foglar
11ba173218
created new go package monitor, prepared serial monitor sub-package, sender_module, and reciever_module updated
92 lines
2.4 KiB
C++
92 lines
2.4 KiB
C++
#include <SPI.h>
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#include <nRF24L01.h>
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#include <RF24.h>
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#include "Waveshare_10Dof-D.h"
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#include "string.h"
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bool gbSenserConnectState = false;
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//create an RF24 objetct
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RF24 radio(9, 8); // CE, CSN
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const byte address[6] = "00001"; //address through which two modules communicate
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void setup() {
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// init radio
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radio.begin();
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radio.openWritingPipe(address);
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radio.stopListening(); //Set module as transmitter
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// init motion sensor
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bool bRet;
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IMU_EN_SENSOR_TYPE enMotionSensorType, enPressureType;
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Serial.begin(115200);
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imuInit(&enMotionSensorType, &enPressureType);
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if(IMU_EN_SENSOR_TYPE_ICM20948 == enMotionSensorType)
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{
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Serial.println("# Motion sersor is ICM-20948");
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}
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else
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{
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Serial.println("# Motion sersor NULL");
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}
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if(IMU_EN_SENSOR_TYPE_BMP280 == enPressureType)
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{
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Serial.println("# Pressure sersor is BMP280");
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}
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else
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{
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Serial.println("# Pressure sersor NULL");
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}
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delay(1000);
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}
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void loop() {
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IMU_ST_ANGLES_DATA stAngles;
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IMU_ST_SENSOR_DATA stGyroRawData;
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IMU_ST_SENSOR_DATA stAccelRawData;
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IMU_ST_SENSOR_DATA stMagnRawData;
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int32_t s32PressureVal = 0, s32TemperatureVal = 0, s32AltitudeVal = 0;
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imuDataGet( &stAngles, &stGyroRawData, &stAccelRawData, &stMagnRawData);
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pressSensorDataGet(&s32TemperatureVal, &s32PressureVal, &s32AltitudeVal);
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char temp_str[8], pressure_str[8], altitude_str[8];
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char roll_str[8], pitch_str[8], yaw_str[8];
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float temperature = (s32TemperatureVal / 100);
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float pressure = (s32PressureVal / 100);
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float altitude = (s32AltitudeVal / 100);
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float roll = stAngles.fRoll;
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float pitch = stAngles.fPitch;
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float yaw = stAngles.fYaw;
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dtostrf(temperature, 6, 2, temp_str);
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dtostrf(pressure, 6, 2, pressure_str);
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dtostrf(altitude, 6, 2, altitude_str);
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dtostrf(roll, 6, 2, roll_str);
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dtostrf(pitch, 6, 2, pitch_str);
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dtostrf(yaw, 6, 2, yaw_str);
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//Serial.println(roll, pitch, yaw);
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//Serial.println(temperature, pressure, altitude);
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char msg[64];
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String ctemp = ("$1;"+String(temp_str)+"*");
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String cpressure = ("$2;"+String(pressure_str)+"*");
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String caltitude = ("$3;"+String(altitude_str)+"*");
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String croll = ("$4;"+String(roll_str)+"*");
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String cpitch = ("$5;"+String(pitch_str)+"*");
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String cyaw = ("$6;"+String(yaw_str) + "*");
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ctemp.toCharArray(msg, sizeof(msg));
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radio.write(&msg, sizeof(msg));
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cpressure.toCharArray(msg, sizeof(msg));
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radio.write(&msg, sizeof(msg));
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delay(200);
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}
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