mirror of
https://github.com/cosmic-pi-deprecated/cosmicpi-arduino_V1.6.git
synced 2026-05-13 00:19:21 +00:00
James Devine
8282d0a0b1
Compiles, but doesn't run. Left to do: Fix serial output Verify GPS Verify ADC + HV settings Swap accelerometer library Sort out timers (software for now) Confirm serial output format.
133 lines
3.2 KiB
C++
133 lines
3.2 KiB
C++
#include "sensors.h"
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#include <Arduino.h>
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#include "asyncSerial.h"
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// LPS lib from here: https://github.com/pololu/lps-arduino
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//LSM303 isn't used anymore - change this out.
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#include "src/LPS.h"
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// LSM303 lib from here: https://github.com/pololu/lsm303-arduino
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#include "src/LSM303.h"
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// HTU21D lib from here: https://github.com/adafruit/Adafruit_HTU21DF_Library
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#include "src/SparkFunHTU21D.h"
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Sensors::Sensors(AsyncSerial *aS){
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aSer = aS;
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}
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// initilize sensors
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bool Sensors::init(){
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bool return_val = true;
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baroOK = baro.init();
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if (!baroOK)
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{
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sprintf(txt,"WARINING: Couldn't initilize the barometer!\n");
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aSer->print(txt);
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return_val = false;
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} else{
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baro.enableDefault();
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}
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accelMagnetoOK = accelMagneto.init();
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if (!accelMagnetoOK)
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{
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sprintf(txt,"WARINING: Couldn't initilize the accelerometer and magnetometer!\n");
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aSer->print(txt);
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return_val = false;
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} else{
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accelMagneto.enableDefault();
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}
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humidOK = humidity.begin();
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if (!humidOK)
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{
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sprintf(txt,"WARINING: Couldn't initilize the humidity sensor!\n");
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aSer->print(txt);
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return_val = false;
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}
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return return_val;
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}
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// different ways of printing data
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void Sensors::printBaro(){
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if (baroOK) {
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float pressure = baro.readPressureMillibars();
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float altitude = baro.pressureToAltitudeMeters(pressure);
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float temperature = baro.readTemperatureC();
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sprintf(txt,"Pressure: %f;\nAltitude: %f;\nTemperatureCBaro: %f;\n", pressure, altitude, temperature);
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aSer->print(txt);
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}
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}
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void Sensors::printAccel(){
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if (accelMagnetoOK) {
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accelMagneto.read();
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float x = AclToMs2(accelMagneto.a.x);
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float y = AclToMs2(accelMagneto.a.y);
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float z = AclToMs2(accelMagneto.a.z);
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sprintf(txt,"AccelX: %f;\nAccelY: %f;\nAccelZ: %f;\n", x, y, z);
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aSer->print(txt);
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}
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}
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void Sensors::printMagneto(){
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if (accelMagnetoOK) {
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accelMagneto.read();
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float x = MagToGauss(accelMagneto.m.x);
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float y = MagToGauss(accelMagneto.m.y);
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float z = MagToGauss(accelMagneto.m.z);
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sprintf(txt,"MagX: %f;\nMagY: %f;\nMagZ: %f;\n", x, y, z);
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aSer->print(txt);
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}
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}
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void Sensors::printHumid(){
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if (humidOK) {
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sprintf(txt,"TemperatureCHumid: %f;\nHumidity: %f;\n", humidity.readTemperature(), humidity.readHumidity());
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aSer->print(txt);
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}
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}
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void Sensors::printTempAvg(){
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short count = 0;
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int sum = 0;
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if (humidOK) {
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count++;
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sum += humidity.readTemperature();
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}
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if (baroOK) {
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count++;
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sum += baro.readTemperatureC();
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}
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if (count != 0){
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float out = sum / count;
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sprintf(txt,"TemperatureC: %f;\n", out);
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aSer->print(txt);
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}
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}
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void Sensors::printAll(){
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printBaro();
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printAccel();
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printMagneto();
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printHumid();
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printTempAvg();
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}
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static const double GEARTH = 9.80665;
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// normaly there is no - in ACL_FS, but the Accel is on upwards down, so it was necessary to get correct values
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static const double ACL_FS = -2.0; // +-2g 16 bit 2's compliment
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// Convert to meters per sec per sec
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float Sensors::AclToMs2(int16_t val) {
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return (ACL_FS * GEARTH) * ((float) val / (float) 0x7FFF);
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}
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#define MAGNETIC_FS 4.0 // Full scale Gauss 16 bit 2's compliment
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float Sensors::MagToGauss(int16_t val) {
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return (MAGNETIC_FS * (float) val) / (float) 0x7FFF;
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}
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