Helios Cube

1//HC1-A-V.1.00.3
2
3// mpla.code
4
5//-----------------------------------------------------------------------------------------------------------------------------
6
7#include "DFRobot_GNSS.h"
8#include "DFRobot_BMM150.h"
9#include <DFRobot_BMI160.h>
10
11
12//-----------------------------------------------------------------------------------------------------------------------------
13
14
15#define I2C_COMMUNICATION  //use I2C for communication, but use the serial port for communication if the line of codes were masked
16
17#ifdef  I2C_COMMUNICATION
18  DFRobot_GNSS_I2C gnss(&Wire ,GNSS_DEVICE_ADDR);
19#else
20
21#if defined(ARDUINO_AVR_UNO) || defined(ESP8266)
22    SoftwareSerial mySerial(4, 5);
23    DFRobot_GNSS_UART gnss(&mySerial ,9600);
24  #elif defined(ESP32)
25    DFRobot_GNSS_UART gnss(&Serial1 ,9600 ,/*rx*/D2 ,/*tx*/D3);
26  #else
27    DFRobot_GNSS_UART gnss(&Serial1 ,9600);
28  #endif
29#endif
30
31//-----------------------------------------------------------------------------------------------------------------------------
32
33//When using I2C communication, use the following program to construct an object by DFRobot_BMM150_I2C
34/*!
35 * @brief Constructor 
36 * @param pWire I2C controller
37 * @param I2C address
38 *        i2c Address select, that CS and SDO pin select 1 or 0 indicates the high or low respectively. There are 4 combinations: 
39 *          I2C_ADDRESS_1 0x10  (CS:0 SDO:0)
40 *          I2C_ADDRESS_2 0x11  (CS:0 SDO:1)
41 *          I2C_ADDRESS_3 0x12  (CS:1 SDO:0)
42 *          I2C_ADDRESS_4 0x13  (CS:1 SDO:1) default i2c address
43 */
44DFRobot_BMM150_I2C bmm150(&Wire, I2C_ADDRESS_4);
45
46//When using SPI communication, use the following program to construct an object by DFRobot_BMM150_SPI
47#if defined(ESP32) || defined(ESP8266)
48  #define BMM150_CS D3
49#elif defined(__AVR__) || defined(ARDUINO_SAM_ZERO)
50  #define BMM150_CS 3
51#elif (defined NRF5)
52  #define BMM150_CS 2  //The corresponding silkscreen on the development board is the pin P2
53#endif
54/*!
55 * @brief Constructor 
56 * @param cs Chip selection pinChip selection pin
57 *        spi Connection method
58 *        (SDO<-->MISO)    (SDI<-->MOSI)
59 *        (SCK<-->SCK)     (PS<--> GND)
60 *        (CS<-->CS customize pin)
61 */
62//DFRobot_BMM150_SPI bmm150(/*cs = */BMM150_CS);
63
64
65//-----------------------------------------------------------------------------------------------------------------------
66
67DFRobot_BMI160 bmi160;
68const int8_t i2c_addr = 0x69;
69bool readStep = false;
70
71#if defined ARDUINO_AVR_UNO || defined ARDUINO_AVR_MEGA2560 || defined ARDUINO_AVR_PRO
72  //interrupt number of uno and mega2560 is 0
73  int pbIn = 2;
74#elif ARDUINO_AVR_LEONARDO
75  //interrupt number of uno and leonardo is 0
76  int pbIn = 3; 
77#else
78  int pbIn = 13;
79#endif
80/*the bmi160 have two interrput interfaces*/
81int int1 = 1;
82int int2 = 2;
83
84//-----------------------------------------------------------------------------------------------------------------------
85
86void stepChange()
87{
88  //once the step conter is changed, the value can be read 
89  readStep = true;
90}
91
92//-----------------------------------------------------------------------------------------------------------------------
93
94void setup()
95{
96  Serial.begin(115200);
97  while(!gnss.begin()){
98    Serial.println("NO Deivces !");
99    delay(1000);
100  }
101
102  gnss.enablePower();
103
104  gnss.setGnss(eGPS_BeiDou_GLONASS);
105
106
107  // gnss.setRgbOff();
108  gnss.setRgbOn();
109  // gnss.disablePower();      // Disable GNSS, the data will not be refreshed after disabling  
110
111
112//----------------------------------------------------------------------------------------------------------------------
113
114
115  Serial.begin(115200);
116  while(!Serial);
117  while(bmm150.begin()){
118    Serial.println("bmm150 init failed, Please try again!");
119    delay(1000);
120  } Serial.println("bmm150 init success!");
121
122  /**!
123   * Set sensor operation mode
124   * opMode:
125   *   BMM150_POWERMODE_NORMAL  // normal mode  Get geomagnetic data normally
126   *   BMM150_POWERMODE_FORCED  // forced mode  Single measurement, the sensor restores to sleep mode when the measurement is done.
127   *   BMM150_POWERMODE_SLEEP   // sleep mode   Users can visit all the registers, but can't measure geomagnetic data
128   *   BMM150_POWERMODE_SUSPEND // suspend mode At the time the sensor cpu doesn't work and can't implement any operation.
129   *                                            Users can only visit the content of the control register BMM150_REG_POWER_CONTROL
130   */
131  bmm150.setOperationMode(BMM150_POWERMODE_NORMAL);
132
133  /**!
134   * Set preset mode, make it easier for users to configure sensor to get geomagnetic data
135   * presetMode:
136   *   BMM150_PRESETMODE_LOWPOWER      // Low power mode, get a small number of data and take the mean value.
137   *   BMM150_PRESETMODE_REGULAR       // Regular mode, get a number of data and take the mean value.
