// Initialize
void setup() {
// Communication
Serial.begin(9600); // XB
if(debug) Serial << "Beginning setup" << endl;
nssROBOBRRD.begin(9600); // RB
RBrx_ET.begin(details(RBdata_rx), &nssROBOBRRD);
// for some reason it can't do this...
// we'll send raw data w/just delims for now
//RBtx_ET.begin(details(RBdata_tx), &nssROBOBRRD);
XB_ET.begin(details(XBdata), &Serial);
// Interrupts
pinMode(interruptOutgoing, OUTPUT);
digitalWrite(interruptOutgoing, LOW);
attachInterrupt(interruptIncoming, trigger, RISING);
digitalWrite(2, LOW);
pinMode(flagPin, INPUT);
// Outputs
pinMode(LED, OUTPUT);
pinMode(STATUS, OUTPUT);
pinMode(spkr, OUTPUT);
// ET Data
RBdata_rx.attention = 0;
RBdata_rx.valence = 0;
RBdata_rx.stance = 0;
RBdata_rx.action_t = 0;
RBdata_rx.action_t0 = 0;
RBdata_rx.robot = 0;
RBdata_rx.sense_1 = 0;
RBdata_rx.sense_2 = 0;
RBdata_rx.sense_3 = 0;
RBdata_rx.sense_4 = 0;
RBdata_rx.sense_5 = 0;
RBdata_rx.world_L = 0;
RBdata_rx.world_R = 0;
RBdata_rx.world_F = 0;
XBdata.attention = 0;
XBdata.valence = 0;
XBdata.stance = 0;
XBdata.action_t = 0;
XBdata.action_t0 = 0;
XBdata.robot = 1;
XBdata.sense_1 = 0;
XBdata.sense_2 = 0;
XBdata.sense_3 = 0;
XBdata.sense_4 = 0;
XBdata.sense_5 = 0;
XBdata.world_L = 0;
XBdata.world_R = 0;
XBdata.world_F = 0;
digitalWrite(LED, LOW);
digitalWrite(STATUS, LOW);
digitalWrite(LED, HIGH);
delay(1000);
digitalWrite(LED, LOW);
digitalWrite(STATUS, HIGH);
delay(1000);
digitalWrite(STATUS, LOW);
delay(2000);
if(debug) Serial << "Done setup" << endl;
}
/*
* Setup
*/
void setup() {
wdt_enable(WDTO_8S);
wdt_reset();
//Setup Ports
Serial.begin(115200); //Start Debug Serial 0
Serial1.begin(9600); //Start GPS Serial 1
Serial2.begin(9600);
pinMode(PIN_LED_GREEN, OUTPUT); //Blue GREEN
pinMode(PIN_LED_RED, OUTPUT); //Blue RED
pinMode(PIN_LED_BLUE, OUTPUT); //Blue LED
pinMode(PIN_SPI_CS,OUTPUT); //Chip Select Pin for the SD Card
pinMode(10, OUTPUT); //SDcard library expect 10 to set set as output.
// Initialise the GPS
wdt_disable();
gps.init();
gps.configureUbloxSettings(); // Configure Ublox for MY_HIGH altitude mode
wdt_enable(WDTO_8S);
// join I2C bus //start I2C transfer to the Module/Transmitter
Wire.begin();
//Set up the two EasyTransfer methods
ETI2Cout.begin(details(mD.i2cOut), &Wire); //setup the data structure to transfer out
ETSerialIn.begin(details(vals), &Serial2);
//Start up the LGgyro
if (LGgyro.init()) {
#ifdef DEBUG_ON
Serial.println("LGgyro OK");
#endif
LGgyro.enableDefault();
} else {
#ifdef DEBUG_ON
Serial.println("LGgyro not working");
#endif
SET_LED_Status(SET_LED_WHITE,500); //White LED
SET_LED_Status(SET_LED_RED,1000); //Red LED
}
//Start up the accelerometer
accel = ADXL345(); // Create an instance of the accelerometer
if(accel.EnsureConnected()) { // Check that the accelerometer is connected.
