Diff: main.cpp

Revision:

6:70d0218c2a28

Parent:

5:0be85f1bdb35

Child:

7:870aba638c02

--- a/main.cpp	Wed Apr 26 17:57:55 2017 +0000
+++ b/main.cpp	Tue Sep 29 17:39:26 2020 +0000
@@ -1,21 +1,343 @@
 #include "stm32f103c8t6.h"
 #include "mbed.h"
-#include "USBSerial.h"
+#include "DS1820.h"
+#include "MLX90614.h"
+#include "config.h"
+#include "ATCmdParser.h"
+#include "UARTSerial.h"
+#include "Watchdog.h"
+
+Watchdog wd;
+
+DigitalOut  myled(PC_13);
+
+//SIM7000
+UARTSerial *_serial;
+ATCmdParser *_parser;
+
+//Termometers
+OneWire oneWire(PIN_ONEWIRE);
+const int SENSORS_COUNT = 10;
+DS1820* ds1820[SENSORS_COUNT];
+int sensors_found = 0;
+const char sensorsOrder[]={4,2,5,8,0,3,6,1,9,7};
+float stickTemperatures[SENSORS_COUNT];
+
+int i=0;
+
+//IR termometer
+I2C i2c(PIN_SDA, PIN_SCL);   //sda,scl
+MLX90614 thermometer(&i2c);
+float IRtemp;
 
-DigitalOut  myled(LED1);
+#if DEBUG_PC
+Serial pc(PIN_TX, PIN_RX); // TX, RX
+#endif
+
+int index;
+char bufferString[2048];
+
+int h_time, m_time, s_time;
+int fq, nst, fix, date;                                     // fix quality, Number of satellites being tracked, 3D fix
+float latitude, longitude, timefix, speed, altitude;
+
+char state=STATE_INIT;
+int sleepTimer=0;
+int fixTries=0;
 
-int main() {
-    confSysClock();     //Configure system clock (72MHz HSE clock, 48MHz USB clock)
+void parseTime (float timeval)
+{
+    //format utc time to beijing time,add 8 time zone
+                float time = timeval + 80000.00f;
+                h_time = int(time) / 10000;
+                m_time = (int(time) % 10000) / 100;
+                s_time = int(time) % 100;
+}
+
+/* 
+ * NMEA sentences:  https://www.gpsinformation.org/dale/nmea.htm#nmea
+ *                  http://navspark.mybigcommerce.com/content/NMEA_Format_v0.1.pdf
+ */
+void nmea_parse(char *cmd)
+{   
+    char ns, ew, tf, status;
+    
     
-    Serial    pc(PA_2, PA_3);
-    //USBSerial usbSerial;  // connection must be blocked when USB is not plugged in
-    USBSerial usbSerial(0x1f00, 0x2012, 0x0001,  false);    // connection is not blocked when USB is not plugged in
+    // Global Positioning System Fix Data
+    if(strncmp(cmd,"$GPGGA", 6) == 0) 
+    {
+        sscanf(cmd, "$GPGGA,%f,%f,%c,%f,%c,%d,%d,%*f,%f", &timefix, &latitude, &ns, &longitude, &ew, &fq, &nst, &altitude);
+        #if DEBUG_PC
+        pc.printf("GPGGA Fix taken at: %f, Latitude: %f %c, Longitude: %f %c, Fix quality: %d, Number of sat: %d, Altitude: %f M\n", timefix, latitude, ns, longitude, ew, fq, nst, altitude);
+        #endif
+    }
+    
+    // Satellite status
+     else if(strncmp(cmd,"$GPGSA", 6) == 0) 
+    {
+        sscanf(cmd, "$GPGSA,%c,%d,%d", &tf, &fix, &nst);
+        #if DEBUG_PC
+        pc.printf("GPGSA Type fix: %c, 3D fix: %d, number of sat: %d\r\n", tf, fix, nst);
+        #endif
+    }
+    
+    // Geographic position, Latitude and Longitude
+    else if(strncmp(cmd,"$GPGLL", 6) == 0) 
+    {
+        sscanf(cmd, "$GPGLL,%f,%c,%f,%c,%f", &latitude, &ns, &longitude, &ew, &timefix);
+        #if DEBUG_PC
+        pc.printf("GPGLL Latitude: %f %c, Longitude: %f %c, Fix taken at: %f\n", latitude, ns, longitude, ew, timefix);
+        #endif
+    }
+    
+    // Geographic position, Latitude and Longitude
+    else if(strncmp(cmd,"$GPRMC", 6) == 0) 
+    {
+        sscanf(cmd, "$GPRMC,%f,%c,%f,%c,%f,%c,%f,,%d", &timefix, &status, &latitude, &ns, &longitude, &ew, &speed, &date);
+        #if DEBUG_PC
+        pc.printf("GPRMC Fix taken at: %f, Status: %c, Latitude: %f %c, Longitude: %f %c, Speed: %f, Date: %d\n", timefix, status, latitude, ns, longitude, ew, speed, date);
+        #endif
+    }
     
