Lucas Kierulff Balabram
TX
Dependencies: mbed BufferedSerial SX1276GenericLib X_NUCLEO_IKS01A2
Revision 3:92160b13f3c3, committed 2019-06-05
- Comitter:
- TMRL123
- Date:
- Wed Jun 05 00:20:00 2019 +0000
- Parent:
- 0:a73914f20498
- Commit message:
- Telemetry TX
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/BufferedSerial.lib Wed Jun 05 00:20:00 2019 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/sam_grove/code/BufferedSerial/#a0d37088b405
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/SDCard_Y.cpp Wed Jun 05 00:20:00 2019 +0000
@@ -0,0 +1,244 @@
+#include "SDCard_Y.hh"
+
+
+
+#define SD_COMMAND_TIMEOUT 5000
+
+#define R1_IDLE_STATE (1 << 0)
+#define R1_ERASE_RESET (1 << 1)
+#define R1_ILLEGAL_COMMAND (1 << 2)
+#define R1_COM_CRC_ERROR (1 << 3)
+#define R1_ERASE_SEQUENCE_ERROR (1 << 4)
+#define R1_ADDRESS_ERROR (1 << 5)
+#define R1_PARAMETER_ERROR (1 << 6)
+
+
+
+
+SDCard::SDCard(SPI *t_spi, PinName t_cs) : cs(t_cs)
+{
+ spi = t_spi;
+ cs = 1;
+}
+
+SDCard::~SDCard()
+{
+ delete spi;
+}
+
+int SDCard::init(void)
+{
+ spi->frequency(100000);
+ cs = 1;
+
+ for( int i=0 ; i<16 ; i++)
+ spi->write(0xFF);
+
+ if(cmd(0,0) != R1_IDLE_STATE)
+ return -1;
+
+ int r = cmd8();
+
+ if(r == R1_IDLE_STATE){
+ return init_card_v2();
+ } else if(r == (R1_IDLE_STATE | R1_ILLEGAL_COMMAND)) {
+ return init_card_v1();
+ } else {
+ return -1;
+ }
+
+ return 0;
+}
+
+int SDCard::init_card_v1()
+{
+ for (int i = 0; i < SD_COMMAND_TIMEOUT; i++)
+ {
+ cmd(55, 0);
+ if(cmd(41, 0) == 0)
+ {
+ cdv = 512;
+ return 1;
+ }
+ }
+
+ return -1;
+}
+
+
+int SDCard::init_card_v2()
+{
+ for (int i = 0; i < SD_COMMAND_TIMEOUT; i++)
+ {
+ wait_ms(50);
+ cmd58();
+ cmd(55, 0);
+ if (cmd(41, 0x40000000) == 0)
+ {
+ cmd58();
+ cdv = 1;
+ return 2;
+ }
+ }
+
+ return -1;
+}
+
+
+int SDCard::cmd(int cmd, int arg)
+{
+ cs = 0;
+ spi->write(0x40 | cmd);
+ spi->write(arg >> 24);
+ spi->write(arg >> 16);
+ spi->write(arg >> 8);
+ spi->write(arg >> 0);
+ spi->write(0x95);
+
+ for( int i=0 ; i<SD_COMMAND_TIMEOUT ; i++)
+ {
+ int respuesta = spi->write(0xFF);
+ if( !(respuesta & 0x80) )
+ {
+ cs = 1;
+ spi->write(0xFF);
+ return respuesta;
+ }
+ }
+
+ cs = 1;
+ spi->write(0xFF);
+ return -1;
+
+}
+
+
+int SDCard::cmd8()
+{
+ cs = 0;
+
+ spi->write(0x40 | 8); // CMD8
+ spi->write(0x00); // reserved
+ spi->write(0x00); // reserved
+ spi->write(0x01); // 3.3v
+ spi->write(0xAA); // check pattern
+ spi->write(0x87); // crc
+
+ for( int i=0 ; i<SD_COMMAND_TIMEOUT * 1000 ; i++)
+ {
+ char respuesta[5];
+ respuesta[0] = spi->write(0xFF);
+
+ if( !(respuesta[0] & 0x80))
+ {
+ for( int j=1; j<5 ; j++)
+ respuesta[i] = spi->write(0xFF);
+
+ cs = 1;
+ spi->write(0xFF);
+ return respuesta[0];
+ }
+ }
+
+ cs = 1;
+ spi->write(0xFF);
+ return -1;
+
+}
+
+
+
+int SDCard::cmd58()
+{
+ cs = 0;
+
+ int arg = 0;
+
+ spi->write(0x40 | 58);
+ spi->write(arg >> 24);
+ spi->write(arg >> 16);
+ spi->write(arg >> 8);
+ spi->write(arg >> 0);
+ spi->write(0x95);
+
+ // wait for the repsonse (response[7] == 0)
+ for(int i = 0; i < SD_COMMAND_TIMEOUT; i++)
+ {
+ int respuesta = spi->write(0xFF);
+
+ if( !(respuesta & 0x80) )
+ {
+ int ocr = spi->write(0xFF) << 24;
+ ocr |= spi->write(0xFF) << 16;
+ ocr |= spi->write(0xFF) << 8;
+ ocr |= spi->write(0xFF) << 0;
+ cs = 1;
+ spi->write(0xFF);
+ return respuesta;
+ }
+ }
+ cs = 1;
+ spi->write(0xFF);
+
+ return -1; // timeout
+}
+
+
+
+bool SDCard::read(uint8_t *vect, int post)
+{
+ while( cmd(17,post*512) == -1);
+
+ cs = 0;
+
+ while (spi->write(0xFF) != 0xFE);
+
+ for (uint32_t i = 0; i < 512; i++)
+ *(vect+i) = spi->write(0xFF);
+
+ spi->write(0xFF); // checksum
+ spi->write(0xFF);
+
+ cs = 1;
+ spi->write(0xFF);
+
+ while(cmd(12,512) == -1);
+
+ return 1;
+}
+
+
+
+bool SDCard::write(uint8_t *vect, int post)
+{
+
+ while( cmd(24,post*512) == -1 );
+
+ cs = 0;
+
+ spi->write(0xFE);
+
+ for (uint32_t i = 0; i < 512; i++)
+ spi->write(*(vect+i));
+
+ spi->write(0xFF);
+ spi->write(0xFF);
+
+ if( (spi->write(0xFF) & 0x1F) != 0x05 )
+ {
+ cs = 1;
+ spi->write(0xFF);
+ return 0;
+ }
+
+ while(spi->write(0xFF) == 0);
+
+ cs = 1;
+ spi->write(0xFF);
+
+ while(cmd(12,512) == -1);
+
+ return 1;
+
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/SDCard_Y.hh Wed Jun 05 00:20:00 2019 +0000
@@ -0,0 +1,30 @@
+#include "mbed.h"
+
+
+class SDCard
+{
+public:
+
+ SDCard(SPI *t_spi, PinName t_cs);
+ ~SDCard();
+
+ int init(void);
+
+ bool read(uint8_t *vect, int post); //Lextura de un bloque de 512
+ bool write(uint8_t *vect, int post); //Escritura de un bloque de 512
+
+private:
+
+ SPI *spi;
+ DigitalOut cs;
+ int cdv;
+
+ int init_card_v1();
+ int init_card_v2();
