Hi,
We are trying to get telemetry data and we want the number of packets to resume in case of any power failure. but we failed.
The code is as follows. We did not know if there is an error in the code.
what could be caused by the problem?
We are trying to get telemetry data and we want the number of packets to resume in case of any power failure. but we failed.
The code is as follows. We did not know if there is an error in the code.
what could be caused by the problem?
Code:
#include <Wire.h>
#include <Adafruit_BMP280.h>
#include <OneWire.h>
#include "MPU9255.h"
#include <SPI.h>
#include <SD.h>
#include <TinyGPS.h>
#include <EEPROM.h>
int16_t accelCount[3];
int16_t gyroCount[3];
int16_t magCount[3];
int16_t tempCount;
float f_accelCount[3];
float f_gyroCount[3];
float f_magCount[3];
float AccelScale, GyroScale, MagScale;
float temperature;
int doklG = 250; // stopni / sekunde - dokladnosc dla czujnika zyroskopowego
int doklA = 2; // +- 2g - dokladnosc dla akcelerometru
int doklM = 6; // 0.6 mGaussa - dokladnosc dla magnetometru
float approxGndPress;
Adafruit_BMP280 bmp; // inicjalizacja czujnika cisnienia/altymetru + termometru
MPU9255 mpu(12, doklG, doklA,doklM); // inicjalizacja akcelerometru-zyroskopu-magnetometru
/* START WIFI */
String agAdi = "POCOFONE"; //Ağımızın adını buraya yazıyoruz.
String agSifresi = "fener1234"; //Ağımızın şifresini buraya yazıyoruz.
//esp nin rx = 1 - tx = 0
String ip = "184.106.153.149"; //Thingspeak ip adresi
float sicaklik, nem;
/* END WIFI */
/* START VOLTAJ BOLUCU */
int analogInput = 0;
float vout = 0.0;
float vin = 0.0;
float R1 = 100000.0; // 100K ohm direnç
float R2 = 10000.0; // 10K ohm direnç
int valueVoltajBolucu = 0;
/* END VOLTAJ BOLUCU */
/* START SD CARD ADAPTOR */
Sd2Card card;
SdVolume volume;
SdFile root;
const int chipSelect = 15;
File myFile;
/* END SD CARD ADAPTOR */
/* START GPS */
TinyGPS gps;
static void smartdelay(unsigned long ms);
static void print_float(float val, float invalid, int len, int prec);
static void print_int(unsigned long val, unsigned long invalid, int len);
static void print_date(TinyGPS &gps);
static void print_str(const char *str, int len);
/* END GPS */
int buzzerPin = 5;
int paketNo = 1;
bool espBuldu = false;
String telemetri = "";
String sdCardFile = "21072020.txt";
boolean sdError = false;
int uyduStatusu = 1;
int ilkYukseklik = 0;
int ilkZaman = 0;
int sonZaman = 0;
bool gpsCalissinMi = true;
void setup()
{
delay(2000);
Serial.begin(115200);
EEPROM.write(1, "CANLI"); //UÇUŞ ANINDA ÖNCE TEST YAZILACAK ÇALIŞTIRILACAK. SONRA CANLI YAZILACAK VE UÇUŞA GEÇİLECEK.. (BU YAPILMAZSA SÜREKLİ ESKİ PAKETNO KALIR)
if (EEPROM.read(1) == "TEST")
{
EEPROM.write(0, 1);
}
pinMode(analogInput, INPUT); // voltaj bolucu - a0 (14)
pinMode(buzzerPin, OUTPUT); //BUZZER
/* START SD CARD ADAPTOR */
SPI.setCS(chipSelect);
Serial.print("\nInitializing SD card...");
pinMode(chipSelect, OUTPUT);
sdError = false;
if (!card.init(SPI_QUARTER_SPEED, chipSelect)) {
Serial.println("initialization failed. Things to check:");
Serial.println("* is a card is inserted?");
Serial.println("* Is your wiring correct?");
Serial.println("* did you change the chipSelect pin to match your shield or module?");
sdError = true;
} else {
Serial.println("Wiring is correct and a card is present.");
}
// print the type of card
Serial.print("\nCard type: ");
switch(card.type()) {
case SD_CARD_TYPE_SD1:
Serial.println("SD1");
