Shahariar Hossain / Mbed 2 deprecated uBit_BLE_UART_Waterbot

https://www.hackster.io/PSoC_Rocks/water-quality-monitoring-autonomous-robot-0bbf88

Dependencies:   BLE_API MAG3110 MMA8652 PID mbed nRF51822

Fork of uBit_BLE_UART_Voltmeter_IoT by Shahariar Hossain

main.cpp@12:0777ec4114c8, 2018-10-29 (annotated)

Committer:
suntopbd
Date:
Mon Oct 29 19:05:11 2018 +0000
Revision:
12:0777ec4114c8
Parent:
11:6916c05fde52 
bbc microbit waterbot

Who changed what in which revision?

UserRevisionLine numberNew contents of line
suntopbd 12:0777ec4114c8 1 /* mbed MicrocontrollerLL Library
rgrover1 0:2130d7f559dc 2 * Copyright (c) 2006-2013 ARM Limited
rgrover1 0:2130d7f559dc 3 *
rgrover1 0:2130d7f559dc 4 * Licensed under the Apache License, Version 2.0 (the "License");
rgrover1 0:2130d7f559dc 5 * you may not use this file except in compliance with the License.
rgrover1 0:2130d7f559dc 6 * You may obtain a copy of the License at
rgrover1 0:2130d7f559dc 7 *
rgrover1 0:2130d7f559dc 8 * http://www.apache.org/licenses/LICENSE-2.0
rgrover1 0:2130d7f559dc 9 *
rgrover1 0:2130d7f559dc 10 * Unless required by applicable law or agreed to in writing, software
rgrover1 0:2130d7f559dc 11 * distributed under the License is distributed on an "AS IS" BASIS,
rgrover1 0:2130d7f559dc 12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
rgrover1 0:2130d7f559dc 13 * See the License for the specific language governing permissions and
rgrover1 0:2130d7f559dc 14 * limitations under the License.
rgrover1 0:2130d7f559dc 15 */
suntopbd 12:0777ec4114c8 16
suntopbd 10:053397a8dc40 17 //////////////////////////////////////////////////////////
suntopbd 10:053397a8dc40 18 ///////////////////////NOTE ///////////////////////////////
suntopbd 10:053397a8dc40 19 // This program uses BBC microbit as a NRF51822 board //
suntopbd 10:053397a8dc40 20 // with limited onboard functionality, mainly focused //
suntopbd 10:053397a8dc40 21 // BLE-uart/ADC/DIO/PWM capability, see pin maping below //
suntopbd 10:053397a8dc40 22 ///////////////////////////////////////////////////////////
suntopbd 10:053397a8dc40 23 ///////////////////////////////////////////////////////////
suntopbd 12:0777ec4114c8 24
suntopbd 12:0777ec4114c8 25 ////////////////////////////////////////////////////////////
suntopbd 12:0777ec4114c8 26 //////////////////////BLE WATER BOT/////////////////////////
suntopbd 12:0777ec4114c8 27 ////////////////////////////////////////////////////////////
suntopbd 12:0777ec4114c8 28
suntopbd 12:0777ec4114c8 29
suntopbd 10:053397a8dc40 30
rgrover1 5:2607923acfa1 31 #include <string.h>
rgrover1 0:2130d7f559dc 32 #include "mbed.h"