+
+ int cmd(int cmd, int arg);
+ int cmd8();
+ int cmd58();
+
+};
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/UbxGpsNavSol.cpp Wed Jun 05 00:20:00 2019 +0000
@@ -0,0 +1,427 @@
+#include "UbxGpsNavSol.hh"
+#include "mbed.h"
+
+UbxGpsNavSol::UbxGpsNavSol(PinName tx, PinName rx, int baud):UARTSerial(tx, rx, baud){
+ this->carriagePosition = 0;
+ // this->setLength(52);
+ this->offsetClassProperties = 8;
+ this->offsetHeaders = 4;
+}
+
+UbxGpsNavSol::~UbxGpsNavSol(){}
+
+bool UbxGpsNavSol::ready(){
+ //unsigned char buffer[60];
+
+ if(this->readable()){
+ for(int k = 0; k < 60; k++)
+ this->buffer[k] = 0;
+
+ this->read(this->buffer, 60);
+ }
+
+ if(this->buffer[0] != UBX_NAV_SOL_HEADER_1 || this->buffer[1] != UBX_NAV_SOL_HEADER_2)
+ return false;
+
+ if(this->buffer[2] != UBX_NAV_SOL_CLASS || this->buffer[3] != UBX_NAV_SOL_ID)
+ return false;
+
+ payload_length = this->buffer[5];
+ payload_length = payload_length << 8;
+ payload_length = this->buffer[4];
+
+ if(payload_length != UBX_NAV_SOL_PAYLOAD_LENGTH)
+ return false;
+
+ if(calculateChecksum(buffer) == false)
+ return false;
+
+ iTOW = this->buffer[9] << 8;
+ iTOW |= this->buffer[8];
+ iTOW <<= 8;
+ iTOW |= this->buffer[7];
+ iTOW <<= 8;
+ iTOW |= this->buffer[6];
+
+ fTOW = this->buffer[13] << 8;
+ fTOW |= this->buffer[12];
+ fTOW <<= 8;
+ fTOW |= this->buffer[11];
+ fTOW <<= 8;
+ fTOW |= this->buffer[10];
+
+ week = this->buffer[15] << 8;
+ week |= this->buffer[14];
+
+ gpsFix = this->buffer[16];
+
+ flags = this->buffer[17];
+
+ ecefX = this->buffer[21] << 8;
+ ecefX |= this->buffer[20];
+ ecefX <<= 8;
+ ecefX |= this->buffer[19];
+ ecefX <<= 8;
+ ecefX |= this->buffer[18];
+
+ ecefY = this->buffer[25] << 8;
+ ecefY |= this->buffer[24];
+ ecefY <<= 8;
+ ecefY |= this->buffer[23];
+ ecefY <<= 8;
+ ecefY |= this->buffer[22];
+
+ ecefZ = this->buffer[29] << 8;
+ ecefZ |= this->buffer[28];
+ ecefZ <<= 8;
+ ecefZ |= this->buffer[27];
+ ecefZ <<= 8;
+ ecefZ |= this->buffer[26];
+
+ pAcc = this->buffer[33] << 8;
+ pAcc |= this->buffer[32];
+ pAcc <<= 8;
+ pAcc |= this->buffer[31];
+ pAcc <<= 8;
+ pAcc |= this->buffer[30];
+
+ ecefVX = this->buffer[37] << 8;
+ ecefVX |= this->buffer[36];
+ ecefVX <<= 8;
+ ecefVX |= this->buffer[35];
+ ecefVX <<= 8;
+ ecefVX |= this->buffer[34];
+
+ ecefVY = this->buffer[41] << 8;
+ ecefVY |= this->buffer[40];
+ ecefVY <<= 8;
+ ecefVY |= this->buffer[39];
+ ecefVY <<= 8;
+ ecefVY |= this->buffer[38];
+
+ ecefVZ = this->buffer[45] << 8;
+ ecefVZ |= this->buffer[44];
+ ecefVZ <<= 8;
+ ecefVZ |= this->buffer[43];
+ ecefVZ <<= 8;
+ ecefVZ |= this->buffer[42];
+
+ sAcc = this->buffer[49] << 8;
+ sAcc |= this->buffer[48];
+ sAcc <<= 8;
+ sAcc |= this->buffer[47];
+ sAcc <<= 8;
+ sAcc |= this->buffer[46];
+
+ pDOP = this->buffer[51] << 8;
+ pDOP |= this->buffer[50];
+
+ reserved1 = this->buffer[52];
+
+ numSV = this->buffer[53];
+
+ reserved2 = this->buffer[57] << 8;
+ reserved2 |= this->buffer[56];
+ reserved2 <<= 8;
+ reserved2 |= this->buffer[55];
+ reserved2 <<= 8;
+ reserved2 |= this->buffer[54];
+
+ return true;
+}
+
+bool UbxGpsNavSol::calculateChecksum(unsigned char *buffer){
+ uint8_t check_a, check_b;
+ check_a = check_b = 0;
+
+ for(int i = 2; i < 58; i++){
+ check_a += buffer[i];
+ check_b += check_a;
+ }
+
+ if(check_a == buffer[59] && check_b == buffer[58])
+ return true;
+
+ else
+ return false;
+}
+
+bool UbxGpsNavSol::enableNAVSOL(){
+ const uint8_t buffer[] = {
+ 0xB5, // sync char 1 1
+ 0x62, // sync char 2 2
+ 0x06, // class 3
+ 0x01, // id 4
+ 0x02, // length 5
+ 0x00, // length 6
+ 0x01, // payload 7
+ 0x06, // payload 8
+ 0x10,//CKA
+ 0x39,//CKB
+
+ };
+ if(this->writable()){
+ this->write(buffer, 10);
+ return true;
+ }
+
+ return false;
+}
+
+bool UbxGpsNavSol::restoreDefaults(){
+ const uint8_t packet[] = {
+ 0xB5, // sync char 1
+ 0x62, // sync char 2
+ 0x06, // class
+ 0x09, // id
+ 0x0D, // length
+ 0x00, // length
+ 0xFF, // payload
+ 0xFF, // payload
+ 0x00, // payload
+ 0x00, // payload
+ 0x00, // payload
+ 0x00, // payload
+ 0x00, // payload
+ 0x00, // payload
+ 0xFF, // payload
+ 0xFF, // payload
+ 0x00, // payload
+ 0x00, // payload
+ 0x17, // payload
+ 0x2F, // CK_A
+ 0xAE, // CK_B
+ };
+
+ if(this->writable()){
+ this->write(packet, 21);
+ return true;
+ }
+
+ return false;
+}
+
+void UbxGpsNavSol::disableNmea(){
+ const uint8_t messages[][2] = {
+ {0xF0, 0x0A},
+ {0xF0, 0x09},
+ {0xF0, 0x00},
+ {0xF0, 0x01},
+ {0xF0, 0x0D},
+ {0xF0, 0x06},
+ {0xF0, 0x02},
+ {0xF0, 0x07},
+ {0xF0, 0x03},
+ {0xF0, 0x04},
+ {0xF0, 0x0E},
+ {0xF0, 0x0F},
+ {0xF0, 0x05},
+ {0xF0, 0x08},
+ {0xF1, 0x00},
+ {0xF1, 0x01},
+ {0xF1, 0x03},
+ {0xF1, 0x04},
