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.
65 lines
1.6 KiB
Arduino
65 lines
1.6 KiB
Arduino
// 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 wii5_sparton.ino
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* @brief Test sketch: Sparton AHRS exercise.
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*/
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#include <WII5Sh3dConsole.h>
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#include <WII5.h>
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#include <WII5Sparton.h>
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void setup() {
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Serial.begin(115200);
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console.begin(WII5_BUFFER_CONSOLE_PRINT, WII5_BUFFER_CONSOLE_CMD);
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console.add(&Serial);
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console.printf(F("WII5: Test Sparton"));
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wii5Sparton.begin();
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wii5Sparton.setDebug(true);
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wii5Sparton.setRecords(5000);
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wii5Sparton.start();
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}
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void loop() {
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wii5Sparton.loop();
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console.loop();
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if (console.available()) {
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uint32_t val = console.getVal();
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console.printf(F("CONSOLE: Got command %c=%d \r\n"),
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console.getCommand(),
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val
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);
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switch(console.getCommand()) {
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// Toggle Sparton passthrough
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case 'p':
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console.log(LOG_DEBUG, F("SPARTON: 'p' passthrough toggle"));
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wii5Sparton.setPassthrough(!wii5Sparton.getPassthrough());
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break;
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case 's':
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if (val < 100) val = 100;
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console.log(LOG_DEBUG, F("SPARTON: 's' start with %lu records"), val);
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wii5Sparton.setRecords(val);
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wii5Sparton.start();
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break;
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case 'S':
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console.log(LOG_DEBUG, F("SPARTON: 'S' stop"));
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wii5Sparton.stop();
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break;
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default:
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break;
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};
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console.log(LOG_DEBUG, F("SPARTON: Status = %d"), wii5Sparton.getPassthrough());
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wii5Sparton.displayStatus();
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wii5Sparton.displayError();
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}
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}
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