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ArdusatSDK.cpp
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ArdusatSDK.cpp
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/**
* @file ArdusatSDK.cpp
* @author Ben Peters (ben@ardusat.com)
* @author Sam Olds (sam@ardusat.com)
* @date December 3, 2014
* @brief Implements ArdusatSDK generic sensor reading and configuration for Space Kit Sensors.
*
* Provides a unifying wrapper of sensor specific functionality to provide a
* consistent interface to interact with each type of sensor.
*/
#include <stdio.h>
#include <string.h>
#include "ArdusatSDK.h"
boolean MANUAL_CONFIG = false;
boolean ARDUSAT_SPACEBOARD = false;
int OUTPUT_BUF_SIZE = 256;
char * _output_buffer;
static int _output_buf_len = 0;
// BecauseLearning Logo
static uint8_t buffer[32 * 128 / 8] = {
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0xFF, 0xFF, 0xFF, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0xF3, 0x53, 0x53, 0x53, 0xA3, 0x03, 0x03,
0x03, 0xF3, 0x53, 0x53, 0x53, 0x53, 0x03, 0x03, 0xE3, 0x33, 0x13, 0x13, 0x13, 0x23, 0x03, 0x03,
0x03, 0xC3, 0x63, 0x33, 0x63, 0xC3, 0x03, 0x03, 0x03, 0xF3, 0x03, 0x03, 0x03, 0xF3, 0x03, 0x03,
0x03, 0x63, 0x53, 0xD3, 0x93, 0xA3, 0x03, 0x03, 0xF3, 0x53, 0x53, 0x53, 0x53, 0x03, 0x03, 0x03,
0x03, 0x03, 0xFF, 0xFF, 0xFF, 0xFF, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0xE3, 0xF3,
0xFB, 0xFB, 0xFB, 0xF3, 0xE3, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0x03, 0xFF, 0xFF, 0xFF,
0xF0, 0xF0, 0xF0, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30,
0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30,
0x3F, 0x3F, 0x3F, 0x30, 0x30, 0x30, 0x30, 0x30, 0x30, 0x33, 0x32, 0x32, 0x32, 0x31, 0x30, 0x30,
0x30, 0x33, 0x32, 0x32, 0x32, 0x32, 0x30, 0x30, 0x31, 0x33, 0x32, 0x32, 0x32, 0x31, 0x30, 0x30,
0x33, 0x31, 0x31, 0x31, 0x31, 0x31, 0x33, 0x30, 0x30, 0x33, 0x32, 0x32, 0x32, 0x33, 0x30, 0x30,
0x30, 0x31, 0x32, 0x32, 0x32, 0x31, 0x30, 0x30, 0x33, 0x32, 0x32, 0x32, 0x32, 0x30, 0x30, 0x30,
0x30, 0x30, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0x7F,
0xFF, 0xFF, 0xFF, 0x7F, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFE, 0xFE, 0x00, 0x00, 0x00, 0x00,
0x00, 0x00, 0x00, 0xFE, 0xFE, 0x66, 0x66, 0x66, 0x66, 0x06, 0x00, 0x00, 0x00, 0x00, 0x80, 0xE0,
0xFC, 0x8E, 0x8E, 0xFC, 0xE0, 0x80, 0x00, 0x00, 0x00, 0x00, 0xFE, 0xFE, 0x66, 0xE6, 0xEE, 0x7C,
0x38, 0x00, 0x00, 0x00, 0x00, 0xFE, 0xFE, 0x1E, 0x78, 0xE0, 0xC0, 0xFE, 0xFE, 0x00, 0x00, 0x00,
0x00, 0x00, 0xFE, 0xFE, 0x00, 0x00, 0x00, 0x00, 0xFE, 0xFE, 0x1E, 0x78, 0xF0, 0xC0, 0xFE, 0xFE,
0x00, 0x00, 0x00, 0x00, 0x60, 0xF8, 0xFC, 0x0E, 0x06, 0x66, 0x66, 0xE6, 0xE4, 0x00, 0x00, 0x00,
0x00, 0x00, 0xFF, 0xFF, 0xFF, 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
0x07, 0x1F, 0x07, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF,
0xFF, 0xFF, 0xFF, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xC7, 0xC7, 0xC6, 0xC6, 0xC6, 0xC6,
0xC0, 0xC0, 0xC0, 0xC7, 0xC7, 0xC6, 0xC6, 0xC6, 0xC6, 0xC6, 0xC0, 0xC0, 0xC0, 0xC6, 0xC7, 0xC3,
0xC1, 0xC1, 0xC1, 0xC1, 0xC3, 0xC7, 0xC6, 0xC0, 0xC0, 0xC0, 0xC7, 0xC7, 0xC0, 0xC0, 0xC3, 0xC7,