break;
case SD_CARD_TYPE_SD2:
Serial.println("SD2");
break;
case SD_CARD_TYPE_SDHC:
Serial.println("SDHC");
break;
default:
Serial.println("Unknown");
}
// Now we will try to open the 'volume'/'partition' - it should be FAT16 or FAT32
if (!volume.init(card)) {
Serial.println("Could not find FAT16/FAT32 partition.\nMake sure you've formatted the card");
sdError = true;
}
if (sdError == false)
{
// print the type and size of the first FAT-type volume
long volumesize;
Serial.print("\nVolume type is FAT");
Serial.println(volume.fatType(), DEC);
Serial.println();
volumesize = volume.blocksPerCluster(); // clusters are collections of blocks
volumesize *= volume.clusterCount(); // we'll have a lot of clusters
volumesize *= 512; // SD card blocks are always 512 bytes
Serial.print("Volume size (bytes): ");
Serial.println(volumesize);
Serial.print("Volume size (Kbytes): ");
volumesize /= 1024;
Serial.println(volumesize);
Serial.print("Volume size (Mbytes): ");
volumesize /= 1024;
Serial.println(volumesize);
Serial.println("\nFiles found on the card (name, date and size in bytes): ");
root.openRoot(volume);
// list all files in the card with date and size
root.ls(LS_R | LS_DATE | LS_SIZE);
delay(2000);
if (!SD.begin(chipSelect)) {
Serial.println("initialization failed!");
//return;
} else {
Serial.println("SD card initialized");
myFile = SD.open(sdCardFile.c_str(), FILE_WRITE); // open file for writing
if (myFile) { // if file can be opened, write to it
Serial.print(sdCardFile + " file opened for writing");
myFile.close();
} else { // if not, show an error
myFile.println("asdwfkq");
Serial.println("ERROR: not able to open " + sdCardFile);
myFile.close();
}
}
}
/* END SD CARD ADAPTOR */
Wire.begin();//inicjalizacja protokolu I2C
TWBR = 24;
mpu.initMPU9250();//inicjalizacja akcelerometru-zyroskopu
float magCalibration[3];
mpu.initAK8963(magCalibration);//inicjalizacja magnetometru
if (!bmp.begin()) {
Serial.println("10 dof imu hatali - Nie mozna nawiazac polaczenia z czujnikiem cisnienia BMP280!");
//while (1);
}
for(int i=0;i<5;i++)
{
approxGndPress+=bmp.readPressure();
delay(1000);
}
approxGndPress/=5;
switch (doklG)
{
case 250: GyroScale = 131.0; break;
case 500: GyroScale = 65.5; break;
case 1000: GyroScale = 32.8; break;
case 2000: GyroScale = 16.4; break;
default: GyroScale = 131.0; break;
}
switch (doklA)
{
case 2: AccelScale = 16384.0; break;
case 4: AccelScale = 8192.0; break;
case 8: AccelScale = 4096.0; break;
case 16: AccelScale = 2048.0; break;
default: AccelScale = 16384.0; break;
}
switch (doklM)
{
case 6: MagScale=0.6; break;
case 15: MagScale=0.15; break;
default: MagScale =1; break;
}
Serial.println("10 dof imu sensoru ayarlari yapildi.");
/* START WIFI */
Serial.println("WİFİ Started");
Serial3.begin(115200); //ESP8266 ile seri haberleşmeyi başlatıyoruz.
Serial3.println("AT"); //AT komutu ile modül kontrolünü yapıyoruz.
Serial.println("AT Yollandı");
int espDenemeSayisi = 0;
while(!Serial3.find("OK") && espDenemeSayisi < 5){ //Modül hazır olana kadar bekliyoruz.
Serial3.println("AT");
Serial.println("ESP8266 Bulunamadı."); //TODO HASAN (20 kere dene yoksa diğer kodlara geç)
espDenemeSayisi++;
}
if (!(espDenemeSayisi >= 1))
{
Serial.println("OK Komutu Alındı");
Serial3.println("AT+CWMODE=1"); //ESP8266 modülünü client olarak ayarlıyoruz.
espDenemeSayisi = 0;
while(!Serial3.find("OK") && espDenemeSayisi < 5){ //Ayar yapılana kadar bekliyoruz.