-    while(1) {
-        myled = !myled;
-        pc.printf("I am a serial port\r\n");            // 9600 bit/s
-        usbSerial.printf("I am a USB serial port\r\n"); // 12 Mbit/s (USB full-speed)
-        wait_ms(1000);
+    // 
+    else if(strncmp(cmd,"$GNVTG", 6) == 0) 
+    {
+     //   pc.printf("its a Vector Track message.\n");
+    }
+    
+    else if(strncmp(cmd,"$GNGGA", 6) == 0) 
+    {
+        sscanf(cmd, "$GNGGA,%f,%f,%c,%f,%c,%d,%d,%*f,%f", &timefix, &latitude, &ns, &longitude, &ew, &fq, &nst, &altitude);
+        parseTime(timefix);
+        #if DEBUG_PC
+        pc.printf("GNGGA Fix taken at: %f, Latitude: %f %c, Longitude: %f %c, Fix quality: %d, Number of sat: %d, Altitude: %f M\n", timefix, latitude, ns, longitude, ew, fq, nst, altitude);
+        pc.printf("Time: %d:%d:%d\n", h_time, m_time, s_time);
+        #endif
+    }
+    
+    else if(strncmp(cmd,"$GNGSA", 6) == 0) 
+    {
+        sscanf(cmd, "$GNGSA,%c,%d,%d", &tf, &fix, &nst);
+        #if DEBUG_PC
+        pc.printf("GNGSA Type fix: %c, 3D fix: %d, number of sat: %d\r\n", tf, fix, nst);
+        #endif
+    }
+    
+    else if(strncmp(cmd,"$GPGSV", 6) == 0) 
+    {
+     //   pc.printf("its a Satellite details message.\n");
+    }
+    
+    else if(strncmp(cmd,"$GNGLL", 6) == 0) 
+    {
+        sscanf(cmd, "$GNGLL,%f,%c,%f,%c,%f", &latitude, &ns, &longitude, &ew, &timefix);
+        #if DEBUG_PC
+        pc.printf("GNGLL Latitude: %f %c, Longitude: %f %c, Fix taken at: %f\n", latitude, ns, longitude, ew, timefix);
+        #endif
+    }
+    
+    else
+    {
+   //     pc.printf("Unknown message type\n");
     }
 }
 