suntopbd 12:0777ec4114c8 33 #include "PID.h"
rgrover1 8:f9bf6d403cde 34 #include "BLE.h"
suntopbd 10:053397a8dc40 35 #include "stdio.h"
rgrover1 0:2130d7f559dc 36 #include "UARTService.h"
rgrover1 0:2130d7f559dc 37
suntopbd 11:6916c05fde52 38 #include "ble/BLE.h"
suntopbd 11:6916c05fde52 39 #include "ble/services/URIBeaconConfigService.h"
suntopbd 11:6916c05fde52 40 #include "ble/services/DFUService.h"
suntopbd 11:6916c05fde52 41 #include "ble/services/DeviceInformationService.h"
suntopbd 11:6916c05fde52 42 #include "ConfigParamsPersistence.h"
suntopbd 11:6916c05fde52 43
rgrover1 0:2130d7f559dc 44
suntopbd 12:0777ec4114c8 45 #include "math.h"
suntopbd 12:0777ec4114c8 46 #include "MAG3110.h"
suntopbd 12:0777ec4114c8 47
suntopbd 12:0777ec4114c8 48
suntopbd 12:0777ec4114c8 49
suntopbd 12:0777ec4114c8 50 #define INTERVAL 0.1
suntopbd 12:0777ec4114c8 51
suntopbd 10:053397a8dc40 52 #define NEED_CONSOLE_OUTPUT 1 // if BLE printf messages needed on the remote console (PC/phone/host);
rgrover1 0:2130d7f559dc 53 #if NEED_CONSOLE_OUTPUT
suntopbd 11:6916c05fde52 54 #define blePrintf(STR) { if (uart) uart->write(STR, strlen(STR)); }
rgrover1 0:2130d7f559dc 55 #else
suntopbd 11:6916c05fde52 56 #define blePrintf(...)
suntopbd 10:053397a8dc40 57 #endif
suntopbd 10:053397a8dc40 58
suntopbd 10:053397a8dc40 59 ///////////////// pin table /////////////////////////
suntopbd 10:053397a8dc40 60 /////////////////////////////////////////////////////
suntopbd 12:0777ec4114c8 61 // edge.pin nrf51822pin functions note //
suntopbd 10:053397a8dc40 62 /////////////////////////////////////////////////////
suntopbd 10:053397a8dc40 63 // P2 P0_1 ADC/PWM/DIO 2 //
suntopbd 10:053397a8dc40 64 // P1 P0_2 ADC/PWM/DIO 1 //
suntopbd 10:053397a8dc40 65 // P0 P0_3 ADC/PWM/DIO 0 //
suntopbd 12:0777ec4114c8 66 // P4 P0_5 ADC COL 2 //
suntopbd 12:0777ec4114c8 67 // P10 P0_6 ADC COL 3 //
suntopbd 10:053397a8dc40 68 // P16 P_16 DIO //
suntopbd 10:053397a8dc40 69 // P14 P0_25 SPI MIS/DIO //
suntopbd 10:053397a8dc40 70 // P5 P_17 Button A/DI pullup //
suntopbd 10:053397a8dc40 71 // P11 P_26 Button B/DI pullup //
suntopbd 12:0777ec4114c8 72 // P20 P0_30 I2C SDA/DIO pullup //
suntopbd 12:0777ec4114c8 73 // P19 P0_0 I2C SCL/DIO pullup //
suntopbd 10:053397a8dc40 74 // P15 SPI MOS/DIO //
suntopbd 10:053397a8dc40 75 // P13 SPI SCK/DIO //
suntopbd 10:053397a8dc40 76
suntopbd 10:053397a8dc40 77 /////////////////////////////////////////////////////
suntopbd 12:0777ec4114c8 78 // LED Matrix pins //
suntopbd 12:0777ec4114c8 79 // ROW 1 P0_13 ROW 2 P0_14 ROW 3 P0_15 //
suntopbd 12:0777ec4114c8 80 // COL 1 P0_4 COL 2 P0_5 COL 3 P0_6 //