138   *   BMM150_PRESETMODE_ENHANCED      // Enhanced mode, get a large number of data and take the mean value.
139   *   BMM150_PRESETMODE_HIGHACCURACY  // High accuracy mode, get a huge number of data and take the mean value.
140   */
141  bmm150.setPresetMode(BMM150_PRESETMODE_HIGHACCURACY);
142
143  /**!
144   * Set the rate of obtaining geomagnetic data, the higher, the faster (without delay function)
145   * rate:
146   *   BMM150_DATA_RATE_02HZ
147   *   BMM150_DATA_RATE_06HZ
148   *   BMM150_DATA_RATE_08HZ
149   *   BMM150_DATA_RATE_10HZ   (default rate)
150   *   BMM150_DATA_RATE_15HZ
151   *   BMM150_DATA_RATE_20HZ
152   *   BMM150_DATA_RATE_25HZ
153   *   BMM150_DATA_RATE_30HZ
154   */
155  bmm150.setRate(BMM150_DATA_RATE_10HZ);
156
157  /**!
158   * Enable the measurement at x-axis, y-axis and z-axis, default to be enabled, no config required, the geomagnetic data at x, y and z will be incorrect when disabled.
159   * Refer to setMeasurementXYZ() function in the .h file if you want to configure more parameters.
160   */
161  bmm150.setMeasurementXYZ();
162
163
164
165
166//-------------------------------------------------------------------------------------------------------------------
167
168
169  Serial.begin(115200);
170  delay(100);
171  
172  //set and init the bmi160 i2c address  
173  while (bmi160.I2cInit(i2c_addr) != BMI160_OK){
174    Serial.println("i2c init fail");
175    delay(1000); 
176  }
177  
178  //set interrput number to int1 or int2
179  if (bmi160.setInt(int2) != BMI160_OK){
180    Serial.println("set interrput fail");
181    while(1);
182  }
183
184  //set the bmi160 mode to step counter
185  if (bmi160.setStepCounter() != BMI160_OK){
186    Serial.println("set step fail");
187    while(1);
188  }
189  
190  //set the bmi160 power model, contains:stepNormalPowerMode,stepLowPowerMode
191  if (bmi160.setStepPowerMode(bmi160.stepLowPowerMode) != BMI160_OK){
192    Serial.println("set setStepPowerMode fail");
193    while(1);
194  }
195  
196#if defined ARDUINO_AVR_UNO || defined ARDUINO_AVR_MEGA2560 || defined ARDUINO_AVR_LEONARDO || defined ARDUINO_AVR_PRO
197  //set the pin in the board to connect to int1 or int2 of bmi160
198  attachInterrupt(digitalPinToInterrupt(pbIn), stepChange, FALLING);
199#else
200  attachInterrupt(pbIn, stepChange, FALLING);
201#endif
202
203  Serial.println(pbIn);
204}
205
206//-------------------------------------------------------------------------------------------------------------------
207
208void loop()
209{
210  sTim_t utc = gnss.getUTC();
211  sTim_t date = gnss.getDate();
212  sLonLat_t lat = gnss.getLat();
213  sLonLat_t lon = gnss.getLon();
214  double high = gnss.getAlt();
215  uint8_t starUserd = gnss.getNumSatUsed();
216  double sog = gnss.getSog();
217  double cog = gnss.getCog();
218
219  Serial.println("");
220  Serial.print(date.year);
221  Serial.print("/");
222  Serial.print(date.month);
223  Serial.print("/");
224  Serial.print(date.date);
225  Serial.print("/");
226  Serial.print(utc.hour);
227  Serial.print(":");
228  Serial.print(utc.minute);
229  Serial.print(":");
230  Serial.print(utc.second);
231  Serial.println();
232  Serial.println((char)lat.latDirection);
233  Serial.println((char)lon.lonDirection);
234  
235  // Serial.print("lat DDMM.MMMMM = ");
236  // Serial.println(lat.latitude, 5);
237  // Serial.print(" lon DDDMM.MMMMM = ");
238  // Serial.println(lon.lonitude, 5);
239  Serial.print("lat degree = ");
240  Serial.println(lat.latitudeDegree,6);
241  Serial.print("lon degree = ");
242  Serial.println(lon.lonitudeDegree,6);
243
244  Serial.print("star userd = ");
245  Serial.println(starUserd);
246  Serial.print("alt high = ");
247  Serial.println(high);
248  Serial.print("sog =  ");
249  Serial.println(sog);
250  Serial.print("cog = ");
251  Serial.println(cog);
252  Serial.print("gnss mode =  ");
253  Serial.println(gnss.getGnssMode());
254  delay(6000);
255
256
257//--------------------------------------------------------------------------------------------------------------------------------
258
259
260  sBmm150MagData_t magData = bmm150.getGeomagneticData();
261  Serial.print("mag x = "); Serial.print(magData.x); Serial.println(" uT");
262  Serial.print("mag y = "); Serial.print(magData.y); Serial.println(" uT");
263  Serial.print("mag z = "); Serial.print(magData.z); Serial.println(" uT");
264  float compassDegree = bmm150.getCompassDegree();
265  Serial.print("the angle between the pointing direction and north (counterclockwise) is:");
266  Serial.println(compassDegree);
267  Serial.println("--------------------------------");
268  delay(6000);
269
270
271//---------------------------------------------------------------------------------------------------------------------------------
272
273
274  if (readStep){
275    uint16_t stepCounter = 0;
276    //read step counter from hardware bmi160 
277    if (bmi160.readStepCounter(&stepCounter)==BMI160_OK){
278      Serial.print("step counter = ");Serial.println(stepCounter);
279    }
280    readStep = false;
281  }
282}