scottp
295abb37ee
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.
266 lines
7.6 KiB
C++
266 lines
7.6 KiB
C++
// SPDX-License-Identifier: Apache-2.0
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// Copyright (c) 2012-2024 Scott Penrose <scottp@dd.com.au> and WII5 Buoy contributors
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//
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// This file is part of WII5 Buoy firmware.
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// See LICENSE for full terms.
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/**
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* @file WII5Iridium.h
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* @brief Iridium 9602/9603 SBD modem driver: AT-command state machine.
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*/
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#ifndef WII5Iridium_h
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#define WII5Iridium_h
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#include <Arduino.h>
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#include <WII5.h>
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#include <elapsedMillis.h>
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#ifdef WII5_COMMS_IRIDIUM
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/*
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How to make request ?
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How to know when complete?
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void loop() {
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wii5Iridium.loop();
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if (wii5Iridium.lastStatus) {
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// Check the Status of the last thing we sent
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}
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if (wii5Iridium.lastReceive) {
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// TODO
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}
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}
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DATA STRUCTURE TO Send
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* Wrap WII5 Binary Packet in Iridium specific data
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* Time it took to send (updated just before send each time)
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* Number of retries
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* Last Signal quality
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Useful References:
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https://docs.rockblock.rock7.com/reference#sbdix
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*/
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enum WII5IRIDIUM_REQUEST {
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WII5IRIDIUM_REQUEST_NONE,
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WII5IRIDIUM_REQUEST_FIRMWARE,
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WII5IRIDIUM_REQUEST_TIME,
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WII5IRIDIUM_REQUEST_SIGNALQUALITY,
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WII5IRIDIUM_REQUEST_SENDTEXT,
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WII5IRIDIUM_REQUEST_SENDBIN,
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};
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enum WII5IRIDIUM_STATUS {
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WII5IRIDIUM_STATUS_READY, // Ready to send, no errors
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WII5IRIDIUM_STATUS_BUSY, // Busy, still sending, need to wait
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WII5IRIDIUM_STATUS_FAILED // Reason for failure?
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};
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// TODO request - need to know what the input is and how to stop...
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enum WII5IRIDIUM_STEPS {
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// Just off.
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WII5IRIDIUM_OFF, // Turn it off - power and all
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WII5IRIDIUM_POWER, // Turn on power and wait 500ms
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WII5IRIDIUM_ALIVE, // Send "AT" until get OK or timeout
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WII5IRIDIUM_BOOT, // ATE1, AT&D0, AT&K0, AT+SBDMTA=0
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// Firmware
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WII5IRIDIUM_FIRMWARE,// AT+CGMR
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// IMEI
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WII5IRIDIUM_IMEI, // AT-MSSTM
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// System Time
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WII5IRIDIUM_SYSTERMTIME, // AT-MSSTM
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// Signal Quality
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WII5IRIDIUM_SIGNALQUALITY_WAIT,
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WII5IRIDIUM_SIGNALQUALITY, // AT+CSQ
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// Choose - send Text or Binary - always returns data
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WII5IRIDIUM_RETRY, // Wait here a bit before rety
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WII5IRIDIUM_SEND_JUMP, // Are we TEXT or BINARY
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// Send Text
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WII5IRIDIUM_PREPARE_TEXT, // AT+SBDWT=RockBlocks1
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WII5IRIDIUM_SEND, // AT+SBDI ... +SBDI: 1, 3, 0, 0, 0, 0
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// Send Binary
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WII5IRIDIUM_PREPARE_BIN1, // AT+SBDWB={n} (size of data)
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WII5IRIDIUM_PREPARE_BIN2, // AT+SBDWB={n} (size of data)
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// Receive Message
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WII5IRIDIUM_RECEIVE, // AT+SBDRB ... AT+SBDRB (echo back)
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WII5IRIDIUM_RECEIVE_BIN, // first 2 bytes = size, then binary, then checksum
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WII5IRIDIUM_WAITING, // Waiting - hurry up and absorb
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// Complete
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WII5IRIDIUM_STOP_PREPARE, // END ! Jump to STOP_PREPARE,
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WII5IRIDIUM_END // Very end
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};
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#define DEFAULT_MINUTES 5
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#define IRIDIUM_RETRY_MIN 2 // Used for low power mode, how many times to rety minimum
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#define IRIDIUM_RETRY_MAX 20 // Maximum number of retries for normal modes
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// FROM IridiumSBD by Rock Blocks
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#define ISBD_LIBRARY_REVISION 2
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#define ISBD_DEFAULT_AT_TIMEOUT 30
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#define ISBD_MSSTM_RETRY_INTERVAL 10
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#define ISBD_DEFAULT_SBDIX_INTERVAL 10
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#define ISBD_USB_SBDIX_INTERVAL 30
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#define ISBD_DEFAULT_SENDRECEIVE_TIME 300
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#define ISBD_STARTUP_MAX_TIME 240
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#define ISBD_MAX_MESSAGE_LENGTH 340
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#define ISBD_MSSTM_WORKAROUND_FW_VER 13001
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#define ISBD_SUCCESS 0
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#define ISBD_ALREADY_AWAKE 1
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#define ISBD_SERIAL_FAILURE 2
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#define ISBD_PROTOCOL_ERROR 3
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#define ISBD_CANCELLED 4
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#define ISBD_NO_MODEM_DETECTED 5
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#define ISBD_SBDIX_FATAL_ERROR 6
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#define ISBD_SENDRECEIVE_TIMEOUT 7
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#define ISBD_RX_OVERFLOW 8
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#define ISBD_REENTRANT 9
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#define ISBD_IS_ASLEEP 10
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#define ISBD_NO_SLEEP_PIN 11
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#define ISBD_NO_NETWORK 12
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#define ISBD_MSG_TOO_LONG 13
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enum WII5IRIDIUM_RETURNS {
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WII5IRIDIUM_RETURN_AT,
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WII5IRIDIUM_RETURN_OK,
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WII5IRIDIUM_RETURN_READY,
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WII5IRIDIUM_RETURN_ERROR,
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WII5IRIDIUM_RETURN_SBDI, // +SBDI, +SBDIX, +SBDIXA (moCode, &moMSN, &mtCode, &mtMSN, &mtLen, &mtRemaining)
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WII5IRIDIUM_RETURN_CSQ, // +CSQ:{n}
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WII5IRIDIUM_RETURN_MSSTM, // -MSSTM
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WII5IRIDIUM_RETURN_BINARY // Hard coded the binary
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};
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/**
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* @brief Driver for the Iridium 9602/9603 SBD modem.
