#include <Wire.h> //importing libraries for all sensors
#include <Adafruit_BMP280.h>
#include <Adafruit_MPU6050.h>
#include <Adafruit_Sensor.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;
Adafruit_MPU6050 mpu;
//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;
float acc=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 = "";
char c;
//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);
mpu.begin();
// 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,TVOC,ECO2");
// 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.write(90);
// 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();
}
bool setDone=1;
// with GCS commands
void loop() {
if (setDone==1){
packet='y';
delay(5000);
Xbeetx();
setDone=0;
}
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
sensors_event_t a, g, temp;
mpu.getEvent(&a, &g, &temp);
sumG+=a.acceleration.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 == 'u') { // open parachute door - rotate servo
s.write(0);
}
else if (command == 'l') { // open parachute door - rotate servo
s.write(90);
}
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 == 'd') { // sim disable
simulation = 0;
}
else if (command == 'a') { // sim activate
setTime(0, 0, 0, 24, 5, 2023);
cnt = 0;
//
// while (simulation == 1) {
//
// packet = "";
// cnt++;
//
// packet += "<2022ASI-049";
// packet += ",";
// Timestamp();
// packet += String(cnt) + ",";
// sim_bmp();
// Voltage();
// Quectel_L89();
// BMX();
// packet += "1";
// aqi();
while (simulation == 1) {
if (XBee.available()) {
c = XBee.read();
if (c == 'd') {
simulation=0;
}
else if (c == '<'){
sim_pr="";
sim_pr=XBee.readStringUntil('>');
packet="";
cnt++;
packet += "<2022ASI-049,";
Timestamp();
packet += String(cnt) + ",";
Voltage();
sim_bmp();
Quectel_L89();
BMX();
packet += "1,";
aqi();
Data_Log(); // logging packet to sd card for backup
Xbeetx();
}
// packet = "";
// sim_bmp();
// if(packet != ""){
//
// String temp = packet;
// packet = "";
// cnt++;
//
// packet += "<2022ASI-049";
// packet += ",";
// Timestamp();
// packet += String(cnt) + ",";
// packet += temp;
// Voltage();
// Quectel_L89();
// BMX();
// packet += "1";
// aqi();
// }
// if (new_pressure) {
// new_pressure = 0;
// }
// if (XBee.available()) {
// command = XBee.read();
// if (command == 'd') { // sim disable
// simulation = 0;
// }
}
}
}
}
void data_packet() { //data_packet function name with GCS commands
telemetry = 1;
cnt = -2;
while (telemetry && SWstate != 7 )
{ // until the CanSat makes impact, telemetry is sent
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();
if (cnt<1){
packet += "0,";
}
// else if (cnt==8){
// SWstate = 7;
// }
else{
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);
// if (XBee.available()) {
// c = XBee.read();
// if (c == 'r') { //hard reset
// packet="hard reset";
// Xbeetx();
// break;
// }
// }
}
}
}