+bool checkIfOk() {
+    if(_parser->recv("OK")) {
+        #if DEBUG_PC
+        pc.printf("Done\r\n");
+        #endif
+        
+        return true;
+    } else {
+        #if DEBUG_PC
+        pc.printf("Fail\r\n");
+        #endif
+        
+        return false;
+    }       
+}
+
+bool enableGPS(bool powerUp) {
+    pc.printf("Powering GPS:");
+    if(powerUp){
+        _parser->send("AT+CGNSPWR=1"); //GPS power on
+    } else {
+        _parser->send("AT+CGNSPWR=0"); //GPS power off
+    }
+    
+    return checkIfOk();    
+}
+
+bool setSatSystems(){
+pc.printf("Setting sats:");
+    _parser->send("AT+CGNSMOD=1,1,1,1");
+    return checkIfOk();    
+}
+
+bool getGPS() {
+    _parser->send("AT+CGNSTST=1,1");
+    if(_parser->recv("OK")) {
+        int nmeaStrLen=_parser->read(bufferString, 2048);
+        
+        char *curLine = bufferString;
+        while(curLine)
+        {
+          char *nextLine = strchr(curLine, '\n');
+          if (nextLine) *nextLine = '\0';  // temporarily terminate the current line
+          if(curLine[0]=='$'){
+           nmea_parse(curLine);
+           #if DEBUG_PC
+           pc.printf("curLine=[%s]\n", curLine);
+           #endif
+          }
+          if (nextLine) *nextLine = '\n';  // then restore newline-char, just to be tidy    
+          curLine = nextLine ? (nextLine+1) : NULL;
+        }
+        return fix>0;
+    }    
+    return false;
+}
+
+int main() {
+    confSysClock();     //Configure system clock (72MHz HSE clock, 48MHz USB clock)  
+    
+    myled = 1;
+    
+    #if DEBUG_PC
+    pc.baud(115200);
+    pc.printf("Starting\r\n");
+    if (wd.WatchdogCausedReset())
+        pc.printf("Watchdog caused reset.\r\n");
+    
+    #endif
+    
+    wd.Configure(WATCHDOG_INTERVAL_S);       // sets the timeout interval
+    
+    //Initiate SIM7000 SERIAL
+    _serial = new UARTSerial(PIN_SIM_TX, PIN_SIM_RX, 115200);
+    _parser = new ATCmdParser(_serial);
+    _parser->debug_on( DEBUG_SIM );
+    _parser->set_delimiter( "\r\n" );
+    _parser->set_timeout (1000*60);
+    wait(0.5);
+    
+    enableGPS(0);
+    setSatSystems();
+    
+    //Initiate termal stick
+    for(i = 0; i < SENSORS_COUNT; i++) {
+          ds1820[i] = new DS1820(&oneWire);
+          if(!ds1820[i]->begin()) {
+              delete ds1820[i];
+              break;
+          }
+    }
+    
+    sensors_found = i;
+    #if DEBUG_PC
+    pc.printf("Found %d sensors\r\n",sensors_found);
+    if (sensors_found==0)
+          pc.printf("No devices found");
+    #endif
+    
+    //Feed the watchdog
+    wd.Service();
+    state=STATE_STARTING_GPS;
+    
+    while(1) {
+        if (state==STATE_STARTING_GPS){
+            #if DEBUG_PC
+            pc.printf("STATE=STARTING GPS\n");
+            #endif
+            enableGPS(1);
+            state=STATE_WAITING_FIX;
+            fixTries=0;
+            wd.Service();
+            wait(FIX_CHECK_TIME_S);
+        } else if(state==STATE_WAITING_FIX) {
+            pc.printf("STATE=WAITNG FIX\n");
+            if(getGPS()){
+                enableGPS(0);
+                state=STATE_COLLECTING_TELEMETRY; 
+            } else {
+                fixTries++;
+                if (fixTries>FIX_MAX_TRIES) {
+                    //fix not achieved in given tries, send as is
+                    enableGPS(0);
+                    state=STATE_COLLECTING_TELEMETRY;
+                } else {
+                    wd.Service();
+                    wait(FIX_CHECK_TIME_S);
+                }
+            }
+        } else if(state==STATE_COLLECTING_TELEMETRY) {
+            pc.printf("STATE=COLLECTING TELEMETRY\n");
+            for(i=0;i<SENSORS_COUNT;i++){
+                if(sensorsOrder[i]<sensors_found){
+                    ds1820[sensorsOrder[i]]->startConversion();
+                }    
+            }
+            wait(1.0);
+            for(i=0;i<SENSORS_COUNT;i++){
+                if(sensorsOrder[i]<sensors_found){
+                    if(ds1820[sensorsOrder[i]]->isPresent()){
+                        stickTemperatures[i]=ds1820[i]->read();
+                    } else {
+                        stickTemperatures[i]=-273.f; // Sensor is offline
+                    }
+                }
+            }
+        
+            IRtemp=thermometer.read_temp(1);
+            
+            
+            //Form JSON as {"tempIR":1,"temps":[1,...,10],"latitude":37,"longitude":51,"altitude":21,"validGeo":true}
+            
+            
+            snprintf(bufferString,2048,"{\"tempIR\":%f,\"latitude\":%f,\"longitude\":%f,\"altitude\":%f,\"validGeo\":%s,", IRtemp, latitude, longitude, altitude, fix ? "true" : "false");
+            
+            index = strlen(bufferString);
+            
+            for(i=0;i<SENSORS_COUNT;i++){
+                index += snprintf(&str[index], 128-index, "%f", stickTemperatures[i]);
+            }
+            
+            
+            state=STATE_SENDING_TELEMETRY;
+        } else if(state==STATE_SENDING_TELEMETRY){
+            #if DEBUG_PC
+            pc.printf(bufferString);
+            #endif
+            
+            state=STATE_SLEEPING;
+        } else if(state==STATE_SLEEPING){
+            wd.Service();
+            sleepTimer+=SLEEP_CHECK_TIME;
+            
+            if(sleepTimer>SLEEP_TIME_S){
+                state=STATE_STARTING_GPS;
+                sleepTimer=0;
+            } else {
+               wait(SLEEP_CHECK_TIME);  
+            }
+            
+        }
+        
+        
+        
+        wd.Service();
+        
+        #if DEBUG_PC
+            for(i=0;i<SENSORS_COUNT;i++){
+                pc.printf("temp[%d] = %3.1f C\r\n", i, stickTemperatures[i]);     // read temperature    
+            }
+            pc.printf("Temperature : %4.2f C2\r\n",IRtemp);
+        #endif
+
+        //Feed the watchdog
+        wd.Service();
+        wait(0.5);
+    }
+}
+