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cosmicpi-arduino/cosmicpi-arduino.ino
Justin Lewis Salmon f2be3769ef Initial commit of Julian's code
2016-04-23 15:46:24 +02:00

1104 lines
36 KiB
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// This program collects up to PPS_EVENTS events each second into a double buffer.
// While the ISR fills one event buffer, the user space loop function reads from the other.
// Each PPS interrupt the read/write buffers are swapped over by the event ISR
// If any events are available in the read buffer the loop function puts them onto a queue
// along with the UTC time string where they get stored. Once there are at
// least DUMP_THRESHOLD entries on the queue, the loop function outputs them over the serial
// line for processing.
// In this version interrupts come from the accelerometer chip, if the acceleration exceeds
// the threshold (in meters/sec/sec) in any direction the chip interrupts and its logged to
// the serial output stream.
// Julian Lewis lewis.julian@gmail.com
#define VERS "2016/Mar/29"
// In this sketch I am using an Adafruite ultimate GPS breakout which exposes the PPS output
// The Addafruite Rx is connected to the DUE TX1 (Pin 18) and its Tx to DUE RX1 (Pin 19)
// The Adafruite 3.3V power is provided from the DUE 3.3V and ground pins
// N.B. Go to the Adafruit downloads page and copy Adafruit_GPS.h and Adafruit_GPS.cc to
// your sketch directory.
// The output from this program is processed by a Python monitor on the other end of the
// serial line. There has to be mutual aggreement between this program and the monitor.
// Output strings
// All fields in all output strings conform to the json standard
// Here is the list of all records where 'f' denotes float and 'i' denotes integer ...
// {'HTU':{'Tmh':f,'Hum':f}}
// HTU21DF record containing Tmh:temperature in C Hum:humidity percent
//
// {'BMP':{'Tmb':f,'Prs':f,'Alb':f}}
// BMP085 record containing Tmb:temperature Prs:pressure Alb:Barrometric altitude
//
// {'VIB':{'Vax':i,'Vcn':i}}
// Vibration record containing Vax:3 bit xyz direction mask Vcn:vibration count
// This record is always immediatly followed by 3 more records, TIM, ACL, and MAG
//
// {'MAG':{'Mgx':f,'Mgy':f,'Mgz':f}}
// LSM303DLH magnatometer record containing Mgx:the x field strength Mgy:the y field Mgz:ther z field
//
// {'MOG':{'Mox':f,'Moy':f,'Moz':f}}
// LSM303DLH magnatometer record containing Mox:x orientation Moy:y orientation Moz:z orientation
// This record is optional, by default its turned off (it can always be calculated later - Python)
//
// {'ACL':{'Acx':f,'Acy':f,'Acz':f}}
// LSM303DLH acclerometer record containing Acx:the x acceleration Acy:the y acceleration Acz:the z acceleration
// If this record immediatly follows a VIB record the fields were hardware latched when the g threshold was exceeded
//
// {'AOL':{'Aox':f,'Aoy':f,'Aoz':f}}
// LSM303DLH accelerometer record containing Aox:x orientation Aoy:y orientation Aoz:z orientation
// This record is optional, by default its turned off (it can always be calculated later - Python)
//
// {'LOC':{'Lat':f,'Lon':f,'Alt':f}}
// GPS location record containing Lat:latitude in degrees Lon:longitude in degrees Alt:altitude in meters
//
// {'TIM':{'Upt':i,'Frq':i,'Sec':i}}
// Time record containing Upt:up time seconds Frq:counter frequency Sec:time string
//
// {'STS':{'Qsz':i,'Mis':i,'Ter':i,'Htu':i,'Bmp':i,'Acl':i,'Mag':i}}
// Status record containing Qsz:events on queue Mis:missed events Ter:buffer error Htu:status Bmp:status Acl:status Mag:status
//
// {'EVT':{'Evt':i,'Frq':i,'Tks':i,'Etm':f,'Adc':[[i,i,i,i,i,i,i,i][i,i,i,i,i,i,i,i]]}}
// Event record containing Evt:event number in second Frq:timer frequency Tks:ticks since last event in second
// Etm:event time stamp to 100ns Adc:[[Channel 0 values][Channel 1 values]]
// N.B. These records pass the data to a python monitor over the serial line. Python has awsome string handling and looks them up in
// associative arrays to build records of any arbitary format you want. So this is only the start of the story of record processing.
// N.B. Also some of these records are sent out at regular intervals and or when an event occurs.
// This program also accepts commands sent to it on the serial line.
// When a command arrives it is immediatly executed.
#include <time.h>
#include <Wire.h>
#include "Adafruit_BMP085_U.h" // Barrometric pressure
#include "Adafruit_HTU21DF.h" // Humidity and temperature sensor
// GPS chips typically return NMEA strings over a serial line.
// They can be programmed to send different NMEA strings according to what you configure.
// The string RMCGGA has the altitude but misses the yy/mm/dd from the date, it only has hh/mm/ss.
// This is easilly made up for in the Python monitor which gets this information from it system time.
