int main(int argc, char **argv) {
printf("BMPO85 examples program\n");
I2Cdev::initialize();
BMP085 barometer ; // BMP085 class default I2C address is 0x77, specific I2C addresses may be passed as a parameter here
if ( barometer.testConnection() )
printf("BMP085 connection test successful\n") ;
else {
fprintf( stderr, "BMP085 connection test failed! exiting ...\n");
return 1;
}
barometer.loadCalibration();
float temperature;
float pressure;
float altitude;
while (true) {
barometer.setControl(BMP085_MODE_TEMPERATURE);
bcm2835_delay(5); // wait 5 ms for conversion
temperature = barometer.getTemperatureC();
barometer.setControl(BMP085_MODE_PRESSURE_3) ; //taking reading in highest accuracy measurement mode
bcm2835_delay( barometer.getMeasureDelayMicroseconds() / 1000 );
pressure = barometer.getPressure();
altitude = barometer.getAltitude(pressure);
printf(" Temperature: %3.1f deg C Pressure %3.3f kPa altitude %3.1f m\r", temperature, pressure/1000.0, altitude);
fflush(stdout);
bcm2835_delay(200);
}
return 1;
}
double Sensor::getBMP085altitude() {
BMP085 dps = BMP085();
Wire.begin();
dps.init();
long Temperature = 0, Pressure = 0, Altitude = 0;
dps.getTemperature(&Temperature);
dps.getPressure(&Pressure);
dps.getAltitude(&Altitude);
return (double) Altitude;
}
double Sensor::getBMP085pressure() {
Serial.println("At getPressure");
BMP085 dps = BMP085();
Wire.begin();
dps.init();
long Temperature = 0, Pressure = 0, Altitude = 0;
dps.getTemperature(&Temperature);
dps.getPressure(&Pressure);
dps.getAltitude(&Altitude);
Serial.print("The pressure is: ");Serial.println("Pressure");
return (double) Pressure;
}
/*
* Main Loop
*/
void loop() {
wdt_reset();
mD.vals.uslCount++; //Increment main datarecord count
AccelerometerScaled Ascaled = accel.ReadScaledAxis(); //Get Scaled Accelerometer
AccelerometerRaw Araw = accel.ReadRawAxis(); //Get Raw Accelerometer
MagnetometerScaled Mscaled = compass.ReadScaledAxis(); //Get Scaled Magnetometer
MagnetometerRaw Mraw = compass.ReadRawAxis(); //Get Raw Magnetometer
LGgyro.read(); //Get Gyro
// offset compass by hard iron
Mraw.XAxis += 40;
Mraw.YAxis += 261;
Mraw.ZAxis += 54;
//write Acc, Mag, & Gyro values to record
float AxisGs = Ascaled.XAxis;
mD.vals.AcXPayload = AxisGs * 100;
AxisGs = Ascaled.YAxis;
mD.vals.AcYPayload = AxisGs * 100;
AxisGs = Ascaled.ZAxis;
mD.vals.AcZPayload = AxisGs * 100;
mD.vals.MgXPayload = Mscaled.XAxis;
mD.vals.MgYPayload = Mscaled.YAxis;
mD.vals.MgZPayload = Mscaled.ZAxis;
mD.vals.GyXPayload = LGgyro.g.x;
mD.vals.GyYPayload = LGgyro.g.y;
mD.vals.GyZPayload = LGgyro.g.z;
//Perform tilt compensation calculation save to record
sixDOF.compCompass(Mraw.XAxis, -Mraw.YAxis, -Mraw.ZAxis, Araw.XAxis, Araw.YAxis, Araw.ZAxis, true);
float compHeading = sixDOF.atan2Int(sixDOF.xAxisComp(), sixDOF.yAxisComp());
compHeading = compHeading /100;
if (compHeading < 0 ) {
compHeading = abs(compHeading);
} else {
compHeading = 180 - compHeading + 180;
}
mD.vals.CmpssPayload = compHeading;
//get BMP085 values save to record
dps.getTemperature(&TmpPayloadFULL);
dps.getPressure(&mD.vals.PressurePayload);
mD.vals.TmpPayload = (int16_t)(TmpPayloadFULL);
mD.vals.TmpExternal = (int16_t)(sensors.getTempC(outsideThermometer)* 10);
sensors.requestTemperaturesByAddress(outsideThermometer); // Send the command to get temperatures
//get GPS data
byte lcount = 0; //reset a loop counter
while (!NEWGPSDATA && lcount++ < 255) { //Exit the loop if we have new data or have been round it a number of times
NEWGPSDATA = feedgps();
}
if (NEWGPSDATA) { //We have new GPS data, get all of the fields we need.
int tmp_year = 0;
gps.crack_datetime(&tmp_year, &mD.vals.month, &mD.vals.day,&mD.vals.hour, &mD.vals.minute, &mD.vals.second, &mD.vals.hundredths, &mD.vals.age);
mD.vals.year = tmp_year - 2000;
if (gps.altitude() != TinyGPS_HJOE::GPS_INVALID_ALTITUDE && gps.altitude() >= 0) {
gps.get_position(&mD.vals.iLat, &mD.vals.iLong, &mD.vals.age);
mD.vals.iAlt = gps.altitude();
mD.vals.iAngle = gps.course();
mD.vals.iHspeed = gps.speed();
mD.vals.bSats = gps.satellites();
mD.vals.ihdop = gps.hdop();
}
SET_LED_Status(SET_LED_BLUE,0); //Flash blue to show we are getting GPS data
} else {
SET_LED_Status(SET_LED_GREEN,0); //Flash Green to show that we are looping but not getting GPS data
}
if(ETSerialIn.receiveData()){
}
//flip flop between I2C's to avoid both on one loop
if (SENDWIRE && (millis() - elapseSIM900) > WAIT_SIM900) {
mD.vals.tCount++;
ETI2Cout.sendData(I2C_SLV_SIM900_ADDRESS);
elapseSIM900 = millis();
}
if (!SENDWIRE && (millis() - elapseNTXB) > WAIT_NTXB) {
mD.vals.tCount++;
ETI2Cout.sendData(I2C_SLV_NTXB_ADDRESS);
elapseNTXB = millis();
//get I2C_SLV_SIM900_ADDRESS data
}
writeSDData(); //Write the data record to the SD card
SET_LED_Status(SET_LED_OFF,0); //turn off the LED
NEWGPSDATA = false; //Reset the New GPS Data flag
SENDWIRE = !SENDWIRE; //Flipflop this
}