Diff: main.cpp

Revision:

61:65744bc8ab55

Parent:

60:c4f9e9202fb4

--- a/main.cpp	Mon Nov 30 19:25:11 2020 +0000
+++ b/main.cpp	Fri Jan 08 20:16:58 2021 +0000
@@ -24,14 +24,14 @@
 //#include "DummySensor.h"
 #include "trace_helper.h"
 #include "lora_radio_helper.h"
-#include "BME280.h"
+//#include "BME280.h"
 
 using namespace events;
 
 // Max payload size can be LORAMAC_PHY_MAXPAYLOAD.
 // This example only communicates with much shorter messages (<30 bytes).
 // If longer messages are used, these buffers must be changed accordingly.
-uint8_t tx_buffer[30];
+uint8_t tx_buffer[256];
 uint8_t rx_buffer[30];
 
 /*
@@ -65,9 +65,9 @@
 /**
  * Sensors Variables
  */
-        uint32_t lux = 0;
-        uint32_t amb = 0;
-        float  sensor_get = 0;
+//        uint32_t lux = 0;
+//        uint32_t amb = 0;
+//        float  sensor_get = 0;
 
 /**
 * This event queue is the global event queue for both the
@@ -102,9 +102,121 @@
  
 mbed::DigitalOut _alive_led(P1_13, 0);
 mbed::DigitalOut _actuated_led(P1_14,1);
+int lat=0;
+int lon=0;
+int latitude=0;
+int longitude=0;
+
+
+//Temperature, Pressure, Humidity Sensor
+#include "BME280.txt"
+#include "BMX160.txt"
+#include "gps.txt"
+
+void BMX160Read (void)
+{    
+    /*Le os Registradores do Acelerometro*/
+        i2c_reg_buffer[0] = 0x12;
+        i2c.write(BMI160_ADDR, i2c_reg_buffer, 1, true);
+        i2c.read(BMI160_ADDR, (char *)&acc_sample_buffer, sizeof(acc_sample_buffer), false);
+        
+        /*Le os Registradores do Giroscopio*/
+        i2c_reg_buffer[0] = 0x0C;
+        i2c.write(BMI160_ADDR, i2c_reg_buffer, 1, true);
+        i2c.read(BMI160_ADDR, (char *)&gyr_sample_buffer, sizeof(gyr_sample_buffer), false);
+        
+        /*Ajusta dados brutos Acelerometro em unidades de g */
+        acc_result_buffer[0] = (acc_sample_buffer[0]/16384.0);
+        acc_result_buffer[1] = (acc_sample_buffer[1]/16384.0);
+        acc_result_buffer[2] = (acc_sample_buffer[2]/16384.0);
+        
+        /*Ajusta dados Brutos do Giroscopio em unidades de deg/s */
+        gyr_result_buffer[0] = (gyr_sample_buffer[0]/131.2);
+        gyr_result_buffer[1] = (gyr_sample_buffer[1]/131.2);
+                
+        /*Calcula os Angulos de Inclinacao com valor do Acelerometro*/
+        accel_ang_x=atan(acc_result_buffer[0]/sqrt(pow(acc_result_buffer[1],2) + pow(acc_result_buffer[2],2)))*RAD_DEG;
+        accel_ang_y=atan(acc_result_buffer[1]/sqrt(pow(acc_result_buffer[0],2) + pow(acc_result_buffer[2],2)))*RAD_DEG;
+        
+        /*Calcula os Angulos de Rotacao com valor do Giroscopio e aplica filtro complementar realizando a fusao*/
+        tiltx = (0.98*(tiltx_prev+(gyr_result_buffer[0]*0.001)))+(0.02*(accel_ang_x));
+        tilty = (0.98*(tilty_prev+(gyr_result_buffer[1]*0.001)))+(0.02*(accel_ang_y));
+        
+        tiltx_prev = tiltx;
+        tilty_prev = tilty;                                 
+        
+        /*Imprime os dados ACC pre-formatados*/
+        printf("%.3f,%.3f;",tiltx, tilty);
+    
+    }
+
+void GPS_Read(void)
+{
+    gps_print_local();
+    printf ("gps longitude=%d \n",lon);
+    printf ("gps latitude=%d \n",lat);
+    if(lat!=0 && lon!=0){
+        longitude=lon;
+        latitude=lat;
+//        led1 = !led1;
+        }
+     }
 
