Sample program of sakura.io Evalution board.
Dependencies: AQM0802A BME280 MPU9250_SPI SakuraIO gps mbed
Fork of SakuraIO_Evaluation_Board_Standard by
main.cpp@1:faf04d99f302, 2017-11-29 (annotated)
- Committer:
- misodengaku
- Date:
- Wed Nov 29 06:30:47 2017 +0000
- Revision:
- 1:faf04d99f302
- Parent:
- 0:db3ec2781484
- Child:
- 3:e5e53c1f6fda
add GPS
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
misodengaku | 0:db3ec2781484 | 1 | #include <mbed.h> |
misodengaku | 0:db3ec2781484 | 2 | #include <AQM0802A.h> |
misodengaku | 0:db3ec2781484 | 3 | #include <BME280.h> |
misodengaku | 0:db3ec2781484 | 4 | #include <MPU9250.h> |
misodengaku | 0:db3ec2781484 | 5 | #include <SakuraIO.h> |
misodengaku | 0:db3ec2781484 | 6 | #include "SakuraPinNames.h" |
misodengaku | 0:db3ec2781484 | 7 | #include "sensors.h" |
misodengaku | 1:faf04d99f302 | 8 | #include "gps.h" |
misodengaku | 0:db3ec2781484 | 9 | |
misodengaku | 0:db3ec2781484 | 10 | // Serial over CMSIS_DAP |
misodengaku | 0:db3ec2781484 | 11 | Serial pc(DAP_UART_TX, DAP_UART_RX, 9600); |
misodengaku | 0:db3ec2781484 | 12 | |
misodengaku | 0:db3ec2781484 | 13 | // GPS |
misodengaku | 0:db3ec2781484 | 14 | Serial gps(GPS_TX, GPS_RX, 9600); |
misodengaku | 0:db3ec2781484 | 15 | DigitalOut gps_en(GPS_EN); |
misodengaku | 0:db3ec2781484 | 16 | |
misodengaku | 0:db3ec2781484 | 17 | // LED |
misodengaku | 0:db3ec2781484 | 18 | DigitalOut led_1(LED1); |
misodengaku | 0:db3ec2781484 | 19 | DigitalOut led_2(LED2); |
misodengaku | 0:db3ec2781484 | 20 | DigitalOut led_3(LED3); |
misodengaku | 0:db3ec2781484 | 21 | DigitalOut led_4(LED4); |
misodengaku | 0:db3ec2781484 | 22 | |
misodengaku | 0:db3ec2781484 | 23 | // LCD backlight |
misodengaku | 0:db3ec2781484 | 24 | DigitalOut lcd_led(LED_LCD); |
misodengaku | 0:db3ec2781484 | 25 | |
misodengaku | 0:db3ec2781484 | 26 | // Switch |
misodengaku | 0:db3ec2781484 | 27 | DigitalIn sw_1(SW1); |
misodengaku | 0:db3ec2781484 | 28 | DigitalIn sw_2(SW2); |
misodengaku | 0:db3ec2781484 | 29 | DigitalIn sw_3(SW3); |
misodengaku | 0:db3ec2781484 | 30 | DigitalIn sw_4(SW4); |
misodengaku | 0:db3ec2781484 | 31 | DigitalIn sw_5(SW5); |
misodengaku | 0:db3ec2781484 | 32 | DigitalIn sw_6(SW6); |
misodengaku | 0:db3ec2781484 | 33 | |
misodengaku | 0:db3ec2781484 | 34 | // Internal I2C |
misodengaku | 0:db3ec2781484 | 35 | I2C internal_i2c(I2C_INTERNAL_SDA, I2C_INTERNAL_SCL); |
misodengaku | 0:db3ec2781484 | 36 | AQM0802A lcd(internal_i2c); |
misodengaku | 0:db3ec2781484 | 37 | BME280 bme280(internal_i2c); |
misodengaku | 0:db3ec2781484 | 38 | |