suntopbd 12:0777ec4114c8 81 // COL 4 P0_7 COL 5 P0_8 COL 6 P0_9 //
suntopbd 12:0777ec4114c8 82 // COL 7 P0_10 COL 8 P0_11 COL 9 P0_12 //
suntopbd 10:053397a8dc40 83 /////////////////////////////////////////////////////
suntopbd 12:0777ec4114c8 84 /////////// See uBit to nrf51822 Schematic for detailed pinout //////////////////////
suntopbd 12:0777ec4114c8 85 // https://github.com/bbcmicrobit/hardware/blob/master/SCH_BBC-Microbit_V1.3B.pdf //
suntopbd 12:0777ec4114c8 86 /////////////////////////////////////////////////////////////////////////////////////
suntopbd 12:0777ec4114c8 87 //Kc, Ti, Td, interval
suntopbd 12:0777ec4114c8 88 PID controllerL(1.0, 0.1, 0.1, INTERVAL);
suntopbd 12:0777ec4114c8 89 PID controllerR(1.0, 0.1, 0.1, INTERVAL);
suntopbd 12:0777ec4114c8 90
suntopbd 12:0777ec4114c8 91
suntopbd 10:053397a8dc40 92
rgrover1 0:2130d7f559dc 93
suntopbd 12:0777ec4114c8 94 // Fan drive pwm
suntopbd 12:0777ec4114c8 95
suntopbd 12:0777ec4114c8 96 PwmOut LP(P0_2); // left propeller
suntopbd 12:0777ec4114c8 97 PwmOut RP(P0_1); // right propeller
suntopbd 12:0777ec4114c8 98
suntopbd 12:0777ec4114c8 99 MAG3110 mag(P0_30, P0_0); // set i2c pins SDA, SCL here //
rgrover1 0:2130d7f559dc 100 BLEDevice ble;
rgrover1 5:2607923acfa1 101 UARTService *uart;
suntopbd 12:0777ec4114c8 102
suntopbd 12:0777ec4114c8 103 AnalogIn temperature(P0_3);
suntopbd 12:0777ec4114c8 104 AnalogIn turbidity(P0_5);
suntopbd 12:0777ec4114c8 105 AnalogIn conductivity(P0_6);
suntopbd 12:0777ec4114c8 106
suntopbd 12:0777ec4114c8 107 DigitalOut row1(P0_13); // uBit 1st LED cathode
suntopbd 12:0777ec4114c8 108 DigitalOut col1(P0_4); // uBit 1st LED anode
suntopbd 12:0777ec4114c8 109 DigitalIn swA(P0_17); // uBit button A
suntopbd 12:0777ec4114c8 110 // col2(P0_5); // adc pin now led removed
suntopbd 12:0777ec4114c8 111 // col3(P0_6); // adc pin now led removed
suntopbd 12:0777ec4114c8 112
suntopbd 12:0777ec4114c8 113 //DigitalOut col1(P0_4);
suntopbd 12:0777ec4114c8 114
suntopbd 12:0777ec4114c8 115
suntopbd 11:6916c05fde52 116 int val,dVal, dec, i;
suntopbd 12:0777ec4114c8 117 int blepush = 0;
suntopbd 12:0777ec4114c8 118 int refupdate = 0;
suntopbd 11:6916c05fde52 119 char result[100];
suntopbd 12:0777ec4114c8 120 float TEMP = 0.0;
suntopbd 12:0777ec4114c8 121 float TURB = 0.0;
suntopbd 12:0777ec4114c8 122 float COND = 0.0;
suntopbd 12:0777ec4114c8 123
suntopbd 12:0777ec4114c8 124 float heading = 0.0; // magnetometer heading
suntopbd 12:0777ec4114c8 125 float heading_ref = 0.0;
rgrover1 0:2130d7f559dc 126
rgrover1 9:5f0732aa3008 127 void disconnectionCallback(const Gap::DisconnectionCallbackParams_t *params)
rgrover1 0:2130d7f559dc 128 {