0xC6, 0xC0, 0xC0, 0xC0, 0xC0, 0xC7, 0xC7, 0xC0, 0xC0, 0xC0, 0xC1, 0xC7, 0xC7, 0xC0, 0xC0, 0xC0,
0xC0, 0xC0, 0xC7, 0xC7, 0xC0, 0xC0, 0xC0, 0xC0, 0xC7, 0xC7, 0xC0, 0xC0, 0xC0, 0xC1, 0xC7, 0xC7,
0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xC1, 0xC3, 0xC7, 0xC6, 0xC6, 0xC6, 0xC7, 0xC3, 0xC0, 0xC0, 0xC0,
0xC0, 0xC0, 0xFF, 0xFF, 0xFF, 0xFF, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xCE,
0xDF, 0xDF, 0xDF, 0xCE, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0xFF, 0xFF, 0xFF
};
// TODO: Change these error messages to be JSON that can easily be caught by the Experiment Platform
const char concat_string[] PROGMEM = "%s%s";
const char begin_error_msg[] PROGMEM = "begin %s failed. Check wiring!";
const char unavailable_on_hardware_error_msg[] PROGMEM = "%s is not available with %s";
const char spacekit_hardware_name[] PROGMEM = "Space Kit";
const char spaceboard_hardware_name[] PROGMEM = "SpaceBoard";
const char acceleration_sensor_name[] PROGMEM = "Acceleration";
const char gyro_sensor_name[] PROGMEM = "Gyro";
const char luminosity_sensor_name[] PROGMEM = "Luminosity";
const char magnetic_sensor_name[] PROGMEM = "Magnetic";
const char orientation_sensor_name[] PROGMEM = "Orientation";
const char pressure_sensor_name[] PROGMEM = "BarometricPressure";
const char temperature_sensor_name[] PROGMEM = "Temperature";
const char irtemperature_sensor_name[] PROGMEM = "IRTemperature";
const char rgblight_sensor_name[] PROGMEM = "RGBLight";
const char uvlight_sensor_name[] PROGMEM = "UVLight";
const char CSV_TIMESTAMP[] PROGMEM = "timestamp(seconds)";
const char CSV_CHECKSUM[] PROGMEM = "checksum";
static char CSV_SEPARATOR = ',';
static char JSON_PREFIX = '~';
static char JSON_SUFFIX = '|';
const char json_format[] PROGMEM = "%c{\"sensorName\":\"%s\",\"unit\":\"%s\",\"value\":%s,\"cs\":%d}%c\n";
/*
* Gets the output buffer used for storing sensor data, or initializes
* it if it doesn't yet exist
*
* @return the current output buffer
*/
char * _getOutBuf() {
if (_output_buffer == NULL) {
_output_buffer = new char[OUTPUT_BUF_SIZE];
}
return _output_buffer;
}
/*
* Resets the output buffer to be blank
*/
void _resetOutBuf() {
memset(_getOutBuf(), 0, OUTPUT_BUF_SIZE);
_output_buf_len = 0;
}
/**
* Convert an enumerated unit code to a string representation.
*
* @param unit code (see units.h defines)
*
* @return string representation of unit
*/
const char * unit_to_str(unsigned char unit) {
switch (unit) {
case (DATA_UNIT_NONE):
return "";
case (DATA_UNIT_METER_PER_SECONDSQUARED):
return "m/s^2";
case (DATA_UNIT_RADIAN_PER_SECOND):
return "rad/s";
case (DATA_UNIT_MICROTESLA):
return "uT";
case (DATA_UNIT_DEGREES_CELSIUS):
return "C";
case (DATA_UNIT_METER_PER_SECOND):
return "m/s";
case (DATA_UNIT_LUX):
return "lux";
case (DATA_UNIT_MILLIWATT_PER_CMSQUARED):
return "mW/cm^2";
case (DATA_UNIT_DEGREES):
return "deg";
case (DATA_UNIT_HECTOPASCAL):
return "hPa";
default:
return "";
};
}
/*
* Prints an error message that has exactly two "%s" format specifiers in error_msg
* This relies on a 256 character output buffer. Make sure that sensorName isn't too long!
*
* @param error_msg the base error message
* @param sensorName name of sensor that failed.
