final without sd card

readme updated

.gitignore

@@ -1,2 +1,4 @@
 2024*.txt
 test/*
+*.exe
+doc/shopping_list.ods

.vscode/arduino.json

@@ -0,0 +1,4 @@
+{
+    "board": "arduino:mbed_nano:nano33ble",
+    "sketch": "sender_module_final/sender_module_final.ino"
+}

.vscode/c_cpp_properties.json

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+                "__cpp_alias_templates=200704",
+                "__BYTE_ORDER__=__ORDER_LITTLE_ENDIAN__",
+                "__FLT_DENORM_MIN__=1.4012984643248171e-45F",
+                "__LLFRACT_IBIT__=0",
+                "__INT8_MAX__=0x7f",
+                "__LONG_WIDTH__=32",
+                "__UINT_FAST32_TYPE__=unsigned int",
+                "__CHAR32_TYPE__=long unsigned int",
+                "__FLT_MAX__=3.4028234663852886e+38F",
+                "__cpp_constexpr=201304",
+                "__USACCUM_FBIT__=8",
+                "__INT32_TYPE__=long int",
+                "__SIZEOF_DOUBLE__=8",
+                "__cpp_exceptions=199711",
+                "__FLT_MIN_10_EXP__=(-37)",
+                "__UFRACT_EPSILON__=0x1P-16UR",
+                "__FLT64_MIN__=2.2250738585072014e-308F64",
+                "__INT_LEAST32_WIDTH__=32",
+                "__INTMAX_TYPE__=long long int",
+                "__DEC128_MAX_EXP__=6145",
+                "__FLT32X_HAS_QUIET_NAN__=1",
+                "__ATOMIC_CONSUME=1",
+                "__GNUC_MINOR__=2",
+                "__INT_FAST16_WIDTH__=32",
+                "__UINTMAX_MAX__=0xffffffffffffffffULL",
+                "__DEC32_MANT_DIG__=7",
+                "__FLT32X_DENORM_MIN__=4.9406564584124654e-324F32x",
+                "__HA_FBIT__=7",
+                "__DBL_MAX_10_EXP__=308",
+                "__LDBL_DENORM_MIN__=4.9406564584124654e-324L",
+                "__INT16_C(c)=c",
+                "__cpp_generic_lambdas=201304",
+                "__STDC__=1",
+                "__ARM_ARCH_4T__=1",
+                "__FLT32X_DIG__=15",
+                "__PTRDIFF_TYPE__=int",
+                "__LLFRACT_MIN__=(-0.5LLR-0.5LLR)",
+                "__ATOMIC_SEQ_CST=5",
+                "__DA_FBIT__=31",
+                "__UINT32_TYPE__=long unsigned int",
+                "__FLT32X_MIN_10_EXP__=(-307)",
+                "__UINTPTR_TYPE__=unsigned int",
+                "__USA_IBIT__=16",
+                "__DEC64_SUBNORMAL_MIN__=0.000000000000001E-383DD",
+                "__ARM_EABI__=1",
+                "__DEC128_MANT_DIG__=34",
+                "__LDBL_MIN_10_EXP__=(-307)",
+                "__SIZEOF_LONG_LONG__=8",
+                "__ULACCUM_EPSILON__=0x1P-32ULK",
+                "__cpp_user_defined_literals=200809",
+                "__SACCUM_IBIT__=8",
+                "__GCC_ATOMIC_LLONG_LOCK_FREE=1",
+                "__FLT32X_MIN__=2.2250738585072014e-308F32x",
+                "__LDBL_DIG__=15",
+                "__FLT_DECIMAL_DIG__=9",
+                "__UINT_FAST16_MAX__=0xffffffffU",
+                "__GCC_ATOMIC_SHORT_LOCK_FREE=1",
+                "__INT_LEAST64_WIDTH__=64",
+                "__ULLFRACT_MAX__=0XFFFFFFFFFFFFFFFFP-64ULLR",
+                "__UINT_FAST8_TYPE__=unsigned int",
+                "__USFRACT_EPSILON__=0x1P-8UHR",
+                "__ULACCUM_FBIT__=32",
+                "__QQ_IBIT__=0",
+                "__cpp_init_captures=201304",
+                "__ATOMIC_ACQ_REL=4",
+                "__ATOMIC_RELEASE=3",
+                "USBCON"
+            ]
+        }
+    ]
+}

.vscode/launch.json

@@ -0,0 +1,29 @@
+{
+    "configurations": [
+        {
+            "name": "(gdb) Launch",
+            "type": "cppdbg",
+            "request": "launch",
+            "program": "enter program name, for example ${workspaceFolder}/a.out",
+            "args": [],
+            "stopAtEntry": false,
+            "cwd": "${fileDirname}",
+            "environment": [],
+            "externalConsole": false,
+            "MIMode": "gdb",
+            "setupCommands": [
+                {
+                    "description": "Enable pretty-printing for gdb",
+                    "text": "-enable-pretty-printing",
+                    "ignoreFailures": true
+                },
+                {
+                    "description": "Set Disassembly Flavor to Intel",
+                    "text": "-gdb-set disassembly-flavor intel",
+                    "ignoreFailures": true
+                }
+            ]
+        }
+    ],
+    "version": "2.0.0"
+}

.vscode/settings.json

@@ -0,0 +1,5 @@
+{
+    "files.associations": {
+        "ostream": "cpp"
+    }
+}

README.md

@@ -1,31 +1,152 @@
 # CobraV2
 
-## Installation
+## Table of contents
+
+- [CobraV2](#cobrav2)
+  - [Table of contents](#table-of-contents)
+  - [Installation and compilation](#installation-and-compilation)
+    - [TTY listener](#tty-listener)
+    - [Monitoring tool](#monitoring-tool)
+    - [Sender and Reciever](#sender-and-reciever)
+  - [Overview](#overview)
+    - [Schema](#schema)
+      - [Sender](#sender)
+      - [Reciever](#reciever)
+      - [Master](#master)
+    - [Arduino Sender Format](#arduino-sender-format)
+  - [Modules](#modules)
+    - [10 DOF IMU](#10-dof-imu)
+    - [L76K GPS](#l76k-gps)
+      - [NMEA Sentence](#nmea-sentence)
+    - [NRF24L01+](#nrf24l01)
+  - [Wiring](#wiring)
+    - [10 DOF IMU Sensor](#10-dof-imu-sensor)
+    - [L76K GPS Module](#l76k-gps-module)
+    - [NRF24L01+ Module](#nrf24l01-module)
+  - [Issues / features](#issues--features)
+    - [Sender issues](#sender-issues)
+    - [Monitor app issues](#monitor-app-issues)
+  - [Sources](#sources)
+
+## Installation and compilation
+
+### TTY listener
 
 ```bash
 git clone https://www.github.com/foglar/cobraV2.git
+cd cobraV2/serial_read
+
+# run or build the code
+go run .
+go build .
 ```
 
+> [!TIP]
+> You may have to delete `go.mod` file (if you have other go version) and `go mod init` the project.
+> To install all dependencies you can use `go mod tidy` command or you can mannualy install them by `go get [package]` command.
+
+### Monitoring tool
+
 ```bash
-# Building serial read code yourself
+git clone https://www.github.com/foglar/cobraV2.git
-cd serial_read
+cd cobraV2/monitor
-go build main.go
+
+# run or build the code
+go run .
+go build .
 ```
 
-Upload sender and reciever code on the 2 arduino's
+> [!IMPORTANT]
+> For cross-compiling you will need to specify a `CC` to compile c-based libraries for pixel2 library.
+> Example command: `CC=x86_64-w64-mingw32-gcc GOOS=windows GOARCH=amd64 CGO_ENABLED=1 go build .`
+> For more information see: [Pixel2 Wiki | Cross Compiling](https://github.com/gopxl/pixel/wiki/%5BWIP%5D-Cross-Compiling)
+
+![Preview of monitoring tool](/doc/application_preview_hyprland.png)
+
+### Sender and Reciever
+
+Upload sender and reciever code on the 2 arduinos.
+
+> [!NOTE]
+> Uplading can be done via Arduino IDE or via arduino-cli terminal tool.
+> Install arduino-ide or arduino-cli on your device, connect the arduino via usb,
+> and upload the code.
+
+#### Uplading via arduino-cli
+
+To upload via arduino-cli connect arduino board to the computer.
+
+- To get boards fbqn run `arduino-cli board list` command
+- Then compile your code with `arduino-cli compile -b "fqbn" "path to script"`
+- Finnaly upload your code to arduino with `arduino-cli upload -b "fqbn" -p "port" "path to script"`
+
+```bash
+$ arduino-cli board list
+arduino-cli board list
+Port         Protocol Type              Board Name          FQBN                          Core
+/dev/ttyACM0 serial   Serial Port (USB) Arduino UNO R4 WiFi arduino:renesas_uno:unor4wifi arduino:renesas_uno
+
+$ arduino-cli compile -b arduino:renesas_uno:unor4wifi sender_module/
+
+$ arduino-cli upload -b arduino:renesas_uno:unor4wifi -p /dev/ttyACM0 sender_module/
+```
+
+Required library for antenna: [RF24](https://nrf24.github.io/RF24), with arduino-cli you can install it with ```arduino-cli lib install RF24``` or via arduino-ide.
 