rgrover1 0:2130d7f559dc 129 ble.startAdvertising();
rgrover1 0:2130d7f559dc 130 }
rgrover1 0:2130d7f559dc 131
rgrover1 0:2130d7f559dc 132 void periodicCallback(void)
rgrover1 0:2130d7f559dc 133 {
suntopbd 12:0777ec4114c8 134 blepush = 1;
suntopbd 12:0777ec4114c8 135 // blePrintf("heading ");
suntopbd 12:0777ec4114c8 136 // blePrintf(result);
suntopbd 12:0777ec4114c8 137 // blePrintf("\r\n");
suntopbd 12:0777ec4114c8 138 }
suntopbd 12:0777ec4114c8 139
suntopbd 12:0777ec4114c8 140 void navigationAdjust (void)
suntopbd 12:0777ec4114c8 141 {
suntopbd 10:053397a8dc40 142
rgrover1 0:2130d7f559dc 143 }
suntopbd 11:6916c05fde52 144
suntopbd 12:0777ec4114c8 145 void calXY() //magnetometer calibration: finding max and min of X, Y axis
suntopbd 12:0777ec4114c8 146 {
suntopbd 12:0777ec4114c8 147 int tempXmax, tempXmin, tempYmax, tempYmin, newX, newY;
suntopbd 12:0777ec4114c8 148
suntopbd 12:0777ec4114c8 149 wait(3);
suntopbd 12:0777ec4114c8 150
suntopbd 12:0777ec4114c8 151 tempXmax = tempXmin = mag.readVal(MAG_OUT_X_MSB);
suntopbd 12:0777ec4114c8 152 tempYmax = tempYmin = mag.readVal(MAG_OUT_Y_MSB);
suntopbd 12:0777ec4114c8 153 int sample = 0;
suntopbd 12:0777ec4114c8 154
suntopbd 12:0777ec4114c8 155 while(sample<501) {
suntopbd 12:0777ec4114c8 156 wait(0.05);
suntopbd 12:0777ec4114c8 157 newX = mag.readVal(MAG_OUT_X_MSB);
suntopbd 12:0777ec4114c8 158 newY = mag.readVal(MAG_OUT_Y_MSB);
suntopbd 12:0777ec4114c8 159 if (newX > tempXmax) tempXmax = newX;
suntopbd 12:0777ec4114c8 160 if (newX < tempXmin) tempXmin = newX;
suntopbd 12:0777ec4114c8 161 if (newY > tempYmax) tempYmax = newY;
suntopbd 12:0777ec4114c8 162 if (newY < tempYmin) tempYmin = newY;
suntopbd 12:0777ec4114c8 163 sample++;
suntopbd 12:0777ec4114c8 164 col1.write(!(col1.read()));
suntopbd 12:0777ec4114c8 165 //col3.write(!(col3.read()));
suntopbd 12:0777ec4114c8 166
suntopbd 12:0777ec4114c8 167 }
suntopbd 12:0777ec4114c8 168
suntopbd 12:0777ec4114c8 169 mag.setCalibration( tempXmin, tempXmax, tempYmin, tempYmax );
suntopbd 12:0777ec4114c8 170
suntopbd 12:0777ec4114c8 171
suntopbd 12:0777ec4114c8 172 }
suntopbd 12:0777ec4114c8 173
suntopbd 12:0777ec4114c8 174
rgrover1 0:2130d7f559dc 175 int main(void)
rgrover1 0:2130d7f559dc 176 {
suntopbd 12:0777ec4114c8 177 // pwm freq
suntopbd 12:0777ec4114c8 178 LP.period(0.01f);
suntopbd 12:0777ec4114c8 179 RP.period(0.01f);
suntopbd 12:0777ec4114c8 180 LP.write(1.0);
suntopbd 12:0777ec4114c8 181 RP.write(1.0);
suntopbd 12:0777ec4114c8 182 wait(1);
suntopbd 12:0777ec4114c8 183 LP.write(0.0);
suntopbd 12:0777ec4114c8 184 RP.write(0.0);
suntopbd 11:6916c05fde52 185
suntopbd 12:0777ec4114c8 186 row1.write(1);
