int main() { pc.printf("Starting \r\n"); setup(); //initializes sensors t.start(); timeLastPoll = t.read_ms(); while(button){ altitude = ps.pressureToAltitudeMeters(ps.readPressureMillibars()); gyr.read(); acc.read(); fprintf(fp, "%f, %d, %d, %d \r\n", altitude,gyr.g.x,gyr.g.y,gyr.g.z); pc.printf("%d Att: %2.2f \tGyr: %d %d %d \tAcc: %d %d %d \tT: %d\r\n", iter, altitude, gyr.g.x,gyr.g.y,gyr.g.z, acc.a.x,acc.a.y,acc.a.z, t.read_ms()-timeLastPoll); while( (t.read_ms() - timeLastPoll) < MBED_POLLING_PERIOD){ } // pc.printf("Loop Time: %d",t.read_ms()-timeLastPoll); timeLastPoll = t.read_ms(); iter++; } fclose(fp); pc.printf("File successfully written! \r\n"); printf("End of Program. \r\n"); }
/** * @brief provides imu readings in a 50 Hz rate. * */ void loop() { if((millis()-timer)>=20) { // Main loop runs at 50Hz timer=millis(); //Read data from the hardware gyro.read(); compass.readAcc(); compass.readMag(); //Assign read data to the ros messages imu_msg.angular_velocity.x=gyro.g.x; imu_msg.angular_velocity.y=gyro.g.y; imu_msg.angular_velocity.z=gyro.g.z; imu_msg.linear_acceleration.x=compass.a.x; imu_msg.linear_acceleration.y=compass.a.y; imu_msg.linear_acceleration.z=compass.a.z; mag_msg.magnetic_field.x=compass.m.x; mag_msg.magnetic_field.y=compass.m.y; mag_msg.magnetic_field.z=compass.m.z; //Publish the data to the ros message system imu_pub.publish( &imu_msg ); mag_pub.publish( &mag_msg); nh.spinOnce(); } nh.spinOnce(); }
void Read_Gyro() { gyro.read(); AN[0] = gyro.g.x; AN[1] = gyro.g.y; AN[2] = gyro.g.z; gyro_x = SENSOR_SIGN[0] * (AN[0] - AN_OFFSET[0]); gyro_y = SENSOR_SIGN[1] * (AN[1] - AN_OFFSET[1]); gyro_z = SENSOR_SIGN[2] * (AN[2] - AN_OFFSET[2]); }
void task_gyro(void* p){ /*gyro code*/ while(1){ gyro.read();// once gyro read is inside, code stops output. without gyro.read(), output is 0 // dprintf("X is %d, Y is %d, Z is %d", (int)gyro.g.x,(int)gyro.g.y,(int)gyro.g.z); //delay(1000); vTaskDelay(taskDelay); } /* gyro code*/ }
void task_poll_sensor(void* p){ while(1){ //unsigned int uS = sonar.ping(); // Send ping, get ping time in microseconds (uS). //unsigned int uS2 = sonar2.ping(); /* Serial.print("Sonar 1: "); Serial.print(sonar.convert_cm(uS)); // Convert ping time to distance and print result (0 = outside set distance range, no ping echo) Serial.println("cm"); Serial.print("Sonar 2: "); Serial.print(sonar2.convert_cm(uS2)); Serial.println("cm");*/ // dprintf("%d",(int)sonar.convert_cm(uS)); // vTaskDelay(1000); // dprintf("%d",(int)sonar.convert_cm(uS2)); /* if(sonar.convert_cm(uS)<50){ digitalWrite(MOTOR, HIGH); // sets the LED on delay(100); // waits for a second //digitalWrite(MOTOR, LOW); // sets the LED off //delay(1000); // waits for a second }else{ digitalWrite(MOTOR, LOW); delay(100); } */ /* digitalWrite(TRIGGER_PIN, LOW); delayMicroseconds(2); digitalWrite(TRIGGER_PIN, HIGH); delayMicroseconds(10); digitalWrite(TRIGGER_PIN, LOW); pinMode(ECHO_PIN,INPUT); duration = pulseIn(ECHO_PIN, HIGH,100000); //Calculate the distance (in cm) based on the speed of sound. distance = duration/58.2; // dprintf("%d 1", (int)distance); digitalWrite(TRIGGER_PIN2, LOW); delayMicroseconds(2); digitalWrite(TRIGGER_PIN2, HIGH); delayMicroseconds(10); digitalWrite(TRIGGER_PIN2, LOW); pinMode(ECHO_PIN2,INPUT); duration = pulseIn(ECHO_PIN2, HIGH,100000); //Calculate the distance (in cm) based on the speed of sound. distance = duration/58.2; // dprintf("%d 