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*
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* AT-command state machine: power on, wait for the modem to come alive,
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* boot up (ATE1, AT&D0, AT&K0, AT+SBDMTA=0), then drive a sequence of
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* +CSQ / +SBDWB / +SBDIX / +SBDRB cycles to send and receive 340-byte
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* SBD messages. State is in WII5IRIDIUM_STEPS; see step transitions in
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* WII5Iridium.cpp::loop().
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*/
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class WII5Iridium : public WII5Power, public WII5SerialManager{
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public:
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WII5Iridium() {}
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virtual WII5_CONTROLLERS controllerId() {return WII5CONTROLLER_DRIVER;}
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virtual WII5_DRIVERS driverId() {return WII5DRIVER_COMMS_IRIDIUM;}
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/** @brief One-time bring-up. */
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void begin();
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/** @brief State-machine tick: parses serial, advances steps. */
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void loop();
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/** @brief Queue a firmware-version query (AT+CGMR). */
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bool requestFirmware();
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/** @brief Queue a binary send (uses buffer set by setBinary/setBinSize). */
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bool requestSendBinary();
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/** @brief Queue a text send (uses buffer set by setText). */
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bool requestSendText();
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/** @brief Currently-queued request type. */
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WII5IRIDIUM_REQUEST currentRequest();
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/** @brief Set the binary buffer + length for the next send. */
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void setBinary(uint8_t* buf, uint16_t size);
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/** @brief Set just the size of the binary buffer (caller writes the bytes). */
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void setBinSize(uint16_t size);
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/** @brief Set the text payload for the next send (RAM string). */
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void setText(char* str);
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/** @brief Set the text payload for the next send (PROGMEM string). */
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void setText(const __FlashStringHelper *str);
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/** @brief Begin a comms cycle (`force` skips initialized check). */
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virtual void start(bool force = false);
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/** @brief Abort the current cycle. */
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void stop(bool force = false);
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/** @brief Apply power to the Iridium modem. */
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void powerOn(bool force = false);
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/** @brief Cut power to the Iridium modem. */
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void powerOff(bool force = false);
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/** @brief Are we waiting on the modem to finish a step? */
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bool waiting();
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/** @brief Is the state machine currently in a non-idle step? */
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bool isRunning();
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// TODO Storage? why can't we use a 64 bit (8 byte) number?
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char imei[18]; // 14 or up to 16 digits?
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// uint32_t ; // 14 or up to 16 digits?
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elapsedMillis lastSince;
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uint8_t lastSignalQuality;
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uint16_t lastMOMSN;
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WII5IRIDIUM_SEND_RESULT lastSend;
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WII5IRIDIUM_RECEIVE_RESULT lastReceive;
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uint16_t lastReceiveLen;
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uint8_t* lastReceiveBuff;
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virtual void sendNewLine();
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protected:
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bool running;
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WII5IRIDIUM_STEPS step;
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WII5IRIDIUM_STEPS stepLast;
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elapsedMillis stepWait;
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void programLine(uint16_t l);
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bool initialized;
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WII5IRIDIUM_REQUEST currentType;
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uint8_t retry; // How many times did we retry ?
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uint8_t sigQualRetry; // How many times did we retry ?
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uint8_t sigQualMin; // How many times did we retry ?
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uint32_t binSize; // Size of binary data to send
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uint16_t checksum;
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uint16_t loopcount;
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uint8_t *txData;
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// Firmware (and age)
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// Signal Quality (and age)
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// DateTime (and age)
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// Send Status (and age) (WAITING, COMPLETE, ERROR)
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// Send Queue ? (or external)
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// Receive Queue (or external)
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// lastCSQ
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// lastIMEI
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// lastSystemTime
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// lastID???
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// lastStatus??
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// Last Status =
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};
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extern WII5Iridium wii5Iridium;
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#endif
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#endif
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