+ {0xF1, 0x05},
+ {0xF1, 0x06},
+ };
+
+ // CFG-MSG packet buffer
+ uint8_t packet[] = {
+ 0xB5, // sync char 1
+ 0x62, // sync char 2
+ 0x06, // class
+ 0x01, // id
+ 0x03, // length
+ 0x00, // length
+ 0x00, // payload (first byte from messages array element)
+ 0x00, // payload (second byte from messages array element)
+ 0x00, // payload (not changed in the case)
+ 0x00, // CK_A
+ 0x00, // CK_B
+ };
+
+ uint8_t packetSize = sizeof(packet);
+
+ // Offset to the place where payload starts
+ uint8_t payloadOffset = 6;
+
+ // Iterate over the messages array
+ for (uint8_t i = 0; i < sizeof(messages) / sizeof(*messages); i++)
+ {
+ // Copy two bytes of payload to the packet buffer
+ for (uint8_t j = 0; j < sizeof(*messages); j++)
+ {
+ packet[payloadOffset + j] = messages[i][j];
+ }
+
+ // Set checksum bytes to the null
+ packet[packetSize - 2] = 0x00;
+ packet[packetSize - 1] = 0x00;
+
+ // Calculate checksum over the packet buffer excluding sync (first two) and checksum chars (last two)
+ for (uint8_t j = 0; j < packetSize - 4; j++)
+ {
+ packet[packetSize - 2] += packet[2 + j];
+ packet[packetSize - 1] += packet[packetSize - 2];
+ }
+
+ if(this->writable()){
+ this->write(packet, packetSize);
+ }
+ }
+}
+
+bool UbxGpsNavSol::changeBaudrate(){
+ const uint8_t packet[] = {
+ 0xB5, // sync char 1
+ 0x62, // sync char 2
+ 0x06, // class
+ 0x00, // id
+ 0x20, // length
+ 0x00, // length
+ 0x02, // payload - portID
+ 0x00, // payload - reserved0
+ 0x00, // payload - txReady
+ 0x00, // payload - txReady
+ 0xD0, // payload - mode
+ 0x08, // payload - mode
+ 0x00, // payload - mode
+ 0x00, // payload - mode
+ 0x00, // payload - reserved3
+ 0xC2, // payload - reserved3
+ 0x01, // payload - reserved3
+ 0x00, // payload - reserved3
+ 0x07, // payload - inProtoMask
+ 0x00, // payload - inProtoMask
+ 0x03, // payload - outProtoMask --> activate NMEA???
+ 0x00, // payload - outProtoMask
+ 0x00, // payload - flags
+ 0x00, // payload - flags
+ 0x00, // payload - reserved5
+ 0x00, // payload - reserved5
+ 0xCC, // CK_A
+ 0xBA, // CK_B
+ };
+
+ if(this->writable()){
+ this->write(packet, sizeof(packet));
+ return true;
+ }
+
+ return false;
+}
+
+bool UbxGpsNavSol::disableUnnecessaryChannels(){
+ const uint8_t packet[] = {
+ 0xB5, // sync char 1
+ 0x62, // sync char 2
+ 0x06, // class
+ 0x3E, // id
+ 0x24, // length
+ 0x00, // length
+
+ 0x00, 0x00, 0x16, 0x04, 0x00, 0x04, 0xFF, 0x00, // payload
+ 0x01, 0x00, 0x00, 0x01, 0x01, 0x01, 0x03, 0x00, // payload
+ 0x00, 0x00, 0x00, 0x01, 0x05, 0x00, 0x03, 0x00, // payload
+ 0x00, 0x00, 0x00, 0x01, 0x06, 0x08, 0xFF, 0x00, // payload
+ 0x00, 0x00, 0x00, 0x01, // payload
+
+ 0xA4, // CK_A
+ 0x25, // CK_B
+ };
+
+ if(this->writable()){
+ this->write(packet, sizeof(packet));
+ return true;
+ }
+
+ return false;
+}
+
+bool UbxGpsNavSol::changeFrequency(){
+ const uint8_t packet[] = {
+ 0xB5, // sync char 1
+ 0x62, // sync char 2
+ 0x06, // class
+ 0x08, // id
+ 0x06, // length
+ 0x00, // length
+ 0x64, // payload
+ 0x00, // payload
+ 0x01, // payload
+ 0x00, // payload
+ 0x01, // payload
+ 0x00, // payload
+ 0x7A, // CK_A
+ 0x12, // CK_B
+ };
+
+ if(this->writable()){
+ this->write(packet, sizeof(packet));
+ return true;
+ }
+
+ return false;
+}
+
+bool UbxGpsNavSol::disableGNSS(){
+ const uint8_t packet[] = {
+ 0xB5, 0x62, 0x06, 0x3E, 0x3C, 0x00,
+ 0x00, 0x00, 0x20, 0x07, 0x00, 0x08,
+ 0x10, 0x00, 0x01, 0x00, 0x01, 0x01,
+ 0x01, 0x01, 0x03, 0x00, 0x00, 0x00,
+ 0x01, 0x01, 0x02, 0x04, 0x08, 0x00,
+ 0x00, 0x00, 0x01, 0x01, 0x03, 0x08,
+ 0x10, 0x00, 0x00, 0x00, 0x01, 0x01,
+ 0x04, 0x00, 0x08, 0x00, 0x00, 0x00,
+ 0x01, 0x01, 0x05, 0x00, 0x03, 0x00,
+ 0x00, 0x00, 0x01, 0x01, 0x06, 0x08,
+ 0x0E, 0x00, 0x00, 0x00, 0x01, 0x01,
+ 0x2C, 0x4D
+ };
+
+ if(this->writable()){
+ this->write(packet, sizeof(packet));
+ return true;
+ }
+
+ return false;
+}
+
+void UbxGpsNavSol::baud(int baud){
+ this->set_baud(baud);
+}
+
+bool UbxGpsNavSol::saveConfiguration() {
+ const uint8_t packet[] = {
+ 0xB5, // sync char 1
+ 0x62, // sync char 2
+ 0x06, // class
+ 0x09, // id
+ 0x0D, // length
+ 0x00, // length
+ 0x00, // payload
+ 0x00, // payload
+ 0x00, // payload
+ 0x00, // payload
+ 0xFF, // payload
+ 0xFF, // payload
+ 0x00, // payload
+ 0x00, // payload
+ 0x00, // payload
+ 0x00, // payload
+ 0x00, // payload
+ 0x00, // payload
+ 0x17, // payload
+ 0x31, // CK_A
+ 0xBF, // CK_B
+ };
+
+ if(this->writable()){
+ this->write(packet, sizeof(packet));
+ return true;
+ }
+
+ return false;
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/UbxGpsNavSol.hh Wed Jun 05 00:20:00 2019 +0000
@@ -0,0 +1,66 @@
+#ifndef UBXGPSNAVSOL_H_
+#define UBXGPSNAVSOL_H_