Serial3.println("AT+CWMODE=1");
Serial.println("Ayar Yapılıyor....");
espDenemeSayisi++;
}
Serial.println("Client olarak ayarlandı");
Serial.println("Aga Baglaniliyor...");
Serial3.println("AT+CWJAP=\""+agAdi+"\",\""+agSifresi+"\""); //Ağımıza bağlanıyoruz.
espDenemeSayisi = 0;
while(!Serial3.find("OK") && espDenemeSayisi < 5)
{
espDenemeSayisi++;
}
if (!(espDenemeSayisi >= 1))
{
Serial.println("Aga Baglandi.");
espBuldu = true;
delay(1000);
}
else
{
// _reboot_Teensyduino_();
Serial.println("WIFI ESP ağa bağlanmadı");
}
}
else
{
Serial.println("WIFI ESP CALISMADI");
}
/* END WIFI */
/* START GPS */
Serial1.begin(9600);
Serial.print("Testing TinyGPS library v. "); Serial.println(TinyGPS::library_version());
Serial.println("by Mikal Hart");
Serial.println();
Serial.println("Sats HDOP Latitude Longitude Fix Date Time Date Alt Course Speed Card Distance Course Card Chars Sentences Checksum");
Serial.println(" (deg) (deg) Age Age (m) --- from GPS ---- ---- to London ---- RX RX Fail");
Serial.println("-------------------------------------------------------------------------------------------------------------------------------------");
/* END GPS */
/* START XBEE */
Serial2.begin(9600);
/* END XBEE */
}
void loop()
{
/* START GPS */
float flat, flon;
unsigned long age, date, time, chars = 0;
unsigned short sentences = 0, failed = 0;
static const double LONDON_LAT = 51.508131, LONDON_LON = -0.128002;
boolean gpsCalisiyorMu = false;
int year;
byte month, day, hour, minute, second, hundredths;
//ilkZaman = millis();
while (1)
{
if (gpsCalissinMi == false)
{
break;
}
print_int(gps.satellites(), TinyGPS::GPS_INVALID_SATELLITES, 5);
print_int(gps.hdop(), TinyGPS::GPS_INVALID_HDOP, 5);
gps.f_get_position(&flat, &flon, &age);
print_float(flat, TinyGPS::GPS_INVALID_F_ANGLE, 10, 6);
print_float(flon, TinyGPS::GPS_INVALID_F_ANGLE, 11, 6);
print_int(age, TinyGPS::GPS_INVALID_AGE, 5);
/* START GÜN - AY YIL */
//unsigned long age;
gps.crack_datetime(&year, &month, &day, &hour, &minute, &second, &hundredths, &age);
if (age == TinyGPS::GPS_INVALID_AGE)
Serial.print("********** ******** ");
else
{
char sz[32];
sprintf(sz, "%02d/%02d/%02d %02d:%02d:%02d ",
month, day, year, hour, minute, second);
Serial.print(sz);
}
print_int(age, TinyGPS::GPS_INVALID_AGE, 5);
smartdelay(0);
/* END GÜN - AY YIL */
print_float(gps.f_altitude(), TinyGPS::GPS_INVALID_F_ALTITUDE, 7, 2);
print_float(gps.f_course(), TinyGPS::GPS_INVALID_F_ANGLE, 7, 2);
print_float(gps.f_speed_kmph(), TinyGPS::GPS_INVALID_F_SPEED, 6, 2);
print_str(gps.f_course() == TinyGPS::GPS_INVALID_F_ANGLE ? "*** " : TinyGPS::cardinal(gps.f_course()), 6);
print_int(flat == TinyGPS::GPS_INVALID_F_ANGLE ? 0xFFFFFFFF : (unsigned long)TinyGPS::distance_between(flat, flon, LONDON_LAT, LONDON_LON) / 1000, 0xFFFFFFFF, 9);
print_float(flat == TinyGPS::GPS_INVALID_F_ANGLE ? TinyGPS::GPS_INVALID_F_ANGLE : TinyGPS::course_to(flat, flon, LONDON_LAT, LONDON_LON), TinyGPS::GPS_INVALID_F_ANGLE, 7, 2);
print_str(flat == TinyGPS::GPS_INVALID_F_ANGLE ? "*** " : TinyGPS::cardinal(TinyGPS::course_to(flat, flon, LONDON_LAT, LONDON_LON)), 6);
gps.stats(&chars, &sentences, &failed);
print_int(chars, 0xFFFFFFFF, 6);
print_int(sentences, 0xFFFFFFFF, 10);
print_int(failed, 0xFFFFFFFF, 9);
Serial.println();
smartdelay(1000);
if (flat != TinyGPS::GPS_INVALID_F_ANGLE)
{
gpsCalisiyorMu = true;
if (ilkYukseklik != 0)
{
ilkYukseklik = gps.f_altitude();
}
}
if (gpsCalisiyorMu == true)
