std::string DHT22::message()
{
std::stringstream ss;
ss << "Hum: "<< humidity()<<" Temp: "<<temperature()
<< " Total Errors: "<<errors()
<< " Error Rate: "<<error_rate()
<< " Cycle: "<<cycles()<<std::endl;
return ss.str();
}
void calibrate_countdown(void)
{
lcd.print("Starting rover");
lcd.display();
for (int i = 5; i > 0; i--) {
_count(i*2 - 1);
delay(1000);
_count(i*2 - 2);
humidity();
moisture();
delay(1000);
}
lcd.clear();
}
/*{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}
* Name:
* Desc:
*
{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{**/
void soiltemp_initprofile (REAL rr_wi[], REAL rr_ti[])
{
int i;
Copy_Array ( rr_w, rr_wi);
Copy_Array ( rr_wn, rr_wi);
Copy_Array ( rr_t, rr_ti);
Copy_Array ( rr_tn, rr_ti);
for ( i = 0; i <= e_mplus1; i++ ) {
rr_p[i] = -exp ( 13.82 * ( 1 - rr_w[i] / r_xo ) );
rr_w[i] = watercontent ( rr_p[i], r_xo, &rr_dwdp[i]);
rr_h[i] = humidity ( rr_p[i], rr_t[i], &rr_dhdp[i] );
rr_kev[i] = 0;
rr_u[i] = 0;
rr_enh[i] = 0; }
}
void colour_humidity (Planet_colours& c, const Planet& p, const Season& s) {
static const Colour water = Colour(1.0, 1.0, 1.0);
static const Colour land_dry = Colour(1.0, 1.0, 0.5);
static const Colour land_mid = Colour(1.0, 1.0, 0.0);
static const Colour land_humid = Colour(0.0, 0.7, 0.0);
for (const Tile& t : tiles(p)) {
double h = humidity(nth_tile(s, id(t))) / saturation_humidity(temperature(nth_tile(s, id(t))));
if (is_water(nth_tile(terrain(p), id(t)))) {
c.tiles[id(t)] = water;
}
else {
if (h <= 0.5) {
double d = h / 0.5;
c.tiles[id(t)] = interpolate(land_dry, land_mid, d);
}
else {
double d = (h-0.5)/0.5;
c.tiles[id(t)] = interpolate(land_mid, land_humid, d);
}
}
}
}
/*{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}
* Name: soiltemp_step
* Desc: This code was converted from orginal Pascal code, not really sure
* what it exactly does
* Note-1: Change 11-6-05, put work around for bug found.
* Code can get stuck in an infinite loop. Discovered this with
* some of DL's batch data.
* I checked back with the orginal Pascal code and verified that
* I converted the code correctly which it looks like I did.
* This function the and code that call it have some serious logic
* errors, see the i_its variable below, it never gets incremented
* but is checked in the loop as a break control. I tried implementing
* it but didn't completly help as the calling functions loop
* would keep calling it again and again, seems that calling loop
* doesn't have a way of timing out.
* The inputs being sent into the upper lever Soil Sim via the
* d_SI input struct that cause this problem are, roughly speaking,
* because they seem vary with ranges are approx. fi 89, time 180
* moisture 25 'WET'
* ER suggest we just put a check in to time out the loop and report
* back to user that Soil Sim doesn't handle the situation
* NOTE: I modified this function from a void to and int return,
* and return 0 for the bug loop time out
* Ret: 1 ok, else 0 = error, read above
*
*
{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{*}{**/
int soiltemp_step (REAL r_Rabs, REAL r_dt, int *ai_success, REAL r_time)
{
int i,i_its;
int iN_SoilBug;
iN_SoilBug = 0;
/* REAL fff; */
rr_tn[0] = (REAL)e_Tair;
i_its = 0;
/*....................................................................... */
while (1) { /* {begin heat and water solutions} */
r_seh = 0;
r_sev = 0;
rr_ke[0] = 0; /* {hc}; {hc taken out so that surf. temp. not needed} */
rr_kev[0] = 6.2e-9 * (REAL)e_hc; /* {6.2e-9*hc makes heat and water cond. equal} */
rr_psat[0] = vaporpressure (rr_tn[0]);