+
+#include "mbed.h"
+
+#define UBX_NAV_SOL_HEADER_1 (0xB5)
+#define UBX_NAV_SOL_HEADER_2 (0x62)
+#define UBX_NAV_SOL_CLASS (0x01)
+#define UBX_NAV_SOL_ID (0x06)
+#define UBX_NAV_SOL_PAYLOAD_LENGTH (52)
+
+class UbxGpsNavSol : public UARTSerial{
+ public:
+ UbxGpsNavSol(PinName tx, PinName rx, int baud);
+ virtual ~UbxGpsNavSol();
+
+ uint8_t buffer [60];
+ bool ready();
+ void disableNmea();
+ bool enableNAVSOL();
+ bool changeFrequency();
+ bool changeBaudrate();
+ bool disableUnnecessaryChannels();
+ bool disableGNSS();
+ bool restoreDefaults();
+ void baud(int baud);
+ bool saveConfiguration();
+ // void setLength(unsigned char length);
+ // Type Name Unit Description (scaling)
+ unsigned long iTOW; // ms GPS time of week of the navigation epoch. See the description of iTOW for
+ // details
+ long fTOW; // ns Fractional part of iTOW (range: +/-500000). The precise GPS time of week in
+ // seconds is: (iTOW * 1e-3) + (fTOW * 1e-9)
+ short week; // weeks GPS week number of the navigation epoch
+ unsigned char gpsFix; // - GPSfix Type, range 0..5
+ char flags; // - Fix Status Flags (see graphic below)
+ long ecefX; // cm ECEF X coordinate
+ long ecefY; // cm ECEF Y coordinate
+ long ecefZ; // cm ECEF Z coordinate
+ unsigned long pAcc; // cm 3D Position Accuracy Estimate
+ long ecefVX; // cm/s ECEF X velocity
+ long ecefVY; // cm/s ECEF Y velocity
+ long ecefVZ; // cm/s ECEF Z velocity
+ unsigned long sAcc; // cm/s Speed Accuracy Estimate
+ unsigned short pDOP; // - Position DOP (0.01)
+ unsigned char reserved1; // - Reserved
+ unsigned char numSV; // - Number of satellites used in Nav Solution
+ unsigned long reserved2; // - Reserved
+
+ private:
+ bool calculateChecksum(unsigned char *data);
+ // Class properties
+ unsigned char offsetClassProperties;
+ unsigned char offsetHeaders;
+ unsigned char size;
+ unsigned char carriagePosition;
+ unsigned char checksum[2];
+
+ // Headers (common).
+ unsigned char headerClass;
+ unsigned char headerId;
+ unsigned short headerLength;
+ uint16_t payload_length;
+};
+#endif
+
--- a/main.cpp Thu Apr 18 13:56:50 2019 +0000
+++ b/main.cpp Wed Jun 05 00:20:00 2019 +0000
@@ -7,16 +7,42 @@
#include "PinMap.h"
#include "sx1276-mbed-hal.h"
+/* Serial communication include */
+#include "BufferedSerial.h"
+
+/* SD card includes */
+#include "SDCard_Y.hh"
+
+/* GPS include */
+#include "UbxGpsNavSol.hh"
+
+
+/* GPS definitions */
+#define GPS_BAUDRATE 115200
+//#define GPS_EN
+
+/* Definition of buzzer time in ms */
+#define BUZZER_TIME 500
+
+/* Definition of Disable enable flag */
+//#define KEY_ENABLE
+
+/* Definition of the SD card */
+#define SPI_FREQUENCY 1000000
+
+/* Definition of the SD card */
+//#define SD_EN
+
/* LoRa definitions */
-/* Set this flag to '1' to display debug messages on the console */
-#define DEBUG_MESSAGE 1
+/* Set this flag to display debug messages on the console */
+#define DEBUG_MESSAGE
-/* Set this flag to '1' to use the LoRa modulation or to '0' to use FSK modulation */
-#define USE_MODEM_LORA 1
-#define USE_MODEM_FSK !USE_MODEM_LORA
+/* Set this flag to '1' to use the LoRa modulation */
+#define USE_MODEM_LORA 1
+#define USE_MODEM_FSK !USE_MODEM_LORA
#define RF_FREQUENCY RF_FREQUENCY_915_0 // Hz
-#define TX_OUTPUT_POWER 14 // 14 dBm
+#define TX_OUTPUT_POWER 14 // 20 dBm
#if USE_MODEM_LORA == 1
@@ -35,13 +61,12 @@
#endif
-#define RX_TIMEOUT_VALUE 3500 // in ms
-
-//#define BUFFER_SIZE 32 // Define the payload size here
-#define BUFFER_SIZE 512 // Define the payload size here
+#define RX_TIMEOUT_VALUE 0 // In ms
+#define TX_TIMEOUT_VALUE 1000000 // In ms
/* Sensors instances */
+
/* Instantiate the expansion board */
static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5);
@@ -52,180 +77,422 @@
static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro;
static LSM303AGRAccSensor *accelerometer = mems_expansion_board->accelerometer;
-char buffer1[32], buffer2[32]; // buffers to help theprinting of doubles
+typedef struct {
+ /* Header for identification of updated informations */
+ bool header [8];
+ int time; // Time between transmissions
+ int32_t ag[3]; // Acceleration of the accelerometer and gyroscope LSM6DSL
+ int32_t w[3]; // Angular velocity of LSM6DSL
+ int32_t a[3]; // Acceleration of the accelerometer LSM303AGR
+ int32_t m [3]; // Heading of LSM303AGR
+ float p; // Pressure of LPS22HB
+ float temperatureLPS22HB; // Temperature from LPS22HB
+ float humidity; // Humidity of HTS221
+ float temperatureHTS221; // Temperature from HTS221
+ unsigned long timeOfWeek; //GPS time of week
+ long timeOfWeekFracPart; // GPS time of week fractional part
+ unsigned char gpsFix; // GPS fix