{
break;
}
sonZaman = millis();
if (sonZaman - ilkZaman >= (1000 * 60 *15))
{
gpsCalissinMi = false;
break;
}
}
/* END GPS */
double yukseklik = gps.f_altitude();
if (uyduStatusu == 1 && yukseklik - ilkYukseklik >= 200)
{
uyduStatusu = 2;
}
else if (uyduStatusu == 2 && yukseklik - ilkYukseklik <= 50)
{
uyduStatusu = 3;
}
/* START 10 DOF İMU */
mpu.readAccelData(f_accelCount);
for(int i=0;i<3;i++)f_accelCount[i]/=AccelScale; // podziel kazda ze skladowych przyspieszenia przez czynnik skali dla akcelerometru
/*
Serial.print("\tax "); Serial.print(f_accelCount[0]);
Serial.print("\tay "); Serial.print(f_accelCount[1]);
Serial.print("\taz "); Serial.print(f_accelCount[2]);
*/
//Serial.print("\t |a| = "); Serial.print(sqrt(sq(f_accelCount[0]) + sq(f_accelCount[1]) + sq(f_accelCount[2])));
mpu.readGyroData(f_gyroCount);
for(int i=0;i<3;i++)f_gyroCount[i]/=GyroScale;
Serial.print("\tal_x "); Serial.print(f_gyroCount[0]);
Serial.print("\tal_y "); Serial.print(f_gyroCount[1]);
Serial.print("\tal_z "); Serial.print(f_gyroCount[2]);
tempCount = mpu.readTempData();
Serial.print("\tT ");
Serial.print(tempCount / 100.0);
Serial.print(" *C");
Serial.print("\tP = ");
Serial.print(bmp.readPressure()/100.0);
Serial.print(" hPa");
Serial.print("\tApprox alt = ");
Serial.print(bmp.readAltitude(1019.0)); // wysokość liczona wzgledem cisnienia przy powierzchni
Serial.println(" m");
/* END 10 DOF İMU */
/* START WIFI */
if (espBuldu == true)
{
Serial3.println("AT+CIPSTART=\"TCP\",\""+ip+"\",80"); //Thingspeak'e bağlanıyoruz.
if(Serial3.find("Error")){ //Bağlantı hatası kontrolü yapıyoruz.
Serial.println("AT+CIPSTART Error");
}
String tweet = "POST /apps/thingtweet/1/statuses/update HTTP/1.1\n";
tweet+="Host: api.thingspeak.com\n";
tweet+="Connection: close\n";
tweet+="Content-Type: application/x-www-form-urlencoded\n";
tweet+="Content-Length:51\r\n\r\napi_key=";
tweet+=String("9E5QX2123KGHVXLB"); //ThingSpeak'den aldığımız Twitter API KEY'ini buraya yazıyoruz.
tweet+=String("&status=");
tweet+=String("#helloesp8266 Try 2"); // Yollamak istediğimiz tweeti buraya yazıyoruz.
Serial3.print("AT+CIPSEND="); //veri yollayacağımız zaman bu komutu kullanıyoruz. Bu komut ile önce kaç tane karakter yollayacağımızı söylememiz gerekiyor.
delay(100);
Serial3.println(tweet.length());
if(Serial3.find(">")){ //eğer sunucu ile iletişim sağlayıp komut uzunluğunu gönderebilmişsek ESP modülü bize ">" işareti ile geri dönüyor.
// arduino da ">" işaretini gördüğü anda sıcaklık verisini esp modülü ile thingspeak sunucusuna yolluyor.
Serial3.println(tweet);
Serial3.println("AT+CIPCLOSE=0");
Serial.println(tweet);
Serial.println("tweet gonderildi.");
}
Serial.println("Baglantı Kapatildi.");
Serial3.println("AT+CIPCLOSE"); //Bağlantıyı kapatıyoruz
}
/* END WIFI */
/* START VOLTAJ BOLUCU */
valueVoltajBolucu = analogRead(analogInput);
Serial.print("value= ");
Serial.println(valueVoltajBolucu);
vout = (valueVoltajBolucu * 5) / 1024.0;
vin = vout / (R2/(R1+R2));
if (vin<0.09) {
vin=0.0;
}
Serial.print("VOLTAJ Vout= ");
Serial.println(vout);
Serial.print("VOLTAJ Vin= ");
Serial.println(vin);
/* END VOLTAJ BOLUCU */
telemetri = "3431,";
if (EEPROM.read(0) != 1)
{
paketNo = EEPROM.read(0);
}
telemetri += String(paketNo) + ",";
//double vout2 = static_cast<double>(vout);
//vout2 = 50001.0;
//String vout3 = String(vout2).substring(0,3);
//Serial.println(vout3);
paketNo = paketNo + 1; //paketNo verisindeki değeri 1 arttır.