2", (int)distance); digitalWrite(TRIGGER_PIN3, LOW); delayMicroseconds(2); digitalWrite(TRIGGER_PIN3, HIGH); delayMicroseconds(10); digitalWrite(TRIGGER_PIN3, LOW); pinMode(ECHO_PIN3,INPUT); duration = pulseIn(ECHO_PIN3, HIGH,100000); //Calculate the distance (in cm) based on the speed of sound. distance = duration/58.2; // dprintf("%d 3", (int)distance); digitalWrite(TRIGGER_PIN4, LOW); delayMicroseconds(2); digitalWrite(TRIGGER_PIN4, HIGH); delayMicroseconds(10); digitalWrite(TRIGGER_PIN4, LOW); pinMode(ECHO_PIN4,INPUT); duration = pulseIn(ECHO_PIN4, HIGH,100000); //Calculate the distance (in cm) based on the speed of sound. distance = duration/58.2; // dprintf("%d 4", (int)distance); digitalWrite(TRIGGER_PIN5, LOW); delayMicroseconds(2); digitalWrite(TRIGGER_PIN5, HIGH); delayMicroseconds(10); digitalWrite(TRIGGER_PIN5, LOW); pinMode(ECHO_PIN5,INPUT); duration = pulseIn(ECHO_PIN5, HIGH,100000); //Calculate the distance (in cm) based on the speed of sound. distance = duration/58.2; // dprintf("%d 5", (int)distance); //Calculate the distance (in cm) based on the speed of sound. /*distance = duration/58.2;*/ float distance1,distance2,distance3,distance4,distance5; distance1 = sonar_read(TRIGGER_PIN,ECHO_PIN); distance2= sonar_read(TRIGGER_PIN2,ECHO_PIN2); distance3 = sonar_read(TRIGGER_PIN3,ECHO_PIN3); distance4 = sonar_read(TRIGGER_PIN4,ECHO_PIN4); distance5 = sonar_read(TRIGGER_PIN5,ECHO_PIN5); dprintf("%d %d %d %d %d",(int)distance1,(int)distance2,(int)distance3,(int)distance4,(int)distance5); /*dprintf("%d", (int) sonar_read(TRIGGER_PIN,ECHO_PIN)); dprintf("%d", (int) sonar_read(TRIGGER_PIN2,ECHO_PIN2)); dprintf("%d", (int) sonar_read(TRIGGER_PIN3,ECHO_PIN3)); dprintf("%d", (int) sonar_read(TRIGGER_PIN4,ECHO_PIN4)); dprintf("%d", (int) sonar_read(TRIGGER_PIN5,ECHO_PIN5));*/ /*sonar final code digitalWrite(TRIGGER_PIN, LOW); delayMicroseconds(2); digitalWrite(TRIGGER_PIN, HIGH); delayMicroseconds(10); digitalWrite(TRIGGER_PIN, LOW); pinMode(ECHO_PIN,INPUT); duration = pulseIn(ECHO_PIN, HIGH,100000); //Calculate the distance (in cm) based on the speed of sound. distance = duration/58.2; */ /* pinMode(ECHO_PIN,INPUT); digitalWrite(TRIGGER_PIN,HIGH); delayMicroseconds(1000); digitalWrite(TRIGGER_PIN,LOW); duration = pulseIn(ECHO_PIN,HIGH); distance = (duration/2)/29.1;*/ /* if(distance>10 && distance < 60){ digitalWrite(MOTOR, HIGH); // sets the LED on // delay(100); // waits for a second //digitalWrite(MOTOR, LOW); // sets the LED off //delay(1000); // waits for a second }else{ digitalWrite(MOTOR, LOW); // delay(100); }*/ // dprintf("%d",(int)distance); /*********************************** ** reading sensors ************************************/ compass.read(); dprintf("%d", int(compass.heading())); //dprintf("%d z",(int)(compass.a.z/16.0)); /*if(compass.a.z/16.0<-1000){ distFromStart += 33; step++; dprintf("%d step",step); }*/ /* float heading = compass.heading(); float XaVal, YaVal, ZaVal, fXa, fYa,fZa, pitch, roll,pitch_print, roll_print; const float alpha = 0.15; XaVal = compass.a.x/16.0; //Acceleration data registers contain a left-aligned 12-bit number, so values should be shifted right by 4 bits (divided by 16) YaVal = compass.a.y/16.0; //unit is in cm/s2 ZaVal = compass.a.z/16.0; /*********************************** ** keypad ************************************/ char key = keypad.getKey(); //print out the key that is pressed if (key != NO_KEY){ // Serial.print("You have pressed "); Serial.println(key); } /*********************************** ** altitude ************************************/ float pressure = ps.readPressureMillibars() + 248.5; float altitude = ps.pressureToAltitudeMeters(pressure); //dprintf("alt %d , pres %d",(int)altitude,(int)pressure); // Serial.print("Pressure is "); // Serial.print(pressure); // Serial.println(" mbar"); // Serial.print("Altitude is "); // Serial.print(altitude);// causes error // Serial.println(" m."); //dprintf("%d",(int)pressure); //dprintf("%d",(int)altitude); /****************************************************** ** gyro meter reading ******************************************************/ gyro.read(); /*Serial.println("Gyro meter "); Serial.print("X: "); Serial.print((int)gyro.g.x * 8.75 /1000); Serial.println(" degree/second"); Serial.print("Y: "); Serial.print((int)gyro.g.y * 8.75 /1000); Serial.println(" degree/second"); Serial.print("Z: "); Serial.print((int)gyro.g.z * 8.75 /1000); Serial.println(" degree/second"); Serial.println("");*/ //dprintf("x: %d",(int)(gyro.g.x * 8.75 /1000)); //dprintf("y: %d",(int)(gyro.g.y * 8.75 /1000)); //dprintf("z: %d",(int)(gyro.g.z * 8.75 /1000)); /******************************************************************* get Headings When given no arguments, the heading() function returns the angular difference in the horizontal plane between a default vector and north, in degrees. /* When given no arguments, the heading() function returns the angular difference in the horizontal plane between a default vector and north, in degrees. The default vector is chosen by the library to point along the surface of the PCB, in the direction of the top of the text on the silkscreen. This is the +X axis on the Pololu LSM303D carrier and the -Y axis on the Pololu LSM303DLHC, LSM303DLM, and LSM303DLH carriers. To use a different vector as a reference, use the version of heading() that takes a vector argument; for example, use compass.heading((LSM303::vector<int>){0, 0, 1}); to use the +Z axis as a reference. *******************************************************************/ // String direction = ""; /*if(heading>=340 || heading <= 20) dprintf("North"); // direction = "North"; else if (heading>=70 && heading <= 110) dprintf("East"); // direction = "East"; else if (heading>=160 && heading <= 200) dprintf("South"); //direction = "South"; else if (heading>=250 && heading <= 290) dprintf("West"); // direction = "West"; else if (heading>20 && heading < 70) dprintf("North East"); // direction = "North East"; else if (heading>110 && heading < 160) dprintf("South East"); // direction = "South East"; else if (heading>200 && heading < 250) dprintf("South West");// direction = "South West"; else if (heading>290 && heading < 340) dprintf("North West"); // direction = "North West"; // Serial.print("Heading is "); //Serial.println(direction); //Serial.println("degree."); /****************************************************** ** Method 1 to calculate distance: using steps ******************************************************/ // a step and distance using Z-ACCELERATION /* if(ZaVal<-950){ distFromStart+=33; //1 step is 33 cm step++; } /* Serial.print("X accel is ");Serial.print(XaVal); Serial.print(" cm/s2"); Serial.println(" "); Serial.print("Y accel is ");Serial.print(YaVal); Serial.print(" cm/s2"); Serial.println(" "); Serial.print("Z accel is ");Serial.print(ZaVal);Serial.print(" cm/s2"); Serial.println(" "); Serial.print("1. You have walked "); Serial.print(step); Serial.print(" steps and distance is "); Serial.print(distFromStart); Serial.println(" cm from start");*/ /*dprintf("x accel %d", (int)XaVal); dprintf("y accel %d",(int) YaVal); dprintf("z accel %d", (int)ZaVal); */ /****************************************************** ** pitch and roll ******************************************************/ // Low-Pass filter accelerometer /* fXa = XaVal * alpha + (fXa * (1.0 - alpha)); fYa = YaVal * alpha + (fYa * (1.0 - alpha)); fZa = ZaVal * alpha + (fZa * (1.0 - alpha)); /* Serial.print("Low pass X accel is ");Serial.print(fXa); Serifal.print(" cm/s2"); Serial.println(" "); Serial.print("Low pass Y accel is ");Serial.print(fYa); Serial.print(" cm/s2"); Serial.println(" "); Serial.print("Low pass Z accel is ");Serial.print(fZa);Serial.print(" cm/s2"); Serial.println(" "); */ /* roll = atan2(fYa, sqrt(fXa*fXa + fZa*fZa)); pitch = atan2(fXa, sqrt(fYa*fYa + fZa*fZa)); roll_print = roll*180.0/M_PI; pitch_print = pitch*180.0/M_PI; /* Serial.print("pitch(Y) is "); Serial.print(pitch_print); Serial.println("degree "); Serial.print("roll(X) is "); Serial.print(roll_print); Serial.println("degree ");*/ /****************************************************** ** Method 2 to calculate distance: using accelerations ******************************************************/ /* newTime = millis(); deltaTime = newTime - oldTime; XaVal = XaVal - (1000 * (sin(pitch)));//offsetting pitch // estimate the average acceleration since the previous sample, by averaging the two samples long avgAccel = (oldXaVal + XaVal) / 2; //if ((XaVal < 50 && XaVal > -50) && (oldXaVal < 50 && oldXaVal > -50)) // avgAccel = 0; /* working Serial.print("the avgAccel is "); Serial.print(avgAccel); Serial.println(" cm/s2");*/ // integrate the average accel and add it to the previous speed to calculate the new speed // long newVelocity = oldVelocity + (avgAccel * deltaTime/1000); //estimate the average speed since the previous sample, by averaging the two speeds //long avgVelocity = (oldVelocity + newVelocity) / 2; // if ((XaVal < 50 && XaVal > -50) && (oldXaVal < 50 && oldXaVal > -50)) // avgVelocity = 0; // integrate the average speed and add it to the previous displacement to get the new displacement /* long newDisplacement = oldDis + (avgVelocity * deltaTime/1000); oldTime = newTime; oldVelocity = newVelocity ; oldDis = newDisplacement; oldXaVal = XaVal;*/ /*working Serial.print("2. You have walked "); Serial.print(newDisplacement); Serial.println("cm from start"); */ /****************************************************** ** IR sensor meter reading ******************************************************/ sensorValue = analogRead(sensorIR); cm = 10650.08 * pow(sensorValue,-0.935) - 10; /* Serial.print("IR sensor reads "); Serial.print(cm); Serial.println(" Cm");*/ //delay(100); vTaskDelay(100); } }
void task_sensor_poll(void* p){ while(1){ /*********************************** ** reading sensors ************************************/ compass.read(); /* float heading = compass.heading(); float XaVal, YaVal, ZaVal, fXa, fYa,fZa, pitch, roll,pitch_print, roll_print; const float alpha = 0.15; XaVal = compass.a.x/16.0; //Acceleration data registers contain a left-aligned 12-bit number, so values should be shifted right by 4 bits (divided by 16) YaVal = compass.a.y/16.0; //unit is in cm/s2 ZaVal = compass.a.z/16.0; /* /*********************************** ** keypad ************************************/ char key = keypad.getKey(); //print out the key that is pressed if (key != NO_KEY){ Serial.print("You have pressed "); Serial.println(key); } /*********************************** ** altitude ************************************/ float pressure = ps.readPressureMillibars() + 248.5; float altitude = ps.pressureToAltitudeMeters(pressure); /* Serial.print("Pressure is "); Serial.print(pressure); Serial.println(" mbar"); Serial.print("Altitude is "); Serial.print(altitude); Serial.println(" m."); /****************************************************** ** gyro meter reading ******************************************************/ gyro.read(); /* Serial.println("Gyro meter "); Serial.print("X: "); Serial.print((int)gyro.g.x * 8.75 /1000); Serial.println(" degree/second"); Serial.print("Y: "); Serial.print((int)gyro.g.y * 8.75 /1000); Serial.println(" degree/second"); Serial.print("Z: "); Serial.print((int)gyro.g.z * 8.75 /1000); Serial.println(" degree/second"); Serial.println(""); /******************************************************************* get Headings When given no arguments, the heading() function returns the angular difference in the horizontal plane between a default vector and north, in degrees. /* When given no arguments, the heading() function returns the angular difference in the horizontal plane between a default vector and north, in degrees. The default vector is chosen by the library to point along the surface of the PCB, in the direction of the top of the text on the silkscreen. This is the +X axis on the Pololu LSM303D carrier and the -Y axis on the Pololu LSM303DLHC, LSM303DLM, and LSM303DLH carriers. To use a different vector as a reference, use the version of heading() that takes a vector argument; for example, use compass.heading((LSM303::vector<int>){0, 0, 1}); to use the +Z axis as a reference. *******************************************************************/ /* String direction = ""; if(heading>=340 || heading <= 20) direction = "North"; else if (heading>=70 && heading <= 110) direction = "East"; else if (heading>=160 && heading <= 200) direction = "South"; else if (heading>=250 && heading <= 290) direction = "West"; else if (heading>20 && heading < 70) direction = "North East"; else if (heading>110 && heading < 160) direction = "South East"; else if (heading>200 && heading < 250) direction = "South West"; else if (heading>290 && heading < 340) direction = "North West"; Serial.print("Heading is "); Serial.println(direction); //Serial.println("degree."); /****************************************************** ** Method 1 to calculate distance: using steps ******************************************************/ // a step and distance using Z-ACCELERATION /* if(ZaVal<-965){ distFromStart+=33; //1 step is 33 cm step++; } Serial.print("X accel is ");Serial.print(XaVal); Serial.print(" cm/s2"); Serial.println(" "); Serial.print("Y accel is ");Serial.print(YaVal); Serial.print(" cm/s2"); Serial.println(" "); Serial.print("Z accel is ");Serial.print(ZaVal);Serial.print(" cm/s2"); Serial.println(" "); Serial.print("1. You have walked "); Serial.print(step); Serial.print(" steps and distance is "); Serial.print(distFromStart); Serial.println(" cm from start"); /****************************************************** ** pitch and roll ******************************************************/ // Low-Pass filter accelerometer /* fXa = XaVal * alpha + (fXa * (1.0 - alpha)); fYa = YaVal * alpha + (fYa * (1.0 - alpha)); fZa = ZaVal * alpha + (fZa * (1.0 - alpha)); Serial.print("Low pass X accel is ");Serial.print(fXa); Serial.print(" cm/s2"); Serial.println(" "); Serial.print("Low pass Y accel is ");Serial.print(fYa); Serial.print(" cm/s2"); Serial.println(" "); Serial.print("Low pass Z accel is ");Serial.print(fZa);Serial.print(" cm/s2"); Serial.println(" "); roll = atan2(fYa, sqrt(fXa*fXa + fZa*fZa)); pitch = atan2(fXa, sqrt(fYa*fYa + fZa*fZa)); roll_print = roll*180.0/M_PI; pitch_print = pitch*180.0/M_PI; Serial.print("pitch(Y) is "); Serial.print(pitch_print); Serial.println("degree "); Serial.print("roll(X) is "); Serial.print(roll_print); Serial.println("degree "); /****************************************************** ** Method 2 to calculate distance: using accelerations ******************************************************/ //newTime = millis(); /* deltaTime = newTime - oldTime; XaVal = XaVal - (1000 * (sin(pitch)));//offsetting pitch // estimate the average acceleration since the previous sample, by averaging the two samples long avgAccel = (oldXaVal + XaVal) / 2; //if ((XaVal < 50 && XaVal > -50) && (oldXaVal < 50 && oldXaVal > -50)) // avgAccel = 0; /* Serial.print("the avgAccel is "); Serial.print(avgAccel); Serial.println(" cm/s2"); // integrate the average accel and add it to the previous speed to calculate the new speed long newVelocity = oldVelocity + (avgAccel * deltaTime/1000); //estimate the average speed since the previous sample, by averaging the two speeds long avgVelocity = (oldVelocity + newVelocity) / 2; // if ((XaVal < 50 && XaVal > -50) && (oldXaVal < 50 && oldXaVal > -50)) // avgVelocity = 0; // integrate the average speed and add it to the previous displacement to get the new displacement long newDisplacement = oldDis + (avgVelocity * deltaTime/1000); oldTime = newTime; oldVelocity = newVelocity ; oldDis = newDisplacement; oldXaVal = XaVal; Serial.print("2. You have walked "); Serial.print(newDisplacement); Serial.println("cm from start"); /****************************************************** ** IR sensor meter reading ******************************************************/ sensorValue = analogRead(sensorIR); cm = 10650.08 * pow(sensorValue,-0.935) - 10; /* Serial.print("IR sensor reads "); Serial.print(cm); Serial.println(" Cm"); /*********************************** ** reading sensors ************************************/ /* //digitalWrite(ECHO_PIN2 ,LOW); unsigned int uS2 = sonar2.ping(); Serial.print("Sonar 2: "); Serial.print(sonar2.convert_cm(uS2)); Serial.println("cm"); if(sonar2.convert_cm(uS2)<50){ digitalWrite(MOTOR, HIGH); // waits for a second // sets the LED off //delay(1000); // waits for a second } else{ digitalWrite(MOTOR, LOW); } //delay(100); */ /* The following trigPin/echoPin cycle is used to determine the distance of the nearest object by bouncing soundwaves off of it. */ digitalWrite(TRIGGER_PIN, LOW); delayMicroseconds(2); digitalWrite(TRIGGER_PIN, HIGH); delayMicroseconds(10); digitalWrite(TRIGGER_PIN, LOW); duration = pulseIn(ECHO_PIN, HIGH); //Calculate the distance (in cm) based on the speed of sound. distance = duration/58.2; dprintf("%d",(int)distance); /* Serial.print("sonar distance is "); Serial.println(distance); Serial.println();*/ if (distance >= 10 && distance <= 70){ /* Send a negative number to computer and Turn LED ON to indicate "out of range" */ //Serial.println("-1"); digitalWrite(MOTOR, HIGH); } else { /* Send the distance to the computer using Serial protocol, and turn LED OFF to indicate successful reading. */ //Serial.println(distance); digitalWrite(MOTOR, LOW); } //Delay 50ms before next reading. delay(50); } }
/* * 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 }