* @param hardwareBuild empty string, space kit, or spaceboard
*/
void _writeErrorMessage(const char error_msg[] PROGMEM, const char sensorName[] PROGMEM, const char hardwareBuild[] PROGMEM) {
char err_msg[30];
char sensor[50];
char hardware[15];
strcpy_P(err_msg, error_msg);
strcpy_P(sensor, sensorName);
strcpy_P(hardware, hardwareBuild);
// Make SURE sensorName isn't too long for the output buffer!!!
_resetOutBuf();
sprintf(_getOutBuf(), err_msg, sensor, hardware);
Serial.println(_getOutBuf());
}
/*
* Prints an error message that has exactly one "%s" format specifiers in error_msg
* This relies on a 256 character output buffer. Make sure that sensorName isn't too long!
*
* @param error_msg the base error message
* @param sensorName name of sensor that failed.
*/
void _writeErrorMessage(const char error_msg[] PROGMEM, const char sensorName[] PROGMEM) {
char err_msg[30];
char sensor[50];
strcpy_P(err_msg, error_msg);
strcpy_P(sensor, sensorName);
// Make SURE sensorName isn't too long for the output buffer!!!
_resetOutBuf();
sprintf(_getOutBuf(), err_msg, sensor);
Serial.println(_getOutBuf());
}
/*
* Internal helper to do shared checksum logic
*/
int _calculateCheckSumValue(const char *sensor_name, int num_vals, va_list values) {
int cs = 0;
const char *c_ptr = sensor_name;
for (int i = 0; i < num_vals; ++i) {
cs += lround(va_arg(values, double));
}
while (*c_ptr != 0) {
cs += *c_ptr++;
}
return cs;
}
/*
* Calculates a checksum value for a given sensorName and value
*
* @param sensor_name name of sensor
* @param num_vals Number of values
* @param values variable number of floats to write
*
* @return checksum
*/
int calculateCheckSum(const char *sensor_name, int num_vals, ...) {
va_list values;
va_start(values, num_vals);
int cs = _calculateCheckSumValue(sensor_name, num_vals, values);
va_end(values);
return cs;
}
/**
* Create a CSV string with a generic array of float values and a sensor name. Optional timestamp
* argument allows passing in a timestamp; will use millis() otherwise.
*
* @param sensorName string sensor name
* @param timestamp optional timestamp. If 0, millis() will be called.
* @param numValues number of float values
* @param variable float values
*
* @return pointer to output buffer
*/
const char * valuesToCSV(const char *sensorName, unsigned long timestamp, int numValues, ...) {
int i, name_len;
va_list args;
if (timestamp == 0) {
timestamp = millis();
}
_resetOutBuf();
ultoa(timestamp, _getOutBuf(), 10);
_output_buf_len = strlen(_getOutBuf());
if (sensorName != NULL) {
if ((name_len = strlen(sensorName)) > 50) {
name_len = 50;
}
_getOutBuf()[_output_buf_len++] = CSV_SEPARATOR;
memcpy(&(_getOutBuf()[_output_buf_len]), sensorName, name_len);
_output_buf_len += name_len;
}
va_start(args, numValues);
for (i = 0; i < numValues; ++i) {
// We don't know *exactly* how long the floating point value is
// going to be, so just take a guess here...
if (_output_buf_len > OUTPUT_BUF_SIZE - 10) {
break;
}
_getOutBuf()[_output_buf_len++] = CSV_SEPARATOR;
dtostrf(va_arg(args, double), 2, 3, _getOutBuf() + _output_buf_len);
_output_buf_len = strlen(_getOutBuf());
}
va_end(args);
if (_output_buf_len < OUTPUT_BUF_SIZE - 10) {
va_start(args, numValues);
int cs = _calculateCheckSumValue(sensorName, numValues, args);
va_end(args);
_getOutBuf()[_output_buf_len++] = CSV_SEPARATOR;
itoa(cs, _getOutBuf() + _output_buf_len, 10);
_output_buf_len = strlen(_getOutBuf());
}
_getOutBuf()[_output_buf_len++] = '\n';
return _getOutBuf();
}
/**
* Create a CSV string with a generic float value and a sensor name. Optional timestamp
* argument allows passing in a timestamp; will use millis() otherwise.
*
* @param sensorName string sensor name
* @param value value to write
* @param timestamp optional timestamp. If 0, millis() will be called.
