Feather board

lib/baro/lps25hb.cpp

@@ -26,6 +26,7 @@ float Barometer::getPressure()
 
 bool Barometer::measurementReady()
 {
+
     long current_time = millis();
     if (current_time - this->previous_time >= this->measurement_delay)
     {

lib/baro/lps25hb.h

@@ -8,9 +8,17 @@
 #include <SPI.h>
 #include "chip.h"
 
+#if defined(HALOSHIP)
 #define LPS_SCK PA5
 #define LPS_MISO PA6
 #define LPS_MOSI PA7
+#endif
+
+#if defined(FEATHER_BOARD)
+#define LPS_SCK PB13
+#define LPS_MISO PB14
+#define LPS_MOSI PB15
+#endif
 
 class Barometer : public Task, public Chip
 {

lib/buzzer/buzzer.h

@@ -1,6 +1,10 @@
 #ifndef BUZZER_H
 #define BUZZER_H
 
+#if defined(FEATHER_BOARD)
+#define BUZZER PC3
+#endif
+
 #include <scheduler.h>
 #include <Arduino.h>
 #include <mario.h>

lib/gps/gps.cpp

@@ -0,0 +1,71 @@
+#include "gps.h";
+
+GPS::GPS(long measurement_delay) : Task(TASK_MILLISECOND, TASK_FOREVER, &scheduler, false),
+                                   measurement_delay(measurement_delay),
+                                   previous_time(0),
+                                   altitudeMSL(-1),
+                                   latitude(-1),
+                                   longitude(-1)
+{
+    // this->spi_dev = SPIClass(LPS_MOSI, LPS_MISO, LPS_SCK);
+    // this->spi_dev.begin();
+    // this->LPS_CS = LPS_CS;
+    this->gps_driver = new SFE_UBLOX_GNSS();
+}
+
+GPS::~GPS() {}
+
+long GPS::getAltitude()
+{
+    return this->altitudeMSL;
+}
+
+long GPS::getLatitude()
+{
+    return this->latitude;
+}
+
+long GPS::getLongitude()
+{
+    return this->longitude;
+}
+
+bool GPS::measurementReady()
+{
+
+    long current_time = millis();
+    if (current_time - this->previous_time >= this->measurement_delay)
+    {
+        this->previous_time = current_time;
+        return true;
+    }
+    return false;
+}
+
+bool GPS::Callback()
+{
+    this->gps_driver->checkUblox();
+    if (measurementReady())
+    {
+        this->altitudeMSL = this->gps_driver->getAltitudeMSL();
+        this->latitude = this->gps_driver->getLatitude();
+        this->longitude = this->gps_driver->getLongitude();
+        return true;
+    }
+    return false;
+}
+
+bool GPS::OnEnable()
+{
+    return true;
+}
+
+void GPS::OnDisable()
+{
+}
+
+bool GPS::checkStatus()
+{
+    Serial.println("gps Checking status");
+    return this->gps_driver->begin();
+}

lib/gps/gps.h

@@ -0,0 +1,55 @@
+// #ifndef LPS25HB_H
+// #define LPS25HB_H
+
+#include <scheduler.h>
+#include <SparkFun_u-blox_GNSS_Arduino_Library.h>
+// #include <Adafruit_LPS2X.h>
+// #include <Adafruit_Sensor.h>
+#include <Arduino.h>
+#include <SPI.h>
+#include "chip.h"
+
+// #if defined(FEATHER_BOARD)
+// #define LPS_SCK PA5
+// #define LPS_MISO PA6
+// #define LPS_MOSI PA7
+// #endif
+
+// #if defined(FEATHER_BOARD)
+// #define LPS_SCK PB13
+// #define LPS_MISO PB14
+// #define LPS_MOSI PB15
+// #endif
+
+class GPS : public Task, public Chip
+{
+private:
+    SFE_UBLOX_GNSS *gps_driver;
+    // Adafruit_Sensor *temp_driver, *pressure_driver;
+    // SPIClass spi_dev;
+    // int LPS_CS;
+    long measurement_delay;
+    long previous_time = 0;
+    long altitudeMSL;
+    long latitude;
+    long longitude;
+
+public:
+    GPS(long measurement_delay);
+    ~GPS();
+
+    bool measurementReady();
+    long getAltitude();
+    long getLatitude();
+    long getLongitude();
+
+    // Task virtual methods
+    bool Callback();
+    bool OnEnable();
+    void OnDisable();
+
+    // Chip virtual methods
+    bool checkStatus();
+};
+
+// #endif

lib/transceiver/rfm69.cpp

@@ -1,14 +1,49 @@
 #include "rfm69.h"
 
