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:
@@ -108,6 +111,9 @@ jobs:
           version: latest
         - name: Adafruit BNO055
           version: latest
+        - name: MCP342x
+          version: latest
+        - source-url: https://github.com/core-rocket/CCP.git
 
     strategy:
       fail-fast: false
@@ -129,6 +135,14 @@ jobs:
               vendor: rp2040
               arch: rp2040
               name: seeed_xiao_rp2040
+
+          - sketch-paths: Nose
+            libraries: |
+              - 
+            board:
+              vendor: rp2040
+              arch: rp2040
+              name: seeed_xiao_rp2040
 
         include:
           - code:

.gitignore

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

Nose/Nose.ino

@@ -0,0 +1,139 @@
+#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
+
+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 +1,78 @@
+#include <Wire.h>
+#include <Adafruit_BME280.h>
+#include <MCP342X.h>
+
+#define SEALEVELPRESSURE_HPA (1013.25)
+
+Adafruit_BME280 bme;
+MCP342X myADC;
+
+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;
+  }
+}