCLK2);
    RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
    RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
    RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
    RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
    if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_1) != HAL_OK) {
        // Error_Handler();
    }
#endif
}

void OnTxDone(void *radio, void *userThisPtr, void *userData)
{   
    Radio->Sleep( );
    #ifdef DEBUG_MESSAGE
    ser->printf("> OnTxDone\r\n");
    #endif
}

void OnTxTimeout(void *radio, void *userThisPtr, void *userData)
{
    Radio->Sleep( );
    #ifdef DEBUG_MESSAGE
    ser->printf("> OnTxTimeout\r\n");
    #endif
}

void OnRxTimeout(void *radio, void *userThisPtr, void *userData)
{
    Radio->Sleep( );
    #ifdef DEBUG_MESSAGE
    ser->printf("> OnRxTimeout\r\n");
    #endif
}

void OnRxError(void *radio, void *userThisPtr, void *userData)
{
    Radio->Sleep( );
    received = true;
    #ifdef DEBUG_MESSAGE
    ser->printf("> OnRxError\r\n");
    #endif
}

void OnRxDone(void *radio, void *userThisPtr, void *userData, uint8_t *payload, uint16_t size, int16_t rssi, int8_t snr)
{
    Radio->Sleep( );
    received = true;
    memcpy(&data, payload, sizeof(data));
    /* #ifdef DEBUG_MESSAGE
    ser->printf("> OnRxDone: RssiValue=%d dBm, SnrValue=%d\r\n", rssi, snr);
    ser->printf("I received %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]);
    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);
    ser->printf("and time - %d ms, time of the week - %d ms, time of week frac part - %d ns\r\n",data.time, data.timeOfWeek, data.timeOfWeekFracPart);
    ser->printf("and GPS fix %c, ECEFX %d cm, ECEFY %d cm, ECEFZ %d cm\r\n", data.gpsFix, data.ecefx, data.ecefy, data.ecefz);
    ser->printf("and 3D Position accuracy %d cm, ECEFVX %d cm/s, ECEFVY %d cm/s, ECEFVZ %d cm/s, Speed accuracy %d cm/s\r\n", data.positionAcc3D, data.ecefvx, data.ecefvy, data.ecefvz, data.speedAcc);    
    ser->printf("and Number of satelites %x, Drogue Status %x, Main status %x, BMP280 %f bar, temperature %f C\r\n", data.numbSat, data.drogueStatus, data.mainStatus, data.pressureBar, data.temperature);
    ser->printf("Main Status COTS %x, Drogue Status COTS %x, Time Stamp %d s, AGL altitude %d m, Battery voltage %d V\r\n",data.mainStatusCOTS, data.drogueStatusCOTS, data.timeStamp, data.aglAlt, data.battery);
    ser->printf("Header: %d, %d, %d, %d, %d, %d, %d, %d\r\n",data.header[0], data.header[1], data.header[2], data.header[3], data.header[4], data.header[5], data.header[6], data.header[7]);
    #endif */    
}