caperren/osurc_mars_rover_2017_2018
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Got pan/tilt and tower combo node done. Other misc changes.

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This commit is contained in:
Corwin Perren
2018-07-14 20:54:50 -07:00
parent de93764849
commit 1b7f5437b9
10 changed files with 271 additions and 112 deletions
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70
software/firmware/tower/tower.ino
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@@ -2,9 +2,6 @@
#include <ModbusRtu.h>
#include <Adafruit_BNO055_t3.h>
#include <ArduinoJson.h>
#include "FastLED.h"
#include <NMEAGPS.h>
/*
Imu/data (Imu)
@@ -44,7 +41,7 @@ enum HARDWARE {
IMU_SDA = 18,
IMU_SCL = 19,
WS2812_DATA = 11,
WHITE_LED_CONTROL = 11,
C02_SENSOR = A7,
MISC_PIN = A8,
@@ -52,7 +49,16 @@ enum HARDWARE {
};
enum MODBUS_REGISTERS {
DIRECTION = 0, // Input
LED_CONTROL = 0, // Input
CO2_READING_PPM = 1
};
enum LIGHT_STATES {
NO_CHANGE = 0,
LIGHT_OFF = 1,
LIGHT_FLASH = 2,
LIGHT_MED = 3,
LIGHT_HIGH = 4
};
#define GPS_SERIAL_PORT Serial3
@@ -88,13 +94,12 @@ Modbus slave(node_id, mobus_serial_port_number, HARDWARE::COMMS_RS485_EN);
Adafruit_BNO055 bno = Adafruit_BNO055(WIRE_BUS, -1, BNO055_ADDRESS_A, I2C_MASTER, I2C_PINS_18_19, I2C_PULLUP_INT, I2C_RATE_100, I2C_OP_MODE_IMM);
NMEAGPS gps;
const char baud115200[] = "PUBX,41,1,3,3,115200,0";
void setup() {
// Debugging
Serial.begin(9600);
// while (!Serial);
// Raw pin setup
setup_hardware();
@@ -134,6 +139,8 @@ void loop() {
set_leds();
send_imu_stream_line(root);
process_gps_and_send_if_ready(root);
process_white_led_command();
get_co2_data();
// Print JSON and newline
root.printTo(GPS_IMU_STREAMING_PORT);
@@ -144,13 +151,14 @@ void loop() {
void setup_hardware() {
// Setup pins as inputs / outputs
pinMode(HARDWARE::WS2812_DATA, OUTPUT);
pinMode(HARDWARE::WHITE_LED_CONTROL, OUTPUT);
pinMode(HARDWARE::C02_SENSOR, INPUT);
pinMode(HARDWARE::MISC_PIN, OUTPUT);
pinMode(HARDWARE::LED_BLUE_EXTRA, OUTPUT);
// Set default pin states
digitalWrite(HARDWARE::WHITE_LED_CONTROL, LOW);
digitalWrite(HARDWARE::LED_BLUE_EXTRA, LOW);
// Set teensy to increased analog resolution
@@ -217,6 +225,52 @@ void process_gps_and_send_if_ready(JsonObject &root) {
}
void process_white_led_command() {
uint16_t light_command = modbus_data[MODBUS_REGISTERS::LED_CONTROL];
if (light_command == LIGHT_STATES::LIGHT_MED) {
digitalWrite(HARDWARE::WHITE_LED_CONTROL, HIGH);
delay(100); // wait for a second
digitalWrite(HARDWARE::WHITE_LED_CONTROL, LOW);
delay(100); // wait for a second
} else if (light_command == LIGHT_STATES::LIGHT_FLASH) {
digitalWrite(HARDWARE::WHITE_LED_CONTROL, HIGH);
delay(100); // wait for a second
digitalWrite(HARDWARE::WHITE_LED_CONTROL, LOW);
delay(100); // wait for a second
digitalWrite(HARDWARE::WHITE_LED_CONTROL, HIGH);
delay(100); // wait for a second
digitalWrite(HARDWARE::WHITE_LED_CONTROL, LOW);
delay(100);
} else if (light_command == LIGHT_STATES::LIGHT_HIGH) {
digitalWrite(HARDWARE::WHITE_LED_CONTROL, HIGH);
delay(750); // wait for a second
digitalWrite(HARDWARE::WHITE_LED_CONTROL, LOW);
delay(100);
} else if (light_command == LIGHT_STATES::LIGHT_OFF) {
digitalWrite(HARDWARE::WHITE_LED_CONTROL, HIGH);
delay(2000); // wait for a second
digitalWrite(HARDWARE::WHITE_LED_CONTROL, LOW);
delay(2000);
}
modbus_data[MODBUS_REGISTERS::LED_CONTROL] = LIGHT_STATES::NO_CHANGE;
}
void get_co2_data() {
int voltage = ((analogRead(HARDWARE::C02_SENSOR) / 8192.0) * 3300);
if (voltage < 400 || voltage > 2000) {
modbus_data[MODBUS_REGISTERS::CO2_READING_PPM] = 9999;
} else {
modbus_data[MODBUS_REGISTERS::CO2_READING_PPM] = map(voltage, 400, 2000, 0, 5000);
}
// Serial.println(modbus_data[MODBUS_REGISTERS::CO2_READING_PPM]);
}
void poll_modbus() {
poll_state = slave.poll(modbus_data, num_modbus_registers);
communication_good = !slave.getTimeOutState();