#include "Adafruit_GPS.h" // GPS chip
#define GPSECHO true
#define RMCGGA // Altitude on, yy/mm/dd off
#include "Adafruit_L3GD20_U.h" // Magoscope
// WARNING: I had to modify this library, its no longer standard
#include "Adafruit_LSM303_U.h" // Accelerometer and magnentometer/compass
#include "Adafruit_10DOF.h" // 10DOF breakout driver - scale to SI units
// Configuration constants
// The size of the one second event buffer
#define PPS_EVENTS 8 // The maximum number of events stored per second
#define ADC_BUF_LEN 8 // Number of ADC values per event
// This is the event queue size
#define EVENT_QSIZE 32 // The number of events that can be queued for serial output
// Handle text buffer serial output overflow errors
// When the output buffer overflows due to data comming too fast, we just stop printing due
// to insufficient bandwidth or slow things down if HANDLE_OVERFLOW is set (not recomended)
// #define HANDLE_OVERFLOW
// This is the text ring buffer for real time output to serial line with interrupt on
#define TBLEN 4096 // Serial line output ring buffer size
// Define some output debug pins to monitor whats going on via an oscilloscope
#define PPS_PIN 13 // PPS (Pulse Per Second) and LED
#define EVT_PIN 12 // Cosmic ray event detected
#define FLG_PIN 11 // Debug flag
// For siesmic event input
#define ACL_PIN 10 // Accelarometer INT1 interrupt pin
// Baud rates
#define SERIAL_BAUD_RATE 9600 // Serial line
#define GPS_BAUD_RATE 9600 // GPS and Serial1 line
// Instantiate external hardware breakouts
Adafruit_GPS gps(&Serial1); // GPS Serial1 on pins RX1 and TX1
Adafruit_HTU21DF htu = Adafruit_HTU21DF(); // Humidity and temperature measurment
boolean htu_ok = false; // Chip OK
#define BMPID 18001
Adafruit_BMP085_Unified bmp = Adafruit_BMP085_Unified(BMPID); // Barometric pressure
boolean bmp_ok = false;
// The 10DOF isn't a chip, its just a utility to convert say mago values into headings etc
Adafruit_10DOF dof = Adafruit_10DOF(); // The 10 Degrees-Of-Freedom DOF breakout
boolean dof_ok = false; // board driver, scales units to SI
#define ACLID 30301
Adafruit_LSM303_Accel_Unified acl = Adafruit_LSM303_Accel_Unified(ACLID); // Accelerometer Compass
boolean acl_ok = false;
#define MAGID 30302
Adafruit_LSM303_Mag_Unified mag = Adafruit_LSM303_Mag_Unified(MAGID); // Magoscope
boolean mag_ok = false;
// Control the output data rates by setting defaults, these values can be modified at run time
// via commands from the serial interface. Some output like position isn't supposed to be changing
// very fast if at all, so no need to clutter up the serial line with it. The Python monitor keeps
// the last sent values when it builds event messages to be sent over the internet to the server
// or logged to a file.
uint32_t latlon_display_rate = 12; // Display latitude and longitude each X seconds
uint32_t humtmp_display_rate = 12; // Display humidity and HTU temperature each X seconds
uint32_t alttmp_display_rate = 12; // Display altitude and BMP temperature each X seconds
uint32_t frqutc_display_rate = 1; // Display frequency and UTC time each X seconds
uint32_t status_display_rate = 4; // Display status (UpTime, QueueSize, MissedEvents, HardwareOK)
uint32_t accelr_display_rate = 1; // Display accelarometer x,y,z
uint32_t magnot_display_rate = 12; // Display magnotometer data x,y,z
uint32_t events_display_size = 20; // Display events after recieving X events
// Siesmic event trigger parameters
uint32_t accelr_event_threshold = 2; // Trigger level for siesmic events in milli-g
uint32_t accelr_event_cutoff_fr = 30; // Siesmic event cutoff frequency
// Commands can be sent over the serial line to configure the display rates or whatever
typedef enum {
NOOP, // No-operation
HELP, // Help
HTUX, // Reset HTU chip
HTUD, // HUT display rate
BMPD, // BMP display rate
LOCD, // Location display rate
TIMD, // Timing display rate
STSD, // Status display rate
EVQT, // Event queue dump threshold
ACLD, // Accelerometer display rate
MAGD, // Magnetometer display rate
ACLT, // Accelerometer event threshold
CMDS }; // Command count
typedef struct {
int Id; // Command ID number
void (*proc)(int arg); // Function to call
char *Name; // Command name
char *Help; // Command help text
int Par; // Command parameter flag
} CmdStruct;
// Function forward references
void noop(int arg);
void help(int arg);
void htux(int arg);
void htud(int arg);
void bmpd(int arg);
void locd(int arg);
void timd(int arg);
void stsd(int arg);
void evqt(int arg);
void acld(int arg);
void magd(int arg);
void aclt(int arg);
// Command table
CmdStruct cmd_table[CMDS] = {
{ NOOP, noop, "NOOP", "Do nothing", 0 },
{ HELP, help, "HELP", "Display commands", 0 },