misodengaku | 0:db3ec2781484 | 39 | // SPI |
misodengaku | 0:db3ec2781484 | 40 | SPI internal_mpu9250_spi(SPI_MPU_MOSI, SPI_MPU_MISO, SPI_MPU_SCK); |
misodengaku | 0:db3ec2781484 | 41 | mpu9250_spi mpu9250(internal_mpu9250_spi, SPI_MPU_CS); |
misodengaku | 0:db3ec2781484 | 42 | |
misodengaku | 0:db3ec2781484 | 43 | // sakura.io |
misodengaku | 0:db3ec2781484 | 44 | SakuraIO_I2C sakuraio(I2C_SDA, I2C_SCL); |
misodengaku | 0:db3ec2781484 | 45 | |
misodengaku | 0:db3ec2781484 | 46 | SensorData sensor_data; |
misodengaku | 0:db3ec2781484 | 47 | |
misodengaku | 1:faf04d99f302 | 48 | // GPS UART buffer |
misodengaku | 1:faf04d99f302 | 49 | char uart_buffer[128] = {0}; |
misodengaku | 1:faf04d99f302 | 50 | int uart_buffer_index = 0; |
misodengaku | 1:faf04d99f302 | 51 | |
misodengaku | 1:faf04d99f302 | 52 | // NMEA Decoder |
misodengaku | 1:faf04d99f302 | 53 | GPSDecoder gps_decoder; |
misodengaku | 1:faf04d99f302 | 54 | |
misodengaku | 1:faf04d99f302 | 55 | void gps_uart_buffering_handler(); |
misodengaku | 0:db3ec2781484 | 56 | |
misodengaku | 0:db3ec2781484 | 57 | void setup() |
misodengaku | 0:db3ec2781484 | 58 | { |
misodengaku | 0:db3ec2781484 | 59 | lcd_led = 1; |
misodengaku | 0:db3ec2781484 | 60 | pc.printf("Hello World !\r\n"); |
misodengaku | 0:db3ec2781484 | 61 | lcd.cls(); |
misodengaku | 0:db3ec2781484 | 62 | lcd.printf("Hello"); |
misodengaku | 0:db3ec2781484 | 63 | |
misodengaku | 0:db3ec2781484 | 64 | // Initialize sensors |
misodengaku | 0:db3ec2781484 | 65 | bme280.initialize(); |
misodengaku | 0:db3ec2781484 | 66 | pc.printf("BME280 ok.\r\n"); |
misodengaku | 0:db3ec2781484 | 67 | mpu9250.init(1, BITS_DLPF_CFG_188HZ); |
misodengaku | 0:db3ec2781484 | 68 | pc.printf("MPU9250 ok. WHOAMI=%02x\r\n", mpu9250.whoami()); |
misodengaku | 0:db3ec2781484 | 69 | if (mpu9250.whoami() != 0x71) { |
misodengaku | 0:db3ec2781484 | 70 | pc.printf("[ERROR] MPU9250 init fail.\r\n"); |
misodengaku | 0:db3ec2781484 | 71 | } |
misodengaku | 0:db3ec2781484 | 72 | |
misodengaku | 0:db3ec2781484 | 73 | mpu9250.set_gyro_scale(BITS_FS_2000DPS); //Set full scale range for gyros |
misodengaku | 0:db3ec2781484 | 74 | mpu9250.set_acc_scale(BITS_FS_16G); //Set full scale range for accs |
misodengaku | 0:db3ec2781484 | 75 | mpu9250.calib_acc(); |
misodengaku | 0:db3ec2781484 | 76 | mpu9250.AK8963_calib_Magnetometer(); |
misodengaku | 0:db3ec2781484 | 77 | |
misodengaku | 1:faf04d99f302 | 78 | // active high |
misodengaku | 0:db3ec2781484 | 79 | gps_en = 1; |
misodengaku | 1:faf04d99f302 | 80 | gps.attach(&gps_uart_buffering_handler, Serial::RxIrq); |
