334 lines
11 KiB
C
334 lines
11 KiB
C
#include "sensors.h"
|
|
#include "esp_timer.h"
|
|
#include "radio.h"
|
|
#include "../hw/gps.h"
|
|
#include "servocontroller.h"
|
|
|
|
#include <sys/unistd.h>
|
|
#include <sys/stat.h>
|
|
#include "esp_vfs_fat.h"
|
|
#include "sdmmc_cmd.h"
|
|
|
|
#define MOUNT_POINT "/canSensors"
|
|
|
|
#define BLINK_GPIO 2
|
|
|
|
// uint8_t powerMode = LOW_POWER_MODE;
|
|
uint8_t powerMode = HIGH_POWER_MODE;
|
|
|
|
static uint8_t s_led_state = 0;
|
|
|
|
uint8_t telemetryIndex = 1;
|
|
|
|
const uint8_t expectedAdressesCount = 5;
|
|
const uint8_t expectedAdresses[] = {MCP23018_ADDRESS, BME680_ADDRESS, CCS811_ADDRESS, MPU9250_ADDRESS, INA260_ADDRESS};
|
|
|
|
uint8_t foundDevices[5];
|
|
uint8_t prevDevices[5];
|
|
|
|
static void configure_led(void)
|
|
{
|
|
gpio_reset_pin(BLINK_GPIO);
|
|
gpio_set_direction(BLINK_GPIO, GPIO_MODE_OUTPUT);
|
|
}
|
|
|
|
void update_devices()
|
|
{
|
|
memcpy(prevDevices, foundDevices, sizeof(prevDevices));
|
|
for (uint8_t i = 0; i < expectedAdressesCount; i++)
|
|
{
|
|
fflush(stdout);
|
|
|
|
esp_err_t ret = i2c_master_probe(i2c0_bus_hdl, expectedAdresses[i], 20);
|
|
|
|
if (ret == ESP_OK)
|
|
{
|
|
if (foundDevices[i] == 0)
|
|
{
|
|
foundDevices[i] = 1;
|
|
}
|
|
// printf("Found device at 0x%02X\n", i);
|
|
}
|
|
else
|
|
{
|
|
foundDevices[i] = 0;
|
|
if (i == 1 && powerMode != HIGH_POWER_MODE)
|
|
{
|
|
continue;
|
|
}
|
|
printf("Not found device at 0x%02X\n", expectedAdresses[i]);
|
|
}
|
|
}
|
|
}
|
|
|
|
void setPowerMode(uint8_t powerModeIn)
|
|
{
|
|
powerMode = powerModeIn;
|
|
if (foundDevices[0] == 2)
|
|
{
|
|
if (powerMode == HIGH_POWER_MODE)
|
|
{
|
|
mcp23018_set_pin(MCP23018_DEV_HANDLE, MCP_CCS811_WAKE, 0);
|
|
mcp23018_set_pin(MCP23018_DEV_HANDLE, MCP_CCS811_POWER, 1);
|
|
mcp23018_set_pin(MCP23018_DEV_HANDLE, MCP_MICS_POWER, 1);
|
|
}
|
|
else
|
|
{
|
|
mcp23018_set_pin(MCP23018_DEV_HANDLE, MCP_CCS811_WAKE, 1);
|
|
mcp23018_set_pin(MCP23018_DEV_HANDLE, MCP_CCS811_POWER, 0);
|
|
mcp23018_set_pin(MCP23018_DEV_HANDLE, MCP_MICS_POWER, 0);
|
|
}
|
|
}
|
|
}
|
|
|
|
void init_connected()
|
|
{
|
|
|
|
for (uint8_t i = 0; i < expectedAdressesCount; i++)
|
|
{
|
|
if (foundDevices[i] != prevDevices[i])
|
|
{
|
|
if (foundDevices[i])
|
|
{
|
|
esp_err_t ret = ESP_FAIL;
|
|
bool foundUsed = true;
|
|
switch (i)
|
|
{
|
|
case MCP23018_ADDRESS:
|
|
/* code */
|
|
ret = mcp23018_init();
|
|
setPowerMode(powerMode);
|
|
mcp3550_spi_init();
|
|
break;
|
|
|
|
case INA260_ADDRESS:
|
|
ret = ina260_init();
|
|
/* code */
|
|
break;
|
|
|
|
case CCS811_ADDRESS:
|
|
ret = ccs811_init();
|
|
/* code */
|
|
break;
|
|
|
|
case MPU9250_ADDRESS:
|
|
ret = mpu9250_init();
|
|
/* code */
|
|
break;
|
|
|
|
case BME680_ADDRESS:
|
|
ret = bme680b_init();
|
|
/* code */
|
|
break;
|
|
|
|
default:
|
|
foundUsed = false;
|
|
break;
|
|
}
|
|
if (foundUsed)
|
|
{
|
|
if (ret == ESP_OK)
|
|
{
|
|
foundDevices[i] = 2;
|
|
}
|
|
else
|
|
{
|
|
printf("Device init error at 0x%02X - %s\n", expectedAdresses[i], esp_err_to_name(ret));
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
}
|
|
|
|
void i2c_sensors_task(void *pvParameters)
|
|
{
|
|
memset(foundDevices, 0, sizeof(foundDevices));
|
|
memset(prevDevices, 0, sizeof(prevDevices));
|
|
|
|
bme680b_init();
|
|
mpu9250_init();
|
|
ccs811_init();
|
|
ina260_init();
|
|
|
|
// update_devices();
|
|
// init_connected();
|
|
// initialize the xLastWakeTime variable with the current time.