rr_h[0] = (REAL)e_airvp / rr_psat[0];
rr_psat[1] = vaporpressure (rr_tn[1]);
r_wav = 0.5 * (rr_wn[1] + rr_wn[2]);
rr_s[1] = slope (rr_tn[1], rr_psat[1]);
rr_Hvap[1] = Hv (rr_tn[1]);
rr_kh[1] = tcond (rr_tn[1], r_wav, r_xs, r_ls, r_ga, r_xwo, r_cop, rr_h[1] * rr_psat[1], rr_s[1], &rr_enh[1]);
rr_AirPor[1] = (r_xws - r_wav);
rr_kv[1] = rr_enh[1] * rr_AirPor[1] * (REAL)e_tor * Kvap(rr_t[1], rr_psat[1] * rr_h[1]);
/*..........................................................................*/
for ( i = 1; i <= r_m; i++ ) {
rr_cp[i] = rr_v[i] * (0.87 * r_bd + 4.18e6 * rr_wn[i]) / r_dt;
rr_psat[i+1] = vaporpressure (rr_tn[i+1]);
if ( i < r_m ) {
r_wav = 0.5 * (rr_wn[i+1] + rr_wn[i+2]);
r_tav = 0.5 * (rr_tn[i+1] + rr_tn[i+2]) + 273; }
else {
r_wav = rr_wn[e_mplus1];
r_tav = rr_tn[i+1] + 273; }
rr_conv[i] = 0.5 * (rr_u[i-1] + rr_u[i]) * 1200 * 293 / r_tav;
rr_vcon[i] = rr_conv[i] * (REAL)e_Mw / ( (REAL)e_R * 1200 * 293);
rr_s[i+1] = slope(rr_tn[i+1], rr_psat[i+1]);
rr_Hvap[i+1] = Hv (rr_tn[i+1]);
rr_kh[i+1] = tcond (rr_tn[i+1], r_wav, r_xs, r_ls, r_ga, r_xwo, r_cop, rr_h[i+1] * rr_psat[i+1], rr_s[i+1], &rr_enh[i+1]);
rr_ke[i] = (rr_kh[i]) / ((rr_z[i+1] - rr_z[i])) + rr_conv[i];
rr_AirPor[i+1] = (r_xws - r_wav);
rr_kv[i+1] = rr_enh[i+1] * rr_AirPor[i+1] * (REAL)e_tor * Kvap (rr_t[i+1], rr_psat[i+1] * rr_h[i+1]);
rr_kev[i] = (rr_kv[i] + rr_kv[i+1]) / (2 * (rr_z[i+1] - rr_z[i])) + rr_vcon[i];
r_dJv = rr_kev[i-1] * (rr_psat[i] * rr_h[i] - rr_psat[i-1] * rr_h[i-1]) - rr_kev[i] * (rr_psat[i+1] * rr_h[i+1] - rr_psat[i] * rr_h[i]);
r_dJvdt = rr_s[i] * rr_h[i] * (rr_kev[i-1] + rr_kev[i]);
r_dJvdp = rr_psat[i] * (rr_kev[i-1] + rr_kev[i]) * rr_dhdp[i];
r_dC = rr_ke[i-1] * (rr_tn[i] - rr_tn[i-1])
- rr_ke[i] * (rr_tn[i+1] - rr_tn[i])
+ rr_cp[i] * (rr_tn[i] - rr_t[i])
- rr_Hvap[i] * (REAL)e_dw * rr_v[i]
* (rr_wn[i] - rr_w[i]) / r_dt;
r_dv = r_dJv + (REAL)e_dw * rr_v[i] * (rr_wn[i] - rr_w[i]) / r_dt;
r_dCdp = - rr_Hvap[i] * (REAL)e_dw * rr_v[i] * rr_dwdp[i] / r_dt;
r_dvdp = r_dJvdp + (REAL)e_dw * rr_v[i] * rr_dwdp[i] / r_dt;
r_dvdt = r_dJvdt;
r_dCdt = rr_ke[i] + rr_ke[i-1] + rr_cp[i];
if ( i == 1) {
r_tk = rr_tn[1] + 273;
r_tk3 = r_tk * r_tk * r_tk;
r_dC = r_dC - r_Rabs + 5.67e-8 * r_tk * r_tk3;
r_dCdt = r_dCdt + 4 * 5.67e-8 * r_tk3; }
r_sev = r_sev + abs_Real(r_dv);
r_seh = r_seh + abs_Real(r_dC);
r_dtn = (r_dv * r_dCdp - r_dC * r_dvdp) / (r_dCdp * r_dvdt - r_dCdt * r_dvdp);
if ( r_dtn < -100 )
r_dtn = -100;
rr_tn[i] = rr_tn[i] - r_dtn;
r_dtn = ( r_dv - r_dvdt * r_dtn) / r_dvdp;
rr_p[i] = rr_p[i] - r_dtn;
if ( rr_p[i] > 0 )
rr_p[i] = ( rr_p[i] + r_dtn ) * 0.5;
if ( rr_p[i] < -1e20 )
rr_p[i] = -1e20;
rr_wn[i] = watercontent (rr_p[i], r_xo, &rr_dwdp[i]);
rr_h[i] = humidity (rr_p[i], rr_tn[i], &rr_dhdp[i]);
} /* for i end */
/*...........................................................................*/
/* Change 11-6-05, Catch infinite loop bug, See Note-1 above */
iN_SoilBug++;
if ( iN_SoilBug >= 50 )
return 0;
/* - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - */
if ( (r_sev < (REAL)e_epsw && r_seh < (REAL)e_epse) || i_its > e_maxits )
break;
} /* while (1) end */
/*.........................................................................*/
if ( i_its < e_maxits ) {
*ai_success = 1;
/* changed 3-27-00 */
/* rr_u[r_m] = 0; got error when compliling as C++ */
rr_u[(int)r_m] = 0;
for ( i = r_m; i >= 1; i-- ) {
r_gvol = (REAL)e_dw * rr_v[i] * (REAL)e_R * (rr_tn[i] + 273) * (rr_w[i] - rr_wn[i]) / (r_dt * rr_AirPor[i] * (REAL)e_Mw * (REAL)e_Patm);
if ( r_gvol < 0 )
r_gvol = 0;
rr_u[i-1] = rr_u[i] + r_gvol; }
