CanSat/EmbeddedESP
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fixes

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This commit is contained in:
Bruno Rybársky
2025-04-22 20:35:29 +02:00
parent 9104869ecf
commit 5853bf849f
17 changed files with 1704 additions and 941 deletions
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111
main/components/sensors.c
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@@ -1,4 +1,8 @@
#include "sensors.h"
#include "esp_timer.h"
#include "radio.h"
#include "../hw/gps.h"
#include "servocontroller.h"
#define BLINK_GPIO 2
@@ -13,8 +17,9 @@ static void configure_led(void)
void i2c_sensors_task(void *pvParameters)
{
// initialize the xLastWakeTime variable with the current time.
TickType_t last_wake_time = xTaskGetTickCount();
const TickType_t I2C0_TASK_SAMPLING_RATE = 5;
const int64_t interval_us = 100000; // 100 ms
int64_t start_time, end_time, elapsed;
//
// initialize i2c device configuration
@@ -26,8 +31,8 @@ void i2c_sensors_task(void *pvParameters)
mcp3550_spi_init();
configure_led();
int16_t accel[3], gyro[3], temp;
float accel_f[3], gyro_f[3], temp_f;
int16_t accel[3], gyro[3], temp, magnet[3];
float accel_f[3], gyro_f[3], temp_f, magnet_f[3];
uint16_t eCO2;
uint16_t tvoc;
@@ -38,30 +43,32 @@ void i2c_sensors_task(void *pvParameters)
uint16_t current;
uint16_t power;
bme680_data_t bmeData;
// task loop entry point
for (;;)
{
packetReadiness = 2;
start_time = esp_timer_get_time(); // µs since boot
//
// handle sensor
if (BME680_DEV_HANDLE)
{
bme680_data_t data;
esp_err_t result = bme680_get_data(BME680_DEV_HANDLE, &data);
esp_err_t result = bme680_get_data(BME680_DEV_HANDLE, &bmeData);
if (result != ESP_OK)
{
ESP_LOGE(TAG_BME, "bme680 device read failed (%s)", esp_err_to_name(result));
}
else
{
data.barometric_pressure = data.barometric_pressure / 100;
ESP_LOGI(TAG_BME, "dewpoint temperature:%.2f °C", data.dewpoint_temperature);
ESP_LOGI(TAG_BME, "air temperature: %.2f °C", data.air_temperature);
ESP_LOGI(TAG_BME, "relative humidity: %.2f %%", data.relative_humidity);
ESP_LOGI(TAG_BME, "barometric pressure: %.2f hPa", data.barometric_pressure);
ccs811_set_env_data(data.air_temperature, data.relative_humidity);
ESP_LOGI(TAG_BME, "gas resistance: %.2f kOhms", data.gas_resistance / 1000);
ESP_LOGI(TAG_BME, "iaq score: %u (%s)", data.iaq_score, bme680_air_quality_to_string(data.iaq_score));
bmeData.barometric_pressure = bmeData.barometric_pressure / 100;
ESP_LOGI(TAG_BME, "dewpoint temperature:%.2f °C", bmeData.dewpoint_temperature);
ESP_LOGI(TAG_BME, "air temperature: %.2f °C", bmeData.air_temperature);
ESP_LOGI(TAG_BME, "relative humidity: %.2f %%", bmeData.relative_humidity);
ESP_LOGI(TAG_BME, "barometric pressure: %.2f hPa", bmeData.barometric_pressure);
ccs811_set_env_data(bmeData.air_temperature, bmeData.relative_humidity);
ESP_LOGI(TAG_BME, "gas resistance: %.2f kOhms", bmeData.gas_resistance / 1000);
ESP_LOGI(TAG_BME, "iaq score: %u (%s)", bmeData.iaq_score, bme680_air_quality_to_string(bmeData.iaq_score));
}
}
else
@@ -73,12 +80,13 @@ void i2c_sensors_task(void *pvParameters)
ESP_LOGI(TAG_CCS, "eCO₂: %d ppm, TVOC: %d ppb", eCO2, tvoc);
ESP_LOGI(TAG_CCS, "Current: %d μA, Raw voltage: %d V", currentCCS, rawData);
if (mpu9250_read_sensor_data(MPU9250_DEV_HANDLE, accel, gyro, &temp) == ESP_OK)
if (mpu9250_read_sensor_data(MPU9250_DEV_HANDLE, accel, gyro, &temp, magnet) == ESP_OK)
{
mpu9250_convert_data(accel, gyro, temp, accel_f, gyro_f, &temp_f);
mpu9250_convert_data(accel, gyro, temp, magnet, accel_f, gyro_f, &temp_f, magnet_f);