*
* @return pointer to output buffer
*/
const char * valueToCSV(const char *sensorName, float value, unsigned long timestamp) {
return valuesToCSV(sensorName, timestamp, 1, value);
}
/*
* Internal helper to build the JSON string at the proper point in the output buffer
* with the correct values and labels
*/
int _writeJSONValue(char *buf, const char *sensor_name, const char *unit, float value) {
char num [32];
char format_str[80];
// inexact estimate on the number of characters the value will take up...
if (strlen(sensor_name) + strlen(unit) + 10 + _output_buf_len > OUTPUT_BUF_SIZE) {
return -1;
}
dtostrf(value, 4, 2, num);
strcpy_P(format_str, json_format);
_output_buf_len += sprintf(buf, format_str,
JSON_PREFIX, sensor_name, unit, num,
calculateCheckSum(sensor_name, 1, value), JSON_SUFFIX);
return _output_buf_len;
}
/**
* Create a JSON string with a generic array of float values and a sensor name.
*
* @param sensorName string sensor name
* @param unit unit the sensor values are in
* @param numValues number of pairs of string labels and float values
* @param variable pairs of string labels and float values
*
* @return pointer to output buffer
*/
const char * valuesToJSON(const char *sensorName, unsigned char unit, int numValues, ...) {
int i = 0;
size_t nameLength = strlen(sensorName) + 1; // For null terminator
va_list args;
char concatBuf[5];
strcpy_P(concatBuf, concat_string);
_resetOutBuf();
va_start(args, numValues);
for (i = 0; i < numValues; ++i) {
char * label = va_arg(args, char *);
float value = va_arg(args, double);
char nameBuf[nameLength + strlen(label) + 1];
sprintf(nameBuf, concatBuf, sensorName, label); // concatBuf = "%s%s";
_writeJSONValue(&_getOutBuf()[_output_buf_len], nameBuf, unit_to_str(unit), value);
}
va_end(args);
return _getOutBuf();
}
/**
* Creates a JSON string with the appropriate values
*
* @param sensorName the label to be given to some data
* @param unit the unit of measurement used
* @param value the sensor value
*
* @return the output buffer
*/
const char * valueToJSON(const char *sensorName, unsigned char unit, float value) {
_resetOutBuf();
_writeJSONValue(_getOutBuf(), sensorName, unit_to_str(unit), value);
return _getOutBuf();
}
/**************************************************************************//**
* @brief Initializes the sensor with any set configurations
* @ingroup sensor
*
* @retval true Successfully initialized
* @retval false Failed to initialize
*****************************************************************************/
boolean Sensor::begin(void) {
catchSpaceboard();
this->initialized = this->initialize();
if (!this->initialized) {
_writeErrorMessage(begin_error_msg, this->name);
}
return this->initialized;
}
/**
* @brief Makes sure the sensor was initialized then calls the sensor specific read
* @ingroup sensor
* @retval true A sensor reading was attempted
* @retval false No sensor reading was attempted. Must `begin()` first
*/
boolean Sensor::read(void) {
if (this->initialized) {
this->header.timestamp = millis();
return this->readSensor();
}
return this->initialized;
}
/**
* @brief Takes a reading from the sensor and returns value in CSV format
* @ingroup sensor
* @param sensorName The text to display next to the value
* @return sensor readings in CSV format or empty string if uninitialized
*/
const char * Sensor::readToCSV(const char * sensorName) {
this->read();
return this->toCSV(sensorName);
}
/**
* @brief Takes a reading from the sensor and returns value in JSON format
* @ingroup sensor
* @param sensorName The text to display next to the value
* @return sensor readings in JSON format or empty string if uninitialized
*/
const char * Sensor::readToJSON(const char * sensorName) {
this->read();
return this->toJSON(sensorName);
}
/**
* @brief Initializes member variables for each sensor
* @ingroup sensor
* @param sensor_id The type of sensor
* @param unit The unit the sensor values use
* @param name The default name the sensor uses
*
* @note These values are not initialized as member variables in child class
* constructors because they are inherited from the base Sensor class
* and need a Sensor Constructor they can be passed to. However, this
* constructor causes more memory overhead than it was decided to be
* worth. Which is why they're explicitly set instead of initialized.