 int main(void)
 {
+    gps_config();
+    gps_leBootMsg();
+    gps_config_gnss ();
+    init();
+    
+    //BMX160 Declaration######################################
+    //    pc.printf("Teste BMI160\n\r");
+//    printf("Configurando BMX160...\n\r");
+    wait_ms(250);
+    
+    /*Config Freq. I2C Bus*/
+    i2c.frequency(20000);
+    
+    /*Reset BMI160*/
+    i2c_reg_buffer[0] = 0x7E;
+    i2c_reg_buffer[1] = 0xB6;    
+    i2c.write(BMI160_ADDR, i2c_reg_buffer, sizeof(i2c_reg_buffer), false);
+    wait_ms(200);
+//    printf("BMI160 Resetado\n\r");
+    
+    /*Habilita o Acelerometro*/
+    i2c_reg_buffer[0] = 0x7E;
+    i2c_reg_buffer[1] = 0x11; //PMU Normal   
+    i2c.write(BMI160_ADDR, i2c_reg_buffer, sizeof(i2c_reg_buffer), false);
+//    printf("Acc Habilitado\n\r");
+    
+    /*Habilita o Giroscopio*/
+    i2c_reg_buffer[0] = 0x7E;
+    i2c_reg_buffer[1] = 0x15;  //PMU Normal 
+    i2c.write(BMI160_ADDR, i2c_reg_buffer, sizeof(i2c_reg_buffer), false);
+//    printf("Gyr Habilitado\n\r");
+    
+    /*Config o Data Rate ACC em 1600Hz*/
+    i2c_reg_buffer[0] = 0x40;
+    i2c_reg_buffer[1] = 0x2C;    
+    i2c.write(BMI160_ADDR, i2c_reg_buffer, sizeof(i2c_reg_buffer), false);
+//    printf("Data Rate ACC Selecionado a 1600Hz\n\r");
+    
+    /*Config o Data Rate GYR em 1600Hz*/
+    i2c_reg_buffer[0] = 0x42;
+    i2c_reg_buffer[1] = 0x2C;    
+    i2c.write(BMI160_ADDR, i2c_reg_buffer, sizeof(i2c_reg_buffer), false);
+//    printf("Data Rate GYR Selecionado a 1600Hz\n\r");
+    
+    /*Config o Range GYR em 250º/s*/
+    i2c_reg_buffer[0] = 0x43;
+    i2c_reg_buffer[1] = 0x03;    
+    i2c.write(BMI160_ADDR, i2c_reg_buffer, sizeof(i2c_reg_buffer), false);
+//    printf("Range GYR Selecionado a 250deg/s\n\r");
+    
+    printf("BMX160 Configurado\n\r");
+    
+    //########################################################
     // setup tracing
     setup_trace();
 
@@ -167,8 +279,9 @@
     uint16_t packet_len;
     int16_t retcode;
     int32_t sensor_value;
+    gps_print_local();
     
-    packet_len = sprintf((char *) tx_buffer, "Sensor Value is 10.0\n");
+    packet_len = sprintf((char *) tx_buffer, "%2.2f, %04.2f, %2.2f, %d, %d\n", getTemperature(), getPressure(), getHumidity(), lon, lat);
 
     retcode = lorawan.send(MBED_CONF_LORA_APP_PORT, tx_buffer, packet_len,
                            MSG_UNCONFIRMED_FLAG);
@@ -180,13 +293,17 @@
         if (retcode == LORAWAN_STATUS_WOULD_BLOCK) {
             //retry in 3 seconds
             if (MBED_CONF_LORA_DUTY_CYCLE_ON) {
-                ev_queue.call_in(3000, send_message);
+                ev_queue.call_in(10000, send_message);
             }
         }
         return;
     }
 
-    printf("\r\n %d bytes scheduled for transmission \r\n", retcode);
+    printf("%2.2f;%04.2f;%2.2f;", getTemperature(), getPressure(), getHumidity());
+    BMX160Read();
+    printf ("%d;",lon);
+    printf ("%d \r\n",lat);
+//    printf("\r\n %d bytes scheduled for transmission \r\n", retcode);
     memset(tx_buffer, 0, sizeof(tx_buffer));
 }
 
@@ -200,11 +317,11 @@
     int16_t retcode = lorawan.receive(rx_buffer, sizeof(rx_buffer), port, flags);
 
     if (retcode < 0) {
-        printf("\r\n receive() - Error code %d \r\n", retcode);
+//        printf("\r\n receive() - Error code %d \r\n", retcode);
         return;
     }
 
-    printf(" RX Data on port %u (%d bytes): ", port, retcode);
+//    printf(" RX Data on port %u (%d bytes): ", port, retcode);
     for (uint8_t i = 0; i < retcode; i++) {
         printf("%02x ", rx_buffer[i]);
     }
@@ -233,38 +350,38 @@
             printf("\r\n Disconnected Successfully \r\n");
             break;
         case TX_DONE:
-            printf("\r\n Message Sent to Network Server \r\n");
+//            printf("\r\n Message Sent to Network Server \r\n");
             if (MBED_CONF_LORA_DUTY_CYCLE_ON) {
                 send_message();
             }
             break;
         case TX_TIMEOUT:
-        printf("\r\n Transmission Error TX_Timeout");
+//        printf("\r\n Transmission Error TX_Timeout");
         case TX_ERROR:
-        printf("\r\n Transmission Error TX_Error");
+//        printf("\r\n Transmission Error TX_Error");
         case TX_CRYPTO_ERROR:
-        printf("\r\n Transmission Error TX_Crypto_Error");
+//        printf("\r\n Transmission Error TX_Crypto_Error");
         case TX_SCHEDULING_ERROR:
-            printf("\r\n Transmission Error - EventCode = %d \r\n", event);
+//            printf("\r\n Transmission Error - EventCode = %d \r\n", event);
             // try again
             if (MBED_CONF_LORA_DUTY_CYCLE_ON) {
                 send_message();
             }
             break;
         case RX_DONE:
-            printf("\r\n Received message from Network Server \r\n");
+//            printf("\r\n Received message from Network Server \r\n");
             receive_message();
             break;
         case RX_TIMEOUT:
-        printf("\r\n Transmission Error RX_Timeout");
+//        printf("\r\n Transmission Error RX_Timeout");
         case RX_ERROR:
-            printf("\r\n Error in reception - Code = %d \r\n", event);
+//            printf("\r\n Error in reception - Code = %d \r\n", event);
             break;
         case JOIN_FAILURE:
-            printf("\r\n OTAA Failed - Check Keys \r\n");
+//            printf("\r\n OTAA Failed - Check Keys \r\n");
             break;
         case UPLINK_REQUIRED:
-            printf("\r\n Uplink required by NS \r\n");
+//            printf("\r\n Uplink required by NS \r\n");
             if (MBED_CONF_LORA_DUTY_CYCLE_ON) {
                 send_message();
             }