#include <Wire.h> //importing libraries for all sensors
#include <Adafruit_BMP280.h>
#include <DFRobot_BMX160.h>
#include <SoftwareSerial.h>
#include "Adafruit_SGP30.h"
SoftwareSerial XBee(34, 35);
#include <Servo.h>
#include <TimeLib.h>
#include <SD.h>
#define BMP280_ADDRESS 0x76
Adafruit_BMP280 bmp;
DFRobot_BMX160 bmx160;
Adafruit_SGP30 sgp;
char command;
bool telemetry = 1;
bool simulation = 0;
String sim_pr;
int sequence;
int prev_sequence;
bool timeset = 0;
bool new_pressure = 0;
Servo s;
float d;
int countn = 0;
Servo s_Roll; //gimbals
Servo s_Pitch;
float dR;
float dP;
Servo BLDC;
float start_BLDC;
int pressure[3] = {0, 0, 0}; //will be used as queue to determine S/W states acc. to pressure and altitude readings each second
float altitudes[3] = {0, 0, 0}; //new value pushed each second (with each data packet)
int cam = 32; //mini spy cam
bool vid = 0;
const int buzzer = 9;
File Kalpana_Test;
bool logged = 0;
String packet = "";
String prev_packet = "";
float calibration = 1013.25; //calibration for BMP altitude
float sumG=0;
float calibratedG=9.81;
int SWstate = 0;
SoftwareSerial mySerial(16, 17); //GNSS Tx and Rx, mySerial is GNSS object
int cnt = 0; // packet count
void setup() {
BLDC.attach(6); //ESC activation
delay(1);
BLDC.write(10);
delay(5000);
// attachInterrupt(digitalPinToInterrupt(38), gimbal, CHANGE);
Serial.begin(9600);
XBee.begin(9600);
mySerial.begin(9600);
mySerial.println("$PMTK220,1000*5F");
pinMode(cam, OUTPUT);
digitalWrite(cam, HIGH);
// setTime(0, 0, 0, 24, 5, 2023);
unsigned status;
status = bmp.begin(BMP280_ADDRESS);
bmx160.begin();
sgp.begin();
//Serial.println("TEAM_ID,TIME_STAMPING,PACKET_COUNT,ALTITUDE,PRESSURE,TEMP,VOLTAGE,GNSS_TIME,GNSS_LATITUDE,GNSS_LONGITUDE,GNSS_ALTITUDE,GNSS_SATS,ACC_R,ACC_P,ACC_Y,GYRO_R,GYRO_P,GYRO_Y,FLIGHT_SOFTWARE_STATE");
// if (!status) {
// while (1);
// delay(10);
// }
//
// if (!bmx160.begin()) {
// Serial.println("NO BMX found");
// while (1);
// }
SD.begin(BUILTIN_SDCARD);
for (int j = 0; j < 10; j++) { //calibration by taking mean of 10 BMP pressure readings
calibration += bmp.readPressure();
delay(50);
}
calibration /= 1000;
for (int j = 0; j < 50; j++) { //calibration of bmx
sgp.IAQmeasure();
delay(50);
}
for (int j = 0; j < 50; j++) { //calibration of bmx
sBmx160SensorData_t Omagn, Ogyro, Oaccel;
bmx160.getAllData(&Omagn, &Ogyro, &Oaccel);
sumG+=Oaccel.y;
delay(20);
}
calibratedG=sumG/50;
calibration/=10;
calibration=bmp.readPressure();
calibration=bmp.readPressure();
calibration/=100;
for (int j = 0; j < 300; j++) { //calibration of bmx
sBmx160SensorData_t Omagn, Ogyro, Oaccel;
bmx160.getAllData(&Omagn, &Ogyro, &Oaccel);
delay(50);
}
s.attach(33); //servo pwm pin
// s_Roll.attach(2); //gimbals
// s_Pitch.attach(4);
pinMode(buzzer, OUTPUT);
Kalpana_Test = SD.open("Flight_2022ASI049.csv", FILE_WRITE);
if (Kalpana_Test && logged == 0) {
Kalpana_Test.println("TEAM_ID,TIME_STAMPING,PACKET_COUNT,ALTITUDE,PRESSURE,TEMP,VOLTAGE,GNSS_TIME,GNSS_LATITUDE,GNSS_LONGITUDE,GNSS_ALTITUDE,GNSS_SATS,ACC_R,ACC_P,ACC_Y,GYRO_R,GYRO_P,GYRO_Y,FLIGHT_SOFTWARE_STATE,TVOC,eCO2");
logged = 1;
}
Kalpana_Test.close();
}