*/
void Sensor::initializeHeader(sensor_id_t sensor_id, data_unit_t unit, const char name[] PROGMEM) {
this->name = name;
this->header.sensor_id = sensor_id;
this->header.unit = unit;
this->header.timestamp = 0;
this->initialized = false;
}
/**************************************************************************//**
* @brief Constructs Acceleration sensor object
* @ingroup acceleration
*
* Example Usage:
* @code
* Acceleration accel; // Instantiate sensor object
* accel.begin(); // Initialize sensor
* Serial.println(accel.readToJSON("accel")); // Read and print values in JSON
* @endcode
*****************************************************************************/
Acceleration::Acceleration(void) :
gGain(LSM303_ACCEL_GAIN8G)
{
this->initializeHeader(SENSORID_ADAFRUIT9DOFIMU, DATA_UNIT_METER_PER_SECONDSQUARED, acceleration_sensor_name);
}
/**
* @brief Sets the gain configuration variable and constructs an object
* @ingroup acceleration
*
* @param gain Advanced configuration for accelerometer's gain
* - LSM303_ACCEL_GAIN2G
* - LSM303_ACCEL_GAIN4G
* - LSM303_ACCEL_GAIN6G
* - LSM303_ACCEL_GAIN8G (Default)
* - LSM303_ACCEL_GAIN16G
*
* Example Usage:
* @code
* Acceleration accel(LSM303_ACCEL_GAIN2G); // Instantiate sensor object
* accel.begin(); // Initialize sensor
* Serial.println(accel.readToJSON("accel")); // Read and print values in JSON
* @endcode
*/
Acceleration::Acceleration(lsm303_accel_gain_e gain) :
gGain(gain)
{
this->initializeHeader(SENSORID_ADAFRUIT9DOFIMU, DATA_UNIT_METER_PER_SECONDSQUARED, acceleration_sensor_name);
}
/**
* @brief Initializes the sensor with any set configurations or defaults
* @ingroup acceleration
*
* @retval true Successfully initialized
* @retval false Failed to initialize
*/
boolean Acceleration::initialize(void) {
return lsm303_accel_init(this->gGain);
}
/**
* @brief Takes a reading from the sensor
* @ingroup acceleration
*
* @retval true Successfully read
* @retval false Failed to read
*/
boolean Acceleration::readSensor(void) {
lsm303_getAccel(&(this->x), &(this->y), &(this->z));
return true;
}
/**
* @brief Returns last read value in CSV format
* @ingroup acceleration
* @param sensorName The text to display next to the value
* @return sensor readings in CSV format or empty string if uninitialized
*/
const char * Acceleration::toCSV(const char * sensorName) {
if (this->header.timestamp != 0) {
return valuesToCSV(sensorName, this->header.timestamp, 3,
this->x, this->y, this->z);
} else {
return "";
}
}
/**
* @brief Returns last read value in JSON format
* @ingroup acceleration
* @param sensorName The text to display next to the value
* @return sensor readings in JSON format or empty string if uninitialized
*/
const char * Acceleration::toJSON(const char * sensorName) {
if (this->header.timestamp != 0) {
return valuesToJSON(sensorName, this->header.unit, 3, "X", this->x,
"Y", this->y, "Z", this->z);
} else {
return "";
}
}
/**************************************************************************//**
* @brief Constructs Gyro sensor object
* @ingroup gyro
*
* Example Usage:
* @code
* Gyro gyro; // Instantiate sensor object
* gyro.begin(); // Initialize sensor
* Serial.println(gyro.readToJSON("gyro")); // Read and print values in JSON
* @endcode
*****************************************************************************/
Gyro::Gyro(void) :
range(0x20)
{
this->initializeHeader(SENSORID_ADAFRUIT9DOFIMU, DATA_UNIT_RADIAN_PER_SECOND, gyro_sensor_name);
}
/**
* @brief Sets the range configuration variable and constructs an object
* @ingroup gyro
*
* @param range Advanced configuration for gyro's range
* - 0x00 (SENSITIVITY_250DPS)
* - 0x10 (SENSITIVITY_500DPS)
* - 0x20 (SENSITIVITY_2000DPS) (Default)
*
* Example Usage:
* @code
* Gyro gyro(0x00); // Instantiate sensor object
* gyro.begin(); // Initialize sensor
* Serial.println(gyro.readToJSON("gyro")); // Read and print values in JSON
* @endcode
*/
Gyro::Gyro(uint8_t range) :
range(range)
{
this->initializeHeader(SENSORID_ADAFRUIT9DOFIMU, DATA_UNIT_RADIAN_PER_SECOND, gyro_sensor_name);
}
/**
* @brief Initializes the sensor with advanced configurations or defaults
