Nose software1

.github/workflows/arduino_ci.yml

@@ -82,14 +82,17 @@ jobs:
       with:
         github_token: ${{ secrets.github_token }}
         reporter: github-pr-review
-        flags: --linelength=50 # Optional
+        flags: --extensions=h,hpp,c,cpp,cc,cu,hh,ipp,ino
         filter: "-readability/braces\
           ,-whitespace/braces\
           ,-whitespace/comments\
           ,-whitespace/indent\
           ,-whitespace/newline\
           ,-whitespace/operators\
           ,-whitespace/parens\
+          ,-whitespace/tab\
+          ,-whitespace/line_length\
+          ,-build/header_guard\
           " # Optional
 
   build:

.gitignore

@@ -0,0 +1 @@
+.vscode

Nose/Nose.ino

@@ -0,0 +1,145 @@
+#include <Wire.h>
+#include <Adafruit_BME280.h>
+#include <MCP342X.h>
+#include <CCP_MCP2515.h>
+
+#define CAN_AVAIRABLE
+
+#define CAN0_CS 0
+#define CAN0_INT 1
+#define LED_YELLOW LED_BUILTIN
+#define LED_BLUE PIN_LED_RXL
+
+#define SEALEVELPRESSURE_HPA (1013.25)
+
+Adafruit_BME280 bme; 
+MCP342X myADC;
+CCP_MCP2515 CCP(CAN0_CS, CAN0_INT);//CAN
+
+unsigned long delayTime;
+const int clockFrequency = 400000;//I2C bus speed
+bool timer100Hz = false;
+bool sleep_sensors = false;
+bool can_checkerflag = false;
+struct repeating_timer st_timer;
+
+void setup() {
+    Serial.begin(1843200);
+    Wire.setSDA(6);
+    Wire.setSCL(7);
+    Wire.setClock(clockFrequency);
+    Wire.begin();
+    bme.begin(0x76);
+    myADC.configure( MCP342X_MODE_CONTINUOUS |
+                MCP342X_CHANNEL_1 |
+                MCP342X_SIZE_18BIT |
+                MCP342X_GAIN_1X
+                );
+    add_repeating_timer_us(10000, TimerIsr, NULL, &st_timer);//100Hz
+    #ifdef CAN_AVAIRABLE
+    CCP.begin();
+    #endif
+}
+
+void loop() { 
+    static int32_t result;
+    static float  temperature;
+    static float  barometic_pressure;
+    static char  adc_bytes[3];
+    static double voltage;
+    if(timer100Hz){
+        timer100Hz = false;
+        if(!sleep_sensors){
+            //差圧センサ関連
+            myADC.startConversion();
+            myADC.getResult(&result);
+            DevideBytes(&result, adc_bytes);
+            ConvertToVoltage(adc_bytes, &voltage); //3つのバイトを電圧に変換
+            //BME280関連
+            GetBME280Data(&temperature, &barometic_pressure);
+            //CAN送信
+            #ifdef CAN_AVAIRABLE
+            CCP.uint32_to_device(CCP_nose_adc,voltage);
+            CCP.float_to_device(CCP_nose_temperature, temperature);
+            CCP.float_to_device(CCP_nose_barometic_pressure, barometic_pressure);  
+            if(can_checkerflag){
+                CCP.string_to_device(CCP_nose_status,"OK");
+                can_checkerflag = false;
+            }
+            #endif
+
+            //シリアル出力
+            SerialPrintSensors(adc_bytes, temperature, barometic_pressure, voltage);
+        }
+    }
+    #ifdef CAN_AVAIRABLE
+    CCP.read_device();
+    switch (CCP.id)
+    {
+    case CCP_EMST_mesure:
+        if(CCP.str_match("STOP",4)){
+            sleep_sensors = true;
+        }else if(CCP.str_match("CLEAR", 5)){
+            sleep_sensors = false;
+        }
+        break;
+    case CCP_nose_adc:
+        if(CCP.str_match("CHECK", 5)){
+            can_checkerflag = true;
+        }
+        if(CCP.str_match("KILL", 4)){
+            sleep_sensors = true;
+        }
+        break;    
+    default:
+        break;
+    }
+    #endif
+}
+
+void GetBME280Data(float* temperature,float* barometic_pressure){
+    *temperature=bme.readTemperature();
+    *barometic_pressure=bme.readPressure();
+}
+
+void DevideBytes(int32_t* _result,char* bytes){
+    bytes[2] = (char)(*_result & 0xFF);
+    bytes[1] = (char)((*_result >> 8) & 0xFF);
+    bytes[0] = (char)((*_result >> 16) & 0xFF);
+}
+
+void ConvertToVoltage(char* bytes,double* voltage){
+    double pga=1;
+    double lsb=2*2.048/pow(2,18);
+
+    byte msb=(bytes[0]>>6)&0x01;
+    uint32_t outputcode=bytes[2]|(bytes[1]<<8)|((bytes[0]*0x01)<<16);
+    if(msb==0x00){//正の値
+    *voltage=(double)(outputcode)*lsb/pga;
+    }else{//負の値
+    outputcode=((~outputcode)&0x01FFFF)+1;//2の補数
+    *voltage=-(double)(outputcode)*lsb/pga;
+    }
+}
+
+void SerialPrintSensors(char* adc_bytes,float temperature,float barometic_pressure,double voltage){
+    // if(timer100Hz) Serial.println("overrun");
+    Serial.print("time:");
+    Serial.print(micros());
+    Serial.print(",adc_bytes:");
+    Serial.print(adc_bytes[0],HEX);
+    Serial.print(adc_bytes[1],HEX);
+    Serial.print(adc_bytes[2],HEX);
+    Serial.print(",temperature:");
+    Serial.print(temperature,10);
+    Serial.print(",");
+    Serial.print(",barometic_pressure:");
+    Serial.print(barometic_pressure,10);
+    Serial.print(",voltage:");
+    Serial.println(voltage,10);
+}
+
+bool TimerIsr(struct repeating_timer *t){
+    timer100Hz = true;
+    return true;
+}

