264 lines
9.1 KiB
C
264 lines
9.1 KiB
C
#include "sensors.h"
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#include "esp_timer.h"
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#include "radio.h"
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#include "../hw/gps.h"
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#include "servocontroller.h"
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#define BLINK_GPIO 2
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static uint8_t s_led_state = 0;
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uint8_t foundDevices[128];
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uint8_t prevDevices[128];
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static void configure_led(void)
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{
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gpio_reset_pin(BLINK_GPIO);
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gpio_set_direction(BLINK_GPIO, GPIO_MODE_OUTPUT);
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}
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// void update_devices() {
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// memcpy(prevDevices, foundDevices, sizeof(prevDevices));
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// memset(foundDevices, 0, sizeof(foundDevices));
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// for (uint8_t i = 0; i < 128; i++)
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// {
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// fflush(stdout);
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// esp_err_t ret = i2c_master_probe(i2c0_bus_hdl, i, 20);
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// if (ret == ESP_OK)
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// {
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// foundDevices[i] = 1;
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// printf("Found device at 0x%02X\n", i);
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// }
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// }
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// }
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// void init_connected() {
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// for (uint8_t i = 0; i < 128; i++) {
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// if (foundDevices[i] != prevDevices[i]) {
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// if (foundDevices[i]) {
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// switch (i)
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// {
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// case MCP23018_ADDRESS:
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// /* code */
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// if (mcp23018_init() == ESP_OK) {
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// foundDevices[i] = 2;
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// }
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// break;
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// case INA260_ADDRESS:
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// if (ina260_init() == ESP_OK) {
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// foundDevices[i] = 2;
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// }
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// /* code */
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// break;
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// case CCS811_ADDRESS:
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// if (ccs811_init() == ESP_OK) {
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// foundDevices[i] = 2;
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// }
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// /* code */
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// break;
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// case MPU9250_ADDRESS:
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// if (mpu9250_init() == ESP_OK) {
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// foundDevices[i] = 2;
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// }
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// /* code */
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// break;
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// case BME680_ADDRESS:
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// if (bme680b_init() == ESP_OK) {
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// foundDevices[i] = 2;
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// }
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// /* code */
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// break;
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// default:
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// break;
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// }
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// }
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// }
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// }
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// }
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void i2c_sensors_task(void *pvParameters)
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{
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memset(foundDevices, 0, sizeof(foundDevices));
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memset(prevDevices, 0, sizeof(prevDevices));
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bme680b_init();
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mpu9250_init();
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ccs811_init();
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ina260_init();
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// update_devices();
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// init_connected();
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// initialize the xLastWakeTime variable with the current time.
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const int64_t interval_us = 100000; // 100 ms
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int64_t start_time, end_time, elapsed;
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//
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// initialize i2c device configuration
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mcp3550_spi_init();
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configure_led();
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int16_t accel[3], gyro[3], temp, magnet[3];
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float accel_f[3], gyro_f[3], temp_f, magnet_f[3];
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uint16_t eCO2;
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uint16_t tvoc;
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uint8_t currentCCS;
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uint16_t rawData;
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uint16_t volts;
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uint16_t current;
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uint16_t power;
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bme680_data_t bmeData;
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// task loop entry point
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for (;;)
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{
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packetReadiness = 2;
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start_time = esp_timer_get_time(); // µs since boot
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//
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// handle sensor
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if (BME680_DEV_HANDLE)
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{
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esp_err_t result = bme680_get_data(BME680_DEV_HANDLE, &bmeData);
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if (result != ESP_OK)
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{
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ESP_LOGE(TAG_BME, "bme680 device read failed (%s)", esp_err_to_name(result));
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}
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else
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{
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bmeData.barometric_pressure = bmeData.barometric_pressure / 100;
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ESP_LOGI(TAG_BME, "dewpoint temperature:%.2f °C", bmeData.dewpoint_temperature);
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ESP_LOGI(TAG_BME, "air temperature: %.2f °C", bmeData.air_temperature);
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ESP_LOGI(TAG_BME, "relative humidity: %.2f %%", bmeData.relative_humidity);
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ESP_LOGI(TAG_BME, "barometric pressure: %.2f hPa", bmeData.barometric_pressure);
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ccs811_set_env_data(bmeData.air_temperature, bmeData.relative_humidity);