misodengaku | 0:db3ec2781484 | 81 | } |
misodengaku | 0:db3ec2781484 | 82 | |
misodengaku | 0:db3ec2781484 | 83 | void read_sensor_data() |
misodengaku | 0:db3ec2781484 | 84 | { |
misodengaku | 0:db3ec2781484 | 85 | sensor_data.bme280.temperature = bme280.getTemperature(); |
misodengaku | 0:db3ec2781484 | 86 | sensor_data.bme280.pressure = bme280.getPressure(); |
misodengaku | 0:db3ec2781484 | 87 | sensor_data.bme280.humidity = bme280.getHumidity(); |
misodengaku | 0:db3ec2781484 | 88 | |
misodengaku | 0:db3ec2781484 | 89 | mpu9250.read_all(); |
misodengaku | 0:db3ec2781484 | 90 | sensor_data.mpu9250.temperature = mpu9250.Temperature; |
misodengaku | 0:db3ec2781484 | 91 | for (int i = 0; i < 3; i++) { |
misodengaku | 0:db3ec2781484 | 92 | sensor_data.mpu9250.accelerometer[i] = mpu9250.accelerometer_data[i]; |
misodengaku | 0:db3ec2781484 | 93 | sensor_data.mpu9250.gyroscope[i] = mpu9250.gyroscope_data[i]; |
misodengaku | 0:db3ec2781484 | 94 | sensor_data.mpu9250.magnetometer[i] = mpu9250.Magnetometer[i]; |
misodengaku | 0:db3ec2781484 | 95 | } |
misodengaku | 0:db3ec2781484 | 96 | } |
misodengaku | 0:db3ec2781484 | 97 | |
misodengaku | 0:db3ec2781484 | 98 | void enqueue_sensor_data(int counter) |
misodengaku | 0:db3ec2781484 | 99 | { |
misodengaku | 0:db3ec2781484 | 100 | sakuraio.enqueueTx(0, counter); |
misodengaku | 0:db3ec2781484 | 101 | sakuraio.enqueueTx(1, sensor_data.bme280.temperature); |
misodengaku | 0:db3ec2781484 | 102 | sakuraio.enqueueTx(2, sensor_data.bme280.pressure); |
misodengaku | 0:db3ec2781484 | 103 | sakuraio.enqueueTx(3, sensor_data.bme280.humidity); |
misodengaku | 1:faf04d99f302 | 104 | sakuraio.enqueueTx(4, sensor_data.mpu9250.accelerometer[0]); |
misodengaku | 1:faf04d99f302 | 105 | sakuraio.enqueueTx(5, sensor_data.mpu9250.accelerometer[1]); |
misodengaku | 1:faf04d99f302 | 106 | sakuraio.enqueueTx(6, sensor_data.mpu9250.accelerometer[2]); |
misodengaku | 1:faf04d99f302 | 107 | sakuraio.enqueueTx(7, sensor_data.mpu9250.gyroscope[0]); |
misodengaku | 1:faf04d99f302 | 108 | sakuraio.enqueueTx(8, sensor_data.mpu9250.gyroscope[1]); |
misodengaku | 1:faf04d99f302 | 109 | sakuraio.enqueueTx(9, sensor_data.mpu9250.gyroscope[2]); |
misodengaku | 1:faf04d99f302 | 110 | sakuraio.enqueueTx(10, sensor_data.mpu9250.magnetometer[0]); |
misodengaku | 1:faf04d99f302 | 111 | sakuraio.enqueueTx(11, sensor_data.mpu9250.magnetometer[1]); |
misodengaku | 1:faf04d99f302 | 112 | sakuraio.enqueueTx(12, sensor_data.mpu9250.magnetometer[2]); |
misodengaku | 1:faf04d99f302 | 113 | sakuraio.enqueueTx(13, gps_decoder.get_longitude()); |