{ HTUX, htux, "HTUX", "Reset the HTU chip", 0 },
{ HTUD, htud, "HTUD", "HTU Temperature-Humidity display rate", 1 },
{ BMPD, bmpd, "BMPD", "BMP Temperature-Altitude display rate", 1 },
{ LOCD, locd, "LOCD", "Location latitude-longitude display rate", 1 },
{ TIMD, timd, "TIMD", "Timing uptime-frequency-utc display rate", 1 },
{ STSD, stsd, "STSD", "Status info display rate", 1 },
{ EVQT, evqt, "EVQT", "Event queue dump threshold", 1 },
{ ACLD, acld, "ACLD", "Accelerometer display rate", 1 },
{ MAGD, magd, "MAGD", "Magnatometer display rate", 1 },
{ ACLT, aclt, "ACLT", "Accelerometer event trigger threshold", 1 }
};
#define CMDLEN 32
static char cmd[CMDLEN]; // Command input buffer
static int irdp=0, irdy=0, istp=0; // Read, ready, stop
static char txtb[TBLEN]; // Text ring buffer
static uint32_t txtw = 0, txtr = 0, // Write and Read indexes
tsze = 0, terr = 0; // Buffer size and error code
typedef enum { TXT_NOERR=0, TXT_TOOBIG=1, TXT_OVERFL=2 } TxtErr;
#define TXTLEN 256
static char txt[TXTLEN]; // For writing to serial
// Initialize the timer chips to measure time between the PPS pulses and the EVENT pulse
// The PPS enters pin D2, the PPS is forwarded accross an isolating diode to pin D5
// The event pulse is also connected to pin D5. So D5 sees the LOR of the PPS and the
// event, while D2 sees only the PPS. In this way we measure the frequency of the
// clock MCLK/2 each second on the first counter, and the time between EVENTs on the second
void TimersStart() {
uint32_t config = 0;
// Set up the power management controller for TC0 and TC2
pmc_set_writeprotect(false); // Enable write access to power management chip
pmc_enable_periph_clk(ID_TC0); // Turn on power for timer block 0 channel 0
pmc_enable_periph_clk(ID_TC6); // Turn on power for timer block 2 channel 0
// Timer block zero channel zero is connected only to the PPS
// We set it up to load regester RA on each PPS and reset
// So RA will contain the number of clock ticks between two PPS, this
// value should be very stable +/- one tick
config = TC_CMR_TCCLKS_TIMER_CLOCK1 | // Select fast clock MCK/2 = 42 MHz
TC_CMR_ETRGEDG_RISING | // External trigger rising edge on TIOA0
TC_CMR_ABETRG | // Use the TIOA external input line
TC_CMR_LDRA_RISING; // Latch counter value into RA
TC_Configure(TC0, 0, config); // Configure channel 0 of TC0
TC_Start(TC0, 0); // Start timer running
TC0->TC_CHANNEL[0].TC_IER = TC_IER_LDRAS; // Enable the load AR channel 0 interrupt each PPS
TC0->TC_CHANNEL[0].TC_IDR = ~TC_IER_LDRAS; // and disable the rest of the interrupt sources
NVIC_EnableIRQ(TC0_IRQn); // Enable interrupt handler for channel 0
// Timer block 2 channel zero is connected to the OR of the PPS and the RAY event
config = TC_CMR_TCCLKS_TIMER_CLOCK1 | // Select fast clock MCK/2 = 42 MHz
TC_CMR_ETRGEDG_RISING | // External trigger rising edge on TIOA1
TC_CMR_ABETRG | // Use the TIOA external input line
TC_CMR_LDRA_RISING; // Latch counter value into RA
TC_Configure(TC2, 0, config); // Configure channel 0 of TC2
TC_Start(TC2, 0); // Start timer running
TC2->TC_CHANNEL[0].TC_IER = TC_IER_LDRAS; // Enable the load AR channel 0 interrupt each PPS
TC2->TC_CHANNEL[0].TC_IDR = ~TC_IER_LDRAS; // and disable the rest of the interrupt sources
NVIC_EnableIRQ(TC6_IRQn); // Enable interrupt handler for channel 0
// Set up the PIO controller to route input pins for TC0 and TC2
PIO_Configure(PIOC,PIO_INPUT,
PIO_PB25B_TIOA0, // D2 Input
PIO_DEFAULT);
PIO_Configure(PIOC,PIO_INPUT,
PIO_PC25B_TIOA6, // D5 Input
PIO_DEFAULT);
}
// Timer chip interrupt handlers try to get time stamps to within 4 system clock ticks
static uint32_t displ = 0; // Display values in loop
static uint32_t ppsfl = LOW, // PPS Flag boolean
rega0 = 0, // RA reg
stsr0 = 0, // Interrupt status register
ppcnt = 0; // PPS count
// Handle the PPS interrupt in counter block 0 ISR
void TC0_Handler() {
// This ISR is connected only to the PPS (Pulse Per Second) GPS event
// Each time this runs, set the flag to tell the TC6 ISR we have seen it
// This logic only works if the TC0 handler gets called before the TC6 handler
// hence the debug flag which I look at with a scope to be sure.
// I may introduce a small delay line to ensure this is true, so far it is.
ppsfl = HIGH; // Seen a rising edge on the PPS
#if FLG_PIN
digitalWrite(FLG_PIN,ppsfl); // Flag set (for debug)
#endif
rega0 = TC0->TC_CHANNEL[0].TC_RA; // Read the RA reg (PPS period)
stsr0 = TC_GetStatus(TC0, 0); // Read status and clear load bits
ppcnt++; // PPS count
displ = 1; // Display stuff in the loop
}
// We need a double buffer, one is being written by the ISR while
// the other is read from user space within one second.