// with GCS commands
//void loop() {
// if (XBee.available()) {
// command = XBee.read();
// if (command == 'x') {
// telemetry = 1;
// }
// }
//
// if (command == 'c') { //calibrate
// calibration = 0.00;
// for (int j = 0; j < 10; j++) { //calibration by taking mean of 10 BMP pressure readings
// calibration += bmp.readPressure();
// delay(50);
// }
//
// calibration /= 1000;
//
// for (int j = 0; j < 50; j++) { //calibration of bmx
// sBmx160SensorData_t Omagn, Ogyro, Oaccel;
// bmx160.getAllData(&Omagn, &Ogyro, &Oaccel);
// sumG+=Oaccel.y;
// delay(20);
// }
//
// calibratedG=sumG/50;
//
// for (int j = 0; j < 30; j++) { //calibration of bmx
// sgp.IAQmeasure();
// delay(50);
// }
//
// packet="z";
// Xbeetx();
// }
//
// else if (command == 's') {
// setTime(0, 0, 0, 24, 5, 2023);
// }
//
// else if (command == 'x') { // telemetry on/off
// // telemetry = 1;
// // setTime(0, 0, 0, 24, 5, 2023);
// start_BLDC = millis();
//
// while (telemetry == 1) {
// data_packet();
// delay(10);
// }
// }
//
// else if (command == 'e') { // sim enable
// SWstate = 1;
// simulation = 1;
// }
//
// else if (command == 'a') { // sim activate
//
// setTime(0, 0, 0, 24, 5, 2023);
// packet = "";
// cnt = -1;
//
// while (simulation == 1) {
// packet = "";
// cnt++;
//
// packet += "<2022ASI-049";
// packet += ",";
// Timestamp();
// packet += String(cnt) + ",";
// sim_bmp();
// Voltage();
// Quectel_L89();
// BMX();
// packet += "1";
// aqi();
//
//
// if (new_pressure) {
// Data_Log(); // logging packet to sd card for backup
// Xbeetx();
// new_pressure = 0;
// }
//
// if (XBee.available()) {
// command = XBee.read();
// if (command == 'd') { // sim disable
// simulation = 0;
// }
// }
// }
// }
//}
void loop() { //data_packet function name with GCS commands
// telemetry = 1;
cnt = -1;
while (SWstate != 7){ // until the CanSat makes impact, telemetry is sent; (telemetry && SWstate != 7)
if (timeset == 0) {
setTime(0, 0, 0, 24, 5, 2023);
timeset = 1;
}
packet = "";
cnt++;
if (cnt == 7380) { //breadboard testing camera, ON at 2 hr 3 mins ..7380
s.write(180);
ON_camera();
BLDC.write(80);
}
if (cnt == 7980) { //breadboard testing camera, OFF after 10 mins reccording..7860+120
OFF_camera();
BLDC.write(0);
while (cnt < 11580) { //bb test..buzzer should play upto 3 mins only...11460
cnt++;
analogWrite(buzzer, 10000);
delay(500);
analogWrite(buzzer, 0);
delay(500);
}
}
packet += "<2022ASI-049";
packet += ",";
Timestamp();
packet += String(cnt) + ",";
BMP_280();
Voltage();
Quectel_L89();
BMX();
SW_state();
aqi();
Data_Log(); // logging packet to sd card for backup
//
// if (cnt%20==0){
// packet="<2022ASI-049,0:00:25,26,8.8,97264,28.2";
// packet="2022ASI-049,0:00:25,26,8.8,97264,28.2";
// }
Xbeetx();
// if (XBee.available()) {
// command = XBee.read();
// if (command == 'x') {
// telemetry = 0 ;
// }
// }
// Serial.println(packet); // printing packet to serial monitor
}
// if (SWstate == 7) { //SW state=7 ; impact made - telemetry stopped and buzzer played intermittently at 1s delay
// while (1) {
// analogWrite(buzzer, 10000);
// delay(500);
// analogWrite(buzzer, 0);
// delay(500);
// }
// }
}