 ## Overview
 
-`reciever_module/` - folder with code for reciver which will send data to the pc
+`reciever_module/` - folder with code for reciver which will send data to the pc (arduino)
-`sender_module/` - folder with code for sender, which transmit data to the reciever and save it on the micro sd card
+`sender_module/` - folder with code for sender, which transmit data to the reciever and save it on the micro sd card (arduino)
 `serial_read/` - read serial input and save it
+`monitor` - folder with code for monitor which will recieve data and print them into the gui application (pc)
+`testing/` - other tools and applications
+
+### Schema
+
+#### Sender
+
+- device (arduino uno, arduino nano or arduino micro...) which recieves data from *[10DOF IMU](#10-dof-imu)* and *[L76K GPS](#l76k-gps)*, then it sends them via *[nrf24l01+](#nrf24l01)* in [sender format](#arduino-sender-format) to [reciever](#reciever)
+
+#### Reciever
+
+- device (arduino uno r4 wifi, arduino uno or arduino nano...) which recieves data from [sender](#sender) via *[nrf24l01+](#nrf24l01)* and then send them through serial line to the [master device](#master) in the [sender format](#arduino-sender-format)
+
+#### Master
+
+- device (pc, notebook, laptop), where the data are processed, parsed, saved and displayed realtime in the application monitor
+
+### Arduino Sender Format
+
+- sender sends data via antenna to reciever in this format **$[code of message];[value]\***
+- in future will be added some other values, like gps and so on
+
+| Identifier | Message Code | Value            | Verificator |
+| ---------- | ------------ | ---------------- | ----------- |
+| $          | **1**;       | roll [°]         | *           |
+| $          | **2**;       | pitch [°]        | *           |
+| $          | **3**;       | yaw [°]          | *           |
+| $          | **4**;       | temperature [°C] | *           |
+| $          | **5**;       | pressure [hPa]   | *           |
+| $          | **6**;       | altitude [m]     | *           |
+| $          | **7**;       | gyroscope x      | *           |
+| $          | **8**;       | gyroscope y      | *           |
+| $          | **9**;       | gyroscope z      | *           |
+| $          | **10**;      | accelerometer x  | *           |
+| $          | **11**;      | accelerometer y  | *           |
+| $          | **12**;      | accelerometer z  | *           |
+| $          | **13**;      | magnitude x      | *           |
+| $          | **14**;      | magnitude y      | *           |
+| $          | **15**;      | magnitude z      | *           |
+
+> [!TIP]
+> The **acceleration output** by the serial port of the sample program is the original value of the register (the value of the register). After this **value is divided by 16384**, it can be **converted** into a **value in g (gravitational acceleration constant)**.
+> The **angular velocity output** by the serial port of the sample program is the original value of the register (the value of the register). After this **value is divided by 32.8**, it can be converted into a **value in dps (angle/second)**.
+> The value of the **magnetic sensor output** by the serial port of the sample program is the original value of the register (that is, the value of the register). This **value is multiplied by 0.15** to convert it into a **value in μT (10-6 Tesla)**. [Reference](https://www.waveshare.com/wiki/Template:10_DOF_IMU_Sensor_D_Arduino_Guide#Serial_output_data_meaning)
 
 ## Modules
 
 ### 10 DOF IMU
 
-![10 dof imu pinout](./10DOF-pinout.webp)
-
 - **SDA** (Serial Data)
 - **SCL** (Serial Clock)
 - **INT** (Interrupt) is a digital interrupt output
@@ -33,8 +154,6 @@ Upload sender and reciever code on the 2 arduino's
 
 ### L76K GPS
 
-![L76K GPS pinout](./L76K-pinout.jpg)
-
 - **PPS** (Pulse per second) powers a led wich will blink and indicate that GPS is working
 - **RX** (UART communication)
 - **TX** (UART communication)
@@ -44,22 +163,19 @@ Upload sender and reciever code on the 2 arduino's
 $GPGAA,HHMMSS.SS,llll.ll,a,yyyyy.yy,a,x,xx,x.x,x.x,M,x.x,M,x.x,xxxx
 
 | Sentence Identifier | Time      | Latitude     | Longtitude    | Fix Quality | Number of Satellites | Horizontal Dilution of Precision | Altitude | Height of geoid above WGS84 ellipsoid | Time since last DGPS update | DGPS reference station id | Checksum |
-| ------ | --------- | --------- | ---------- | - | -- | --- | ----- | ----- | --- | ---- | --- |
+| ------------------- | --------- | ------------ | ------------- | ----------- | -------------------- | -------------------------------- | -------- | ------------------------------------- | --------------------------- | ------------------------- | -------- |
 | $GPGAA              | HHMMSS.SS | llll.ll a    | yyyyy.yy a    | x           | xx                   | x.x                              | x.x M    | x.x M                                 | x.x                         | xxxx                      | *hh      |
 | $GPGAA              | 170834    | 4124.8963, N | 08151.6838, W | 1           | 05                   | 1.5                              | 280.2, M | -34.0, M                              | blank                       | blank                     | *75      |
 
-Fix Quality:
+> [!TIP]
-
+> Fix Quality:
-- 0 = Invalid
+> 0 = Invalid;
-- 1 = GPS fix
+> 1 = GPS fix;
-- 2 = DGPS fix
+> 2 = DGPS fix;
-
+> [more about nmea sentences](https://aprs.gids.nl/nmea/)
-[more about nmea sentences](https://aprs.gids.nl/nmea/)
 
 ### NRF24L01+
 
-![nrlf24l01+ pinout](./NRF24L01-pinout.webp)
-
 - **CE** (Chip Enable) is an active-high pin. When enabled, the nRF24L01 will either transmit or receive, depending on the mode.
 - **CSN** (Chip Select Not) is an active-low pin that is typically held HIGH. When this pin goes low, the nRF24L01 begins listening for data on its SPI port and processes it accordingly.
 - **SCK** (Serial Clock) accepts clock pulses from the SPI bus master.
@@ -100,6 +216,33 @@ Fix Quality:
 | MOSI   | 11~     | SPI master out  |
 | MISO   | 12      | SPI master in   |
 
+## Issues / features
+
+### Sender issues
+
+- [x] data stops being transmitted from sender after some short period time
+- [ ] create a version which will send data via **IOT 433MHz LoRa LPWAN SX1278**
+- [ ] create a communication in both ways, `start`, `stop`, `system health check` commands
+- [ ] detection of apogeum and recovery system launch
+- [ ] add timestamps and save everything to sd card
+- [ ] add gps
+
+### Monitor app issues
+
+- [ ] application crash after some period of time, if don't recive any input from serial ports
+- [ ] gui is not updating until it recieves serial input
+- [ ] parser should be improved
+- [ ] sender code should be improved
+- [x] gui window
+- [ ] error messages as windows not terminal
+- [ ] serial monitor setup port and baudrate
+- [ ] create a gui way of sending commands
+- [ ] values change colour if they are not what they should be, or what are expected to be
+- [ ] if recieved data for the parameter don't correspond with our expectations, change colour of the value indicator
+- [ ] save all recieved data
+- [ ] special characters
+- [ ] don't hide the text on refresh
+
 ## Sources
 
 Datasheets, documentation and sources
@@ -111,5 +254,8 @@ Datasheets, documentation and sources
 - [Waveshare L76K GPS Module - Demo code](https://files.waveshare.com/upload/9/94/L76K_GPS_Module_Arduino.zip)
 - [NRF24L01+ PA/LNA - Arduino guide](https://lastminuteengineers.com/nrf24l01-arduino-wireless-communication/)
 - [NRF24L01+ Guide - Guide](https://navody.dratek.cz/navody-k-produktum/arduino-wifi-modul-nrf24l01.html)
-- [NRF24L01+ PA/LNA - Datasheet](nrf24lo1-datasheet.pdf)
+- [NRF24L01+ PA/LNA - Datasheet](doc/nrf24lo1-datasheet.pdf)
 - [NRF24L01+ PA/LNA - Demo code](https://img.gme.cz/files/eshop_data/eshop_data/10/775-034/prg.775-034.1.zip)
+- [Pixel2 (go gui library) - Github repository](https://github.com/gopxl/pixel)
+- [LoraWAN Library](https://github.com/mcci-catena/arduino-lmic)
+- All other reference materials are in the *doc/* directory

arduino-quick-upload

@@ -0,0 +1,45 @@
+#!/bin/bash
+
+source "arduino-ports-enable"
+
+# Check if a command-line argument is provided and if the path exists
+if [ "$#" -eq 1 ] && [ -d "$1" ]; then
+    project_path="$1"
+else
+    # Prompt the user for the project path
+    read -p "Enter the path to your Arduino project directory: " project_path
+
+    # Validate the project path
+    while [ ! -d "$project_path" ]; do
+        echo "Invalid path or path does not exist."
+        read -p "Please enter a valid path to your Arduino project DIRECTORY: " project_path
+    done
+fi
+
+# Get the list of connected Arduinos
+board_list=$(arduino-cli board list)
+
+# Count the number of connected Arduinos
+num_arduinos=$(echo "$board_list" | grep -c "Arduino")
+
+if [ "$num_arduinos" -eq 0 ]; then
+    echo "No Arduino boards found."
+    exit 1
+elif [ "$num_arduinos" -eq 1 ]; then
+    # If only one Arduino is connected, use it
+    arduino_port=$(echo "$board_list" | grep -oE '/dev/ttyACM[0-9]+')
+    clones_port=$(echo "$board_list" | grep -oE '/dev/ttyUSB[0-9]+')
+    board_type=$(echo "$board_list" | grep "$arduino_port" | awk '{print $(NF-1)}')
+else
+    # If multiple Arduinos are connected, ask the user to select one
+    echo "Multiple Arduino boards found:"
+    echo "$board_list" | tail -n +2 | awk '{print $1, $NF}'
+    read -p "Please enter the port of the Arduino you want to upload to: " arduino_port
+    board_type=$(
+        echo "$board_list" | grep "$arduino_port" | awk '{print $(NF-1)}'
+    )
+fi
+
+# Compile and upload the project to the selected Arduino
+arduino-cli compile -b "$board_type" "$project_path"
+arduino-cli upload ./ -p "$arduino_port" -b "$board_type"