-Transceiver::Transceiver(int RFM69_CS, int RFM69_INT) : Task(TASK_MILLISECOND, TASK_FOREVER, &scheduler, false)
+Transceiver::Transceiver(int RFM69_CS, int RFM69_INT, Barometer *barometer, GPS *gps, long measurement_delay) : Task(TASK_MILLISECOND, TASK_FOREVER, &scheduler, false),
+                                                                                                                measurements_delay(measurement_delay),
+                                                                                                                previous_time(0)
 {
     this->driver = new RH_RF69(RFM69_CS, RFM69_INT);
+    this->barometer = barometer;
+    this->gps = gps;
 }
 
 Transceiver::~Transceiver() {}
 
+bool Transceiver::measurementsReady()
+{
+
+    long current_time = millis();
+    if (current_time - this->previous_time >= this->measurements_delay)
+    {
+        this->previous_time = current_time;
+        return true;
+    }
+    return false;
+}
+
 bool Transceiver::Callback()
 {
+    long current_time = millis();
+    if (measurementsReady())
+    {
+        char radiopacket[RH_RF69_MAX_MESSAGE_LEN];
+        snprintf(radiopacket, RH_RF69_MAX_MESSAGE_LEN, "%f\n%f\n%d\n%d\n%d\n ",
+                 this->barometer->getPressure(),
+                 this->barometer->getTemperature(),
+                 this->gps->getAltitude(),
+                 this->gps->getLatitude(),
+                 this->gps->getLongitude());
+        // Send a message!
+        this->driver->send((uint8_t *)radiopacket, sizeof(radiopacket));
+        this->driver->waitPacketSent();
+        this->previous_time = current_time;
+        return true;
+    }
+    return false;
+    ;
+
     if (this->driver->available())
     {
         // Should be a message for us now

lib/transceiver/rfm69.h

@@ -8,18 +8,26 @@
 #include <RH_RF69.h>
 #include <SPI.h>
 #include <Arduino.h>
+#include <lps25hb.h>
+#include <gps.h>
 #include "chip.h"
 
 class Transceiver : public Task, public Chip
 {
 private:
     RH_RF69 *driver;
     uint8_t *buffer;
+    Barometer *barometer;
+    GPS *gps;
+    long measurements_delay;
+    long previous_time = 0;
 
 public:
-    Transceiver(int RFM69_CS, int RFM69_INT);
+    Transceiver(int RFM69_CS, int RFM69_INT, Barometer *barometer, GPS *gps, long measurements_delay);
     ~Transceiver();
 
+    bool measurementsReady();
+
     // Task virtual methods
     bool Callback();
     bool OnEnable();

platformio.ini

@@ -13,7 +13,6 @@ platform = ststm32@13.0.0
 board = haloship
 framework = arduino
 upload_protocol = stlink
-; upload_protocol = dfu
 debug_tool = stlink
 debug_speed = 480
 build_flags = 
@@ -26,14 +25,14 @@ lib_deps =
 	adafruit/Adafruit LPS2X @ ^2.0.1
 	lowpowerlab/SPIFlash @ ^101.1.3
 	https://github.com/haloship/RadioHead.git
-	; https://github.com/haloship/bmx055.git	
-	; sparkfun/SparkFun u-blox GNSS Arduino Library@^2.0.5
-lib_extra_dirs=
+	niniack/BMX055@^0.1.0
+	sparkfun/SparkFun u-blox GNSS Arduino Library@^2.0.5
+lib_extra_dirs = 
 	/home/dunstan/git/bmx055
 lib_ldf_mode = deep
 