suntopbd 12:0777ec4114c8 187
rgrover1 0:2130d7f559dc 188 ble.init();
suntopbd 11:6916c05fde52 189 ble.onDisconnection(disconnectionCallback);
suntopbd 11:6916c05fde52 190
rgrover1 5:2607923acfa1 191 uart = new UARTService(ble);
rgrover1 0:2130d7f559dc 192
suntopbd 11:6916c05fde52 193 /* setup advertising */
rgrover1 0:2130d7f559dc 194 ble.accumulateAdvertisingPayload(GapAdvertisingData::BREDR_NOT_SUPPORTED);
rgrover1 0:2130d7f559dc 195 ble.setAdvertisingType(GapAdvertisingParams::ADV_CONNECTABLE_UNDIRECTED);
rgrover1 0:2130d7f559dc 196 ble.accumulateAdvertisingPayload(GapAdvertisingData::SHORTENED_LOCAL_NAME,
suntopbd 10:053397a8dc40 197 (const uint8_t *)"uBit BLE", sizeof("uBit BLE") - 1);
suntopbd 11:6916c05fde52 198 // device name on BLE //
rgrover1 0:2130d7f559dc 199 ble.accumulateAdvertisingPayload(GapAdvertisingData::COMPLETE_LIST_128BIT_SERVICE_IDS,
rgrover1 0:2130d7f559dc 200 (const uint8_t *)UARTServiceUUID_reversed, sizeof(UARTServiceUUID_reversed));
rgrover1 0:2130d7f559dc 201
suntopbd 11:6916c05fde52 202 ble.setAdvertisingInterval(160); /* 100ms; in multiples of 0.625ms. */
rgrover1 0:2130d7f559dc 203 ble.startAdvertising();
suntopbd 12:0777ec4114c8 204
suntopbd 12:0777ec4114c8 205
suntopbd 12:0777ec4114c8 206 // may necessary //
suntopbd 12:0777ec4114c8 207 while(swA.read())
suntopbd 12:0777ec4114c8 208 {
suntopbd 12:0777ec4114c8 209 ble.waitForEvent();
suntopbd 12:0777ec4114c8 210 col1.write(!(col1.read()));
suntopbd 12:0777ec4114c8 211 wait(1);
suntopbd 12:0777ec4114c8 212 blePrintf("Hold A to start\n");
suntopbd 12:0777ec4114c8 213 }
suntopbd 12:0777ec4114c8 214 // max 20 Character at a time over BLE
suntopbd 12:0777ec4114c8 215 // max 20 Character at a time over BLE
suntopbd 12:0777ec4114c8 216 // max 20 Character at a time over BLE
suntopbd 12:0777ec4114c8 217
suntopbd 12:0777ec4114c8 218
suntopbd 12:0777ec4114c8 219 ble.waitForEvent();
suntopbd 12:0777ec4114c8 220 blePrintf("Init nRF51822 \n");
suntopbd 12:0777ec4114c8 221 blePrintf("Calibrating Sensors\n");
suntopbd 12:0777ec4114c8 222 blePrintf("Rotate To Calibrate\n");
suntopbd 12:0777ec4114c8 223 blePrintf("when LED blinks fast\n");
suntopbd 12:0777ec4114c8 224
suntopbd 12:0777ec4114c8 225 calXY(); // do the mag calib
suntopbd 12:0777ec4114c8 226 ble.waitForEvent();
suntopbd 12:0777ec4114c8 227
suntopbd 12:0777ec4114c8 228 blePrintf("Calibrate Completed\n");
suntopbd 12:0777ec4114c8 229 blePrintf("Put Robot on Water\n");
suntopbd 12:0777ec4114c8 230
suntopbd 12:0777ec4114c8 231 while(swA.read())
suntopbd 12:0777ec4114c8 232 {
suntopbd 12:0777ec4114c8 233 col1.write(!(col1.read()));
suntopbd 12:0777ec4114c8 234 wait(1);