doc/prehled.md

@@ -0,0 +1,61 @@
+# Czech Rocket Challenge
+
+## Přehled
+
+### Role
+
+**Základní** role
+
+- Projektový manažer
+- Avionika (Avionics)
+- Náklad (Challenge ‐ Payload)
+- Konstrukce (Structures)
+- Záchranný systém (Recovery)
+
+**Vedlejší** role
+
+- Aerodynamika
+- Akvizice dílů
+- Příprava reportu
+
+### Raketa
+
+#### Requirements
+
+- [ ] Motor Prometheus *
+- [ ] Vnější průměr 60mm
+- [ ] Centrum tlaku Cp musí být za těžištěm rakety Cg . Minimální aerodynamická stabilita musí být větší než 1,3
+(pozn.: Cp by mělo být minimálně velikost průměru rakety za Cg ).
+- [ ] Padák nebo stuha - Spuštění při rychlosti menší než **>15m/s** *
+- [ ] Rychlost sestupu rakety **5-9m/s**, Satelit **5-15m/s**
+- [ ] Odpalovací rampa *
+- [ ] Certifikovaný výškoměr (záloha 1000Kč v den soutěžě) *
+- [ ] Dokumentace (procedury pro sestavení rakety)
+- [ ] Výdrž zapnutého systému
+
+- [Dodatek A motor](./CRC_prirucka_2024.pdf)
+- [Dodatek E návratový systém](./CRC_prirucka_2024.pdf)
+- [Dodatek B odpalovací rampa](./CRC_prirucka_2024.pdf)
+- [Dodatek C výškoměr](./CRC_prirucka_2024.pdf)
+
+### Timeline
+
+- [x] Registrace do 29.února, poplatek 300 Kč 42637800/2010 do 10.března
+  - Variabilní symbol: 20240229. Zpráva pro příjemce: Czech Rocket Challenge jméno týmu.
+
+- [x] Workshop 1 - 9.-10. března
+  - Představení, Pravidla, Zkušenosti
+- [x] Workshop 2 - 16.-17. března
+  - Práce v programu OpenRocket
+- [ ] Workshop 3 - 23.-24. března
+  - Zážitky, úspěchy i překážky
+- [ ] Workshop 4 - 6.-7. dubna
+  - Bezpečná avionika, a recovery systém
+- [ ] Workshop 5 - 13.-14. dubna
+  - Standardizované testy
+
+- [ ] Koncepční report - 30. dubna
+- [ ] Draft finálového reportu - 11. června
+- [ ] Osobní setkání se soutěžícími
+- [ ] Finální report - 30. června
+- [ ] Odpalovací den - 12. července

doc/shopping_list.csv

@@ -0,0 +1,3 @@
+Waveshare 10 DOF IMU Sensor **(D)**, https://rpishop.cz/orientace-v-prostoru/2100-waveshare-10-dof-imu-sensor-d-gyroskop-akcelerometr-kompasmagnetometr.html, 1, 1199Kč
+Arduino Uno Rev3 originál, https://rpishop.cz/arduino-uno/1356-arduino-uno-r3.html, 2, 709Kč
+RF24L01+PA+LNA, https://rpishop.cz/wi-fi-anteny/1800-modul-bezdratoveho-vysilace-a-prijimace-rf24l01palna.html, 2, 128Kč

reciver_module/nRF24L01_reciever.ino

@@ -1,22 +0,0 @@
-#include <SPI.h>
-#include <nRF24L01.h>
-#include <RF24.h>
-RF24 radio(9, 8);                 // CE, CSN
-const byte address[6] = "00001";  //address through which two modules communicate
-void setup() {
-  while (!Serial)
-    ;
-  Serial.begin(9600);
-  Serial.println("Reciver init");
-  radio.begin();
-  radio.openReadingPipe(0, address);  //set the address
-  radio.startListening();             //Set module as receiver
-}
-void loop() {
-  //Read the data if available in buffer
-  if (radio.available()) {
-    char text[32] = { 0 };
-    radio.read(&text, sizeof(text));
-    Serial.println(text);
-  }
-}

sender/ISSUES.md

@@ -0,0 +1,4 @@
+# Problems
+
+- Arduino Nano Couldn't power up the sd card reader, need to input 5V to micro SD card reader.
+- Couldn't make Arduino Nano work with nRF24 - maybe same issue

sender/README.md

@@ -0,0 +1,26 @@
+# Sender module
+
+## Stages of flight
+
+1. Preflight - Remove before flight button or smthing like that
+    - no communication, blocked parachute ejection, all systems down
+2. Ready - Signal from groundstation
+    - sys check (modules calibration, battery check, atd...), blocked parachute ejection, wait for launch pin removed, only send data, do not save them
+3. Launch - Removed pin from the rocket
+    - launch, all systems sending and saving data on sd card
+4. Apogee - Detected that rocket is in apogee with accelerometer
+    - parachute ejection, all systems working, gps check and height check
+5. Return - Rocket has no velocity
+    - all not needed systems shutdown/sleep, buzz on, gps sending location, battery check, turn off gyro and accelerometer
+
+## Modules
+
+- nRF24L01 - Communication with groundstation
+- SD card reader - Write all recieved data to the SD card
+- Buzzer - To find our rocket after launch
+- Servo motors - Ejection of parachute
+
+## Tasks
+
+- send signal of listening
+- wait for recieve

sender/sender_module_final.ino

@@ -0,0 +1,182 @@
+#include <SPI.h>
+#include <SD.h>
+#include <Servo.h>
+#include <Adafruit_MPU6050.h>
+#include <Adafruit_Sensor.h>
+#include <Wire.h>
+
+const int BUZZER_PIN = 2;
+const int SERVO_A_PIN = 7;
+const int CHIP_SELECT = 4;
+
+// Create objects for modules
+File dataFile;
+Servo A;
+Adafruit_MPU6050 mpu;
+
+// Flight stages
+enum FlightStage {
+  READY,
+  ARM,
+  ASCENT,
+  DESCENT,
+  LANDED
+};
+
+FlightStage current_stage = READY;
+
+void setup() {
+  Serial.begin(115200);
+  delay(1000);
+
+  pinMode(BUZZER_PIN, OUTPUT);
+  digitalWrite(BUZZER_PIN, LOW);
+
+  A.attach(SERVO_A_PIN);
+  A.write(80);
+  current_stage = READY;
+
+  // Initialize MPU6050
+  if (!mpu.begin()) {
+    Serial.println("Failed to find MPU6050 chip");
+    while (1) delay(10);
+  }
+
+  mpu.setAccelerometerRange(MPU6050_RANGE_16_G);
+  mpu.setGyroRange(MPU6050_RANGE_250_DEG);
+  mpu.setFilterBandwidth(MPU6050_BAND_21_HZ);
+
+  delay(1000);
+}
+
+void loop() {
+  switch (current_stage) {
+    case READY:
+      ready_stage();
+      break;
+    case ARM:
+      arm_stage();
+      break;
+    case ASCENT:
+      ascent_stage();
+      break;
+    case DESCENT:
+      descent_stage();
+      break;
+    case LANDED:
+      landed_stage();
+      break;
+  }
+}
+
+void beep() {
+  digitalWrite(BUZZER_PIN, HIGH);
+  delay(1000);
+  digitalWrite(BUZZER_PIN, LOW);
+}
+
+void ready_stage() {
+  Serial.println("# READY stage");
+  analogWrite(LED_BUILTIN, HIGH);
+  beep();
+
+  Serial.println("# MPU6050 initialized");
+  current_stage = ARM;
+}
+
+void arm_stage() {
+  Serial.println("# ARM stage");
+  beep();
+  beep();
+
+  int counter = 0;
+  bool toggle = false;
+  sensors_event_t a, g, temp;
+
+  while (true) {
+    mpu.getEvent(&a, &g, &temp);
+
+    float x = a.acceleration.x;
+    float y = a.acceleration.y;
+    float z = a.acceleration.z;
+
+    Serial.print(x); Serial.print(", ");
+    Serial.print(y); Serial.print(", ");
+    Serial.println(z);
+
+    if (x > 1.0) {
+      Serial.println("# Launch Detect");
+      counter++;
+    } else {
+      counter = 0;
+    }
+
+    if (counter >= 15) {
+      Serial.println("# Launching");
+      break;
+    }
+
+    digitalWrite(LED_BUILTIN, toggle ? HIGH : LOW);
+    toggle = !toggle;
+    delay(10);
+  }
+
+  current_stage = ASCENT;
+}
+
+void ascent_stage() {
+  Serial.println("# ASCENT stage");
+  unsigned long StartTime = millis();
+
+  while (true) {
+    unsigned long CurrentTime = millis();
+    unsigned long ElapsedTime = CurrentTime - StartTime;
+    Serial.println(ElapsedTime);
+
+    sensors_event_t a, g, temp;
+    mpu.getEvent(&a, &g, &temp);
+
+    // Add orientation failure logic here if needed
+
+    if (ElapsedTime > 9000) {
+      Serial.println("# Apogee detected by time");
+      break;
+    }
+
+    delay(10);
+  }
+
+  current_stage = DESCENT;
+}
+
+void descent_stage() {
+  Serial.println("# DESCENT stage");
+  A.write(80);
+  delay(1000);
+  A.write(180);
+
+  Serial.println("# Parachute deployed");
+
+  unsigned long StartTime = millis();
+  while (true) {
+    unsigned long CurrentTime = millis();
+    unsigned long ElapsedTime = CurrentTime - StartTime;
+
+    if (ElapsedTime > 300000) {
+      Serial.println("# Landing detected");
+      break;
+    }
+
+    delay(1000);
+  }
+
+  current_stage = LANDED;
+}
+
+void landed_stage() {
+  while (true) {
+    Serial.println("# LANDED stage");
+    beep();
+    delay(200);
+  }
+}

sender/shell.nix

@@ -0,0 +1,20 @@
+{
+  pkgs ? import <nixpkgs> { },
+}:
+pkgs.callPackage (
+  {
+    mkShell,
+    arduino,
+    arduino-cli,
+    arduino-ide
+  }:
+  mkShell {
+    strictDeps = true;
+    nativeBuildInputs = [
+      arduino
+      arduino-cli
+      arduino-ide
+    ];
+  }
+) { }
+

