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Integration of multiple sensors with ROS Serial
Dependencies: mbed HCSR04 VEML7700
Revision 4:69cd9240fd74, committed 2021-10-23
- Comitter:
- zillkhan
- Date:
- Sat Oct 23 07:49:00 2021 +0000
- Parent:
- 3:c23614e6262f
- Commit message:
- Adding BME680 driver
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BME680.lib Sat Oct 23 07:49:00 2021 +0000 @@ -0,0 +1,1 @@ +https://github.com/sensidev/BME680/#cd2aeb67003ce13c4e51a56a4fb935844289de53
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BME680_driver.lib Sat Oct 23 07:49:00 2021 +0000 @@ -0,0 +1,1 @@ +https://github.com/BoschSensortec/BME680_driver/#9014031fa00a5cc1eea1498c4cd1f94ec4b8ab11
--- a/main.cpp Sat Oct 23 07:31:18 2021 +0000 +++ b/main.cpp Sat Oct 23 07:49:00 2021 +0000 @@ -5,6 +5,7 @@ #include "SHARPIR.h" #include "hcsr04.h" #include "VEML7700.h" +#include "mbed_bme680.h" #ifndef MSU_VEML7700_I2C_ADDRESS #define MSU_VEML7700_I2C_ADDRESS 0x10 @@ -20,6 +21,10 @@ //D8 TRIGGER D9 ECHO HCSR04 sensor(D8, D9); +// BME680 pin defination +I2C i2c(PIN_SDA, PIN_SCL); +BME680 bme680(0xEE); //I2C address for BME680 + ros::NodeHandle nh; //SharpIR publisher initialization @@ -34,11 +39,16 @@ std_msgs::Int16 data_als; ros::Publisher ALS("ALS", &data_als); +//BME680 publisher initialization +std_msgs::String msg; +ros::Publisher sensor_bme("sensor_bme", &msg); + VEML7700 *veml7700 = 0 ; int main() { float DistanceCM; //Variable to store distance in CM from SharpIR sensor char buffer[50]; // buffer for Ultrasonic sensor values + char buff_bme[50]; // buffer for bme690 sensor values //Initialization of Ambient light sensor uint16_t als ; @@ -46,20 +56,34 @@ veml7700->setALSConf(0x0000) ; veml7700->setPowerSaving(0x0000) ; + //Initalization of BME680 + if (!bme680.begin()) { + printf("BME680 Begin failed \r\n"); + return 1; + } + //Initalizing and advertising topics nh.initNode(); nh.advertise(sharpir); //SharpIR sensor nh.advertise(ultrasonic); //Ultrasonic Sensor nh.advertise(ALS); //Ambient Light Sensor + nh.advertise(sensor_bme); //bme680 sensor while (1) { //creates an eternal loop DistanceCM=Sensor.cm(); //Reading SharpIR sensor value from analog pin + wait_ms(500); long distance = sensor.distance(); //Reading ultrasonic sensor value sprintf (buffer, "%d", distance); //converting value into string + wait_ms(500); als = veml7700->getALS(); //Readinng ALS sensor value + wait_ms(500); + + bme680.performReading(); //Reading bme680 value + sprintf (buff_bme, "Temp: %0.2f degC,Humi: %0.2f %%,Pres: %0.2f hPa,VOC: %0.2f KOhms", bme680.getTemperature(),bme680.getHumidity(),(bme680.getPressure() / 100.0),(bme680.getGasResistance() / 1000.0)); + wait_ms(500); data_ir.data = DistanceCM; sharpir.publish( &data_ir ); @@ -70,6 +94,9 @@ data_als.data = als; ALS.publish( &data_als ); + msg.data = buffer; + sensor_bme.publish(&msg); + nh.spinOnce(); wait_ms(1000); }