struct Event {
uint16_t Ch0[ADC_BUF_LEN]; // ADC channel 0 values
uint16_t Ch1[ADC_BUF_LEN]; // ADC channel 1 values
uint32_t Tks; // Time since last event in ticks
};
static struct Event b1[PPS_EVENTS]; // Event ticks buffeer
static struct Event b2[PPS_EVENTS]; // Event ticks buffer
static struct Event *wbuf = b1; // Write event buffer pointer and its index
static struct Event *rbuf = b2; // Read event buffer pointer and its index
static int ridx, widx;
// We also need a time value for the current and previous second
#ifdef RMCGGA
#define DATE_TIME_LEN 9
#else
#define DATE_TIME_LEN 17
#endif
static char t1[DATE_TIME_LEN]; // Date time buffer text string
static char t2[DATE_TIME_LEN];
static char *wdtm = t1; // Write date/time pointer
static char *rdtm = t2; // Read date/time pointer
// Swap read write event buffers and indexes along with their time strings
// each second, so we have the current and previous second numbers
void SwapBufs() {
struct Event *tbuf; // Temp event buf pointer
char *tdtm; // Temp date/time string pointer
tbuf = rbuf; rbuf = wbuf; wbuf = tbuf; // Swap write with read buffer
ridx = widx; widx = 0; // Write count to read, reset the write count
tdtm = rdtm; rdtm = wdtm; wdtm = tdtm; // And swap asociated buffer date/time
}
// Handle isolated PPS (via diode) LOR with the Event
// The diode is needed to block Event pulses getting back to TC0
// LOR means Logical inclusive OR
static uint32_t rega1, stsr1 = 0;
void TC6_Handler() {
// This ISR is connected to the OR of the event and the PPS
// If the TC0 has seen the PPS it sets the flag high
// and if its high we are seeing the PPS here, but if the
// flag is not set then this is a cosmic ray event.
if (ppsfl == HIGH) { // Was ther a PPS ?
ppsfl = LOW; // Yes so we have seen it here
SwapBufs(); // Every PPS swap the read/write buffers
#if EVT_PIN
digitalWrite(EVT_PIN,LOW); // Not an event
#endif
} else {
#if EVT_PIN
digitalWrite(EVT_PIN,HIGH); // Event detected
#endif
if (widx < PPS_EVENTS) { // Up to PPS_EVENTS stored per PPS
// Read the latched tick count getting the event time
// and then pull the ADC pipe line
wbuf[widx].Tks = TC2->TC_CHANNEL[0].TC_RA;
AdcPullData(&wbuf[widx]);
widx++;
}
}
#if FLG_PIN
digitalWrite(FLG_PIN,ppsfl); // Flag out
#endif
rega1 = TC2->TC_CHANNEL[0].TC_RA; // Read the RA on channel 1 (PPS period)
stsr1 = TC_GetStatus(TC2, 0); // Read status clear load bits
}
// Accelerometer setup
// These settings come from reading the LSM303DLH doccumentation, which is more than the
// author of the Adda_fruit library did. It is a badly written load of rubbish, I have
// been forced to correct some bugs and export some private methods. It was a touch and go
// descision wether to just not use the library at all and do it all here. For now I will
// use it with the bug corrections.
// The following setup makes the accelarometer compare G-forces against a threshold value, and
// latch the output registers until they are read. To avoid excessive interrupt rates the high
// pass filter has been configured to keep the frequency low.
// N.B. It took me a day to find out that I needed to use Active low and Open drain on the INT1
// signal, otherwise the Adda_fruit module wont pass it on. Beware !!!
void AclSetup() {
uint8_t tmp, val;
if (!acl_ok) return;
#define PMD 0x20 // Normal power mode (PM0=1,PM1=0:Normal)
#define DRT 0x00 // Data rate 50 Hz (0x08 = 100Hz)
#define AEN 0x07 // XYZ Enabled
val = PMD | DRT | AEN;
acl.write8(LSM303_ADDRESS_ACCEL, LSM303_REGISTER_ACCEL_CTRL_REG1_A, val);
#define HPE1 0x04 // High pass filter Int 1 on
#define HPCF 0x03 // High pass cut off frequency
val = HPE1 | HPCF;
acl.write8(LSM303_ADDRESS_ACCEL, LSM303_REGISTER_ACCEL_CTRL_REG2_A, val);
#define LIR1 0x06 // Latch Int1 bit Data ready
#define LIR2 0x00 // Latch Int2 bit Data ready (0x20 Latch On)
#define IHL_OD 0xC0 // Interrupt active low, open drain (Argh !!!)
val = LIR1 | LIR2 | IHL_OD;
acl.write8(LSM303_ADDRESS_ACCEL, LSM303_REGISTER_ACCEL_CTRL_REG3_A, val);
#define BDU_FS 0x80 // Block data and scale +-2g
val = BDU_FS;
acl.write8(LSM303_ADDRESS_ACCEL, LSM303_REGISTER_ACCEL_CTRL_REG4_A, val);
#define XYZ_HI 0x2A // Hi values ZHIE YHIE XHIE
#define AOI_6D 0x00 // 0xC0 would enable 6 directions
val = XYZ_HI | AOI_6D;
acl.write8(LSM303_ADDRESS_ACCEL, LSM303_REGISTER_ACCEL_INT1_CFG_A, val);
val = accelr_event_threshold & 0x7F;
acl.write8(LSM303_ADDRESS_ACCEL, LSM303_REGISTER_ACCEL_INT1_THS_A, val);
// The chip make very wide pulses (100ms), the values on the rising and
// falling edges are different !