sender_module/Waveshare_10Dof-D.cpp

@@ -1,743 +0,0 @@
-/**
-  ******************************************************************************
-  * @file    Waveshare_10Dof-D.cpp
-  * @author  Waveshare Team
-  * @version V1.0
-  * @date    Dec-2018
-  * @brief   T
-  
-  ******************************************************************************
-  * @attention
-  *
-  * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
-  * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
-  * TIME. AS A RESULT, WAVESHARE SHALL NOT BE HELD LIABLE FOR ANY
-  * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
-  * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
-  * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
-  *
-  * <h2><center>&copy; COPYRIGHT 2018 Waveshare</center></h2>
-  ******************************************************************************
-  */
-#include "Waveshare_10Dof-D.h"
-#include <Wire.h>
-  
-IMU_ST_SENSOR_DATA gstGyroOffset ={0,0,0};  
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-void imuAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz);
-float invSqrt(float x);
-
-void icm20948init(void);
-bool icm20948Check(void);
-void icm20948GyroRead(int16_t* ps16X, int16_t* ps16Y, int16_t* ps16Z);
-void icm20948AccelRead(int16_t* ps16X, int16_t* ps16Y, int16_t* ps16Z);
-void icm20948MagRead(int16_t* ps16X, int16_t* ps16Y, int16_t* ps16Z);
-bool icm20948MagCheck(void);
-void icm20948CalAvgValue(uint8_t *pIndex, int16_t *pAvgBuffer, int16_t InVal, int32_t *pOutVal);
-void icm20948GyroOffset(void);
-void icm20948ReadSecondary(uint8_t u8I2CAddr, uint8_t u8RegAddr, uint8_t u8Len, uint8_t *pu8data);
-void icm20948WriteSecondary(uint8_t u8I2CAddr, uint8_t u8RegAddr, uint8_t u8data);
-bool icm20948Check(void);
-
-bool bmp280Check(void);
-void bmp280Init(void);
-/******************************************************************************
- * interface driver                                                           *
- ******************************************************************************/
-uint8_t I2C_ReadOneByte(uint8_t DevAddr, uint8_t RegAddr)
-{
-  uint8_t value;
-
-  Wire.beginTransmission(DevAddr);
-  Wire.write((byte)RegAddr);
-  Wire.endTransmission();
-
-  Wire.requestFrom(DevAddr, (byte)1);
-  value = Wire.read();
-
-  return value;
-}
-
-void I2C_WriteOneByte(uint8_t DevAddr, uint8_t RegAddr, uint8_t value)
-{
-  Wire.beginTransmission(DevAddr);
-  Wire.write(RegAddr);
-  Wire.write(value);
-  Wire.endTransmission();
-}
-/******************************************************************************
- * IMU module                                                                 *
- ******************************************************************************/
-#define Kp 4.50f   // proportional gain governs rate of convergence to accelerometer/magnetometer
-#define Ki 1.0f    // integral gain governs rate of convergence of gyroscope biases
-
-float angles[3];
-float q0, q1, q2, q3; 
-
-void imuInit(IMU_EN_SENSOR_TYPE *penMotionSensorType, IMU_EN_SENSOR_TYPE *penPressureType)
-{
-  bool bRet = false;
-  Wire.begin();
-  bRet = icm20948Check();
-  if( true == bRet)
-  {
-    *penMotionSensorType = IMU_EN_SENSOR_TYPE_ICM20948;
-    icm20948init();
-  }
-  else
-  {
-    *penMotionSensorType = IMU_EN_SENSOR_TYPE_NULL;
-  }
-  
-  bRet = bmp280Check();
-  if( true == bRet)
-  {
-    *penPressureType = IMU_EN_SENSOR_TYPE_BMP280;
-    bmp280Init();
-  }
-  else
-  {
-    *penPressureType = IMU_EN_SENSOR_TYPE_NULL;
-  }
-
-  q0 = 1.0f;  
-  q1 = 0.0f;
-  q2 = 0.0f;
-  q3 = 0.0f;
-
-  return;
-}
-
-void imuDataGet(IMU_ST_ANGLES_DATA *pstAngles, 
-                IMU_ST_SENSOR_DATA *pstGyroRawData,
-                IMU_ST_SENSOR_DATA *pstAccelRawData,
-                IMU_ST_SENSOR_DATA *pstMagnRawData)
-{
-  float MotionVal[9];
-  int16_t s16Gyro[3], s16Accel[3], s16Magn[3];
-
-  icm20948AccelRead(&s16Accel[0], &s16Accel[1], &s16Accel[2]);
-  icm20948GyroRead(&s16Gyro[0], &s16Gyro[1], &s16Gyro[2]);
-  icm20948MagRead(&s16Magn[0], &s16Magn[1], &s16Magn[2]);
-
-  MotionVal[0]=s16Gyro[0]/32.8;
-  MotionVal[1]=s16Gyro[1]/32.8;
-  MotionVal[2]=s16Gyro[2]/32.8;
-  MotionVal[3]=s16Accel[0];
-  MotionVal[4]=s16Accel[1];
-  MotionVal[5]=s16Accel[2];
-  MotionVal[6]=s16Magn[0];
-  MotionVal[7]=s16Magn[1];
-  MotionVal[8]=s16Magn[2];
-  imuAHRSupdate((float)MotionVal[0] * 0.0175, (float)MotionVal[1] * 0.0175, (float)MotionVal[2] * 0.0175,
-                (float)MotionVal[3], (float)MotionVal[4], (float)MotionVal[5], 
-                (float)MotionVal[6], (float)MotionVal[7], MotionVal[8]);
-
-
-  pstAngles->fPitch = asin(-2 * q1 * q3 + 2 * q0* q2)* 57.3; // pitch
-  pstAngles->fRoll = atan2(2 * q2 * q3 + 2 * q0 * q1, -2 * q1 * q1 - 2 * q2* q2 + 1)* 57.3; // roll
-  pstAngles->fYaw = atan2(-2 * q1 * q2 - 2 * q0 * q3, 2 * q2 * q2 + 2 * q3 * q3 - 1) * 57.3; 
-
-  pstGyroRawData->s16X = s16Gyro[0];
-  pstGyroRawData->s16Y = s16Gyro[1];
-  pstGyroRawData->s16Z = s16Gyro[2];
-
-  pstAccelRawData->s16X = s16Accel[0];
-  pstAccelRawData->s16Y = s16Accel[1];
-  pstAccelRawData->s16Z  = s16Accel[2];
-
-  pstMagnRawData->s16X = s16Magn[0];
-  pstMagnRawData->s16Y = s16Magn[1];
-  pstMagnRawData->s16Z = s16Magn[2];  
-
-  return;  
-}
-
-void imuAHRSupdate(float gx, float gy, float gz, float ax, float ay, float az, float mx, float my, float mz) 
-{
-  float norm;
-  float hx, hy, hz, bx, bz;
-  float vx, vy, vz, wx, wy, wz;
-  float exInt = 0.0, eyInt = 0.0, ezInt = 0.0;
-  float ex, ey, ez, halfT = 0.024f;
-
-  float q0q0 = q0 * q0;
-  float q0q1 = q0 * q1;
-  float q0q2 = q0 * q2;
-  float q0q3 = q0 * q3;
-  float q1q1 = q1 * q1;
-  float q1q2 = q1 * q2;
-  float q1q3 = q1 * q3;
-  float q2q2 = q2 * q2;   
-  float q2q3 = q2 * q3;
-  float q3q3 = q3 * q3;          
-
-  norm = invSqrt(ax * ax + ay * ay + az * az);       
-  ax = ax * norm;
-  ay = ay * norm;
-  az = az * norm;
-
-  norm = invSqrt(mx * mx + my * my + mz * mz);          
-  mx = mx * norm;
-  my = my * norm;
-  mz = mz * norm;
-
-  // compute reference direction of flux
-  hx = 2 * mx * (0.5f - q2q2 - q3q3) + 2 * my * (q1q2 - q0q3) + 2 * mz * (q1q3 + q0q2);
-  hy = 2 * mx * (q1q2 + q0q3) + 2 * my * (0.5f - q1q1 - q3q3) + 2 * mz * (q2q3 - q0q1);
-  hz = 2 * mx * (q1q3 - q0q2) + 2 * my * (q2q3 + q0q1) + 2 * mz * (0.5f - q1q1 - q2q2);         
-  bx = sqrt((hx * hx) + (hy * hy));
-  bz = hz;     
-
-  // estimated direction of gravity and flux (v and w)
-  vx = 2 * (q1q3 - q0q2);
-  vy = 2 * (q0q1 + q2q3);
-  vz = q0q0 - q1q1 - q2q2 + q3q3;
-  wx = 2 * bx * (0.5 - q2q2 - q3q3) + 2 * bz * (q1q3 - q0q2);
-  wy = 2 * bx * (q1q2 - q0q3) + 2 * bz * (q0q1 + q2q3);
-  wz = 2 * bx * (q0q2 + q1q3) + 2 * bz * (0.5 - q1q1 - q2q2);  
-
-  // error is sum of cross product between reference direction of fields and direction measured by sensors
-  ex = (ay * vz - az * vy) + (my * wz - mz * wy);
-  ey = (az * vx - ax * vz) + (mz * wx - mx * wz);
-  ez = (ax * vy - ay * vx) + (mx * wy - my * wx);
-
-  if(ex != 0.0f && ey != 0.0f && ez != 0.0f)
-  {
-    exInt = exInt + ex * Ki * halfT;
-    eyInt = eyInt + ey * Ki * halfT;  
-    ezInt = ezInt + ez * Ki * halfT;
-
-    gx = gx + Kp * ex + exInt;
-    gy = gy + Kp * ey + eyInt;
-    gz = gz + Kp * ez + ezInt;
-  }
-
-  q0 = q0 + (-q1 * gx - q2 * gy - q3 * gz) * halfT;
-  q1 = q1 + (q0 * gx + q2 * gz - q3 * gy) * halfT;
-  q2 = q2 + (q0 * gy - q1 * gz + q3 * gx) * halfT;
-  q3 = q3 + (q0 * gz + q1 * gy - q2 * gx) * halfT;  
-
-  norm = invSqrt(q0 * q0 + q1 * q1 + q2 * q2 + q3 * q3);
-  q0 = q0 * norm;
-  q1 = q1 * norm;
-  q2 = q2 * norm;
-  q3 = q3 * norm;
-}
-
-float invSqrt(float x) 
-{
-  float halfx = 0.5f * x;
-  float y = x;
-  
-  long i = *(long*)&y;                //get bits for floating value
-  i = 0x5f3759df - (i >> 1);          //gives initial guss you
-  y = *(float*)&i;                    //convert bits back to float
-  y = y * (1.5f - (halfx * y * y));   //newtop step, repeating increases accuracy
-  
-  return y;
-}
-/******************************************************************************
- * icm20948 sensor device                                                     *
- ******************************************************************************/
-void icm20948init(void)
-{
-  /* user bank 0 register */
-  I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_0);
-  I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_PWR_MIGMT_1,  REG_VAL_ALL_RGE_RESET);
-  delay(10);
-  I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_PWR_MIGMT_1,  REG_VAL_RUN_MODE);  
-
-  /* user bank 2 register */