telemetri += String(static_cast<int>(day)) + "/" + String(static_cast<int>(month)) + "/" + String(year);
telemetri += "-" + String(static_cast<int>(hour+3)) + ":" + String(static_cast<int>(minute)) + ":" + String(static_cast<int>(second)) + ",";
telemetri += String(uyduStatusu) + ",";
telemetri += String(bmp.readAltitude(1019.0)) + ","; // yükseklik
telemetri += String(bmp.readPressure()/100.0) + ","; // basınc
telemetri += String(tempCount / 100.0) + ","; //sıcaklık
telemetri += String(vin,2) + ","; //pil gerilimi (voltaj bolucu)
//telemetri += String(f_accelCount[0]) + ","; //yunuslama (ax)
//telemetri += String(f_accelCount[1]) + ","; //yalpalanma (ay)
//telemetri += String(f_accelCount[2]) + ","; //yuvarlanma (az)
telemetri += String(f_gyroCount[0]) + ","; //yunuslama (ax)
telemetri += String(f_gyroCount[1]) + ","; //yalpalanma (ay)
telemetri += String(f_gyroCount[2]) + ","; //yuvarlanma (az)
telemetri += String(flat,7) + ","; //boylam (latitute)
telemetri += String(flon,7) + ","; //enlem (longitute)
//telemetri += String(gps.altitude()) + ",F:"; //gps yukseklik (altitude cm)
telemetri += String(gps.f_altitude()); //gps yükseklik
/*
*
*
*
* <3431>,<13>,<29/08/2020-12:37:48>, <3>, <153.75>, <101900>,<22.3>,<3.7>,<23.44>,<13.89>,<21.03>,<28.539>,<41.02>,<14.5>
< Takım Numarası >, < Paket Numarası >, < Gönderme Zamanı >, < Uydu Statüsü >, <Yükseklik>, <Basınç>, < Sıcaklık >, < Pil Gerilimi >, < Yunuslama >, < Yalpalanma >, <Yuvarlanma >, < GPS Boylam >, < GPS Enlem >, < GPS Yükseklik >
*/
Serial.println("\ntelemetri verisi:");
Serial.println(telemetri);
/* START SD KART */
myFile = SD.open(sdCardFile.c_str(), FILE_WRITE);
myFile.println(telemetri);
Serial.println("SD Karta kaydedildi. Paket: " + String(paketNo)); //Yazılanları ekstra ekranda görmek için..
myFile.close();
/* END SD KART */
/* START XBEE */
Serial2.println(telemetri);//Ending symbol
EEPROM.write(0, paketNo);
/* END XBEE */
if (uyduStatusu == 2 || uyduStatusu == 3) //yere indiğinde buzzer ı çalıştır.
{
digitalWrite(buzzerPin, HIGH);
digitalWrite(buzzerPin, LOW);
}
else
{
delay(400);
}
}
/* START GPS FUNCTIONS */
static void smartdelay(unsigned long ms)
{
unsigned long start = millis();
do
{
while (Serial1.available())
gps.encode(Serial1.read());
} while (millis() - start < ms);
}
static void print_float(float val, float invalid, int len, int prec)
{
if (val == invalid)
{
while (len-- > 1)
Serial.print('*');
Serial.print(' ');
}
else
{
Serial.print(val, prec);
int vi = abs((int)val);
int flen = prec + (val < 0.0 ? 2 : 1); // . and -
flen += vi >= 1000 ? 4 : vi >= 100 ? 3 : vi >= 10 ? 2 : 1;
for (int i=flen; i<len; ++i)
Serial.print(' ');
}
smartdelay(0);
}
static void print_int(unsigned long val, unsigned long invalid, int len)
{
char sz[32];
if (val == invalid)
strcpy(sz, "*******");
else
sprintf(sz, "%ld", val);
sz[len] = 0;
for (int i=strlen(sz); i<len; ++i)
sz[i] = ' ';
if (len > 0)
sz[len-1] = ' ';
Serial.print(sz);
smartdelay(0);
}
static void print_date(TinyGPS &gps)
{
}
static void print_str(const char *str, int len)
{
int slen = strlen(str);
for (int i=0; i<len; ++i)
Serial.print(i<slen ? str[i] : ' ');
smartdelay(0);
}
/* END GPS FUNCTIONS */