airbourne/airbourne/examples/i2c_multi/main.cpp
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1 /*
2  * Copyright (c) 2017, James Jackson
3  *
4  * All rights reserved.
5  *
6  * Redistribution and use in source and binary forms, with or without
7  * modification, are permitted provided that the following conditions are met:
8  *
9  * * Redistributions of source code must retain the above copyright notice, this
10  * list of conditions and the following disclaimer.
11  *
12  * * Redistributions in binary form must reproduce the above copyright notice,
13  * this list of conditions and the following disclaimer in the documentation
14  * and/or other materials provided with the distribution.
15  *
16  * * Neither the name of the copyright holder nor the names of its
17  * contributors may be used to endorse or promote products derived from
18  * this software without specific prior written permission.
19  *
20  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
21  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
22  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
23  * DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
24  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
25  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
26  * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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28  * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
29  * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
30  */
31 
32 #include "system.h"
33 #include "i2c.h"
34 #include "ms5611.h"
35 #include "hmc5883l.h"
36 #include "ms4525.h"
37 #include "led.h"
38 #include "vcp.h"
39 #include "printf.h"
40 
42 
43 static void _putc(void *p, char c)
44 {
45  (void)p; // avoid compiler warning about unused variable
46  uartPtr->put_byte(c);
47 }
48 
49 int main() {
50 
51  systemInit();
52 
53  VCP vcp;
54  vcp.init();
55  uartPtr = &vcp;
57 
58  LED warn;
59  warn.init(LED1_GPIO, LED1_PIN);
60  LED info;
61  info.init(LED2_GPIO, LED2_PIN);
62 
63  delay(500);
64 
65  info.on();
66 
67  // Initialize the I2C peripherals1
68  I2C i2c1;
69  I2C i2c2;
70  i2c1.init(&i2c_config[BARO_I2C]);
71 // i2c2.init(&i2c_config[EXTERNAL_I2C]);
72 
73  // Initialize the sensors
74  MS5611 baro;
75  HMC5883L mag;
76 // MS4525 airspeed;
77 
78 
79  // Initialize the barometer
80  float pressure(0.0), baro_temp(0.0);
81  baro.init(&i2c1);
82 
83  // Initialize the Magnetometer
84  float mag_data[3] = {0., 0., 0.};
85  mag.init(&i2c1);
86 
87  // Initialize the airspeed Sensor
88  float diff_press(0.0), as_temp(0.0);
89 // airspeed.init(&i2c2);
90 
91  uint32_t count;
92  uint32_t last_print = 0;
93  while(1)
94  {
95  baro.update();
96  mag.update();
97 // airspeed.update();
98  if (baro.present())
99  {
100  baro.read(&pressure, &baro_temp);
101  }
102  else
103  {
104  pressure = 0.0;
105  baro_temp = 0.0;
106  }
107 
108  double seconds = millis()/1000.0;
109 
110  if (mag.present())
111  {
112  mag.read(mag_data);
113  }
114  else
115  {
116  for (int i =0; i < 3; i++) mag_data[i] = 0.0;
117  }
118 // if (airspeed.present())
119 // {
120 // airspeed.read(&diff_press, &as_temp);
121 // }
122 // else
123 // {
124 // diff_press = 0.0;
125 // as_temp = 0.0;
126 // }
127 
128  if (pressure == 0.0 || baro_temp == 0.0 || mag_data[0] == 0.0)
129  warn.on();
130  else
131  warn.off();
132 
133  if (millis() > last_print + 20)
134  {
135  if (count++ % 10 == 0)
136  info.toggle();
137  last_print = millis();
138  printf("t: %.2f\t", seconds);
139  printf("baro: %d Pa, %.2f K\t", (int32_t)pressure, (double)baro_temp);
140  printf("mag: %d, %d, %d\t",(int32_t)(mag_data[0]),(int32_t)(mag_data[1]),(int32_t)(mag_data[2]));
141  // printf("as: %.2f Pa, %.2fC\t", (double)diff_press, (double)as_temp);
142  printf ("err1: %d\t err2:%d\n", i2c1.num_errors(), i2c2.num_errors());
143  }
144  }
145 }
146 
void systemInit(void)
Definition: system.c:55
void toggle(void)
Definition: gpio.cpp:52
#define printf
Definition: printf.h:119
volatile uint32_t millis(void)
Definition: system.c:50
float pressure
Definition: ms4525.c:41
void init(GPIO_TypeDef *gpio_port, uint16_t pin)
Definition: led.cpp:34
#define LED2_PIN
Definition: revo_f4.h:134
void init(const i2c_hardware_struct_t *c)
Definition: i2c.cpp:53
Definition: ms5611.h:39
void init()
Definition: vcp.cpp:24
#define LED2_GPIO
Definition: revo_f4.h:133
Definition: led.h:38
bool present()
Definition: hmc5883l.cpp:68
#define LED1_GPIO
Definition: revo_f4.h:131
uint16_t num_errors()
Definition: i2c.h:144
bool init(I2C *_i2c)
Definition: ms5611.cpp:39
#define LED1_PIN
Definition: revo_f4.h:132
void put_byte(uint8_t ch) override
Definition: vcp.cpp:106
void update()
Definition: hmc5883l.cpp:75
void on()
Definition: led.cpp:39
Definition: vcp.h:20
void update()
Definition: ms5611.cpp:100
static void _putc(void *p, char c)
void init_printf(void *putp, void(*putf)(void *, char))
Definition: printf.cpp:245
#define BARO_I2C
Definition: revo_f4.h:127
Definition: i2c.h:40
int16_t mag_data[3]
Definition: hmc5883l_read.c:28
bool present()
Definition: ms5611.cpp:93
#define NULL
Definition: usbd_def.h:50
bool init(I2C *i2c_drv)
Definition: hmc5883l.cpp:38
bool read(float mag_data[])
Definition: hmc5883l.cpp:99
void off()
Definition: led.cpp:44
const i2c_hardware_struct_t i2c_config[NUM_I2C]
Definition: revo_f4.h:120
void read(float *press, float *temp)
Definition: ms5611.cpp:388
void delay(uint32_t ms)
Definition: system.c:98


rosflight_firmware
Author(s): Daniel Koch , James Jackson
autogenerated on Thu Oct 24 2019 03:17:18