-  I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_2);
-  I2C_WriteOneByte( I2C_ADD_ICM20948, REG_ADD_GYRO_SMPLRT_DIV, 0x07);
-  I2C_WriteOneByte( I2C_ADD_ICM20948, REG_ADD_GYRO_CONFIG_1,   
-                  REG_VAL_BIT_GYRO_DLPCFG_6 | REG_VAL_BIT_GYRO_FS_1000DPS | REG_VAL_BIT_GYRO_DLPF);
-  I2C_WriteOneByte( I2C_ADD_ICM20948, REG_ADD_ACCEL_SMPLRT_DIV_2,  0x07);
-  I2C_WriteOneByte( I2C_ADD_ICM20948, REG_ADD_ACCEL_CONFIG,
-                  REG_VAL_BIT_ACCEL_DLPCFG_6 | REG_VAL_BIT_ACCEL_FS_2g | REG_VAL_BIT_ACCEL_DLPF);
-
-  /* user bank 0 register */
-  I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_0); 
-
-  delay(100);
-  /* offset */
-  icm20948GyroOffset();
-
-  icm20948MagCheck();
-
-  icm20948WriteSecondary( I2C_ADD_ICM20948_AK09916|I2C_ADD_ICM20948_AK09916_WRITE,
-                               REG_ADD_MAG_CNTL2, REG_VAL_MAG_MODE_20HZ);  
-  return;
-}
-
-bool icm20948Check(void)
-{
-    bool bRet = false;
-    if(REG_VAL_WIA == I2C_ReadOneByte(I2C_ADD_ICM20948, REG_ADD_WIA))
-    {
-        bRet = true;
-    }
-    return bRet;
-}
-void icm20948GyroRead(int16_t* ps16X, int16_t* ps16Y, int16_t* ps16Z)
-{
-   uint8_t u8Buf[6];
-    int16_t s16Buf[3] = {0}; 
-    uint8_t i;
-    int32_t s32OutBuf[3] = {0};
-    static ICM20948_ST_AVG_DATA sstAvgBuf[3];
-    static int16_t ss16c = 0;
-    ss16c++;
-
-    u8Buf[0]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_GYRO_XOUT_L); 
-    u8Buf[1]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_GYRO_XOUT_H);
-    s16Buf[0]=  (u8Buf[1]<<8)|u8Buf[0];
-
-    u8Buf[0]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_GYRO_YOUT_L); 
-    u8Buf[1]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_GYRO_YOUT_H);
-    s16Buf[1]=  (u8Buf[1]<<8)|u8Buf[0];
-
-    u8Buf[0]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_GYRO_ZOUT_L); 
-    u8Buf[1]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_GYRO_ZOUT_H);
-    s16Buf[2]=  (u8Buf[1]<<8)|u8Buf[0];
-    
-    for(i = 0; i < 3; i ++) 
-    {
-        icm20948CalAvgValue(&sstAvgBuf[i].u8Index, sstAvgBuf[i].s16AvgBuffer, s16Buf[i], s32OutBuf + i);
-    }
-    *ps16X = s32OutBuf[0] - gstGyroOffset.s16X;
-    *ps16Y = s32OutBuf[1] - gstGyroOffset.s16Y;
-    *ps16Z = s32OutBuf[2] - gstGyroOffset.s16Z;
-    
-    return;
-}
-void icm20948AccelRead(int16_t* ps16X, int16_t* ps16Y, int16_t* ps16Z)
-{
-    uint8_t u8Buf[2];
-    int16_t s16Buf[3] = {0}; 
-    uint8_t i;
-    int32_t s32OutBuf[3] = {0};
-    static ICM20948_ST_AVG_DATA sstAvgBuf[3];
-
-    u8Buf[0]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_ACCEL_XOUT_L); 
-    u8Buf[1]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_ACCEL_XOUT_H);
-    s16Buf[0]=  (u8Buf[1]<<8)|u8Buf[0];
-
-    u8Buf[0]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_ACCEL_YOUT_L); 
-    u8Buf[1]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_ACCEL_YOUT_H);
-    s16Buf[1]=  (u8Buf[1]<<8)|u8Buf[0];
-
-    u8Buf[0]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_ACCEL_ZOUT_L); 
-    u8Buf[1]=I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_ACCEL_ZOUT_H);
-    s16Buf[2]=  (u8Buf[1]<<8)|u8Buf[0];
-
-    for(i = 0; i < 3; i ++) 
-    {
-        icm20948CalAvgValue(&sstAvgBuf[i].u8Index, sstAvgBuf[i].s16AvgBuffer, s16Buf[i], s32OutBuf + i);
-    }
-    *ps16X = s32OutBuf[0];
-    *ps16Y = s32OutBuf[1];
-    *ps16Z = s32OutBuf[2];
-  
-    return;
-
-}
-void icm20948MagRead(int16_t* ps16X, int16_t* ps16Y, int16_t* ps16Z)
-{
-    uint8_t counter = 20;
-    uint8_t u8Data[MAG_DATA_LEN];
-    int16_t s16Buf[3] = {0}; 
-    uint8_t i;
-    int32_t s32OutBuf[3] = {0};
-    static ICM20948_ST_AVG_DATA sstAvgBuf[3];
-    while( counter>0 )
-    {
-        delay(10);
-        icm20948ReadSecondary( I2C_ADD_ICM20948_AK09916|I2C_ADD_ICM20948_AK09916_READ, 
-                                    REG_ADD_MAG_ST2, 1, u8Data);
-        
-        if ((u8Data[0] & 0x01) != 0)
-            break;
-        
-        counter--;
-    }
-    
-    if(counter != 0)
-    {
-        icm20948ReadSecondary( I2C_ADD_ICM20948_AK09916|I2C_ADD_ICM20948_AK09916_READ, 
-                                    REG_ADD_MAG_DATA, 
-                                    MAG_DATA_LEN,
-                                    u8Data);
-        s16Buf[0] = ((int16_t)u8Data[1]<<8) | u8Data[0];
-        s16Buf[1] = ((int16_t)u8Data[3]<<8) | u8Data[2];
-        s16Buf[2] = ((int16_t)u8Data[5]<<8) | u8Data[4];       
-    }
-
-    for(i = 0; i < 3; i ++) 
-    {
-        icm20948CalAvgValue(&sstAvgBuf[i].u8Index, sstAvgBuf[i].s16AvgBuffer, s16Buf[i], s32OutBuf + i);
-    }
-    
-    *ps16X =  s32OutBuf[0];
-    *ps16Y = -s32OutBuf[1];
-    *ps16Z = -s32OutBuf[2];
-    return;
-}
-
-void icm20948ReadSecondary(uint8_t u8I2CAddr, uint8_t u8RegAddr, uint8_t u8Len, uint8_t *pu8data)
-{
-    uint8_t i;
-    uint8_t u8Temp;
-    
-    I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_REG_BANK_SEL,  REG_VAL_REG_BANK_3); //swtich bank3
-    I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_I2C_SLV0_ADDR, u8I2CAddr);
-    I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_I2C_SLV0_REG,  u8RegAddr);
-    I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_I2C_SLV0_CTRL, REG_VAL_BIT_SLV0_EN|u8Len);
-
-    I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_0); //swtich bank0
-    
-    u8Temp = I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_USER_CTRL);
-    u8Temp |= REG_VAL_BIT_I2C_MST_EN;
-    I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_USER_CTRL, u8Temp);
-    delay(5);
-    u8Temp &= ~REG_VAL_BIT_I2C_MST_EN;
-    I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_USER_CTRL, u8Temp);
-    
-    for(i=0; i<u8Len; i++)
-    {
-        *(pu8data+i) = I2C_ReadOneByte(I2C_ADD_ICM20948, REG_ADD_EXT_SENS_DATA_00+i);
-        
-    }
-    I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_3); //swtich bank3
-    
-    u8Temp = I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_I2C_SLV0_CTRL);
-    u8Temp &= ~((REG_VAL_BIT_I2C_MST_EN)&(REG_VAL_BIT_MASK_LEN));
-    I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_I2C_SLV0_CTRL,  u8Temp);
-    
-    I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_0); //swtich bank0
-
-}
-
-void icm20948WriteSecondary(uint8_t u8I2CAddr, uint8_t u8RegAddr, uint8_t u8data)
-{
-  uint8_t u8Temp;
-  I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_REG_BANK_SEL,  REG_VAL_REG_BANK_3); //swtich bank3
-  I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_I2C_SLV1_ADDR, u8I2CAddr);
-  I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_I2C_SLV1_REG,  u8RegAddr);
-  I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_I2C_SLV1_DO,   u8data);
-  I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_I2C_SLV1_CTRL, REG_VAL_BIT_SLV0_EN|1);
-
-  I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_0); //swtich bank0
-
-  u8Temp = I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_USER_CTRL);
-  u8Temp |= REG_VAL_BIT_I2C_MST_EN;
-  I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_USER_CTRL, u8Temp);
-  delay(5);
-  u8Temp &= ~REG_VAL_BIT_I2C_MST_EN;
-  I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_USER_CTRL, u8Temp);
-
-  I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_3); //swtich bank3
-
-  u8Temp = I2C_ReadOneByte(I2C_ADD_ICM20948,REG_ADD_I2C_SLV0_CTRL);
-  u8Temp &= ~((REG_VAL_BIT_I2C_MST_EN)&(REG_VAL_BIT_MASK_LEN));
-  I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_I2C_SLV0_CTRL,  u8Temp);
-
-  I2C_WriteOneByte(I2C_ADD_ICM20948, REG_ADD_REG_BANK_SEL, REG_VAL_REG_BANK_0); //swtich bank0
-    
-    return;
-}
-
-void icm20948CalAvgValue(uint8_t *pIndex, int16_t *pAvgBuffer, int16_t InVal, int32_t *pOutVal)
-{ 
-  uint8_t i;
-  
-  *(pAvgBuffer + ((*pIndex) ++)) = InVal;
-    *pIndex &= 0x07;
-    
-    *pOutVal = 0;
-  for(i = 0; i < 8; i ++) 
-    {
-      *pOutVal += *(pAvgBuffer + i);
-    }
-    *pOutVal >>= 3;
-}
-
-void icm20948GyroOffset(void)
-{
-  uint8_t i;
-  int16_t s16Gx = 0, s16Gy = 0, s16Gz = 0;
-  int32_t s32TempGx = 0, s32TempGy = 0, s32TempGz = 0;
-  for(i = 0; i < 32; i ++)
-  {
-    icm20948GyroRead(&s16Gx, &s16Gy, &s16Gz);
-    s32TempGx += s16Gx;
-    s32TempGy += s16Gy;
-    s32TempGz += s16Gz;
-    delay(10);
-  }
-  gstGyroOffset.s16X = s32TempGx >> 5;
-  gstGyroOffset.s16Y = s32TempGy >> 5;
-  gstGyroOffset.s16Z = s32TempGz >> 5;
-  return;
-}
-
-bool icm20948MagCheck(void)
-{
-    bool bRet = false;
-    uint8_t u8Ret[2];
-    
-    icm20948ReadSecondary( I2C_ADD_ICM20948_AK09916|I2C_ADD_ICM20948_AK09916_READ,
-                                REG_ADD_MAG_WIA1, 2,u8Ret);