suntopbd 12:0777ec4114c8 235 blePrintf("Hold A to proceed\n");
suntopbd 12:0777ec4114c8 236
suntopbd 12:0777ec4114c8 237 }
suntopbd 12:0777ec4114c8 238
suntopbd 12:0777ec4114c8 239 Ticker ticker;
suntopbd 12:0777ec4114c8 240 ticker.attach(&periodicCallback, 5);
suntopbd 12:0777ec4114c8 241
suntopbd 12:0777ec4114c8 242 Ticker ticker2;
suntopbd 12:0777ec4114c8 243 ticker2.attach(&navigationAdjust, .5);
suntopbd 12:0777ec4114c8 244
suntopbd 12:0777ec4114c8 245
suntopbd 12:0777ec4114c8 246 //Reference angle input from 0.0 to 3.3V
suntopbd 12:0777ec4114c8 247 controllerL.setInputLimits(0.0, 360.0);
suntopbd 12:0777ec4114c8 248 controllerR.setInputLimits(0.0, 360.0);
suntopbd 12:0777ec4114c8 249
suntopbd 12:0777ec4114c8 250 //Pwm output from 0.0 to 1.0
suntopbd 12:0777ec4114c8 251 controllerL.setOutputLimits(0.0, 1.0);
suntopbd 12:0777ec4114c8 252 controllerR.setOutputLimits(0.0, 1.0);
suntopbd 12:0777ec4114c8 253
suntopbd 12:0777ec4114c8 254 //If there's a bias.
suntopbd 12:0777ec4114c8 255 controllerL.setBias(0.0);
suntopbd 12:0777ec4114c8 256 controllerR.setBias(0.0);
suntopbd 12:0777ec4114c8 257
suntopbd 12:0777ec4114c8 258 controllerL.setMode(AUTO_MODE);
suntopbd 12:0777ec4114c8 259 controllerR.setMode(AUTO_MODE);
suntopbd 12:0777ec4114c8 260
suntopbd 12:0777ec4114c8 261 //process variable or heading to be 90
suntopbd 12:0777ec4114c8 262 controllerL.setSetPoint(90.0);
suntopbd 12:0777ec4114c8 263 controllerR.setSetPoint(90.0);
suntopbd 12:0777ec4114c8 264
suntopbd 12:0777ec4114c8 265
rgrover1 0:2130d7f559dc 266
suntopbd 11:6916c05fde52 267 while (true) {
rgrover1 0:2130d7f559dc 268 ble.waitForEvent();
suntopbd 12:0777ec4114c8 269 heading_ref = mag.getHeading();
suntopbd 12:0777ec4114c8 270 if (heading_ref<0.0) heading_ref = heading_ref+360.00;
suntopbd 12:0777ec4114c8 271 if (heading_ref>360.00) heading_ref = heading_ref -360.00;
suntopbd 12:0777ec4114c8 272 controllerL.setProcessValue(heading_ref);
suntopbd 12:0777ec4114c8 273 controllerR.setProcessValue(heading_ref);
suntopbd 12:0777ec4114c8 274 float LPwr = controllerL.compute();
suntopbd 12:0777ec4114c8 275 float RPwr = controllerR.compute();
suntopbd 12:0777ec4114c8 276 //////////////////////////////////
suntopbd 12:0777ec4114c8 277 //////////////////////////////////
suntopbd 12:0777ec4114c8 278 //// WORKS BETTER THAN PID //////
suntopbd 12:0777ec4114c8 279 //////////////////////////////////
suntopbd 12:0777ec4114c8 280 ndr:
suntopbd 12:0777ec4114c8 281
suntopbd 12:0777ec4114c8 282 if(refupdate == 1)
suntopbd 12:0777ec4114c8 283 {
suntopbd 12:0777ec4114c8 284 while(heading_ref != heading)
suntopbd 12:0777ec4114c8 285 {