for ( i = 1; i <= e_mplus1; i++ ) {
r_ch = rr_wn[i] - rr_w[i];
rr_w[i] = rr_wn[i];
rr_wn[i] = rr_w[i] + r_ch;
r_ch = rr_tn[i] - rr_t[i];
rr_t[i] = rr_tn[i];
rr_tn[i] = rr_t[i] + r_ch; } }
else
*ai_success = 0;
return 1;
}
/* Construct Packet */
void Construct_Packet(void)
{
//Serial.println("construct packet top");
//Variable for Index and uptime
unsigned long uptime_ms;
//Put schema number in packet
G_packet.schema = 297;
//Update data
uptime_ms = millis();
//Put uptime in packet
G_packet.uptime_ms = uptime_ms;
//Poll and put battery and panel data in packet
for(int p = 0; p < 6; p++)
{ G_packet.batt_mv[p] = battery();
G_packet.panel_mv[p] = panel();
delay(400);
}
//Poll and put panel data in packet
/*for(int p = 0; p < 6; p++)
{ G_packet.panel_mv[p] = panel();
delay(400);
}*/
G_packet.bmp185_press_pa = pressure();
G_packet.bmp185_temp_decic = temp();
G_packet.humidity_centi_pct = humidity();
//Poll and put irradiance data in packet
for(int i = 0; i < 20; i++)
{ G_packet.solar_irr_w_m2[i] = irradiance();
delay(300);
}
/*//Hardcoded Test Packet
G_packet.uptime_ms = 1;
for(int p = 0; p <= 4; p++)
{ G_packet.batt_mv[p] = 1;
Serial.print("Battery");
Serial.println(G_packet.batt_mv[p]);
delay(400);
}
for(int p = 0; p <= 4; p++)
{ G_packet.panel_mv[p] = 2;
Serial.print("Panel");
Serial.println(G_packet.panel_mv[p]);
delay(400);
}
G_packet.bmp185_press_pa = 3;
Serial.print("Pressure");
Serial.println(G_packet.bmp185_press_pa);
G_packet.bmp185_temp_decic = 4;
Serial.print("Temp");
Serial.println(G_packet.bmp185_temp_decic);
G_packet.humidity_centi_pct = 5;
Serial.print("Humidity");
Serial.println(G_packet.humidity_centi_pct);
for(int i = 0; i <= 14; i++)
{ G_packet.solar_irr_w_m2[i] = 6;
Serial.print("Solar");
Serial.println(G_packet.solar_irr_w_m2[i]);
delay(1000);
}*/
}
//******************************************************************************
void SHSensors::handleUpdate()
{
const float fToC = 9.0 / 5.0;
const float fOffset = 32;
//*** read all data ***
while ( imu_->IMURead() )
{
//*** get IMU data ***
RTIMU_DATA imuData = imu_->getIMUData();
//*** pressure / temperature ***
if ( ((enabled_ & IMU_PRESSURE) || (enabled_ & IMU_TEMP)) && pressure_ )
{
pressure_->pressureRead( imuData );
if ( enabled_ & IMU_PRESSURE )
{
//*** pressure in hPa ***
emit pressure( imuData.pressure, RTMath::convertPressureToHeight(imuData.pressure) );
}
if ( enabled_ & IMU_TEMP )
{
//*** temp celsius, fahrenheit ***
emit temperature( imuData.temperature,
imuData.temperature * fToC + fOffset );
}
}
//*** humidity ***
if ( (enabled_ & IMU_HUMIDITY) && humidity_ )
{
humidity_->humidityRead( imuData );
//*** relative humidity ***
emit humidity( imuData.humidity );
}
//*** gyroscope ***
if ( enabled_ & IMU_GYRO )
{
//*** gyroscope in degrees per second ***
emit gyro( imuData.gyro.x() * RTMATH_RAD_TO_DEGREE,
imuData.gyro.y() * RTMATH_RAD_TO_DEGREE,
imuData.gyro.z() * RTMATH_RAD_TO_DEGREE );
}
//*** accelerometer ***
if ( enabled_ & IMU_ACCEL )
{
//*** acceleration in g's ***'
emit accel( imuData.accel.x(), imuData.accel.y(),
imuData.accel.z(), imuData.accel.length() );
}
//*** compass ***
if ( enabled_ & IMU_COMPASS )
{
//*** compas (magnetometer) in uT ***
emit compass( imuData.compass.x(), imuData.compass.y(),
imuData.compass.z(), imuData.compass.length() );
}
//*** always emit fusion data - degrees ***
float fusionX = imuData.fusionPose.x() * RTMATH_RAD_TO_DEGREE;
float fusionY = imuData.fusionPose.y() * RTMATH_RAD_TO_DEGREE;
float fusionZ = imuData.fusionPose.z() * RTMATH_RAD_TO_DEGREE;
emit fusionPose( fusionX, fusionY, fusionZ );
}
}