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ESP_LOGI(TAG_BME, "gas resistance: %.2f kOhms", bmeData.gas_resistance / 1000);
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ESP_LOGI(TAG_BME, "iaq score: %u (%s)", bmeData.iaq_score, bme680_air_quality_to_string(bmeData.iaq_score));
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}
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}
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else
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{
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bme680b_init();
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}
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ccs811_get_data(&eCO2, &tvoc, ¤tCCS, &rawData);
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ESP_LOGI(TAG_CCS, "eCO₂: %d ppm, TVOC: %d ppb", eCO2, tvoc);
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ESP_LOGI(TAG_CCS, "Current: %d μA, Raw voltage: %d V", currentCCS, rawData);
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if (mpu9250_read_sensor_data(MPU9250_DEV_HANDLE, accel, gyro, &temp, magnet) == ESP_OK)
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{
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mpu9250_convert_data(accel, gyro, temp, magnet, accel_f, gyro_f, &temp_f, magnet_f);
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ESP_LOGI(TAG_MPU, "Accel: X=%.2f g, Y=%.2f g, Z=%.2f g", accel_f[0], accel_f[1], accel_f[2]);
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ESP_LOGI(TAG_MPU, "Gyro: X=%.2f°/s, Y=%.2f°/s, Z=%.2f°/s", gyro_f[0], gyro_f[1], gyro_f[2]);
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ESP_LOGI(TAG_MPU, "Magnet: X=%.2fμT, Y=%.2fμT, Z=%.2fμT", magnet_f[0], magnet_f[1], magnet_f[2]);
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ESP_LOGI(TAG_MPU, "Temperature: %.2f °C", temp_f);
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}
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else
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{
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ESP_LOGE(TAG_MPU, "Failed to read sensor data");
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}
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ina260_readParams(&volts, ¤t, &power);
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ina260_printParams(volts, current, power);
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float VREFVoltage = 2.5;
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mics_adc_data_t ADCData;
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memset(&ADCData, 0, sizeof(ADCData));
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//mics_adc_data_t ADCData = mcp3550_read_all(VREFVoltage);
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//log_mics_adc_values(&ADCData);
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int32_t nh3val = mcp3550_read(MCP_CS_ADC_NH3);
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ESP_LOGI(TAG_BME, "MICS NH3: %ld -> %fV", nh3val, mcp3550_to_voltage(nh3val, VREFVoltage));
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//gpio_set_level(BLINK_GPIO, s_led_state);
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mcp23018_set_pin(MCP23018_DEV_HANDLE, MCP_CS_ADC_UVC, s_led_state);
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/* Toggle the LED state */
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s_led_state = !s_led_state;
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end_time = esp_timer_get_time();
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elapsed = end_time - start_time;
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if (elapsed < interval_us)
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{
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vTaskDelay(pdMS_TO_TICKS((interval_us - elapsed) / 1000));
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}
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if (packetReadiness == 0) {
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memset(&telemetryPacket, 0, sizeof(telemetryPacket));
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telemetryPacket.accelerationX = accel[0];
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telemetryPacket.accelerationY = accel[1];
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telemetryPacket.accelerationZ = accel[2];
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telemetryPacket.gyroX = gyro[0];
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telemetryPacket.gyroX = gyro[1];
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telemetryPacket.gyroX = gyro[2];
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telemetryPacket.magnetX = gyro[0];
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telemetryPacket.magnetX = gyro[1];
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telemetryPacket.magnetX = gyro[2];
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telemetryPacket.accelerometer_temperature = temp;
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telemetryPacket.eCO2 = eCO2;
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telemetryPacket.tvoc = tvoc;
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telemetryPacket.currentCCS = currentCCS;
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telemetryPacket.rawCCSData = rawData;
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telemetryPacket.volts = volts;
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telemetryPacket.current = current;
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telemetryPacket.power = power;
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telemetryPacket.temperature = bmeData.raw_data.temperature;
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telemetryPacket.humidity = bmeData.raw_data.humidity;
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telemetryPacket.pressure = bmeData.raw_data.pressure;
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telemetryPacket.gas = bmeData.raw_data.gas;
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telemetryPacket.gas_range = bmeData.raw_data.gas_range;
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telemetryPacket.heater_stable = bmeData.raw_data.heater_stable;
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telemetryPacket.gas_valid = bmeData.raw_data.gas_valid;
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telemetryPacket.NH3 = ADCData.raw_nh3;
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telemetryPacket.CO = ADCData.raw_co;
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telemetryPacket.NO2 = ADCData.raw_no2;
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telemetryPacket.UVC = ADCData.raw_uvc;
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//TODO MOVE THIS TO A BETTER PLACE FOR SYNC
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telemetryPacket.time_seconds = gpsDataOut.time_seconds;
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telemetryPacket.latitude_centi_degrees = gpsDataOut.latitude_centi_degrees;
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telemetryPacket.longitude_centi_degrees = gpsDataOut.longitude_centi_degrees;
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telemetryPacket.fix_quality = gpsDataOut.fix_quality;
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telemetryPacket.num_satellites = gpsDataOut.num_satellites;
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telemetryPacket.altitude_centi_meters = gpsDataOut.altitude_centi_meters;
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telemetryPacket.date_yyddmm = gpsDataOut.date_yyddmm;
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telemetryPacket.speed_centi_knots = gpsDataOut.speed_centi_knots;
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telemetryPacket.predicted_altitude_centi_meters = predictedPosition.altitude_centi_meters;
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telemetryPacket.predicted_latitude_centi_degrees = predictedPosition.latitude_centi_degrees;
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telemetryPacket.predicted_longitude_centi_degrees = predictedPosition.longitude_centi_degrees;
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telemetryPacket.targetServoA = servoState.targetServoA;
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telemetryPacket.targetServoB = servoState.targetServoB;
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telemetryPacket.currentServoA = servoState.currentServoA;
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telemetryPacket.currentServoB = servoState.currentServoB;
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}
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packetReadiness = 1;
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}
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//
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// free resources
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bme680_delete(BME680_DEV_HANDLE);
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vTaskDelete(NULL);
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} |