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James Devine 2019-08-06 02:18:11 +02:00 committed by GitHub
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sensors.cpp
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#include "sensors.h"
#include <Arduino.h>
#include "asyncSerial.h"
// LPS lib from here: https://github.com/pololu/lps-arduino
//LSM303 isn't used anymore - change this out.
#include "src/LPS.h"
// LSM303 lib from here: https://github.com/pololu/lsm303-arduino
#include "src/LSM303.h"
// HTU21D lib from here: https://github.com/adafruit/Adafruit_HTU21DF_Library
#include "src/SparkFunHTU21D.h"
Sensors::Sensors(AsyncSerial *aS){
aSer = aS;
}
// initilize sensors
bool Sensors::init(){
bool return_val = true;
baroOK = baro.init();
if (!baroOK)
{
sprintf(txt,"WARINING: Couldn't initilize the barometer!\n");
aSer->print(txt);
return_val = false;
} else{
baro.enableDefault();
}
accelMagnetoOK = accelMagneto.init();
if (!accelMagnetoOK)
{
sprintf(txt,"WARINING: Couldn't initilize the accelerometer and magnetometer!\n");
aSer->print(txt);
return_val = false;
} else{
accelMagneto.enableDefault();
}
humidOK = humidity.begin();
if (!humidOK)
{
sprintf(txt,"WARINING: Couldn't initilize the humidity sensor!\n");
aSer->print(txt);
return_val = false;
}
return return_val;
}
// different ways of printing data
void Sensors::printBaro(){
if (baroOK) {
float pressure = baro.readPressureMillibars();
float altitude = baro.pressureToAltitudeMeters(pressure);
float temperature = baro.readTemperatureC();
sprintf(txt,"Pressure: %f;\nAltitude: %f;\nTemperatureCBaro: %f;\n", pressure, altitude, temperature);
aSer->print(txt);
}
}
void Sensors::printAccel(){
if (accelMagnetoOK) {
accelMagneto.read();
float x = AclToMs2(accelMagneto.a.x);
float y = AclToMs2(accelMagneto.a.y);
float z = AclToMs2(accelMagneto.a.z);
sprintf(txt,"AccelX: %f;\nAccelY: %f;\nAccelZ: %f;\n", x, y, z);
aSer->print(txt);
}
}
void Sensors::printMagneto(){
if (accelMagnetoOK) {
accelMagneto.read();
float x = MagToGauss(accelMagneto.m.x);
float y = MagToGauss(accelMagneto.m.y);
float z = MagToGauss(accelMagneto.m.z);
sprintf(txt,"MagX: %f;\nMagY: %f;\nMagZ: %f;\n", x, y, z);
aSer->print(txt);
}
}
void Sensors::printHumid(){
if (humidOK) {
sprintf(txt,"TemperatureCHumid: %f;\nHumidity: %f;\n", humidity.readTemperature(), humidity.readHumidity());
aSer->print(txt);
}
}
void Sensors::printTempAvg(){
short count = 0;
int sum = 0;
if (humidOK) {
count++;
sum += humidity.readTemperature();
}
if (baroOK) {
count++;
sum += baro.readTemperatureC();
}
if (count != 0){
float out = sum / count;
sprintf(txt,"TemperatureC: %f;\n", out);
aSer->print(txt);
}
}
void Sensors::printAll(){
printBaro();
printAccel();
printMagneto();
printHumid();
printTempAvg();
}
static const double GEARTH = 9.80665;
// normaly there is no - in ACL_FS, but the Accel is on upwards down, so it was necessary to get correct values
static const double ACL_FS = -2.0; // +-2g 16 bit 2's compliment
// Convert to meters per sec per sec
float Sensors::AclToMs2(int16_t val) {
return (ACL_FS * GEARTH) * ((float) val / (float) 0x7FFF);
}
#define MAGNETIC_FS 4.0 // Full scale Gauss 16 bit 2's compliment
float Sensors::MagToGauss(int16_t val) {
return (MAGNETIC_FS * (float) val) / (float) 0x7FFF;
}