attachInterrupt(digitalPinToInterrupt(ACL_PIN),Acl_ISR,RISING);
}
// Magnatometer setup, again the Adda_fruit library was inadequate.
void MagSetup() {
uint8_t val;
if (!mag_ok) return;
val = 0;
mag.write8(LSM303_ADDRESS_MAG, LSM303_REGISTER_MAG_CRA_REG_M, val);
#define GAIN 0x80 // +- 4.0 Gauss
val = GAIN;
mag.write8(LSM303_ADDRESS_MAG, LSM303_REGISTER_MAG_CRB_REG_M, val);
#define MODE 0x0 // 01=Single conversion mode
val = MODE;
mag.write8(LSM303_ADDRESS_MAG, LSM303_REGISTER_MAG_MR_REG_M, val);
}
// This Accelerometer ISR
static uint32_t accl_icount = 0, accl_flag = 0;
void Acl_ISR() {
#define IA 0x40
accl_icount++;
accl_flag = AclReadStatus();
PushVib();
}
// Read accelerometer status
// This just reads the interrupt source INT1 and the overrun status.
// It returns 1 bit for X, Y, or Z (0..7) if the threshold value is exceeded.
// This determins if the board is being shaken - Earth quake - or other reason
static uint8_t acl_sts = 0;
static uint8_t acl_src = 0;
uint8_t AclReadStatus() {
uint8_t rval;
acl_src = acl.read8(LSM303_ADDRESS_ACCEL, LSM303_REGISTER_ACCEL_INT1_SOURCE_A);
#define ZH 0x20 // Z High
#define YH 0x08 // Y High
#define XH 0x02 // X High
rval = 0;
if (acl_src & IA) {
if (acl_src & ZH) rval |= 4;
if (acl_src & YH) rval |= 2;
if (acl_src & XH) rval |= 1;
}
if (rval)
acl_sts = acl.read8(LSM303_ADDRESS_ACCEL, LSM303_REGISTER_ACCEL_STATUS_REG_A);
return rval;
}
// Set up the ADC channels
void AdcSetup() {
REG_ADC_MR = 0x10380080; // Free run as fast as you can
REG_ADC_CHER = 3; // Channels 0 and 1
}
// Pull all data (16 values) from the ADC into a buffer
uint8_t AdcPullData(struct Event *b) {
int i;
for (i=0; i<ADC_BUF_LEN; i++) { // For all in ADC pipeline
while((ADC->ADC_ISR & 0x01)==0); // Wait for channel 0 (2.5us)
b->Ch0[i] = (uint16_t) ADC->ADC_CDR[0]; // Read ch 0
while((ADC->ADC_ISR & 0x02)==0); // Wait for channel 1 (2.5us)
b->Ch1[i] = (uint16_t) ADC->ADC_CDR[1]; // Read ch 1
}
}
// This is the nmea data string from the GPS chip
#define GPS_STRING_LEN 256
static char gps_string[GPS_STRING_LEN + 1];
float latitude = 0.0, longitude = 0.0, altitude = 0.0;
// This function is dependent on the GPS chip implementation
// It should return a date time string as described above
// So you need to re-implements this for whichever chip you are using
// Here I am using the addafruit GPS chip
char *GetDateTime() {
int i = 0;
while (Serial1.available()) {
if (i < GPS_STRING_LEN) {
gps_string[i++] = (char) Serial1.read();
gps_string[i] = 0;
} else i++;
}
if (gps.parse(gps_string)) {
#ifdef RMCGGA
// I choose RMCGGA by default, and get the altitude but no date.
// Its easy to get the date once the records arrive at the Python end.
// The GPS altitude is far more accurate than the barrometric altitude.
// Warning: The syntax can not be changed, we need an integer hhmmss
sprintf(wdtm,"%02d%02d%02d",
gps.hour,gps.minute,gps.seconds);
altitude = gps.altitude;
#else
sprintf(wdtm,"%02d%02d%02d%02d%02d%02d%02d%02d",
gps.year,gps.month,gps.day,
gps.hour,gps.minute,gps.seconds);
altitude = 0;
#endif
latitude = gps.latitudeDegrees; // Easy place to get location
longitude = gps.longitudeDegrees; // Works well in Google maps
return rdtm;
} else
return NULL;
}
// Implement queue access mechanism for events, each second the user space (loop) copies
// any events it has read onto the queue
struct EventBuf {
char DateTime[DATE_TIME_LEN]; // The date and time string
uint32_t Frequency; // The current clock frequency
uint32_t Ticks; // The number of ticks since the last event or PPS if none
uint16_t Ch0[ADC_BUF_LEN]; // ADC channel 0 values
uint16_t Ch1[ADC_BUF_LEN]; // ADC channel 1 values
uint8_t Count; // The number of events since the PPS
};
typedef struct {
uint8_t Size; // Current size of the queue
uint8_t RdPtr; // Read pointer
uint8_t WrPtr; // Write pointer
uint8_t Missed; // Missed events counter due to overflow
uint8_t Lock; // The queue spin lock (not needed here)
struct EventBuf Events[EVENT_QSIZE]; // Queued events
} EventQueue;
static EventQueue event_queue;
// Put an event in an EventBuf on the queue, if the queue is full then the oldest event
// is thrown away and the "missed" event count is incremented
uint8_t PutQueue(struct EventBuf *ebuf) {
EventQueue *q = &event_queue;
while(q->Lock) {}; q->Lock = 1; // Spin lock on queue
q->Events[q->WrPtr] = *ebuf; // Write event to the queue
q->WrPtr = (q->WrPtr + 1) % EVENT_QSIZE;// Increment the write pointer
if (q->Size < EVENT_QSIZE) q->Size++; // If we are overwriting old enties that havnt been read
else {
q->Missed++; // Say we missed some events
q->RdPtr = (q->RdPtr + 1) % EVENT_QSIZE; // and throw the oldest event away
}
q->Lock = 0;
return q->Missed;
}
// Pop an event off the queue, if the queue is empty nothing happens
// the queue size is zero when the queue is empty, and this is the
// return value