suntopbd 12:0777ec4114c8 286 heading = mag.getHeading();
suntopbd 12:0777ec4114c8 287 if (heading<0.0) heading_ref = heading+360.00;
suntopbd 12:0777ec4114c8 288 if (heading>360.00) heading_ref = heading -360.00;
suntopbd 12:0777ec4114c8 289 LP.write(.9);
suntopbd 12:0777ec4114c8 290 }
suntopbd 12:0777ec4114c8 291 }
suntopbd 12:0777ec4114c8 292
suntopbd 12:0777ec4114c8 293
suntopbd 12:0777ec4114c8 294 heading = heading_ref;
suntopbd 12:0777ec4114c8 295
suntopbd 12:0777ec4114c8 296 for (int z =0;z<10;z++)
suntopbd 12:0777ec4114c8 297 {
suntopbd 12:0777ec4114c8 298 if (heading> heading_ref+2.0)
suntopbd 12:0777ec4114c8 299 LP.write((heading - 90.0)/20.0);
suntopbd 12:0777ec4114c8 300 else
suntopbd 12:0777ec4114c8 301 LP.write(.0);
suntopbd 12:0777ec4114c8 302 wait(0.2);
suntopbd 12:0777ec4114c8 303
suntopbd 12:0777ec4114c8 304 if (heading> heading_ref+2.0)
suntopbd 12:0777ec4114c8 305 RP.write(( 90 - heading )/20.0);
suntopbd 12:0777ec4114c8 306 else
suntopbd 12:0777ec4114c8 307 RP.write(.0);
suntopbd 12:0777ec4114c8 308 wait(0.2);
suntopbd 12:0777ec4114c8 309 LP.write(.7);
suntopbd 12:0777ec4114c8 310 RP.write(.7);
suntopbd 12:0777ec4114c8 311 wait(0.2);
suntopbd 12:0777ec4114c8 312
suntopbd 12:0777ec4114c8 313
suntopbd 12:0777ec4114c8 314 }
suntopbd 12:0777ec4114c8 315 /// heading is corrected after this line ///
suntopbd 12:0777ec4114c8 316 /// calib may needed //
suntopbd 12:0777ec4114c8 317
suntopbd 12:0777ec4114c8 318 // val = ain.read_u16();
suntopbd 11:6916c05fde52 319 // 22k+100K VOLTAGE DIVIDER AND 0.15 IS OFFSET
suntopbd 12:0777ec4114c8 320 // batt = (122/22)*3.6*val/1023.0 - 0.15
suntopbd 12:0777ec4114c8 321
suntopbd 12:0777ec4114c8 322 //Update the process variable.
suntopbd 12:0777ec4114c8 323 //Set the new output.
suntopbd 12:0777ec4114c8 324
suntopbd 12:0777ec4114c8 325
suntopbd 12:0777ec4114c8 326 if (blepush ==1)
suntopbd 12:0777ec4114c8 327 {
suntopbd 12:0777ec4114c8 328
suntopbd 12:0777ec4114c8 329 TEMP = 3.3*100*temperature.read_u16()/(5*1023); // 10 mV= 1 deg c, vcc =3.3 v, Opamp gain 5
suntopbd 12:0777ec4114c8 330 dVal = TEMP;
suntopbd 12:0777ec4114c8 331 dec = (int)(TEMP * 100) % 100;
suntopbd 10:053397a8dc40 332
suntopbd 11:6916c05fde52 333 memset(result, 0, 100);
suntopbd 12:0777ec4114c8 334
suntopbd 12:0777ec4114c8 335 result[0] = (dVal / 100) + '0';
suntopbd 12:0777ec4114c8 336 result[1] = ((dVal / 10)%10) + '0';
suntopbd 12:0777ec4114c8 337 result[2] = (dVal % 10) + '0';
suntopbd 12:0777ec4114c8 338 result[3] = '.';
suntopbd 12:0777ec4114c8 339 result[4] = (dec / 10) + '0';
suntopbd 12:0777ec4114c8 340 result[5] = (dec % 10) + '0';
suntopbd 11:6916c05fde52 341 for (i=strlen(result)-1; i>=0; i--)