-    if( (u8Ret[0] == REG_VAL_MAG_WIA1) && ( u8Ret[1] == REG_VAL_MAG_WIA2) )
-    {
-        bRet = true;
-    }
-    
-    return bRet;
-}
-
-/******************************************************************************
- * BMP280 sensor device                                                       *
- ******************************************************************************/
- typedef struct {   
-  uint16_t T1;    /*<calibration T1 data*/
-  int16_t T2;     /*<calibration T2 data*/
-  int16_t T3;     /*<calibration T3 data*/
-  uint16_t P1;    /*<calibration P1 data*/
-  int16_t P2;     /*<calibration P2 data*/
-  int16_t P3;     /*<calibration P3 data*/
-  int16_t P4;     /*<calibration P4 data*/
-  int16_t P5;     /*<calibration P5 data*/
-  int16_t P6;     /*<calibration P6 data*/
-  int16_t P7;     /*<calibration P7 data*/
-  int16_t P8;     /*<calibration P8 data*/
-  int16_t P9;     /*<calibration P9 data*/
-  int32_t T_fine; /*<calibration t_fine data*/
-}BMP280_HandleTypeDef;
-
-typedef struct
-{
-  uint8_t Index;
-  int32_t AvgBuffer[8];
-}BMP280_AvgTypeDef;
-
-#define dig_T1 bmp280.T1  
-#define dig_T2 bmp280.T2  
-#define dig_T3 bmp280.T3  
-#define dig_P1 bmp280.P1  
-#define dig_P2 bmp280.P2  
-#define dig_P3 bmp280.P3  
-#define dig_P4 bmp280.P4  
-#define dig_P5 bmp280.P5  
-#define dig_P6 bmp280.P6  
-#define dig_P7 bmp280.P7  
-#define dig_P8 bmp280.P8  
-#define dig_P9 bmp280.P9  
-#define t_fine bmp280.T_fine
-
-#define MSLP    101325   // Mean Sea Level Pressure = 1013.25 hPA (1hPa = 100Pa = 1mbar)
-
-BMP280_HandleTypeDef bmp280;
-int32_t gs32Pressure0 = MSLP; 
-
-bool bmp280Check(void)
-{
-    bool bRet = false;
-    if(0x58 == I2C_ReadOneByte(BMP280_ADDR, BMP280_REGISTER_CHIPID))
-    {
-        bRet = true;
-    }
-    return bRet;
-}
-
-void bmp280ReadCalibration(void)
-{
-  uint8_t lsb, msb; 
-  
-  /* read the temperature calibration parameters */  
-  lsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_T1_LSB_REG);
-  msb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_T1_MSB_REG);
-  dig_T1 = msb << 8 | lsb;
-  lsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_T2_LSB_REG);
-  msb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_T2_MSB_REG);
-  dig_T2 = msb << 8 | lsb;  
-  lsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_T3_LSB_REG);
-  msb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_T3_MSB_REG);
-  dig_T3 = msb << 8 | lsb;  
-  
-  /* read the pressure calibration parameters */  
-  lsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P1_LSB_REG);
-  msb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P1_MSB_REG);    
-  dig_P1 = msb << 8 | lsb;  
-  lsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P2_LSB_REG);
-  msb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P2_MSB_REG);      
-  dig_P2 = msb << 8 | lsb;  
-  lsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P3_LSB_REG);
-  msb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P3_MSB_REG);  
-  dig_P3 = msb << 8 | lsb;  
-  lsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P4_LSB_REG);
-  msb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P4_MSB_REG);         
-  dig_P4 = msb << 8 | lsb;    
-  lsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P5_LSB_REG);
-  msb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P5_MSB_REG);           
-  dig_P5 = msb << 8 | lsb;  
-  lsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P6_LSB_REG);
-  msb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P6_MSB_REG);          
-  dig_P6 = msb << 8 | lsb;  
-  lsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P7_LSB_REG);
-  msb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P7_MSB_REG);           
-  dig_P7 = msb << 8 | lsb;  
-  lsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P8_LSB_REG);
-  msb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P8_MSB_REG);         
-  dig_P8 = msb << 8 | lsb;  
-  lsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P9_LSB_REG);
-  msb = I2C_ReadOneByte(BMP280_ADDR, BMP280_DIG_P9_MSB_REG);            
-  dig_P9 = msb << 8 | lsb; 
-
-}
-
-void bmp280Init(void)
-{
-  I2C_WriteOneByte(BMP280_ADDR, BMP280_REGISTER_CONTROL, 0xFF);
-  I2C_WriteOneByte(BMP280_ADDR, BMP280_REGISTER_CONFIG, 0x14);
-  bmp280ReadCalibration();
-}
-
-float bmp280CompensateTemperature(int32_t adc_T)  
-{  
-  int64_t var1, var2, temperature; 
-
-  var1  = ((((adc_T>>3) - ((int64_t)dig_T1 <<1))) *((int64_t)dig_T2)) >> 11;
-  var2  = (((((adc_T>>4) - ((int64_t)dig_T1)) *((adc_T>>4) - ((int64_t)dig_T1))) >> 12) *
-          ((int64_t)dig_T3)) >> 14;
-  t_fine = var1 + var2;
-
-  temperature = (t_fine * 5 + 128) >> 8; 
- 
-  return (float)temperature;  
-} 
-
-float bmp280CompensatePressure(int32_t adc_P)
-{  
-  int64_t var1, var2;
-  uint64_t pressure;  
-#if 1
-  var1 = ((int64_t)t_fine) - 128000;
-  var2 = var1 * var1 * (int64_t)dig_P6; 
-  var2 = var2 + ((var1*(int64_t)dig_P5)<<17);
-  var2 = var2 + (((int64_t)dig_P4)<<35);
-  var1 = ((var1 * var1 * (int64_t)dig_P3)>>8) + ((var1 * (int64_t)dig_P2)<<12);
-  var1 = (((((int64_t)1)<<47)+var1))*((int64_t)dig_P1)>>33; 
-
-  if (var1 == 0) {  
-    return 0; // avoid exception caused by division by zero  
-  }  
-
-  pressure = 1048576.0 - adc_P;  
-  pressure = (((pressure<<31) - var2)*3125) / var1; 
-  var1 = (((int64_t)dig_P9) * (pressure>>13) * (pressure>>13)) >> 25;
-  var2 = (((int64_t)dig_P8) * pressure) >> 19;
-  pressure = ((pressure + var1 + var2) >> 8) + (((int64_t)dig_P7)<<4);
-   return (float)pressure/256;  
-#else
-  var1 = (((int64_t)t_fine)>>1) - (int64_t)64000;
-  var2 = (((var1>>2) * (var1>>2)) >> 11 ) *((int64_t)dig_P6);
-  var2 = var2 + ((var1 *((int64_t)dig_P5))<<1);
-  var2 = (var2>>2) + (((int64_t)dig_P4)<<16);
-  var1 = (((dig_P3 * (((var1>>2) * (var1>>2))>>13))>>3) + ((((int64_t)dig_P2) * var1)>>1))>>18;
-  var1 = ((((32768+var1))*((int64_t)dig_P1))>>15);
-  if(var1 ==0)
-  {
-    return 0;
-  }
-  pressure = (1048576.0 - adc_P) - (var2>>12)*3125;
-  if(pressure < 0x80000000)
-  {
-    pressure = (pressure<<1)/((uint64_t)var1);
-  } 
-  else
-  {
-    pressure = (pressure/(uint64_t)var1)*2;
-  }
-  var1 = (((int64_t)dig_P9) *((int64_t)(((pressure>>3)*(pressure>>3))>>13)))>>12;
-  var2 = (((int64_t)(pressure>>2))*((int64_t)dig_P8))>>13;
-  pressure = (uint64_t)((int64_t)pressure) +((var1 + var2 + dig_P7)>>4);
-  return (float)pressure; 
-#endif
-  
-}  
-
-void bmp280TandPGet(float *temperature, float *pressure)  
-{  
-  uint8_t lsb, msb, xlsb;  
-  int32_t adc_P,adc_T;
-    
-  xlsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_TEMP_XLSB_REG);
-  lsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_TEMP_LSB_REG);
-  msb = I2C_ReadOneByte(BMP280_ADDR, BMP280_TEMP_MSB_REG);
-  //adc_T = (msb << 12) | (lsb << 4) | (xlsb >> 4); 
-  adc_T = msb;
-  adc_T <<= 8;
-  adc_T |= lsb;
-  adc_T <<= 8;
-  adc_T |= xlsb;
-  adc_T >>= 4;
-  //adc_T = 415148;
-  *temperature = bmp280CompensateTemperature(adc_T);
-
-  xlsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_PRESS_XLSB_REG);
-  lsb = I2C_ReadOneByte(BMP280_ADDR, BMP280_PRESS_LSB_REG);
-  msb = I2C_ReadOneByte(BMP280_ADDR, BMP280_PRESS_MSB_REG);
-  //adc_P = (msb << 12) | (lsb << 4) | (xlsb >> 4); 
-  adc_P = msb;
-  adc_P <<= 8;
-  adc_P |= lsb;
-  adc_P <<= 8;
-  adc_P |= xlsb;
-  adc_P >>= 4;
-  //adc_P = 51988;
-  *pressure = bmp280CompensatePressure(adc_P);     
-} 
-
-void bmp280CalAvgValue(uint8_t *pIndex, int32_t *pAvgBuffer, int32_t InVal, int32_t *pOutVal)
-{ 
-  uint8_t i;
-
-  *(pAvgBuffer + ((*pIndex) ++)) = InVal;
-  *pIndex &= 0x07;
-
-  *pOutVal = 0;
-  for(i = 0; i < 8; i ++) 
-  {
-    *pOutVal += *(pAvgBuffer + i);
-  }
-  *pOutVal >>= 3;
-}
-
-void bmp280CalculateAbsoluteAltitude(int32_t *pAltitude, int32_t PressureVal)
-{
-  *pAltitude = 4433000 * (1 - pow((PressureVal / (float)gs32Pressure0), 0.1903)); 
-}
-
-void pressSensorDataGet(int32_t *ps32Temperature, int32_t *ps32Pressure, int32_t *ps32Altitude)
-{
-  float CurPressure, CurTemperature;
-  int32_t CurAltitude;
-  static BMP280_AvgTypeDef BMP280_Filter[3];
-
-  bmp280TandPGet(&CurTemperature, &CurPressure);
-  bmp280CalAvgValue(&BMP280_Filter[0].Index, BMP280_Filter[0].AvgBuffer, (int32_t)(CurPressure), ps32Pressure);
-
-  bmp280CalculateAbsoluteAltitude(&CurAltitude, (*ps32Pressure));
-  bmp280CalAvgValue(&BMP280_Filter[1].Index, BMP280_Filter[1].AvgBuffer, CurAltitude, ps32Altitude);
-  bmp280CalAvgValue(&BMP280_Filter[2].Index, BMP280_Filter[2].AvgBuffer, (int32_t)CurTemperature, ps32Temperature);
-  return;
-}
-
-#ifdef __cplusplus
-}
-#endif