uint8_t PopQueue(struct EventBuf *ebuf) { // Points to where the caller wants the event stored
EventQueue *q = &event_queue;
while(q->Lock) {}; q->Lock = 1; // Spin lock on queue
if (q->Size) {
*ebuf = q->Events[q->RdPtr];
q->RdPtr = (q->RdPtr + 1) % EVENT_QSIZE;
q->Size--;
}
q->Lock = 0;
return q->Size;
}
// Get the size of the queue
uint8_t SzeQueue() {
EventQueue *q = &event_queue;
return q->Size;
}
// Initialize the queue
void InitQueue() {
EventQueue *q = &event_queue;
q->Lock = 1;
q->Size = 0;
q->RdPtr = 0;
q->WrPtr = 0;
q->Missed = 0;
q->Lock = 0;
}
// Arduino setup function, initialize hardware and software
// This is the first function to be called when the sketch is started
void setup() {
#if FLG_PIN
pinMode(FLG_PIN, OUTPUT); // Pin for the ppsfl flag for debug
#endif
#if EVT_PIN
pinMode(EVT_PIN, OUTPUT); // Pin for the cosmic ray event
#endif
#if PPS_PIN
pinMode(PPS_PIN, OUTPUT); // Pin for the PPS (LED pin)
#endif
Serial.begin(SERIAL_BAUD_RATE); // Start the serial line
Serial1.begin(GPS_BAUD_RATE); // and the second
gps.begin(GPS_BAUD_RATE); // Chip baud rate
#ifdef RMCGGA
gps.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA); // With altitude but no yy/mm/dd
#else
gps.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY); // With yy/mm/dd but no altitude
#endif
gps.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ); // each second
InitQueue(); // Reset queue pointers, missed count, and size
strcpy(rdtm,""); // Set initial value for date/time
strcpy(wdtm,"");
htu_ok = htu.begin();
bmp_ok = bmp.begin();
acl_ok = acl.begin();
mag_ok = mag.begin();
dof_ok = dof.begin();
AclSetup();
MagSetup();
AdcSetup();
TimersStart(); // Start timers
}
// These two routines are needed because the Serial.print method prints without using interrupts.
// Calls to Serial.print block interrupts and use a wait in kernel space causing all ISRs to
// be blocked and hence we could miss some timer interrupts.
// To avoid this problem call PushTxt to have stuff delivered to the serial line, PushTxt simply
// stores your text for future print out by PutChar. The PutChar routine removes one character
// from the stored text each time its called. By placing a call to PutChar in the outermost loop
// of the Arduino loop function, then for each loop one character is printed, avoiding blocking
// of interrupts and vastly improving the loops real time behaviour.
// Copy text to the buffer for future printing
void PushTxt(char *txt) {
int i, l = strlen(txt);
// If this happens there is a programming bug
if (l > TBLEN) { // Can't handle more than TBLEN at a time
terr = TXT_TOOBIG; // say error and abort
return;
}
// If the buffer is filling up to fast throw it away and return an error
if ((l + tsze) >= TBLEN) { // If there is no room in the buffer
terr = TXT_OVERFL; // Buffer overflow
return; // Simply stop printing when txt comming too fast
}
// Copy the new text onto the ring buffer for later output
// from the loop idle function
for (i=0; i<l; i++) {
txtb[txtw] = txt[i]; // Put char in the buffer and
txtw = (txtw + 1) % TBLEN; // get the next write pointer modulo TBLEN
}
tsze = (tsze + l) % TBLEN; // new buffer size
}
// Take the next character from the ring buffer and print it, called from the main loop
void PutChar() {
char c[2]; // One character zero terminated string
if (tsze) { // If the buffer is not empty
c[0] = txtb[txtr]; // Get the next character from the read pointer
c[1] = '\0'; // Build a zero terminated string
txtr = (txtr + 1) % TBLEN; // Get the next read pointer modulo TBLEN
tsze = (tsze - 1) % TBLEN; // Reduce the buffer size
Serial.print(c); // and print the character
}
}
// Push HTU temperature and humidity from HTU chip
void PushHtu(int flg) { // If flg is true always push
double temph = 0.0;
double humid = 0.0;
if ((flg) || ((htu_ok) && ((ppcnt % humtmp_display_rate) == 0))) {
temph = htu.readTemperature();
humid = htu.readHumidity();
sprintf(txt,"{'HTU':{'Tmh':%5.3f,'Hum':%4.1f}}\n",temph,humid);
PushTxt(txt);
}
}
// Push BMP temperature and altitude from BMP chip
void PushBmp(int flg) { // If flg is true always push
double altib = 0.0;
float tempb = 0.0;
float presr = 0.0;
sensors_event_t bmp_event; // Barrometric pressure event
if ((flg) || ((bmp_ok) && ((ppcnt % alttmp_display_rate) == 0))) {
bmp.getEvent(&bmp_event);
if (bmp_event.pressure) {
presr = bmp_event.pressure;
bmp.getTemperature(&tempb);
altib = bmp.pressureToAltitude((float) SENSORS_PRESSURE_SEALEVELHPA,
presr,tempb);
sprintf(txt,"{'BMP':{'Tmb':%5.3f,'Prs':%5.3f,'Alb':%4.1f}}\n",tempb,presr,altib);
PushTxt(txt);
}
}
}
// When the detector is shaken this outputs the (vcn) vibration count the (vax) axis bits
// the latched acceleration values for all 3 axis, the time it happened and the field
// strengths in all three axis. From all this information the Python monitor will be able
// to work out whats going on, sustained vibration or whatever.