+ long ecefx; // GPS X posiition
+ long ecefy; // GPS Y posistion
+ long ecefz; // GPS Z postion
+ unsigned long positionAcc3D; // GPS 3D position accuracy
+ long ecefvx; // GPS X velocity
+ long ecefvy; // GPS Y velocity
+ long ecefvz; // GPS Z velocity
+ unsigned long speedAcc; // GPS speed accuracy
+ unsigned char numbSat; // GPS number of satellites conected
+ bool drogueStatus; // Drogue parachute status provided by Avionics
+ bool mainStatus; //Main parachute status provided by Avionics
+ float pressureBar; // Pressure by COTS Altimeter
+ float temperature; // Temperature by COTS Altimeter
+ bool mainStatusCOTS; // Main parachute status provided by COTS Altimeter
+ bool drogueStatusCOTS; // Drogue status provided by COTS Altimeter
+ int16_t timeStamp; //Timestamp from COTS Altimeter
+ int16_t aglAlt; //AGL Altitude from COTS Altimeter
+ int8_t battery; //Battery voltage reading from COTS Altimeter
+}Data; // Data struct
-uint32_t dados[16]; //data vector
+Data data;
+
/* LoRa modem instances and configurations */
static RadioEvents_t RadioEvents; // Calback functions struct
-SX1276Generic *Radio; //Defenition of a Radio object
+SX1276Generic *Radio; // Definition of a Radio object
-/*Configuration function*/
+/* Configuration function */
void SystemClock_Config(void);
- bool transmited = true;
+bool transmited = true;// Flag to indicate the end of transmission
/* Callback functions prototypes */
+
+// Brief Function to be executed on Radio Tx Done event
void OnTxDone(void *radio, void *userThisPtr, void *userData);
+// Brief Function to be executed on Radio Rx Done event
void OnRxDone(void *radio, void *userThisPtr, void *userData, uint8_t *payload, uint16_t size, int16_t rssi, int8_t snr );
+// Brief Function executed on Radio Tx Timeout event
void OnTxTimeout(void *radio, void *userThisPtr, void *userData);
+// Brief Function executed on Radio Rx Timeout event
void OnRxTimeout(void *radio, void *userThisPtr, void *userData);
+// Brief Function executed on Radio Rx Error event
void OnRxError(void *radio, void *userThisPtr, void *userData);
+// Brief Function executed on Radio Fhss Change Channel event
void OnFhssChangeChannel(void *radio, void *userThisPtr, void *userData, uint8_t channelIndex);
-void OnCadDone(void *radio, void *userThisPtr, void *userData);
-
+#ifdef DEBUG_MESSAGE
/* Serial communication to debug program */
+BufferedSerial *ser;
+#endif
-Serial pc(USBTX,USBRX);
+/* Buzzer definition */
+DigitalOut buzzer (PA_0);
+
+#ifdef KEY_ENABLE
+/* Key digital input port */
+DigitalIn key (PA_8);
+#endif
int main() {
- /* General Header*/
+ #ifdef KEY_ENABLE
+ while (key == 0);
+ #endif
+ buzzer = 0;
+ /* Power on*/
+ buzzer = 1;
+ wait_ms (BUZZER_TIME);
+ buzzer = 0;
+ wait_ms (BUZZER_TIME);
+ /* Set to zero all parameters of the data struct */
+ data.header [0] = 0;
+ data.header [1] = 0;
+ data.header [2] = 0;
+ data.header [3] = 0;
+ data.header [4] = 0;
+ data.header [5] = 0;
+ data.header [6] = 0;
+ data.header [7] = 0;
+ data.time = 0;
+ data.ag[0] = 0;
+ data.ag[1] = 0;
+ data.ag[2] = 0;
+ data.w[0] = 0;
+ data.w[1] = 0;
+ data.w[2] = 0;
+ data.a[0] = 0;
+ data.a[1] = 0;
+ data.a[2] = 0;
+ data.m [0] = 0;
+ data.m [1] = 0;
+ data.m [2] = 0;
+ data.p = 0;
+ data.temperatureLPS22HB = 0;
+ data.humidity = 0;
+ data.temperatureHTS221 = 0;
+ data.timeOfWeek = 0;
+ data.timeOfWeekFracPart = 0;
+ data.gpsFix = 0;
+ data.ecefx = 0;
+ data.ecefy = 0;
+ data.ecefz = 0;
+ data.positionAcc3D = 0;
+ data.ecefvx = 0;
+ data.ecefvy = 0;
+ data.ecefvz = 0;
+ data.speedAcc = 0;
+ data.numbSat = 0;
+ data.drogueStatus = 0;
+ data.mainStatus = 0;
+ data.pressureBar = 0;
+ data.temperature = 0;
+ data.mainStatusCOTS = 0;
+ data.drogueStatusCOTS = 0;
+ data.timeStamp = 0;
+ data.aglAlt = 0;
+ data.battery = 0;
+
+ #ifdef GPS_EN
+ //Serial connections (GPS)(TX,RX,baud)
+ UbxGpsNavSol gps(PA_9, PA_10, GPS_BAUDRATE);
+ #endif
- pc.printf("Telemetry Tx inicial version program\r\n\r\n");
+ SystemClock_Config(); /* Synchronize clock for TX and RX boards */
+ /* Serial configuration */
+ #ifdef DEBUG_MESSAGE
+ ser = new BufferedSerial(USBTX, USBRX);
+ ser->baud(115200);
+ ser->format(8);
+ #endif
+
+ /* General Header*/
+ #ifdef DEBUG_MESSAGE
+ ser->printf ("Telemetry Tx inicial version program\r\n\r\n");
uint8_t id; //Sensor id parameter for debug purpose
+ #endif
/* Enable all sensors */
- hum_temp->enable();
- press_temp->enable();
- magnetometer->enable();
- accelerometer->enable();
- acc_gyro->enable_x();
- acc_gyro->enable_g();
-
- pc.printf("\r\n--- Starting the sensors ---\r\n");
+ if (hum_temp->enable() != 0) {
+ #ifdef DEBUG_MESSAGE