sender_module/Waveshare_10Dof-D.h

@@ -1,236 +0,0 @@
-/**
-  ******************************************************************************
-  * @file    Waveshare_10Dof-D.h
-  * @author  Waveshare Team
-  * @version V1.0
-  * @date    Dec-2018
-  * @brief   
-  
-  ******************************************************************************
-  * @attention
-  *
-  * THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
-  * WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE
-  * TIME. AS A RESULT, WAVESHARE SHALL NOT BE HELD LIABLE FOR ANY
-  * DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING
-  * FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE
-  * CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
-  *
-  * <h2><center>&copy; COPYRIGHT 2018 Waveshare</center></h2>
-  ******************************************************************************
-  */
-#ifndef __Waveshare_10DOF_D_H__
-#define __Waveshare_10DOF_D_H__
-#if ARDUINO >= 100
- #include "Arduino.h"
-#else
- #include "WProgram.h"
-#endif
-
-/* define ICM-20948 Device I2C address*/
-#define I2C_ADD_ICM20948            0x68
-#define I2C_ADD_ICM20948_AK09916    0x0C
-#define I2C_ADD_ICM20948_AK09916_READ  0x80
-#define I2C_ADD_ICM20948_AK09916_WRITE 0x00
-/* define ICM-20948 Register */
-/* user bank 0 register */
-#define REG_ADD_WIA             0x00
-    #define REG_VAL_WIA             0xEA
-#define REG_ADD_USER_CTRL       0x03
-    #define REG_VAL_BIT_DMP_EN          0x80
-    #define REG_VAL_BIT_FIFO_EN         0x40
-    #define REG_VAL_BIT_I2C_MST_EN      0x20
-    #define REG_VAL_BIT_I2C_IF_DIS      0x10
-    #define REG_VAL_BIT_DMP_RST         0x08
-    #define REG_VAL_BIT_DIAMOND_DMP_RST 0x04
-#define REG_ADD_PWR_MIGMT_1     0x06
-    #define REG_VAL_ALL_RGE_RESET   0x80
-    #define REG_VAL_RUN_MODE        0x01    //Non low-power mode
-#define REG_ADD_LP_CONFIG       0x05
-#define REG_ADD_PWR_MGMT_1      0x06
-#define REG_ADD_PWR_MGMT_2      0x07
-#define REG_ADD_ACCEL_XOUT_H    0x2D
-#define REG_ADD_ACCEL_XOUT_L    0x2E
-#define REG_ADD_ACCEL_YOUT_H    0x2F
-#define REG_ADD_ACCEL_YOUT_L    0x30
-#define REG_ADD_ACCEL_ZOUT_H    0x31
-#define REG_ADD_ACCEL_ZOUT_L    0x32
-#define REG_ADD_GYRO_XOUT_H     0x33
-#define REG_ADD_GYRO_XOUT_L     0x34
-#define REG_ADD_GYRO_YOUT_H     0x35
-#define REG_ADD_GYRO_YOUT_L     0x36
-#define REG_ADD_GYRO_ZOUT_H     0x37
-#define REG_ADD_GYRO_ZOUT_L     0x38
-#define REG_ADD_EXT_SENS_DATA_00 0x3B
-#define REG_ADD_REG_BANK_SEL    0x7F
-    #define REG_VAL_REG_BANK_0  0x00
-    #define REG_VAL_REG_BANK_1  0x10
-    #define REG_VAL_REG_BANK_2  0x20
-    #define REG_VAL_REG_BANK_3  0x30
-
-/* user bank 1 register */
-/* user bank 2 register */
-#define REG_ADD_GYRO_SMPLRT_DIV 0x00
-#define REG_ADD_GYRO_CONFIG_1   0x01
-    #define REG_VAL_BIT_GYRO_DLPCFG_2   0x10 /* bit[5:3] */
-    #define REG_VAL_BIT_GYRO_DLPCFG_4   0x20 /* bit[5:3] */
-    #define REG_VAL_BIT_GYRO_DLPCFG_6   0x30 /* bit[5:3] */
-    #define REG_VAL_BIT_GYRO_FS_250DPS  0x00 /* bit[2:1] */
-    #define REG_VAL_BIT_GYRO_FS_500DPS  0x02 /* bit[2:1] */
-    #define REG_VAL_BIT_GYRO_FS_1000DPS 0x04 /* bit[2:1] */
-    #define REG_VAL_BIT_GYRO_FS_2000DPS 0x06 /* bit[2:1] */    
-    #define REG_VAL_BIT_GYRO_DLPF       0x01 /* bit[0]   */
-#define REG_ADD_ACCEL_SMPLRT_DIV_2  0x11
-#define REG_ADD_ACCEL_CONFIG        0x14
-    #define REG_VAL_BIT_ACCEL_DLPCFG_2  0x10 /* bit[5:3] */
-    #define REG_VAL_BIT_ACCEL_DLPCFG_4  0x20 /* bit[5:3] */
-    #define REG_VAL_BIT_ACCEL_DLPCFG_6  0x30 /* bit[5:3] */
-    #define REG_VAL_BIT_ACCEL_FS_2g     0x00 /* bit[2:1] */
-    #define REG_VAL_BIT_ACCEL_FS_4g     0x02 /* bit[2:1] */
-    #define REG_VAL_BIT_ACCEL_FS_8g     0x04 /* bit[2:1] */
-    #define REG_VAL_BIT_ACCEL_FS_16g    0x06 /* bit[2:1] */    
-    #define REG_VAL_BIT_ACCEL_DLPF      0x01 /* bit[0]   */
-
-/* user bank 3 register */
-#define REG_ADD_I2C_SLV0_ADDR   0x03
-#define REG_ADD_I2C_SLV0_REG    0x04
-#define REG_ADD_I2C_SLV0_CTRL   0x05
-    #define REG_VAL_BIT_SLV0_EN     0x80
-    #define REG_VAL_BIT_MASK_LEN    0x07
-#define REG_ADD_I2C_SLV0_DO     0x06
-#define REG_ADD_I2C_SLV1_ADDR   0x07
-#define REG_ADD_I2C_SLV1_REG    0x08
-#define REG_ADD_I2C_SLV1_CTRL   0x09
-#define REG_ADD_I2C_SLV1_DO     0x0A
-
-/* define ICM-20948 Register  end */
-
-/* define ICM-20948 MAG Register  */
-#define REG_ADD_MAG_WIA1    0x00
-    #define REG_VAL_MAG_WIA1    0x48
-#define REG_ADD_MAG_WIA2    0x01
-    #define REG_VAL_MAG_WIA2    0x09
-#define REG_ADD_MAG_ST2     0x10
-#define REG_ADD_MAG_DATA    0x11
-#define REG_ADD_MAG_CNTL2   0x31
-    #define REG_VAL_MAG_MODE_PD     0x00
-    #define REG_VAL_MAG_MODE_SM     0x01
-    #define REG_VAL_MAG_MODE_10HZ   0x02
-    #define REG_VAL_MAG_MODE_20HZ   0x04
-    #define REG_VAL_MAG_MODE_50HZ   0x05
-    #define REG_VAL_MAG_MODE_100HZ  0x08
-    #define REG_VAL_MAG_MODE_ST     0x10
-/* define ICM-20948 MAG Register  end */
-
-#define MAG_DATA_LEN    6
-
-/* 
- *  BMP280 I2c address
- */
-#define BMP280_AD0_LOW     0x76 //address pin low (GND)
-#define BMP280_AD0_HIGH    0x77 //address pin high (VCC)
-#define BMP280_ADDR        BMP280_AD0_HIGH     // default I2C address  
-/* 
- *  BMP280 register address
- */
-#define BMP280_REGISTER_DIG_T1      0x88
-#define BMP280_REGISTER_DIG_T2      0x8A
-#define BMP280_REGISTER_DIG_T3      0x8C
-
-#define BMP280_REGISTER_DIG_P1      0x8E
-#define BMP280_REGISTER_DIG_P2      0x90
-#define BMP280_REGISTER_DIG_P3      0x92
-#define BMP280_REGISTER_DIG_P4      0x94
-#define BMP280_REGISTER_DIG_P5      0x96
-#define BMP280_REGISTER_DIG_P6      0x98
-#define BMP280_REGISTER_DIG_P7      0x9A
-#define BMP280_REGISTER_DIG_P8      0x9C
-#define BMP280_REGISTER_DIG_P9      0x9E 
-
-#define BMP280_REGISTER_CHIPID      0xD0
-#define BMP280_REGISTER_VERSION     0xD1
-#define BMP280_REGISTER_SOFTRESET   0xE0
-#define BMP280_REGISTER_STATUS      0xF3
-#define BMP280_REGISTER_CONTROL     0xF4
-#define BMP280_REGISTER_CONFIG      0xF5
-
-#define BMP280_TEMP_XLSB_REG        0xFC      /*Temperature XLSB Register */
-#define BMP280_TEMP_LSB_REG         0xFB        /*Temperature LSB Register  */ 
-#define BMP280_TEMP_MSB_REG         0xFA        /*Temperature LSB Register  */  
-#define BMP280_PRESS_XLSB_REG       0xF9    /*Pressure XLSB  Register   */
-#define BMP280_PRESS_LSB_REG        0xF8    /*Pressure LSB Register     */
-#define BMP280_PRESS_MSB_REG        0xF7    /*Pressure MSB Register     */  
-
-/*calibration parameters */  
-#define BMP280_DIG_T1_LSB_REG                0x88  
-#define BMP280_DIG_T1_MSB_REG                0x89  
-#define BMP280_DIG_T2_LSB_REG                0x8A  
-#define BMP280_DIG_T2_MSB_REG                0x8B  
-#define BMP280_DIG_T3_LSB_REG                0x8C  
-#define BMP280_DIG_T3_MSB_REG                0x8D  
-#define BMP280_DIG_P1_LSB_REG                0x8E  
-#define BMP280_DIG_P1_MSB_REG                0x8F  
-#define BMP280_DIG_P2_LSB_REG                0x90  
-#define BMP280_DIG_P2_MSB_REG                0x91  
-#define BMP280_DIG_P3_LSB_REG                0x92  
-#define BMP280_DIG_P3_MSB_REG                0x93  
-#define BMP280_DIG_P4_LSB_REG                0x94  
-#define BMP280_DIG_P4_MSB_REG                0x95  
-#define BMP280_DIG_P5_LSB_REG                0x96  
-#define BMP280_DIG_P5_MSB_REG                0x97  
-#define BMP280_DIG_P6_LSB_REG                0x98  
-#define BMP280_DIG_P6_MSB_REG                0x99  
-#define BMP280_DIG_P7_LSB_REG                0x9A  
-#define BMP280_DIG_P7_MSB_REG                0x9B  
-#define BMP280_DIG_P8_LSB_REG                0x9C  
-#define BMP280_DIG_P8_MSB_REG                0x9D  
-#define BMP280_DIG_P9_LSB_REG                0x9E  
-#define BMP280_DIG_P9_MSB_REG                0x9F
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-typedef enum 
-{  
-  IMU_EN_SENSOR_TYPE_NULL = 0,
-  IMU_EN_SENSOR_TYPE_ICM20948,
-  IMU_EN_SENSOR_TYPE_BMP280,
-  IMU_EN_SENSOR_TYPE_MAX
-}IMU_EN_SENSOR_TYPE;
-
-typedef struct imu_st_angles_data_tag
-{
-  float fYaw;
-  float fPitch;
-  float fRoll;
-}IMU_ST_ANGLES_DATA;
-
-typedef struct imu_st_sensor_data_tag
-{
-  int16_t s16X;
-  int16_t s16Y;
-  int16_t s16Z;
-}IMU_ST_SENSOR_DATA;
-
-typedef struct icm20948_st_avg_data_tag
-{
-  uint8_t u8Index;
-  int16_t s16AvgBuffer[8];
-}ICM20948_ST_AVG_DATA;
-
-void imuInit(IMU_EN_SENSOR_TYPE *penMotionSensorType, IMU_EN_SENSOR_TYPE *penPressureType);
-void imuDataGet(IMU_ST_ANGLES_DATA *pstAngles, 
-                IMU_ST_SENSOR_DATA *pstGyroRawData,
-                IMU_ST_SENSOR_DATA *pstAccelRawData,
-                IMU_ST_SENSOR_DATA *pstMagnRawData); 
-void pressSensorDataGet(int32_t *ps32Temperature, int32_t *ps32Pressure, int32_t *ps32Altitude);
-
-uint8_t I2C_ReadOneByte(uint8_t DevAddr, uint8_t RegAddr);
-void I2C_WriteOneByte(uint8_t DevAddr, uint8_t RegAddr, uint8_t value);
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif //__Waveshare_10DOF_D_H__