void PushVib() { // Push an event when shake detected => Earth Quake
uint32_t old_icount = 0;
if (accl_flag) {
if (accl_icount != old_icount) {
old_icount = accl_icount;
PushTim(1); // Push these first, and then vib
PushAcl(1); // This is the real latched value
PushMag(1);
sprintf(txt,"{'VIB':{'Vax':%d,'Vcn':%d}}\n",accl_flag,accl_icount);
PushTxt(txt);
}
}
}
// Push the magnetic field strengths in all three axis in micro tesla (gauss)
void PushMag(int flg) { // Push the mago stuff
sensors_event_t mag_event;
sensors_vec_t xyz;
if ((flg) || ((mag_ok) && ((ppcnt % magnot_display_rate) == 0))) {
mag.getEvent(&mag_event);
// Micro Tesla
sprintf(txt,"{'MAG':{'Mgx':%f,'Mgy':%f,'Mgz':%f}}\n",
mag_event.magnetic.x,
mag_event.magnetic.y,
mag_event.magnetic.z);
PushTxt(txt);
// Orientation (Easy to calculate later in Python - dont waste resources)
#ifdef ORIENTATION
if (dof.magGetOrientation(SENSOR_AXIS_Z, &mag_event, &xyz)) {
sprintf(txt,"{'MOG':{'Mox':%f,'Moy':%f,'Moz':%f}}\n",xyz.x,xyz.y,xyz.z);
PushTxt(txt);
}
#endif
}
}
// Push the acceleration values in xyz in meters per sec squared
void PushAcl(int flg) { // Push the accelerometer and compass stuff
sensors_event_t acl_event;
sensors_vec_t xyz;
if ((flg) || ((acl_ok) && ((ppcnt % accelr_display_rate) == 0))) {
acl.getEvent(&acl_event);
// Meters per second squared
sprintf(txt,"{'ACL':{'Acx':%f,'Acy':%f,'Acz':%f}}\n",
acl_event.acceleration.x,
acl_event.acceleration.y,
acl_event.acceleration.z);
PushTxt(txt);
// Orientation (Easy to calculate later in Python - dont waste resources)
#ifdef ORIENTATION
if (dof.accelGetOrientation(&acl_event, &xyz)) {
sprintf(txt,"{'AOL':{'Aox':%f,'Aoy':%f,'Aoz':%f}}\n",xyz.x,xyz.y,xyz.z);
PushTxt(txt);
}
#endif
}
}
// Push location latitude longitude in degrees so that google maps gets it correct
void PushLoc(int flg) {
if ((flg) || ((ppcnt % latlon_display_rate) == 0)) {
sprintf(txt,"{'LOC':{'Lat':%f,'Lon':%f,'Alt':%f}}\n",latitude,longitude,altitude);
PushTxt(txt);
}
}
// Push timing
void PushTim(int flg) {
if ((flg) || ((ppcnt % frqutc_display_rate) == 0)) {
sprintf(txt,"{'TIM':{'Upt':%4d,'Frq':%7d,'Sec':%s}}\n",ppcnt,rega0,rdtm);
PushTxt(txt);
}
}
// Push status
void PushSts(int flg, int qsize, int missed) {
uint8_t res;
if ((flg) || ((ppcnt % status_display_rate) == 0)) {
sprintf(txt,"{'STS':{'Qsz':%2d,'Mis':%2d,'Ter':%d,'Htu':%d,'Bmp':%d,'Acl':%d,'Mag':%d}}\n",
qsize,missed,terr,htu_ok,bmp_ok,acl_ok,mag_ok);
PushTxt(txt);
terr = 0;
}
}
// Push event queue
void PushEvq(int flg, int *qsize, int *missed) {
struct EventBuf eb; // Temporary event buffer
double evtm = 0.0; // Time since last event or PPS in seconds (< 1.0)
char stx[16]; // Second text
int i,j;
// If there are any events waiting in the event read buffer, put them on the queue
for (i=0; i<ridx; i++) {
strncpy(eb.DateTime,rdtm,DATE_TIME_LEN);// Last seconds date/time string
eb.Frequency = rega0; // Ticks between successive PPS pulses
eb.Ticks = rbuf[i].Tks; // Ticks since LAST interrupt! (PPS or Event)
eb.Count = i+1; // Event index 1..PPS_EVENTS in the second
for (j=0; j<ADC_BUF_LEN; j++) { // Copy accross ADC values
eb.Ch0[j] = rbuf[i].Ch0[j];
eb.Ch1[j] = rbuf[i].Ch1[j];
}
*missed = PutQueue(&eb); // Put buffer on Q, and get missed event count
}
*qsize = SzeQueue();
if (*qsize >= events_display_size) {
PushTxt("\n");
while (PopQueue(&eb)) { // While ther are events on the queue
// Calculate the time in seconds of this event in the second
// N.B. Ticks are since the last event, or from PPS
if (eb.Count == 1) evtm = 0.0; // Start a new second
evtm += ((double) eb.Ticks / (double) eb.Frequency); // Add time since last event