+ ser->printf ("Humidity sensor not enabled\r\n");
+ #endif
+ }
+ if (press_temp->enable() != 0) {
+ #ifdef DEBUG_MESSAGE
+ ser->printf ("Temperature sensor not enabled\r\n");
+ #endif
+ }
+ if (magnetometer->enable() != 0) {
+ #ifdef DEBUG_MESSAGE
+ ser->printf ("Magnetometer sensor not enabled\r\n");
+ #endif
+ }
+ if (accelerometer->enable() != 0) {
+ #ifdef DEBUG_MESSAGE
+ ser->printf ("Accelerometer1 sensor not enabled\r\n");
+ #endif
+ }
+ if (acc_gyro->enable_x() != 0) {
+ #ifdef DEBUG_MESSAGE
+ ser->printf ("Gyroscope sensor not enabled\r\n");
+ #endif
+ }
+ if (acc_gyro->enable_g() != 0) {
+ #ifdef DEBUG_MESSAGE
+ ser->printf ("Accelerometer2 sensor not enabled\r\n");
+ #endif
+ }
+ #ifdef DEBUG_MESSAGE
+ ser->printf("\r\n--- Starting the sensors ---\r\n");
+
hum_temp->read_id(&id);
- pc.printf("HTS221 humidity & temperature = 0x%X\r\n", id);
+ ser->printf("HTS221 humidity & temperature = 0x%X\r\n", id);
press_temp->read_id(&id);
- pc.printf("LPS22HB pressure & temperature = 0x%X\r\n", id);
+ ser->printf("LPS22HB pressure & temperature = 0x%X\r\n", id);
magnetometer->read_id(&id);
- pc.printf("LSM303AGR magnetometer = 0x%X\r\n", id);
+ ser->printf("LSM303AGR magnetometer = 0x%X\r\n", id);
accelerometer->read_id(&id);
- pc.printf("LSM303AGR accelerometer = 0x%X\r\n", id);
+ ser->printf("LSM303AGR accelerometer = 0x%X\r\n", id);
acc_gyro->read_id(&id);
- pc.printf("LSM6DSL accelerometer & gyroscope = 0x%X\r\n", id);
-
- pc.printf("\r\n");
+ ser->printf("LSM6DSL accelerometer & gyroscope = 0x%X\r\n", id);
+
+ ser->printf("\r\n");
+ #endif
- /* Radio setup */
- pc.printf("\r\n--- Starting the modem LoRa ---\r\n");
-
+ /* Radio setup */
+ #ifdef DEBUG_MESSAGE
+ ser->printf("\r\n--- Starting the modem LoRa ---\r\n");
+ #endif
Radio = new SX1276Generic(NULL, MURATA_SX1276,
LORA_SPI_MOSI, LORA_SPI_MISO, LORA_SPI_SCLK, LORA_CS, LORA_RESET,
LORA_DIO0, LORA_DIO1, LORA_DIO2, LORA_DIO3, LORA_DIO4, LORA_DIO5,
LORA_ANT_RX, LORA_ANT_TX, LORA_ANT_BOOST, LORA_TCXO);
- pc.printf("SX1276 Simple transmission aplication\r\n" );
- pc.printf("Frequency: %.1f\r\n", (double)RF_FREQUENCY/1000000.0);
- pc.printf("TXPower: %d dBm\r\n", TX_OUTPUT_POWER);
- pc.printf("Bandwidth: %d Hz\r\n", LORA_BANDWIDTH);
- pc.printf("Spreading factor: SF%d\r\n", LORA_SPREADING_FACTOR);
+ #ifdef DEBUG_MESSAGE
+ ser->printf("SX1276 Simple transmission aplication\r\n" );
+ ser->printf("Frequency: %.1f\r\n", (double)RF_FREQUENCY/1000000.0);
+ ser->printf("TXPower: %d dBm\r\n", TX_OUTPUT_POWER);
+ ser->printf("Bandwidth: %d Hz\r\n", LORA_BANDWIDTH);
+ ser->printf("Spreading factor: SF%d\r\n", LORA_SPREADING_FACTOR);
+ #endif
// Initialize Radio driver
RadioEvents.TxDone = OnTxDone;
RadioEvents.RxDone = OnRxDone;
RadioEvents.RxError = OnRxError;
RadioEvents.TxTimeout = OnTxTimeout;
- RadioEvents.RxTimeout = OnRxTimeout;
- while (Radio->Init( &RadioEvents ) == false) {
- pc.printf("Radio could not be detected!\r\n");
- wait( 1 );
+ RadioEvents.RxTimeout = OnRxTimeout;
+
+ for (int i = 0; Radio->Init( &RadioEvents ) != true && i < 40; i++) {
+ #ifdef DEBUG_MESSAGE
+ ser->printf("Radio could not be detected!\r\n");
+ #endif
+ buzzer = 1;
+ wait_ms (BUZZER_TIME);
+ buzzer = 0;
+ wait_ms (BUZZER_TIME);
}
+ // Display the board type
+ #ifdef DEBUG_MESSAGE
switch(Radio->DetectBoardType()) {
case SX1276MB1LAS:
- if (DEBUG_MESSAGE)
- pc.printf(" > Board Type: SX1276MB1LAS <\r\n");
+ ser->printf(" > Board Type: SX1276MB1LAS <\r\n");
break;
case SX1276MB1MAS:
- if (DEBUG_MESSAGE)
- pc.printf(" > Board Type: SX1276MB1LAS <\r\n");
+ ser->printf(" > Board Type: SX1276MB1LAS <\r\n");
+ break;
case MURATA_SX1276:
- if (DEBUG_MESSAGE)
- pc.printf(" > Board Type: MURATA_SX1276_STM32L0 <\r\n");
+ ser->printf(" > Board Type: MURATA_SX1276_STM32L0 <\r\n");
break;
case RFM95_SX1276:
- if (DEBUG_MESSAGE)
- pc.printf(" > HopeRF RFM95xx <\r\n");
+ ser->printf(" > HopeRF RFM95xx <\r\n");
break;
default:
- pc.printf(" > Board Type: unknown <\r\n");
+ ser->printf(" > Board Type: unknown <\r\n");
}
-
- Radio->SetChannel(RF_FREQUENCY );
+ #endif
+ Radio->SetChannel(RF_FREQUENCY ); // Sets the frequency of the communication
- if (LORA_FHSS_ENABLED)
- pc.printf(" > LORA FHSS Mode <\r\n");
- if (!LORA_FHSS_ENABLED)
- pc.printf(" > LORA Mode <\r\n");
-
- pc.printf("\r\n");
-
+ // Debug message of the state of fhss
+ #ifdef DEBUG_MESSAGE
+ if (LORA_FHSS_ENABLED) {
+ ser->printf(" > LORA FHSS Mode <\r\n");
+ }
+ if (!LORA_FHSS_ENABLED) {
+ ser->printf(" > LORA Mode <\r\n");
+ }
+ #endif
+ // Sets the configuration of the transmission
Radio->SetTxConfig( MODEM_LORA, TX_OUTPUT_POWER, 0, LORA_BANDWIDTH,
LORA_SPREADING_FACTOR, LORA_CODINGRATE,