ESP_LOGI(TAG_MPU, "Accel: X=%.2f g, Y=%.2f g, Z=%.2f g", accel_f[0], accel_f[1], accel_f[2]);
ESP_LOGI(TAG_MPU, "Gyro: X=%.2f°/s, Y=%.2f°/s, Z=%.2f°/s", gyro_f[0], gyro_f[1], gyro_f[2]);
ESP_LOGI(TAG_MPU, "Magnet: X=%.2fμT, Y=%.2fμT, Z=%.2fμT", magnet_f[0], magnet_f[1], magnet_f[2]);
ESP_LOGI(TAG_MPU, "Temperature: %.2f °C", temp_f);
}
else
@@ -89,7 +97,7 @@ void i2c_sensors_task(void *pvParameters)
ina260_readParams(&volts, &current, &power);
ina260_printParams(volts, current, power);
float VREFVoltage = volts * 1.25 / 1000; //Mame vobec nieco na VREFE? Na scheme su len medzi sebou prepojene
float VREFVoltage = volts * 1.25 / 1000; // Mame vobec nieco na VREFE? Na scheme su len medzi sebou prepojene
mics_adc_data_t ADCData = mcp3550_read_all(5.0); // vref = 5.0V
log_mics_adc_values(&ADCData);
@@ -101,7 +109,74 @@ void i2c_sensors_task(void *pvParameters)
gpio_set_level(BLINK_GPIO, s_led_state);
/* Toggle the LED state */
s_led_state = !s_led_state;
vTaskDelaySecUntil(&last_wake_time, I2C0_TASK_SAMPLING_RATE);
end_time = esp_timer_get_time();
elapsed = end_time - start_time;
if (elapsed < interval_us)
{
vTaskDelay(pdMS_TO_TICKS((interval_us - elapsed) / 1000));
}
if (packetReadiness == 0) {
memset(&telemetryPacket, 0, sizeof(telemetryPacket));
telemetryPacket.accelerationX = accel[0];
telemetryPacket.accelerationY = accel[1];
telemetryPacket.accelerationZ = accel[2];
telemetryPacket.gyroX = gyro[0];
telemetryPacket.gyroX = gyro[1];
telemetryPacket.gyroX = gyro[2];
telemetryPacket.magnetX = gyro[0];
telemetryPacket.magnetX = gyro[1];
telemetryPacket.magnetX = gyro[2];
telemetryPacket.accelerometer_temperature = temp;
telemetryPacket.eCO2 = eCO2;
telemetryPacket.tvoc = tvoc;
telemetryPacket.currentCCS = currentCCS;
telemetryPacket.rawCCSData = rawData;
telemetryPacket.volts = volts;
telemetryPacket.current = current;
telemetryPacket.power = power;
telemetryPacket.temperature = bmeData.raw_data.temperature;
telemetryPacket.humidity = bmeData.raw_data.humidity;
telemetryPacket.pressure = bmeData.raw_data.pressure;
telemetryPacket.gas = bmeData.raw_data.gas;
telemetryPacket.gas_range = bmeData.raw_data.gas_range;
telemetryPacket.heater_stable = bmeData.raw_data.heater_stable;
telemetryPacket.gas_valid = bmeData.raw_data.gas_valid;
telemetryPacket.NH3 = ADCData.raw_nh3;
telemetryPacket.CO = ADCData.raw_co;
telemetryPacket.NO2 = ADCData.raw_no2;
telemetryPacket.UVC = ADCData.raw_uvc;
//TODO MOVE THIS TO A BETTER PLACE FOR SYNC
telemetryPacket.time_seconds = gpsDataOut.time_seconds;
telemetryPacket.latitude_centi_degrees = gpsDataOut.latitude_centi_degrees;
telemetryPacket.longitude_centi_degrees = gpsDataOut.longitude_centi_degrees;
telemetryPacket.fix_quality = gpsDataOut.fix_quality;
telemetryPacket.num_satellites = gpsDataOut.num_satellites;
telemetryPacket.altitude_centi_meters = gpsDataOut.altitude_centi_meters;
telemetryPacket.date_yyddmm = gpsDataOut.date_yyddmm;
telemetryPacket.speed_centi_knots = gpsDataOut.speed_centi_knots;
telemetryPacket.predicted_altitude_centi_meters = predictedPosition.altitude_centi_meters;
telemetryPacket.predicted_latitude_centi_degrees = predictedPosition.latitude_centi_degrees;
telemetryPacket.predicted_longitude_centi_degrees = predictedPosition.longitude_centi_degrees;
telemetryPacket.targetServoA = servoState.targetServoA;
telemetryPacket.targetServoB = servoState.targetServoB;
telemetryPacket.currentServoA = servoState.currentServoA;
telemetryPacket.currentServoB = servoState.currentServoB;
}
packetReadiness = 1;
}
//
// free resources