kopia lustrzana https://github.com/bristol-seds/pico-tracker
112 wiersze
3.3 KiB
C
112 wiersze
3.3 KiB
C
/*
|
|
* Collects data from sensors etc into a struct
|
|
* Copyright (C) 2015 Richard Meadows <richardeoin>
|
|
*
|
|
* Permission is hereby granted, free of charge, to any person obtaining
|
|
* a copy of this software and associated documentation files (the
|
|
* "Software"), to deal in the Software without restriction, including
|
|
* without limitation the rights to use, copy, modify, merge, publish,
|
|
* distribute, sublicense, and/or sell copies of the Software, and to
|
|
* permit persons to whom the Software is furnished to do so, subject to
|
|
* the following conditions:
|
|
*
|
|
* The above copyright notice and this permission notice shall be
|
|
* included in all copies or substantial portions of the Software.
|
|
*
|
|
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
|
|
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
|
|
* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
|
|
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
|
|
* LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
|
|
* OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
|
|
* WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
|
*/
|
|
|
|
#include <string.h>
|
|
|
|
#include "samd20.h"
|
|
#include "data.h"
|
|
#include "xosc.h"
|
|
#include "hw_config.h"
|
|
#include "analogue.h"
|
|
#include "bmp180.h"
|
|
#include "gps.h"
|
|
#include "ubx_messages.h"
|
|
#include "telemetry.h"
|
|
#include "thermistor.h"
|
|
#include "watchdog.h"
|
|
|
|
struct tracker_datapoint datapoint = {.time={0}};
|
|
|
|
void xosc_measure_callback(uint32_t result)
|
|
{
|
|
datapoint.xosc_error = result - XOSC_FREQUENCY;
|
|
}
|
|
|
|
|
|
/**
|
|
* Collect data asynchronously. Should be run a few seconds before the collect_data routine
|
|
*/
|
|
void collect_data_async(void)
|
|
{
|
|
/* Ask GPS for latest fix */
|
|
gps_update_position();
|
|
|
|
/* Measure XOSC against gps timepulse */
|
|
measure_xosc(XOSC_MEASURE_TIMEPULSE, xosc_measure_callback);
|
|
|
|
/* Analogue Measurements */
|
|
start_adc_sequence();
|
|
}
|
|
/**
|
|
* Collects data synchronously and return datapoint
|
|
*/
|
|
struct tracker_datapoint* collect_data(void)
|
|
{
|
|
/**
|
|
* ---- Analogue ----
|
|
*/
|
|
datapoint.battery = get_battery(); /* Will return zero by default */
|
|
datapoint.solar = get_solar(); /* Will return zero by default */
|
|
datapoint.radio_die_temperature = telemetry_si_temperature();
|
|
datapoint.thermistor_temperature = thermistor_voltage_to_temperature(get_thermistor());
|
|
|
|
/**
|
|
* ---- Barometer ----
|
|
*/
|
|
struct barometer* b = get_barometer();
|
|
datapoint.main_pressure = b->pressure;
|
|
datapoint.bmp180_temperature = (float)b->temperature;
|
|
|
|
/**
|
|
* ---- GPS ----
|
|
*/
|
|
if (gps_update_position_pending() || (gps_get_error_state() != GPS_NOERROR)) {
|
|
/* Error updating GPS position */
|
|
|
|
/* TODO: Hit reset on the GPS? */
|
|
/* In the meantime just wait for the watchdog */
|
|
while (1);
|
|
|
|
} else { /* GPS position updated correctly */
|
|
|
|
/* GPS Status */
|
|
struct ubx_nav_sol sol = gps_get_nav_sol();
|
|
datapoint.satillite_count = sol.payload.numSV;
|
|
|
|
/* GPS Position */
|
|
if (gps_is_locked()) {
|
|
struct ubx_nav_posllh pos = gps_get_nav_posllh();
|
|
|
|
datapoint.latitude = pos.payload.lat;
|
|
datapoint.longitude = pos.payload.lon;
|
|
datapoint.altitude = pos.payload.height;
|
|
}
|
|
|
|
/* GPS Powersave */
|
|
gps_set_powersave_auto();
|
|
}
|
|
|
|
return &datapoint;
|
|
}
|