misodengaku | 1:faf04d99f302 | 114 | sakuraio.enqueueTx(14, gps_decoder.get_latitude()); |
misodengaku | 1:faf04d99f302 | 115 | sakuraio.enqueueTx(15, gps_decoder.get_unixtime()); |
misodengaku | 1:faf04d99f302 | 116 | } |
misodengaku | 1:faf04d99f302 | 117 | |
misodengaku | 1:faf04d99f302 | 118 | void gps_uart_buffering_handler() |
misodengaku | 1:faf04d99f302 | 119 | { |
misodengaku | 1:faf04d99f302 | 120 | while (gps.readable() == 1) { |
misodengaku | 1:faf04d99f302 | 121 | char c = gps.getc(); |
misodengaku | 1:faf04d99f302 | 122 | if (c == '\r') { |
misodengaku | 1:faf04d99f302 | 123 | continue; |
misodengaku | 1:faf04d99f302 | 124 | } |
misodengaku | 1:faf04d99f302 | 125 | uart_buffer[uart_buffer_index] = c; |
misodengaku | 1:faf04d99f302 | 126 | uart_buffer_index++; |
misodengaku | 1:faf04d99f302 | 127 | if (c == '\n') { |
misodengaku | 1:faf04d99f302 | 128 | uart_buffer[uart_buffer_index - 1] = '\0'; |
misodengaku | 1:faf04d99f302 | 129 | gps_decoder.set_nmea_message(uart_buffer); |
misodengaku | 1:faf04d99f302 | 130 | gps_decoder.decode(); |
misodengaku | 1:faf04d99f302 | 131 | uart_buffer_index = 0; |
misodengaku | 1:faf04d99f302 | 132 | } |
misodengaku | 1:faf04d99f302 | 133 | } |
misodengaku | 0:db3ec2781484 | 134 | } |
misodengaku | 0:db3ec2781484 | 135 | |
misodengaku | 0:db3ec2781484 | 136 | |
misodengaku | 0:db3ec2781484 | 137 | void loop() |
misodengaku | 0:db3ec2781484 | 138 | { |
misodengaku | 1:faf04d99f302 | 139 | pc.printf("\r\n\r\n--------------------\r\n"); |
misodengaku | 1:faf04d99f302 | 140 | |
misodengaku | 0:db3ec2781484 | 141 | static int i = 1; |
misodengaku | 0:db3ec2781484 | 142 | read_sensor_data(); |
misodengaku | 0:db3ec2781484 | 143 | wait(1); |
misodengaku | 0:db3ec2781484 | 144 | pc.printf("This program runs since %d seconds.\r\n", i); |
misodengaku | 0:db3ec2781484 | 145 | pc.printf("BME280\r\n"); |
misodengaku | 1:faf04d99f302 | 146 | pc.printf("\tTemp: %.2fC\r\n", sensor_data.bme280.temperature); |
misodengaku | 1:faf04d99f302 | 147 | pc.printf("\tPres: %.2fhPa\r\n", sensor_data.bme280.pressure); |
misodengaku | 1:faf04d99f302 | 148 | pc.printf("\tHum: %.2f%%\r\n", sensor_data.bme280.humidity); |
misodengaku | 0:db3ec2781484 | 149 | pc.printf("MPU9250\r\n"); |
misodengaku | 1:faf04d99f302 | 150 | pc.printf("\tTemp: %.2fC\r\n", sensor_data.mpu9250.temperature); |
misodengaku | 0:db3ec2781484 | 151 | for (int j = 0; j < 3; j++) { |
misodengaku | 1:faf04d99f302 | 152 | pc.printf("\tacc[%d]: %.2f\r\n", j, sensor_data.mpu9250.accelerometer[j]); |