sender_module/sender_module.ino

@@ -1,59 +0,0 @@
-#include <SPI.h>
-#include <nRF24L01.h>
-#include <RF24.h>
-#include "Waveshare_10Dof-D.h"
-#include "string.h"
-
-
-bool gbSenserConnectState = false;
-//create an RF24 object
-RF24 radio(9, 8);                 // CE, CSN
-const byte address[6] = "00001";  //address through which two modules communicate
-
-void setup() {
-  // init radio
-  radio.begin();
-  radio.openWritingPipe(address);
-  radio.stopListening();  //Set module as transmitter
-
-  // init motion sensor
-  bool bRet;
-  IMU_EN_SENSOR_TYPE enMotionSensorType, enPressureType;
-  Serial.begin(115200);
-
-  imuInit(&enMotionSensorType, &enPressureType);
-  if(IMU_EN_SENSOR_TYPE_ICM20948 == enMotionSensorType)
-  {
-    Serial.println("Motion sersor is ICM-20948");
-  }
-  else
-  {
-    Serial.println("Motion sersor NULL");
-  }
-  if(IMU_EN_SENSOR_TYPE_BMP280 == enPressureType)
-  {
-    Serial.println("Pressure sersor is BMP280");
-  }
-  else
-  {
-    Serial.println("Pressure sersor NULL");
-  }
-  delay(1000);
-}
-
-void loop() {
-  IMU_ST_ANGLES_DATA stAngles;
-  IMU_ST_SENSOR_DATA stGyroRawData;
-  IMU_ST_SENSOR_DATA stAccelRawData;
-  IMU_ST_SENSOR_DATA stMagnRawData;
-  int32_t s32PressureVal = 0, s32TemperatureVal = 0, s32AltitudeVal = 0;
-  
-  imuDataGet( &stAngles, &stGyroRawData, &stAccelRawData, &stMagnRawData);
-  pressSensorDataGet(&s32TemperatureVal, &s32PressureVal, &s32AltitudeVal);
-  char result[8];
-  float temperature = (s32TemperatureVal / 100);
-  dtostrf(temperature, 6, 2, result);
-  //Send message to receiver
-  radio.write(&result, sizeof(result));
-  //delay(1000);
-}

serial_read/go.mod

@@ -1,7 +0,0 @@
-module foglar/serial_read
-
-go 1.21.6
-
-require github.com/tarm/serial v0.0.0-20180830185346-98f6abe2eb07
-
-require golang.org/x/sys v0.16.0 // indirect

serial_read/go.sum

@@ -1,4 +0,0 @@
-github.com/tarm/serial v0.0.0-20180830185346-98f6abe2eb07 h1:UyzmZLoiDWMRywV4DUYb9Fbt8uiOSooupjTq10vpvnU=
-github.com/tarm/serial v0.0.0-20180830185346-98f6abe2eb07/go.mod h1:kDXzergiv9cbyO7IOYJZWg1U88JhDg3PB6klq9Hg2pA=
-golang.org/x/sys v0.16.0 h1:xWw16ngr6ZMtmxDyKyIgsE93KNKz5HKmMa3b8ALHidU=
-golang.org/x/sys v0.16.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA=

serial_read/main.go

@@ -1,148 +0,0 @@
-package main
-
-import (
-	"fmt"
-	"github.com/tarm/serial"
-	"log"
-	"os"
-	"strconv"
-	"time"
-)
-
-func portInput() string {
-	var port string
-	for true {
-		port = ""
-		fmt.Print("Enter port to listen on (for example - '/dev/ttyACM0'): ")
-		fmt.Scanln(&port)
-
-		if port == "" {
-			port = "/dev/ttyACM0"
-		}
-
-		_, err := os.Stat(port)
-		if !os.IsNotExist(err) {
-			break
-		} else {
-			fmt.Println("Invalid port")
-		}
-	}
-
-	return port
-}
-
-func baudrateInput() int {
-	var baudrate int
-	var s_baudrate string
-
-	fmt.Print("Enter baudrate (for example - '9600'): ")
-	fmt.Scanln(&s_baudrate)
-	baudrate = baudrateCheck(s_baudrate)
-	return baudrate
-}
-
-func baudrateCheck(s_baudrate string) int {
-	var baudrate int
-	switch s_baudrate {
-	case "4800":
-		baudrate = 4800
-	case "9600":
-		baudrate = 9600
-	case "115200":
-		baudrate = 115200
-	default:
-		baudrate = 9600
-	}
-	return baudrate
-
-}
-
-func UserInput() (string, int) {
-	port := portInput()
-	baudrate := baudrateInput()
-
-	return port, baudrate
-}
-
-func getTime() string {
-	return time.Now().Format("2006-1-2_15:4:5")
-}
-
-func main() {
-	args := os.Args[1:]
-	var port string
-	var baudrate int
-
-	if len(args) == 0 {
-		port, baudrate = UserInput()
-	} else {
-		i := 0
-		for i < len(args) {
-			if args[i] == "-p" && i+1 < len(args) {
-				port = args[i+1]
-			}
-			if args[i] == "-h" || args[i] == "--help" {
-				fmt.Println("-h, --help - prints this message")
-				fmt.Println("-p [port] - listens on port")
-				fmt.Println("-b [baudrate] - sets the baudrate")
-				fmt.Println("-d - runs the script with default values")
-				os.Exit(0)
-
-			}
-			if args[i] == "-b" && i+1 < len(args) {
-				var err error
-				baudrate, err = strconv.Atoi(args[i+1])
-				if err != nil {
-					fmt.Println("Invalid baudrate")
-					os.Exit(1)
-				}
-			}
-			if args[i] == "-d" {
-				port = "/dev/ACM0"
-				baudrate = 9600
-			}
-			i++
-		}
-
-		if port == "" {
-			port = portInput()
-		}
-		if baudrate == 0 {
-			baudrate = baudrateInput()
-		}
-	}
-
-	// Listen on port
-	fmt.Printf("Listening on port %s with baudrate %d:\n", port, baudrate)
-	c := &serial.Config{Name: port, Baud: baudrate}
-
-	// Create file
-	filename := getTime() + ".txt"
-	f, err := os.Create(filename)
-	if err != nil {
-		log.Fatal(err)
-	}
-	defer f.Close()
-
-	// Open port
-	s, err := serial.OpenPort(c)
-	if err != nil {
-		log.Fatal(err)
-	}
-
-	var n int
-	for {
-		// create a buffer
-		buf := make([]byte, 254)
-
-		// Read length of serial input
-		n, err = s.Read(buf)
-		if err != nil {
-			log.Fatal(err)
-		}
-
-		// Print as a string
-		fmt.Print(string(buf[:n]))
-		f.WriteString(string(buf[:n]))
-	}
-}