|
|
const int64_t interval_us = 50000; // 50 ms
|
|
int64_t start_time, end_time, elapsed;
|
|
|
|
//
|
|
// initialize i2c device configuration
|
|
|
|
configure_led();
|
|
|
|
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;
|
|
uint8_t currentCCS;
|
|
uint16_t rawData;
|
|
|
|
uint16_t volts;
|
|
uint16_t current;
|
|
uint16_t power;
|
|
|
|
bme680_data_t bmeData;
|
|
|
|
mics_adc_data_t ADCData;
|
|
// task loop entry point
|
|
for (;;)
|
|
{
|
|
start_time = esp_timer_get_time(); // µs since boot
|
|
|
|
uint8_t presentDevices = 0xFF;
|
|
// update_devices();
|
|
// init_connected();
|
|
|
|
//
|
|
// handle sensor
|
|
|
|
presentDevices |= BME680_PRESENT_BIT;
|
|
|
|
if (BME680_DEV_HANDLE)
|
|
{
|
|
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
|
|
{
|
|
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
|
|
{
|
|
bme680b_init();
|
|
}
|
|
|
|
presentDevices |= CCS811_PRESENT_BIT;
|
|
ccs811_get_data(&eCO2, &tvoc, ¤tCCS, &rawData);
|
|
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);
|
|
|
|
presentDevices |= MPU9250_PRESENT_BIT;
|
|
if (mpu9250_read_sensor_data(MPU9250_DEV_HANDLE, accel, gyro, &temp, magnet) == ESP_OK)
|
|
{
|
|
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
|
|
{
|
|
ESP_LOGE(TAG_MPU, "Failed to read sensor data");
|
|
}
|
|
|
|
presentDevices |= INA260_PRESENT_BIT;
|
|
ina260_readParams(&volts, ¤t, &power);
|
|
ina260_printParams(volts, current, power);
|
|
|
|
presentDevices |= MCP23018_PRESENT_BIT;
|
|
float VREFVoltage = 2.5;
|
|
ADCData = mcp3550_read_all(VREFVoltage);
|
|
|
|
log_mics_adc_values(&ADCData);
|
|
|
|
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.air_temperature = bmeData.air_temperature;
|
|
telemetryPacket.relative_humidity = bmeData.relative_humidity;
|
|
telemetryPacket.barometric_pressure = bmeData.barometric_pressure;
|
|
telemetryPacket.gas_resistance = bmeData.gas_resistance;
|
|
telemetryPacket.iaq_score = bmeData.iaq_score;
|
|
telemetryPacket.temperature_score = bmeData.temperature_score;
|
|
telemetryPacket.humidity_score = bmeData.humidity_score;
|
|
telemetryPacket.gas_score = bmeData.gas_score;
|
|
|
|
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;
|
|
|
|
telemetryPacket.presentDevices = presentDevices;
|
|
|
|
telemetryPacket.telemetryIndex = telemetryIndex++;
|
|
}
|
|
packetReadiness = 1;
|
|
|
|
s_led_state = !s_led_state;
|
|
end_time = esp_timer_get_time();
|
|
elapsed = end_time - start_time;
|
|
|
|
if (elapsed < interval_us)
|
|
{
|
|
vTaskDelay(pdMS_TO_TICKS((interval_us - elapsed) / 1000));
|
|
}
|
|
}
|
|
//
|
|
// free resources
|
|
bme680_delete(BME680_DEV_HANDLE);
|
|
vTaskDelete(NULL);
|
|
} |