LORA_PREAMBLE_LENGTH, LORA_FIX_LENGTH_PAYLOAD_ON,
LORA_CRC_ENABLED, LORA_FHSS_ENABLED, LORA_NB_SYMB_HOP,
LORA_IQ_INVERSION_ON, 2000 );
+ // Sets the configuration of the reception
Radio->SetRxConfig( MODEM_LORA, LORA_BANDWIDTH, LORA_SPREADING_FACTOR,
LORA_CODINGRATE, 0, LORA_PREAMBLE_LENGTH,
LORA_SYMBOL_TIMEOUT, LORA_FIX_LENGTH_PAYLOAD_ON, 0,
LORA_CRC_ENABLED, LORA_FHSS_ENABLED, LORA_NB_SYMB_HOP,
LORA_IQ_INVERSION_ON, true );
- Radio->Tx(1000000);
+
+ #ifdef SD_EN
+ SPI spi (PA_7, PA_6, PA_5);
+ spi.frequency (SPI_FREQUENCY);
+ SDCard sdCard (&spi, PB_10);
+ uint8_t sdData[sizeof(data)];
+ int block = 0;
+ #endif
+
+
+ Radio->Tx(TX_TIMEOUT_VALUE); // Puts the device in transmission mode for a long period
+
+ Timer timer; // Timer
+ timer.start(); // Starting timer
while(1) {
- float p; //pressure
- float temperatureHTS221; //temperature from HTS221
- float humidity; //humidity
- float temperatureLPS22HB; //temperature from LPS22HB
- int32_t w[3]; //angular velocity
- int32_t a[3]; //acceleration of the accelerometer LSM303AGR
- int32_t ag[3]; //acceleration of the accelerometer and gyroscope LSM6DSL
- int32_t m [3]; //heading
-
- press_temp->get_pressure(&p); //get the pressure
- press_temp->get_temperature(&temperatureLPS22HB); //get temperature from LPS22HB
- accelerometer->get_x_axes(a);//get the acceleration
- acc_gyro->get_x_axes(ag);//get the acceleration
- acc_gyro->get_g_axes(w);//get the angular velocity
- magnetometer->get_m_axes(m); //get the magnetometer heading
- hum_temp->get_temperature(&temperatureHTS221); //get temperature from HTS221
- hum_temp->get_humidity(&humidity); //get humidity
-
- //sensors data
+ if (press_temp->get_pressure(&data.p) == 0) { // Get the pressure
+ data.header[3] = 1; // LPS22HB updated
+ #ifdef DEBUG_MESSAGE
+ //ser->printf("The pressure data from LPS22HB was read\r\n");
+ #endif
+ } else {
+ data.header[3] = 0; // LPS22HB was not updated
+ }
+ if (press_temp->get_temperature(&data.temperatureLPS22HB) == 0) { // Get temperature from LPS22HB
+ data.header [3] = 1; // LPS22HB updated
+ #ifdef DEBUG_MESSAGE
+ //ser->printf("The temperature data from LPS22HB was read\r\n");
+ #endif
+ } else {
+ data.header[3] = 0; // LPS22HB not updated
+ }
+ if (accelerometer->get_x_axes(data.a) == 0) {// Get the acceleration
+ data.header [2] = 1; // LSM303AGR updated
+ #ifdef DEBUG_MESSAGE
+ //ser->printf("The acceleration data from LSM303AGR was read\r\n");
+ #endif
+ } else {
+ data.header [2] = 0; // LSM303AGR not updated
+ }
+ if (acc_gyro->get_x_axes(data.ag) == 0) {// Get the acceleration
+ data.header [1] = 1; // LSM6DSL updated
+ #ifdef DEBUG_MESSAGE
+ //ser->printf("The acceleration data from LSM6DSL was read\r\n");
+ #endif
+ } else {
+ data.header [1] = 0; // LSM6DSL not updated
+ }
+ if (acc_gyro->get_g_axes(data.w) == 0) {// Get the angular velocity
+ data.header [1] = 1; // LSM6DSL updated
+ #ifdef DEBUG_MESSAGE
+ //ser->printf("The angular velocity data from LSM6DSL was read\r\n");
+ #endif
+ } else {
+ data.header [1] = 0; // LSM6DSL not updated
+ }
+ if (magnetometer->get_m_axes(data.m) == 0) { // Get the magnetometer heading
+ data.header [2] = 1; // LSM303AGR updated
+ #ifdef DEBUG_MESSAGE
+ //ser->printf("The heading data from LSM6DSL was read\r\n");
+ #endif
+ } else {
+ data.header [2] = 0; // LSM303AGR not updated
+ }
+ if (timer.read_ms() >= 10) {
+ if (hum_temp->get_humidity(&data.humidity)) { // Get humidity
+ data.header [4] = 1; // HTS221 updated
+ #ifdef DEBUG_MESSAGE
+ //ser->printf("The humidity data from HTS221 was read\r\n");
+ #endif
+ } else {
+ data.header [4] = 0; // HTS221 not updated
+ }
+ if (hum_temp->get_temperature(&data.temperatureHTS221)== 0) { // Get temperature from HTS221
+ data.header [4] = 1; // HTS221 updated
+ #ifdef DEBUG_MESSAGE
+ //ser->printf("The temperature data from HTS221 was read\r\n");
+ #endif
+ } else {
+ data.header [4] = 0; // HTS221 not updated
+ }
+ #ifdef GPS_EN
+ if (gps.readable()) {
+ if (gps.ready()) {
+ data.ecefx = gps.ecefX;
+ data.ecefy = gps.ecefY;
+ data.ecefz = gps.ecefZ;
+ data.ecefvx = gps.ecefVX;
+ data.ecefvy = gps.ecefVY;
+ data.ecefvz = gps.ecefVZ;
+ data.timeOfWeek = gps.iTOW;
+ data.timeOfWeekFracPart = gps.fTOW;
+ data.positionAcc3D = gps.pAcc;
+ data.speedAcc = gps.sAcc;
+ data.numbSat = gps.numSV;
+ data.gpsFix = gps.gpsFix;
+ data.header [5] = 1; // GPS updated
+ #ifdef DEBUG_MESSAGE
+ ser->printf("The GPS data was read\r\n");
+ #endif
+ } else {
+ data.header [5] = 1; // GPS not updated
+ }
+ }
+ #endif
+ timer.reset();
+ }
+ /* Check internal comunication for avionicas data */
+ // Implement this part here
+ //...