* @ingroup gyro
*
* @retval true Successfully initialized
* @retval false Failed to initialize
*/
boolean Gyro::initialize(void) {
return l3gd20h_init(this->range);
}
/**
* @brief Takes a reading from the sensor
* @ingroup gyro
*
* @retval true Successfully read
* @retval false Failed to read
*/
boolean Gyro::readSensor(void) {
l3gd20h_getOrientation(&(this->x), &(this->y), &(this->z));
return true;
}
/**
* @brief Returns last read value in CSV format
* @ingroup gyro
* @param sensorName The text to display next to the value
* @return sensor readings in CSV format or empty string if uninitialized
*/
const char * Gyro::toCSV(const char * sensorName) {
if (this->header.timestamp != 0) {
return valuesToCSV(sensorName, this->header.timestamp, 3,
this->x, this->y, this->z);
} else {
return "";
}
}
/**
* @brief Returns last read value in JSON format
* @ingroup gyro
* @param sensorName The text to display next to the value
* @return sensor readings in JSON format or empty string if uninitialized
*/
const char * Gyro::toJSON(const char * sensorName) {
if (this->header.timestamp != 0) {
return valuesToJSON(sensorName, this->header.unit, 3, "X", this->x,
"Y", this->y, "Z", this->z);
} else {
return "";
}
}
/**************************************************************************//**
* @brief Constructs Luminosity sensor object
* @ingroup luminosity
*
* Example Usage:
* @code
* Luminosity lum; // Instantiate sensor object
* lum.begin(); // Initialize sensor
* Serial.println(lum.readToJSON("lum")); // Read and print values in JSON
* @endcode
*****************************************************************************/
Luminosity::Luminosity(void) :
gain(TCS34725_GAIN_16X),
intTime(TCS34725_INTEGRATIONTIME_24MS)
{
this->initializeHeader(SENSORID_TCS34725, DATA_UNIT_LUX, luminosity_sensor_name);
}
/**
* @brief Sets the integration time and gain configuration variables and constructs an object
* @ingroup luminosity
*
* @param intTime Advanced configuration for TCS34725 integration time
* - TCS34725_INTEGRATIONTIME_2_4MS
* - TCS34725_INTEGRATIONTIME_24MS (Default)
* - TCS34725_INTEGRATIONTIME_50MS
* - TCS34725_INTEGRATIONTIME_101MS
* - TCS34725_INTEGRATIONTIME_154MS
* - TCS34725_INTEGRATIONTIME_700MS
* @param gain Advanced configuration for TCS34725 gain
* - TCS34725_GAIN_1X
* - TCS34725_GAIN_4X
* - TCS34725_GAIN_16X (Default)
* - TCS34725_GAIN_60X
*
* Example Usage:
* @code
* Luminosity lum(TCS34725_INTEGRATIONTIME_101MS, TCS34725_GAIN_16X);
* lum.begin(); // Initialize sensor
* Serial.println(lum.readToJSON("lum")); // Read and print values in JSON
* @endcode
*/
Luminosity::Luminosity(tcs34725IntegrationTime_t intTime, tcs34725Gain_t gain) :
gain(gain),
intTime(intTime)
{
this->initializeHeader(SENSORID_TCS34725, DATA_UNIT_LUX, luminosity_sensor_name);
}
/**
* @brief Sets the gain and integration time configuration variables and constructs an object
* @ingroup luminosity
*
* @param gain Advanced configuration for TCS34725 gain
* - TCS34725_GAIN_1X
* - TCS34725_GAIN_4X
* - TCS34725_GAIN_16X (Default)
* - TCS34725_GAIN_60X
* @param intTime Advanced configuration for TCS34725 integration time
* - TCS34725_INTEGRATIONTIME_2_4MS
* - TCS34725_INTEGRATIONTIME_24MS (Default)
* - TCS34725_INTEGRATIONTIME_50MS
* - TCS34725_INTEGRATIONTIME_101MS
* - TCS34725_INTEGRATIONTIME_154MS
* - TCS34725_INTEGRATIONTIME_700MS
*
* Example Usage:
* @code
* Luminosity lum(TCS34725_GAIN_16X, TCS34725_INTEGRATIONTIME_101MS);
* lum.begin(); // Initialize sensor
* Serial.println(lum.readToJSON("lum")); // Read and print values in JSON
* @endcode
*/
Luminosity::Luminosity(tcs34725Gain_t gain, tcs34725IntegrationTime_t intTime) :
gain(gain),
intTime(intTime)
{
this->initializeHeader(SENSORID_TCS34725, DATA_UNIT_LUX, luminosity_sensor_name);
}
/**
* @brief Sets the integration time configuration variable and constructs an object
* @ingroup luminosity
*
* @param intTime Advanced configuration for TCS34725 integration time
* - TCS34725_INTEGRATIONTIME_2_4MS
* - TCS34725_INTEGRATIONTIME_24MS (Default)
* - TCS34725_INTEGRATIONTIME_50MS