#ifdef DEBUG_ON
Serial.println("Connected to ADXL345.");
#endif
accel.SetRange(2, true); // Set the range of the accelerometer to a maximum of 2G.
accel.EnableMeasurements(); // Tell the accelerometer to start taking measurements.
} else{
#ifdef DEBUG_ON
Serial.println("Could not connect to ADXL345.");
#endif
SET_LED_Status(SET_LED_WHITE,500); //White LED
SET_LED_Status(SET_LED_RED,2000); //Red LED
}
//Start up the compass
compass = HMC5883L(); // Construct a new HMC5883 compass.
#ifdef DEBUG_ON
if(compass.EnsureConnected() == 1) {
Serial.println("Connected to HMC5883L.");
} else {
Serial.println("Not Connected to HMC5883L.");
}
#endif
error = compass.SetScale(1.3); // Set the scale of the compass.
#ifdef DEBUG_ON
if(error != 0) { // If there is an error, print it out.
Serial.println("Compass Error 1");
Serial.println(compass.GetErrorText(error));
} else {
Serial.println("Compass Ok 1");
}
#endif
error = compass.SetMeasurementMode(Measurement_Continuous); // Set the measurement mode to Continuous
#ifdef DEBUG_ON
if(error != 0) { // If there is an error, print it out.
Serial.println("Compass error 2");
Serial.println(compass.GetErrorText(error));
} else {
Serial.println("Compass Ok 2");
}
#endif
//Start up the Pressure Sensor
dps = BMP085();
dps.init();
#ifdef DEBUG_ON
Serial.print("BMP Mode ");
Serial.println(dps.getMode());
#endif
wdt_reset();
// Start up the OneWire Sensors library and turn off blocking takes too long!
sensors.begin();
sensors.setWaitForConversion(false);
sensors.requestTemperaturesByAddress(outsideThermometer); // Send the command to get temperature
//Initialise all of the record values
mD.vals.tCount = 0;
mD.vals.uslCount = 0;
mD.vals.year = 0;
mD.vals.month = 0;
mD.vals.day = 0;
mD.vals.hour = 0;
mD.vals.minute = 0;
mD.vals.second = 0;
mD.vals.hundredths = 0;
mD.vals.iLat = 0;
mD.vals.iLong = 0;
mD.vals.iAlt = 0;
mD.vals.bSats = 0;
mD.vals.iAngle = 0;
mD.vals.iHspeed = 0;
mD.vals.iVspeed = 0;
mD.vals.age = 0;
mD.vals.ihdop = 0;
mD.vals.AcXPayload = 0;
mD.vals.AcYPayload = 0;
mD.vals.AcZPayload = 0;
mD.vals.GyXPayload = 0;
mD.vals.GyYPayload = 0;
mD.vals.GyZPayload = 0;
mD.vals.MgXPayload = 0;
mD.vals.MgYPayload = 0;
mD.vals.MgZPayload = 0;
mD.vals.TmpPayload = 0;
//Connect to the SD Card
if(!SD.begin(PIN_SPI_CS, SPI_HALF_SPEED)) {
#ifdef DEBUG_ON
Serial.println("SD not working!!");
#endif
SET_LED_Status(SET_LED_WHITE,500); //White LED
SET_LED_Status(SET_LED_RED,3000); //Red LED
} else {
#ifdef DEBUG_ON
Serial.println("SD OK");
#endif
dataFile.open(SD_LOG_FILE, O_CREAT | O_WRITE | O_APPEND); //Open Logfile
if (!dataFile.isOpen()) {
#ifdef DEBUG_ON
Serial.println("SD Data File Not Opened");
#endif
SET_LED_Status(SET_LED_WHITE,500);
SET_LED_Status(SET_LED_RED,3000);
}
}
//Cycle lights
SET_LED_Status(SET_LED_OFF,0);
SET_LED_Status(SET_LED_RED,500);
SET_LED_Status(SET_LED_GREEN,500);
SET_LED_Status(SET_LED_BLUE,500);
SET_LED_Status(SET_LED_OFF,0);
elapseSIM900 = millis(); //Elapse counter for data to SIM900
elapseNTXB = millis(); //Elapse counter for data to NTXB
NEWGPSDATA = false;
wdt_enable(WDTO_2S);
wdt_reset();
}