sprintf(stx,"%9.7f",evtm); // It will be 0.something
// Build string and push it out to the print buffer
sprintf(txt,
"{'EVT':{'Evt':%1d,'Frq':%8d,'Tks':%8d,'Etm':%s%s,"
"'Adc':[[%d,%d,%d,%d,%d,%d,%d,%d],[%d,%d,%d,%d,%d,%d,%d,%d]]}}\n",
eb.Count, eb.Frequency, eb.Ticks, eb.DateTime, index(stx,'.'),
eb.Ch0[0],eb.Ch0[1],eb.Ch0[2],eb.Ch0[3],eb.Ch0[4],eb.Ch0[5],eb.Ch0[6],eb.Ch0[7],
eb.Ch1[0],eb.Ch1[1],eb.Ch1[2],eb.Ch1[3],eb.Ch1[4],eb.Ch1[5],eb.Ch1[6],eb.Ch1[7]);
PushTxt(txt);
}
PushTxt("\n");
}
}
// Read one input character, we have exactly the same problem with
// the serial line read as with writing, so we need the same work around
void ReadOneChar() {
char c;
// Suck in all the characters available on the input stream
// put as many as will fit in the cmd buffer, and say ready
if ((irdy == 0) && (Serial.available())) { // If buffer free
c = (char) Serial.read(); // Read one char
if (c == '\n') istp = 1; // Stop on '\n'
if ((!istp) && (irdp < (CMDLEN -1))) {
cmd[irdp] = c;
irdp = irdp + 1;
cmd[irdp] = 0;
}
} else irdy = 1;
}
// Implement the command callback functions
void noop(int arg) { }; // That was easy
void help(int arg) { // Display the help
int i;
CmdStruct *cms;
for (i=0; i<CMDS; i++) {
cms = &cmd_table[i];
sprintf(txt,"%s(%d) - %s\n",cms->Name,cms->Par,cms->Help);
PushTxt(txt);
}
}
void htux(int arg) { htu_ok = htu.begin(); }
void htud(int arg) { humtmp_display_rate = arg; }
void bmpd(int arg) { alttmp_display_rate = arg; }
void locd(int arg) { latlon_display_rate = arg; }
void timd(int arg) { frqutc_display_rate = arg; }
void stsd(int arg) { status_display_rate = arg; }
void evqt(int arg) {
events_display_size = arg % EVENT_QSIZE;
if (events_display_size == 0)
events_display_size = 24;
}
void acld(int arg) { accelr_display_rate = arg; }
void magd(int arg) { magnot_display_rate = arg; }
void aclt(int arg) {
uint8_t val = 0;
accelr_event_threshold = arg & 0x7F;
val = accelr_event_threshold;
acl.write8(LSM303_ADDRESS_ACCEL, LSM303_REGISTER_ACCEL_INT1_THS_A, val);
}
// Look up a command in the command table for the given command string
// and call it with its single integer parameter
void ParseCmd() {
int i, p=0, cl=0;
char *cp, *ep;
CmdStruct *cms;
for (i=0; i<CMDS; i++) {
cms = &cmd_table[i];
cl = strlen(cms->Name);
if (strncmp(cms->Name,cmd,cl) == 0) {
if ((cms->Par) && (strlen(cmd) > cl)) {
cp = &cmd[cl];
p = (int) strtoul(cp,&ep,0);
}
cms->proc(p);
break;
}
}
}
// This waits for a ready buffer from ReadOneChar. Once ready the buffer is
// locked until its been seen here
void DoCmd() {
if (irdy) {
if (irdp) {
sprintf(txt,"{'CMD':%s}\n",cmd);
PushTxt(txt);
ParseCmd();
}
bzero((void *) cmd, CMDLEN);
irdp = 0; irdy = 0; istp = 0;
}
}
// Arduino main loop does all the user space work
void loop() {
int missed, qsize; // Queue vars
if (displ) { // Displ is set in the PPS ISR, we will reset it here
#if PPS_PIN
digitalWrite(PPS_PIN,HIGH); // PPS arrived
#endif
DoCmd(); // Execute any incomming commands
PushEvq(0,&qsize,&missed); // Push any events
PushHtu(0); // Push HTU temperature and humidity
PushBmp(0); // Push BMP temperature and barrometric altitude
PushLoc(0); // Push location latitude and longitude
PushTim(0); // Push timing data
PushMag(0); // Push mago data
PushAcl(0); // Push accelarometer data
PushSts(0,qsize,missed); // Push status
GetDateTime(); // Read the next date/time from the GPS chip
#if PPS_PIN
digitalWrite(PPS_PIN,LOW); // Reset PPS
#endif
displ = 0; // Clear flag for next PPS
}
PutChar(); // Print one character per loop !!!
ReadOneChar(); // Get next input command char
}
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