* - TCS34725_INTEGRATIONTIME_101MS
* - TCS34725_INTEGRATIONTIME_154MS
* - TCS34725_INTEGRATIONTIME_700MS
*
* Example Usage:
* @code
* Luminosity lum(TCS34725_INTEGRATIONTIME_101MS); // Instantiate sensor object
* lum.begin(); // Initialize sensor
* Serial.println(lum.readToJSON("lum")); // Read and print values in JSON
* @endcode
*/
Luminosity::Luminosity(tcs34725IntegrationTime_t intTime) :
gain(TCS34725_GAIN_16X),
intTime(intTime)
{
this->initializeHeader(SENSORID_TCS34725, DATA_UNIT_LUX, luminosity_sensor_name);
}
/**
* @brief Sets the gain configuration variable and constructs an object
* @ingroup luminosity
*
* @param gain Advanced configuration for TCS34725 gain
* - TCS34725_GAIN_1X
* - TCS34725_GAIN_4X
* - TCS34725_GAIN_16X (Default)
* - TCS34725_GAIN_60X
*
* Example Usage:
* @code
* Luminosity lum(TCS34725_GAIN_16X); // Instantiate sensor object
* lum.begin(); // Initialize sensor
* Serial.println(lum.readToJSON("lum")); // Read and print values in JSON
* @endcode
*/
Luminosity::Luminosity(tcs34725Gain_t gain) :
gain(gain),
intTime(TCS34725_INTEGRATIONTIME_24MS)
{
this->initializeHeader(SENSORID_TCS34725, DATA_UNIT_LUX, luminosity_sensor_name);
}
/**
* @brief Initializes the sensor with any set configurations or defaults
* @ingroup luminosity
*
* @retval true Successfully initialized
* @retval false Failed to initialize
*/
boolean Luminosity::initialize(void) {
return tcs34725_init(this->intTime, this->gain);
}
/**
* @brief Takes a reading from the sensor
* @ingroup luminosity
*
* @retval true Successfully read
* @retval false Failed to read
*/
boolean Luminosity::readSensor(void) {
this->lux = tcs34725_getLux();
return true;
}
/**
* @brief Returns last read value in CSV format
* @ingroup luminosity
* @param sensorName The text to display next to the value
* @return sensor readings in CSV format or empty string if uninitialized
*/
const char * Luminosity::toCSV(const char * sensorName) {
if (this->header.timestamp != 0) {
return valueToCSV(sensorName, this->lux, this->header.timestamp);
} else {
return "";
}
}
/**
* @brief Returns last read value in JSON format
* @ingroup luminosity
* @param sensorName The text to display next to the value
* @return sensor readings in JSON format or empty string if uninitialized
*/
const char * Luminosity::toJSON(const char * sensorName) {
if (this->header.timestamp != 0) {
return valueToJSON(sensorName, this->header.unit, this->lux);
} else {
return "";
}
}
/**************************************************************************//**
* @brief Constructs Magnetic sensor object
* @ingroup magnetic
*
* Example Usage:
* @code
* Magnetic mag; // Instantiate sensor object
* mag.begin(); // Initialize sensor
* Serial.println(mag.readToJSON("mag")); // Read and print values in JSON
* @endcode
*****************************************************************************/
Magnetic::Magnetic(void) :
gaussScale(LSM303_MAG_SCALE4GAUSS)
{
this->initializeHeader(SENSORID_ADAFRUIT9DOFIMU, DATA_UNIT_MICROTESLA, magnetic_sensor_name);
}
/**
* @brief Sets the gauss scale configuration variable and constructs an object
* @ingroup magnetic
*
* @param gaussScale Advanced configuration for magnetometer's scale
* - LSM303_MAG_SCALE1_3GAUSS
* - LSM303_MAG_SCALE2GAUSS
* - LSM303_MAG_SCALE2_5GAUSS
* - LSM303_MAG_SCALE4GAUSS (Default)
* - LSM303_MAG_SCALE4_7GAUSS
* - LSM303_MAG_SCALE5_6GAUSS
* - LSM303_MAG_SCALE8GAUSS
* - LSM303_MAG_SCALE12GAUSS
*
* Example Usage:
* @code
* Magnetic mag(LSM303_MAG_SCALE8GAUSS); // Instantiate sensor object
* mag.begin(); // Initialize sensor
* Serial.println(mag.readToJSON("mag")); // Read and print values in JSON
* @endcode
*/
Magnetic::Magnetic(lsm303_mag_scale_e gaussScale) :
gaussScale(gaussScale)
{
this->initializeHeader(SENSORID_ADAFRUIT9DOFIMU, DATA_UNIT_MICROTESLA, magnetic_sensor_name);
}
/**
* @brief Initializes the sensor with any set configurations or defaults
* @ingroup magnetic
*
* @retval true Successfully initialized
* @retval false Failed to initialize
*/
boolean Magnetic::initialize(void) {
return lsm303_mag_init(this->gaussScale);
}
/**
