Initial public release of WII5 Buoy firmware

Firmware for an autonomous wave-measurement buoy (ATmega2560-based
WII5 v2 board). Reads wave motion from a Sparton AHRS-M1/M2 IMU,
samples GPS and battery state, and reports back over Iridium SBD
satellite telemetry. Originally developed 2012-2024.

This is the first public release. Code, documentation, and field-tested
operating modes (Capture, Sleep, Position, ManualTest, SelfTest,
LowBattery) are licensed under Apache 2.0 — see LICENSE and NOTICE.

See README.md for an overview and build instructions, CONTRIBUTING.md
for how to contribute, and DEPLOYMENTS.md for the field-deployment log.

WII5ModePosition.cpp

@@ -0,0 +1,172 @@
+// SPDX-License-Identifier: Apache-2.0
+// Copyright (c) 2012-2024 Scott Penrose <scottp@dd.com.au> and WII5 Buoy contributors
+//
+// This file is part of WII5 Buoy firmware.
+// See LICENSE for full terms.
+
+/**
+ * @file WII5ModePosition.cpp
+ * @brief Position mode: periodic GPS + Iridium telemetry only (low power).
+ */
+
+/*
+
+Position mode - a simple repeatign mode that will capture position data and send it.
+
+*/
+
+#include <Arduino.h>
+#include <TimeLib.h>
+#include <WII5.h>
+
+void WII5ModePosition::reset() {
+  step = WII5POSITION_START;
+  wait = 0;
+}
+
+void WII5ModePosition::begin() {
+}
+
+void WII5ModePosition::start() {
+  step = WII5POSITION_STROBE; wait = 0;
+}
+
+void WII5ModePosition::stop() {
+  step = WII5POSITION_END; wait = 0;
+}
+
+void WII5ModePosition::loop() {
+  bool first = (lastStep != step);
+  lastStep = step;
+
+  switch (step) {
+    case WII5POSITION_START:
+      if (first) {
+        // TODO This seems bad, perhaps only if next is  10 minutes?
+        // First time in, turn off devices we don't need.
+        // Can we turn off Maths.
+        sh3dNodeIO.led1Set( LED_SHORT );
+        wii5Controller.setSDOff();
+        wii5Gps.off();
+        wii5Iridium.stop();
+        wii5Sparton.stop();
+        wii5Controller.shared5Off();
+
+        console.log(LOG_INFO, F("Position: Waiting for %lu minutes"),
+          wii5Display.minutesUntilNext(wii5Config.getPositionPeriod())
+        );
+      }
+      else if ((wii5Gps.sinceOnLast > (WII5TIME_1HOUR * 1000)) && (!wii5Gps.isTimeValid())) {
+        console.log(LOG_ERROR, F("Position: Internal clock / time is not valid, turn on GPS"));
+        step = WII5POSITION_TIME; wait = 0;
+      }
+      else if (wait > (WII5TIME_1DAY * 1000)) {
+        console.log(LOG_ERROR, F("Position: Timeout - over 24 hours, moving on to do a location and data send"));
+        step = WII5POSITION_STROBE; wait = 0;
+      }
+      else {
+        // TODO - reduce this complicated task ? Lots of maths, being run at full speed
+        minutes = (hour() * 60) + minute();
+        if ( (minutes % wii5Config.getPositionPeriod()) == 0) {
+          console.log(LOG_INFO, F("Position: Starting minutes match period min=%lu, period=%lu"), minutes, wii5Config.getPositionPeriod());
+          step = WII5POSITION_STROBE; wait = 0;
+        }
+      }
+      // TODO Sleep ?
+      break;
+
+    case WII5POSITION_STROBE:
+      // TODO - Manage the strobes
+      // console.log(LOG_DEBUG, F("Position: strobe -> gps_start (skipping)"));
+      if (first) {
+        wii5Config.updateRecordCount();
+        console.log(LOG_DEBUG, F("Position: New recordcount=%lu"), wii5Config.getRecordCount());
+      }
+      step = WII5POSITION_GPS_START; wait = 0;
+      break;
+
+    case WII5POSITION_TIME:
+      if (first) {
+        wii5Gps.autoTime();
+      }
+      else if (wii5Gps.ready()) {
+        step = WII5POSITION_START; wait = 0;
+      }
+      else if (wait > 300000) {
+        step = WII5POSITION_START; wait = 0;
+      }
+      break;
+
+    case WII5POSITION_GPS_START:
+      // Ask the GPS for accurate data
+      console.log(LOG_DEBUG, F("Position: Starting GPS, Battery, Temperature"));
+      #ifdef WII5_GPS
+      wii5Gps.autoAccurate();
+      #endif
+      wii5Battery.start();
+      wii5Weather_18B20.temperatureRead();
+      step = WII5POSITION_GPS_WAIT; wait = 0;
+      break;
+
+    case WII5POSITION_GPS_WAIT:
+      if (first) {
+        displayWait = 0;
+      }
+      else if (wii5Gps.ready()) {
+        if (wii5Gps.isError()) {
+          console.log(LOG_ERROR, F("Position: GPS Finished with ERROR"));
+        }
+        wii5Gps.off();
+        step = WII5POSITION_IRIDIUM_WAIT; wait = 0;
+      }
+      else if (wait > 300000) {
+        console.log(LOG_ERROR, F("Position: GPS Timed out after 300 seconds"));
+        step = WII5POSITION_IRIDIUM_WAIT; wait = 0;
+      }
+      else if (displayWait > 10000) {
+        console.log(LOG_INFO, F("Position: Waiting for GPS Lock - %lu seconds"), (wait / 1000));
+        displayWait = 0;
+      }
+      break;
+
+    case WII5POSITION_IRIDIUM_WAIT:
+      if (first) {
+        console.log(LOG_INFO, F("Position: Communications start"));
+        wii5Communications.setSimpleMode();
+        // Increment updateRecordCount for each save to SD OR send to Iridium
+        wii5Communications.sendBinModeType(wii5Config.getPositionBinaryType(), wii5Config.getRecordCount());
+        wii5Communications.start();
+      }
+      else if (!wii5Communications.isRunning()) {
+        console.log(LOG_INFO, F("Position: Communications end"));
+        step = WII5POSITION_END; wait = 0;
+      }
+      // TODO 10 minutes ok
+      else if (wait > 600000) {
+        console.log(LOG_FATAL, F("Position: Communications timeout"));
+        step = WII5POSITION_END; wait = 0;
+      }
+      break;
+
+    case WII5POSITION_END:
+      if (first) {
+        console.log(LOG_DEBUG, F("Position: End"));
+      }
+      wii5Communications.stop();
+      wii5Gps.off();
+
+      // Stop everything
+      wii5Controller.setSDOff();
+      wii5Sparton.stop();
+      wii5Controller.shared5Off();
+
+      step = WII5POSITION_START; wait = 0;
+      break;
+
+    default:
+      console.log(LOG_FATAL, F("POSITION: Default step... step=%d"), step);
+      step = WII5POSITION_START;
+  }
+}
+
+WII5ModePosition wii5ModePosition;