docs/Nose/softwarememo.ipynb

@@ -0,0 +1,59 @@
+{
+ "cells": [
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "# ノーズソフトメモ"
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## 使用ライブラリ\n",
+    "- [MCP3421](https://github.com/uChip/MCP342X)\n",
+    "- "
+   ]
+  },
+  {
+   "cell_type": "markdown",
+   "metadata": {},
+   "source": [
+    "## rp2040を使う上での注意点\n",
+    "\n",
+    "- USB認識をしなくなったら，BOOTボタンを押しながらUSB接続し，RP2040のドライブにリセット用のuf2ファイルをドラック&ドロップ\n",
+    "- Wire.hを使う前に，rp2040はI2Cがいくつもあるので，どのGPIOを使うか宣言する必要がある．\n",
+    "```\n",
+    "#define PIN1_SDA 6\n",
+    "#define PIN1_SCL 7\n",
+    "Wire.setSDA(PIN1_SDA);\n",
+    "Wire.setSCL(PIN1_SCL);\n",
+    "Wire.begin(); \n",
+    "```\n",
+    "といったように"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  }
+ ],
+ "metadata": {
+  "language_info": {
+   "name": "python"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 2
+}

test/Nose/BME_high_rate/BME_high_rate.ino

@@ -0,0 +1,48 @@
+#include <Wire.h>
+#include <Adafruit_BME280.h>
+
+
+#define SEALEVELPRESSURE_HPA (1013.25)
+
+Adafruit_BME280 bme; 
+
+unsigned long delayTime;
+const int clockFrequency = 400000;//I2C bus speed
+
+void setup() {
+    Serial.begin(115200);
+    unsigned status;
+    Wire.setSDA(6);
+    Wire.setSCL(7);
+    Wire.setClock(clockFrequency);
+    Wire.begin();
+    status = bme.begin(0x76);
+}
+
+
+void loop() { 
+    printValues();
+    delay(5);
+}
+
+
+void printValues() {
+    Serial.print("Temperature = ");
+    Serial.print(bme.readTemperature());
+    Serial.println(" °C");
+
+    Serial.print("Pressure = ");
+
+    Serial.print(bme.readPressure() / 100.0F);
+    Serial.println(" hPa");
+
+    Serial.print("Approx. Altitude = ");
+    Serial.print(bme.readAltitude(SEALEVELPRESSURE_HPA));
+    Serial.println(" m");
+
+    Serial.print("Humidity = ");
+    Serial.print(bme.readHumidity());
+    Serial.println(" %");
+
+    Serial.println();
+}

test/Nose/BME_mcp3421/BME_mcp3421.ino

@@ -0,0 +1,83 @@
+#include <Wire.h>
+#include <Adafruit_BME280.h>
+#include  <MCP342X.h>
+
+#define SEALEVELPRESSURE_HPA (1013.25)
+
+Adafruit_BME280 bme; 
+MCP342X myADC;
+
+unsigned long delayTime;
+const int clockFrequency = 400000;//I2C bus speed
+
+double voltage;
+
+void setup() {
+    Serial.begin(115200);
+    unsigned status;
+    Wire.setSDA(6);
+    Wire.setSCL(7);
+    Wire.setClock(clockFrequency);
+    Wire.begin();
+    status = bme.begin(0x76);
+    myADC.configure( MCP342X_MODE_CONTINUOUS |
+                MCP342X_CHANNEL_1 |
+                MCP342X_SIZE_18BIT |
+                MCP342X_GAIN_1X
+                );
+}
+
+
+void loop() { 
+    printValues();
+
+    static int32_t  result;
+    byte bytes[4];
+    myADC.startConversion();
+    myADC.getResult(&result);
+    ConvertToVoltage(&result,&voltage);
+    Serial.print("voltage:");
+    Serial.println(voltage,10);
+    delay(5);
+}
+
+
+void printValues() {
+    Serial.print("Temperature = ");
+    Serial.print(bme.readTemperature());
+    Serial.println(" °C");
+
+    Serial.print("Pressure = ");
+
+    Serial.print(bme.readPressure() / 100.0F);
+    Serial.println(" hPa");
+
+    Serial.print("Approx. Altitude = ");
+    Serial.print(bme.readAltitude(SEALEVELPRESSURE_HPA));
+    Serial.println(" m");
+
+    Serial.print("Humidity = ");
+    Serial.print(bme.readHumidity());
+    Serial.println(" %");
+
+    Serial.println();
+}
+
+void ConvertToVoltage(int32_t* _result,double* voltage){
+  byte bytes[4];
+  bytes[3] = (char)(*_result & 0xFF);
+  bytes[2] = (char)((*_result >> 8) & 0xFF);
+  bytes[1] = (char)((*_result >> 16) & 0xFF); 
+  bytes[0] = (char)((*_result >> 24) & 0xFF); //ライブラリの関数内で8bit右シフトしたときに発生したものなので無視
+  double pga=1;
+  double lsb=2*2.048/pow(2,18);
+
+  byte msb=(bytes[1]>>6)&0x01;
+  uint32_t outputcode=bytes[3]|(bytes[2]<<8)|((bytes[1]*0x01)<<16);
+  if(msb==0x00){//正の値
+    *voltage=(double)(outputcode)*lsb/pga;
+  }else{//負の値
+    outputcode=((~outputcode)&0x01FFFF)+1;//2の補数
+    *voltage=-(double)(outputcode)*lsb/pga;
+  }
+}