+ //end
+
+ #ifdef SD_EN
+ // Saving the data on SD Card
+ memcpy (sdData, &data, sizeof(data));
+ while(sdCard.write(&sdData[0],block) == 0);
+ block ++;
+ while (sdCard.write (&sdData[64],block) == 0);
+ block++;
+ while (sdCard.write(&sdData[128],block) == 0);
+ block++;
+ #endif
- dados[0] = a[0];
- dados[1] = a[1];
- dados[2] = a[2];
- dados[3] = ag[0];
- dados[4] = ag[1];
- dados[5] = ag[2];
- dados[6] = w[0];
- dados[7] = w[1];
- dados[8] = w[2];
- dados[9] = m[0];
- dados[10] = m[1];
- dados[11] = m[2];
- dados[12] = humidity;
- dados[13] = temperatureHTS221;
- dados[14] = temperatureLPS22HB;
- dados[15] = p;
-
+ // Only sends a new packet when the device already have transmited the previous one
if (transmited==true) {
transmited = false;
wait_ms(10);
- Radio->Send( dados, sizeof(dados) );
+ Radio->Send( &data, sizeof(data) );
+ ser->printf("%d\r\n", sizeof(data));
}
}
}
@@ -274,77 +541,56 @@
#endif
}
-/* Helper function for printing floats & doubles */
-static char *print_double(char* str, double v, int decimalDigits=2)
-{
- int i = 1;
- int intPart, fractPart;
- int len;
- char *ptr;
- /* prepare decimal digits multiplicator */
- for (;decimalDigits!=0; i*=10, decimalDigits--);
-
- /* calculate integer & fractinal parts */
- intPart = (int)v;
- fractPart = (int)((v-(double)(int)v)*i);
-
- /* fill in integer part */
- sprintf(str, "%i.", intPart);
-
- /* prepare fill in of fractional part */
- len = strlen(str);
- ptr = &str[len];
-
- /* fill in leading fractional zeros */
- for (i/=10;i>1; i/=10, ptr++) {
- if (fractPart >= i) {
- break;
- }
- *ptr = '0';
- }
-
- /* fill in (rest of) fractional part */
- sprintf(ptr, "%i", fractPart);
-
- return str;
-}
void OnTxDone(void *radio, void *userThisPtr, void *userData)
{
Radio->Sleep( );
transmited = true;
- if (DEBUG_MESSAGE) {
- pc.printf("> OnTxDone\r\n");
- pc.printf("I transmited %6ld, %6ld, %6ld, %6ld, %6ld, %6ld, %6ld, %6ld, %6ld\r\n", dados[0], dados[1], dados[2], dados[3], dados[4], dados[5], dados[6], dados[7], dados[8]);
- pc.printf("and %6ld, %6ld, %6ld, %s, %7s, %7s %s\r\n", dados[9], dados[10], dados[11], print_double(buffer2, dados[12]), print_double(buffer1, dados[13]), print_double(buffer1, dados[14]), print_double(buffer2, dados[15]));
- }
+ #ifdef DEBUG_MESSAGE
+ ser->printf("> OnTxDone\r\n");
+ ser->printf("I transmited %d mg, %d mg, %d mg, %d mg, %d mg, %d mg, %d mdps, %d mdps, %d mdps\r\n", data.a[0], data.a[1], data.a[2], data.ag[0], data.ag[1], data.ag[2], data.w[0], data.w[1], data.w[2]);
+ ser->printf("and %d mG, %d mG, %d mG, %g %%, %g C, %g C, %g mBar\r\n", data.m[0], data.m[1], data.m[2], data.humidity, data.temperatureHTS221, data.temperatureLPS22HB, data.p);
+ ser->printf("and time - %d ms, time of the week - %d ms, time of week frac part - %d ns\r\n",data.time, data.timeOfWeek, data.timeOfWeekFracPart);
+ ser->printf("and GPS fix %c, ECEFX %d cm, ECEFY %d cm, ECEFZ %d cm\r\n", data.gpsFix, data.ecefx, data.ecefy, data.ecefz);
+ ser->printf("and 3D Position accuracy %d cm, ECEFVX %d cm/s, ECEFVY %d cm/s, ECEFVZ %d cm/s, Speed accuracy %d cm/s\r\n", data.positionAcc3D, data.ecefvx, data.ecefvy, data.ecefvz, data.speedAcc);
+ ser->printf("and Number of satelites %x, Drogue Status %x, Main status %x, BMP280 %f bar, temperature %f C\r\n", data.numbSat, data.drogueStatus, data.mainStatus, data.pressureBar, data.temperature);
+ ser->printf("Main Status COTS %x, Drogue Status COTS %x, Time Stamp %d s, AGL altitude %d m, Battery voltage %d V\r\n",data.mainStatusCOTS, data.drogueStatusCOTS, data.timeStamp, data.aglAlt, data.battery);
+ ser->printf("Header: %d, %d, %d, %d, %d, %d, %d, %d\r\n",data.header[0], data.header[1], data.header[2], data.header[3], data.header[4], data.header[5], data.header[6], data.header[7]);
+ uint8_t payload[sizeof(data)];
+ memcpy(payload, &data, sizeof(data));
+ ser->printf("%x\r\n", *payload);
+ #endif
}
void OnRxDone(void *radio, void *userThisPtr, void *userData, uint8_t *payload, uint16_t size, int16_t rssi, int8_t snr)
{
Radio->Sleep( );
- if (DEBUG_MESSAGE)
- pc.printf("> OnRxDone: RssiValue=%d dBm, SnrValue=%d\r\n", rssi, snr);
+ #ifdef DEBUG_MESSAGE
+ ser->printf("> OnRxDone: RssiValue=%d dBm, SnrValue=%d\r\n", rssi, snr);
+ #endif
}
void OnTxTimeout(void *radio, void *userThisPtr, void *userData)
{
Radio->Sleep( );
- if(DEBUG_MESSAGE)
- pc.printf("> OnTxTimeout\r\n");
+ #ifdef DEBUG_MESSAGE
+ ser->printf("> OnTxTimeout\r\n");
+ #endif
}
void OnRxTimeout(void *radio, void *userThisPtr, void *userData)
{
Radio->Sleep( );
- if (DEBUG_MESSAGE)
- pc.printf("> OnRxTimeout\r\n");
+ #ifdef DEBUG_MESSAGE
+ ser->printf("> OnRxTimeout\r\n");
+ #endif
}
void OnRxError(void *radio, void *userThisPtr, void *userData)
{
Radio->Sleep( );
- if (DEBUG_MESSAGE)
- pc.printf("> OnRxError\r\n");
+ #ifdef DEBUG_MESSAGE
+ ser->printf("> OnRxError\r\n");
+ #endif
}