misodengaku | 1:faf04d99f302 | 153 | pc.printf("\tgyro[%d]: %.2f\r\n", j, sensor_data.mpu9250.gyroscope[j]); |
misodengaku | 1:faf04d99f302 | 154 | pc.printf("\tmag[%d]: %.2f\r\n", j, sensor_data.mpu9250.magnetometer[j]); |
misodengaku | 0:db3ec2781484 | 155 | } |
misodengaku | 1:faf04d99f302 | 156 | pc.printf("GPS\r\n"); |
misodengaku | 1:faf04d99f302 | 157 | pc.printf("\tlat: %f%c\r\n", |
misodengaku | 1:faf04d99f302 | 158 | gps_decoder.get_latitude(), |
misodengaku | 1:faf04d99f302 | 159 | gps_decoder.get_latitude() >= 0 ? 'N' : 'S'); |
misodengaku | 1:faf04d99f302 | 160 | pc.printf("\tlon: %f%c\r\n", |
misodengaku | 1:faf04d99f302 | 161 | gps_decoder.get_longitude(), |
misodengaku | 1:faf04d99f302 | 162 | gps_decoder.get_longitude() >= 0 ? 'E' : 'W'); |
misodengaku | 1:faf04d99f302 | 163 | pc.printf("\tspeed: %fkm/h\r\n", gps_decoder.get_speed()); |
misodengaku | 1:faf04d99f302 | 164 | pc.printf("\tmove_direction: %f\r\n", gps_decoder.get_move_direction()); |
misodengaku | 1:faf04d99f302 | 165 | pc.printf("\tdate: %d/%02d/%02d %02d:%02d:%02d (UTC)\r\n", |
misodengaku | 1:faf04d99f302 | 166 | gps_decoder.get_year(), gps_decoder.get_month(), gps_decoder.get_day(), |
misodengaku | 1:faf04d99f302 | 167 | gps_decoder.get_hour(), gps_decoder.get_min(), gps_decoder.get_sec()); |
misodengaku | 1:faf04d99f302 | 168 | pc.printf("\tUNIX time: %d\r\n", gps_decoder.get_unixtime()); |
misodengaku | 0:db3ec2781484 | 169 | lcd.cls(); |
misodengaku | 0:db3ec2781484 | 170 | if( (sakuraio.getConnectionStatus() & 0x80) == 0x80 ) { |
misodengaku | 0:db3ec2781484 | 171 | lcd.printf("Online\n", i); |
misodengaku | 0:db3ec2781484 | 172 | } else { |
misodengaku | 0:db3ec2781484 | 173 | lcd.printf("Offline\n", i); |
misodengaku | 0:db3ec2781484 | 174 | } |
misodengaku | 0:db3ec2781484 | 175 | lcd.printf("%d", i); |
misodengaku | 0:db3ec2781484 | 176 | i++; |
misodengaku | 0:db3ec2781484 | 177 | led_1 = !led_1; |
misodengaku | 0:db3ec2781484 | 178 | led_4 = !sw_4; |
misodengaku | 1:faf04d99f302 | 179 | |
misodengaku | 0:db3ec2781484 | 180 | enqueue_sensor_data(i); |
misodengaku | 0:db3ec2781484 | 181 | sakuraio.send(); |
misodengaku | 0:db3ec2781484 | 182 | } |
misodengaku | 0:db3ec2781484 | 183 | |
misodengaku | 0:db3ec2781484 | 184 | |
misodengaku | 0:db3ec2781484 | 185 | int main() |
misodengaku | 0:db3ec2781484 | 186 | { |
misodengaku | 0:db3ec2781484 | 187 | setup(); |
misodengaku | 0:db3ec2781484 | 188 | while(1) { |
misodengaku | 0:db3ec2781484 | 189 | loop(); |
misodengaku | 0:db3ec2781484 | 190 | } |
misodengaku | 0:db3ec2781484 | 191 | } |