 [env:feather]
-platform = ststm32
+platform = ststm32@13.0.0
 board = adafruit_feather_f405
 framework = arduino
 upload_protocol = dfu
@@ -44,9 +43,43 @@ build_flags =
 	-D FEATHER_BOARD
 	-Wall
 lib_deps = 
+	arkhipenko/TaskScheduler @ ^3.2.2
+	robtillaart/PCA9635 @ ^0.3.1
 	https://github.com/haloship/RadioHead.git
+	lowpowerlab/SPIFlash @ ^101.1.3
 	adafruit/Adafruit LPS2X@^2.0.1
 	sparkfun/SparkFun u-blox GNSS Arduino Library@^2.0.5
+	# niniack/BMX055@^0.1.0
+	https://github.com/haloship/bmx055.git 
+lib_extra_dirs = 
+	# /home/takumi/Development/Haloship/flight-software/lib
+	# /home/dunstan/git/bmx055
+lib_ldf_mode = deep
+
+# [env:feather_ground]
+# platform = ststm32@13.0.0
+# board = adafruit_feather_f405
+# framework = arduino
+# upload_protocol = dfu
+# build_flags = 
+# 	-D PIO_FRAMEWORK_ARDUINO_NANOLIB_FLOAT_PRINTF
+# 	-D PIO_FRAMEWORK_ARDUINO_ENABLE_CDC
+# 	-D USBCON
+# 	-D FEATHER_BOARD_GROUND
+# 	-Wall
+# lib_deps = 
+# 	arkhipenko/TaskScheduler @ ^3.2.2
+# 	robtillaart/PCA9635 @ ^0.3.1
+# 	https://github.com/haloship/RadioHead.git
+# 	lowpowerlab/SPIFlash @ ^101.1.3
+# 	adafruit/Adafruit LPS2X@^2.0.1
+# 	# sparkfun/SparkFun u-blox GNSS Arduino Library@^2.0.5
+# 	# niniack/BMX055@^0.1.0
+# 	https://github.com/haloship/bmx055.git 
+# lib_extra_dirs = 
+# 	# /home/takumi/Development/Haloship/flight-software/lib
+# 	# /home/dunstan/git/bmx055
+# lib_ldf_mode = deep
 
 [env:nucleo]
 platform = ststm32
@@ -60,3 +93,4 @@ lib_deps =
 	https://github.com/haloship/RadioHead.git
 	adafruit/Adafruit LPS2X@^2.0.1
 	sparkfun/SparkFun u-blox GNSS Arduino Library@^2.0.5
+	niniack/BMX055@^0.1.0

src/config.h

@@ -2,15 +2,20 @@
 #define CONFIG_H
 
 #include <Arduino.h>
-#include <Servo.h>
+#include <Wire.h>
 #include <buzzer.h>
-#include <pwm.h>
 #include <lps25hb.h>
 #include <rfm69.h>
+#include <TaskScheduler.h>
+#include <gps.h>
+
+#include <Servo.h>
+#include <pwm.h>
 #include <blink.h>
 #include <imu.h>
 #include <flash.h>
-#include <TaskScheduler.h>
+
+// #define BUZZER PC3
 
 #if defined(HALOSHIP)
 
@@ -47,10 +52,16 @@
 #endif
 
 // // RFM69 pin definition for stm32F4
-// #if defined (FEATHER_BOARD)  // Defined in Arduino framework
-//   #define RFM69_INT     PC6  //
-//   #define RFM69_CS      PB9  //
-//   #define RFM69_RST     PB8  // "A"
+#if defined(FEATHER_BOARD) // Defined in Arduino framework
+#define RFM69_INT PC6      //
+#define RFM69_CS PB9       //
+#define RFM69_RST PB8      // "A"
+#define LPS_CS PC7
+#define LPS_SCK PB13
+#define LPS_MISO PB14
+#define LPS_MOSI PB15
+#endif
+
 //   #define LED           PC1
 
 // // LPS25 pin definition