suntopbd 11:6916c05fde52 342 putc(result[i], stdout);
suntopbd 12:0777ec4114c8 343
suntopbd 12:0777ec4114c8 344 blePrintf("temperature ");
suntopbd 12:0777ec4114c8 345 blePrintf(result);
suntopbd 12:0777ec4114c8 346 blePrintf("\n");
suntopbd 12:0777ec4114c8 347
suntopbd 12:0777ec4114c8 348 TURB = 3.3*10*turbidity.read_u16()/1023; // fix gain later
suntopbd 12:0777ec4114c8 349 dVal = TURB;
suntopbd 12:0777ec4114c8 350 dec = (int)(TURB * 100) % 100;
suntopbd 12:0777ec4114c8 351
suntopbd 12:0777ec4114c8 352 memset(result, 0, 100);
suntopbd 12:0777ec4114c8 353
suntopbd 12:0777ec4114c8 354 result[0] = (dVal / 100) + '0';
suntopbd 12:0777ec4114c8 355 result[1] = ((dVal / 10)%10) + '0';
suntopbd 12:0777ec4114c8 356 result[2] = (dVal % 10) + '0';
suntopbd 12:0777ec4114c8 357 result[3] = '.';
suntopbd 12:0777ec4114c8 358 result[4] = (dec / 10) + '0';
suntopbd 12:0777ec4114c8 359 result[5] = (dec % 10) + '0';
suntopbd 12:0777ec4114c8 360 for (i=strlen(result)-1; i>=0; i--)
suntopbd 12:0777ec4114c8 361 putc(result[i], stdout);
suntopbd 12:0777ec4114c8 362
suntopbd 12:0777ec4114c8 363 blePrintf("turbidity ");
suntopbd 12:0777ec4114c8 364 blePrintf(result);
suntopbd 12:0777ec4114c8 365 blePrintf("\n");
suntopbd 11:6916c05fde52 366
suntopbd 11:6916c05fde52 367
suntopbd 11:6916c05fde52 368
suntopbd 12:0777ec4114c8 369 COND = 3.3*10*conductivity.read_u16()/1023; // fix gain later
suntopbd 12:0777ec4114c8 370 dVal = COND;
suntopbd 12:0777ec4114c8 371 dec = (int)(COND * 100) % 100;
suntopbd 12:0777ec4114c8 372
suntopbd 12:0777ec4114c8 373 memset(result, 0, 100);
suntopbd 12:0777ec4114c8 374
suntopbd 12:0777ec4114c8 375 result[0] = (dVal / 100) + '0';
suntopbd 12:0777ec4114c8 376 result[1] = ((dVal / 10)%10) + '0';
suntopbd 12:0777ec4114c8 377 result[2] = (dVal % 10) + '0';
suntopbd 12:0777ec4114c8 378 result[3] = '.';
suntopbd 12:0777ec4114c8 379 result[4] = (dec / 10) + '0';
suntopbd 12:0777ec4114c8 380 result[5] = (dec % 10) + '0';
suntopbd 12:0777ec4114c8 381 for (i=strlen(result)-1; i>=0; i--)
suntopbd 12:0777ec4114c8 382 putc(result[i], stdout);
suntopbd 12:0777ec4114c8 383
suntopbd 12:0777ec4114c8 384 blePrintf("conductivity ");
suntopbd 12:0777ec4114c8 385 blePrintf(result);
suntopbd 12:0777ec4114c8 386 blePrintf("\n");
suntopbd 12:0777ec4114c8 387 blepush =0;
suntopbd 12:0777ec4114c8 388 }
suntopbd 12:0777ec4114c8 389 goto ndr;
suntopbd 12:0777ec4114c8 390 }
suntopbd 12:0777ec4114c8 391 // end of while(1)
suntopbd 12:0777ec4114c8 392 }
suntopbd 12:0777ec4114c8 393 // end of main()
suntopbd 12:0777ec4114c8 394
suntopbd 12:0777ec4114c8 395
suntopbd 12:0777ec4114c8 396