Sample program of sakura.io Evalution board.
Dependencies: AQM0802A BME280 MPU9250_SPI SakuraIO gps mbed
Fork of SakuraIO_Evaluation_Board_Standard by
main.cpp
- Committer:
- misodengaku
- Date:
- 2017-11-29
- Revision:
- 1:faf04d99f302
- Parent:
- 0:db3ec2781484
- Child:
- 3:e5e53c1f6fda
File content as of revision 1:faf04d99f302:
#include <mbed.h> #include <AQM0802A.h> #include <BME280.h> #include <MPU9250.h> #include <SakuraIO.h> #include "SakuraPinNames.h" #include "sensors.h" #include "gps.h" // Serial over CMSIS_DAP Serial pc(DAP_UART_TX, DAP_UART_RX, 9600); // GPS Serial gps(GPS_TX, GPS_RX, 9600); DigitalOut gps_en(GPS_EN); // LED DigitalOut led_1(LED1); DigitalOut led_2(LED2); DigitalOut led_3(LED3); DigitalOut led_4(LED4); // LCD backlight DigitalOut lcd_led(LED_LCD); // Switch DigitalIn sw_1(SW1); DigitalIn sw_2(SW2); DigitalIn sw_3(SW3); DigitalIn sw_4(SW4); DigitalIn sw_5(SW5); DigitalIn sw_6(SW6); // Internal I2C I2C internal_i2c(I2C_INTERNAL_SDA, I2C_INTERNAL_SCL); AQM0802A lcd(internal_i2c); BME280 bme280(internal_i2c); // SPI SPI internal_mpu9250_spi(SPI_MPU_MOSI, SPI_MPU_MISO, SPI_MPU_SCK); mpu9250_spi mpu9250(internal_mpu9250_spi, SPI_MPU_CS); // sakura.io SakuraIO_I2C sakuraio(I2C_SDA, I2C_SCL); SensorData sensor_data; // GPS UART buffer char uart_buffer[128] = {0}; int uart_buffer_index = 0; // NMEA Decoder GPSDecoder gps_decoder; void gps_uart_buffering_handler(); void setup() { lcd_led = 1; pc.printf("Hello World !\r\n"); lcd.cls(); lcd.printf("Hello"); // Initialize sensors bme280.initialize(); pc.printf("BME280 ok.\r\n"); mpu9250.init(1, BITS_DLPF_CFG_188HZ); pc.printf("MPU9250 ok. WHOAMI=%02x\r\n", mpu9250.whoami()); if (mpu9250.whoami() != 0x71) { pc.printf("[ERROR] MPU9250 init fail.\r\n"); } mpu9250.set_gyro_scale(BITS_FS_2000DPS); //Set full scale range for gyros mpu9250.set_acc_scale(BITS_FS_16G); //Set full scale range for accs mpu9250.calib_acc(); mpu9250.AK8963_calib_Magnetometer(); // active high gps_en = 1; gps.attach(&gps_uart_buffering_handler, Serial::RxIrq); } void read_sensor_data() { sensor_data.bme280.temperature = bme280.getTemperature(); sensor_data.bme280.pressure = bme280.getPressure(); sensor_data.bme280.humidity = bme280.getHumidity(); mpu9250.read_all(); sensor_data.mpu9250.temperature = mpu9250.Temperature; for (int i = 0; i < 3; i++) { sensor_data.mpu9250.accelerometer[i] = mpu9250.accelerometer_data[i]; sensor_data.mpu9250.gyroscope[i] = mpu9250.gyroscope_data[i]; sensor_data.mpu9250.magnetometer[i] = mpu9250.Magnetometer[i]; } } void enqueue_sensor_data(int counter) { sakuraio.enqueueTx(0, counter); sakuraio.enqueueTx(1, sensor_data.bme280.temperature); sakuraio.enqueueTx(2, sensor_data.bme280.pressure); sakuraio.enqueueTx(3, sensor_data.bme280.humidity); sakuraio.enqueueTx(4, sensor_data.mpu9250.accelerometer[0]); sakuraio.enqueueTx(5, sensor_data.mpu9250.accelerometer[1]); sakuraio.enqueueTx(6, sensor_data.mpu9250.accelerometer[2]); sakuraio.enqueueTx(7, sensor_data.mpu9250.gyroscope[0]); sakuraio.enqueueTx(8, sensor_data.mpu9250.gyroscope[1]); sakuraio.enqueueTx(9, sensor_data.mpu9250.gyroscope[2]); sakuraio.enqueueTx(10, sensor_data.mpu9250.magnetometer[0]); sakuraio.enqueueTx(11, sensor_data.mpu9250.magnetometer[1]); sakuraio.enqueueTx(12, sensor_data.mpu9250.magnetometer[2]); sakuraio.enqueueTx(13, gps_decoder.get_longitude()); sakuraio.enqueueTx(14, gps_decoder.get_latitude()); sakuraio.enqueueTx(15, gps_decoder.get_unixtime()); } void gps_uart_buffering_handler() { while (gps.readable() == 1) { char c = gps.getc(); if (c == '\r') { continue; } uart_buffer[uart_buffer_index] = c; uart_buffer_index++; if (c == '\n') { uart_buffer[uart_buffer_index - 1] = '\0'; gps_decoder.set_nmea_message(uart_buffer); gps_decoder.decode(); uart_buffer_index = 0; } } } void loop() { pc.printf("\r\n\r\n--------------------\r\n"); static int i = 1; read_sensor_data(); wait(1); pc.printf("This program runs since %d seconds.\r\n", i); pc.printf("BME280\r\n"); pc.printf("\tTemp: %.2fC\r\n", sensor_data.bme280.temperature); pc.printf("\tPres: %.2fhPa\r\n", sensor_data.bme280.pressure); pc.printf("\tHum: %.2f%%\r\n", sensor_data.bme280.humidity); pc.printf("MPU9250\r\n"); pc.printf("\tTemp: %.2fC\r\n", sensor_data.mpu9250.temperature); for (int j = 0; j < 3; j++) { pc.printf("\tacc[%d]: %.2f\r\n", j, sensor_data.mpu9250.accelerometer[j]); pc.printf("\tgyro[%d]: %.2f\r\n", j, sensor_data.mpu9250.gyroscope[j]); pc.printf("\tmag[%d]: %.2f\r\n", j, sensor_data.mpu9250.magnetometer[j]); } pc.printf("GPS\r\n"); pc.printf("\tlat: %f%c\r\n", gps_decoder.get_latitude(), gps_decoder.get_latitude() >= 0 ? 'N' : 'S'); pc.printf("\tlon: %f%c\r\n", gps_decoder.get_longitude(), gps_decoder.get_longitude() >= 0 ? 'E' : 'W'); pc.printf("\tspeed: %fkm/h\r\n", gps_decoder.get_speed()); pc.printf("\tmove_direction: %f\r\n", gps_decoder.get_move_direction()); pc.printf("\tdate: %d/%02d/%02d %02d:%02d:%02d (UTC)\r\n", gps_decoder.get_year(), gps_decoder.get_month(), gps_decoder.get_day(), gps_decoder.get_hour(), gps_decoder.get_min(), gps_decoder.get_sec()); pc.printf("\tUNIX time: %d\r\n", gps_decoder.get_unixtime()); lcd.cls(); if( (sakuraio.getConnectionStatus() & 0x80) == 0x80 ) { lcd.printf("Online\n", i); } else { lcd.printf("Offline\n", i); } lcd.printf("%d", i); i++; led_1 = !led_1; led_4 = !sw_4; enqueue_sensor_data(i); sakuraio.send(); } int main() { setup(); while(1) { loop(); } }