* @brief Takes a reading from the sensor
* @ingroup magnetic
*
* @retval true Successfully read
* @retval false Failed to read
*/
boolean Magnetic::readSensor(void) {
lsm303_getMag(&(this->x), &(this->y), &(this->z));
return true;
}
/**
* @brief Returns last read value in CSV format
* @ingroup magnetic
* @param sensorName The text to display next to the value
* @return sensor readings in CSV format or empty string if uninitialized
*/
const char * Magnetic::toCSV(const char * sensorName) {
if (this->header.timestamp != 0) {
return valuesToCSV(sensorName, this->header.timestamp, 3,
this->x, this->y, this->z);
} else {
return "";
}
}
/**
* @brief Returns last read value in JSON format
* @ingroup magnetic
* @param sensorName The text to display next to the value
* @return sensor readings in JSON format or empty string if uninitialized
*/
const char * Magnetic::toJSON(const char * sensorName) {
if (this->header.timestamp != 0) {
return valuesToJSON(sensorName, this->header.unit, 3, "X", this->x,
"Y", this->y, "Z", this->z);
} else {
return "";
}
}
/**************************************************************************//**
* @brief Constructs Orientation calculation object using provided Acceleration and Magnetic objects
* @ingroup orientation
*
* Example Usage:
* @code
* Acceleration accel;
* Magnetic mag;
* Orientation orient(accel, mag); // Instantiate sensor object
* orient.begin(); // Initialize sensor
* Serial.println(orient.readToJSON("orientation")); // Read and print values in JSON
* @endcode
*****************************************************************************/
Orientation::Orientation(Acceleration & accel, Magnetic & mag) :
accel(&accel),
mag(&mag)
{
this->initializeHeader(SENSORID_ADAFRUIT9DOFIMU, DATA_UNIT_DEGREES, orientation_sensor_name);
}
/**
* @brief Initializes the sensor with any set configurations or defaults
* @ingroup orientation
*
* @retval true Successfully initialized
* @retval false Failed to initialize
*/
boolean Orientation::initialize(void) {
return accel->initialized && mag->initialized;
}
/**
* @brief Takes a reading from the sensor
* @ingroup orientation
*
* @retval true Successfully read
* @retval false Failed to read
*/
boolean Orientation::readSensor(void) {
this->accel->read();
this->mag->read();
float roll;
float pitch;
float heading;
const float PI_F = 3.141592653F;
// Roll is rotation around x-axis (-180 <= roll <= 180)
// Positive roll is clockwise rotation wrt positive x axis
roll = (float) atan2(this->accel->y, this->accel->z);
// Pitch is rotation around y-axis (-180 <= pitch <= 180)
// Positive pitch is clockwise rotation wrt positive y axis
if (this->accel->y * sin(roll) + this->accel->z * cos(roll) == 0) {
pitch = this->accel->x > 0 ? (PI_F / 2) : (-PI_F / 2);
} else {
pitch = (float)atan(-this->accel->x / (this->accel->y * sin(roll) + this->accel->z * cos(roll)));
}
// Heading is rotation around z-axis
// Positive heading is clockwise rotation wrt positive z axis
heading = (float)atan2(this->mag->z * sin(roll) - this->mag->y * cos(roll),
this->mag->x * cos(pitch) + this->mag->y * sin(pitch) * sin(roll) +
this->mag->z * sin(pitch) * cos(roll));
// Convert radians to degrees
this->roll = roll * 180 / PI_F;
this->pitch = pitch * 180 / PI_F;
this->heading = heading * 180 / PI_F;
this->header.timestamp = max(this->accel->header.timestamp, this->mag->header.timestamp);
return true;
}
/**
* @brief Returns last read value in CSV format
* @ingroup orientation
* @param sensorName The text to display next to the value
* @return sensor readings in CSV format or empty string if uninitialized
*/
const char * Orientation::toCSV(const char * sensorName) {
if (this->header.timestamp != 0) {
return valuesToCSV(sensorName, this->header.timestamp, 3,
this->roll, this->pitch, this->heading);
} else {
return "";
}
}
/**
* @brief Returns last read value in JSON format
* @ingroup orientation
* @param sensorName The text to display next to the value
* @return sensor readings in JSON format or empty string if uninitialized
*/
const char * Orientation::toJSON(const char * sensorName) {