mirror of https://github.com/ArduPilot/ardupilot
AP_Scripting: add SN-GCJA5 particle sensor example
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Iampete1
Andrew Tridgell
parent
3101b08489
commit
06e64b5585
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--[[
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This script reads a SN-GCJA5 panasonic particle sensor on i2c
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reading will be saved to data flash logs, CSV file and streamed as named value floats
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Development of this script was sponsored by Cubepilot
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the code is heavily based on the SparkFun arduino library
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https://github.com/sparkfun/SparkFun_Particle_Sensor_SN-GCJA5_Arduino_Library
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]]--
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-- search for a index without a file, this stops us overwriting from a previous run
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local index = 0
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local file_name
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while true do
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file_name = string.format('Particle %i.csv',index)
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local file = io.open(file_name)
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local first_line = file:read(1) -- try and read the first character
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io.close(file)
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if first_line == nil then
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break
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end
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index = index + 1
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end
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-- open file and make header
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file = assert(io.open(file_name, 'w'), 'Could not make file :' .. file_name)
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file:write('Lattitude (°), Longitude (°), Absolute Altitude (m), PM 1.0, PM 2.5, PM 10, count 0.5, count 1, count 2.5, count 5, count 7.5, count 10\n')
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file:close()
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-- load the i2c driver, bus 0
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local sensor = i2c.get_device(0,0x33)
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sensor:set_retries(10)
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-- register names
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local SNGCJA5_PM1_0 = 0x00
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local SNGCJA5_PM2_5 = 0x04
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local SNGCJA5_PM10 = 0x08
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local SNGCJA5_PCOUNT_0_5 = 0x0C
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local SNGCJA5_PCOUNT_1_0 = 0x0E
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local SNGCJA5_PCOUNT_2_5 = 0x10
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local SNGCJA5_PCOUNT_5_0 = 0x14
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local SNGCJA5_PCOUNT_7_5 = 0x16
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local SNGCJA5_PCOUNT_10 = 0x18
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local SNGCJA5_STATE = 0x26
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-- Reads two consecutive bytes from a given location
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local function readRegister16(addr)
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local lsb = sensor:read_registers(addr+0)
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local msb = sensor:read_registers(addr+1)
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if lsb and msb then
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return msb << 8 | lsb
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end
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end
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-- Reads four consecutive bytes from a given location
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local function readRegister32(addr)
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local ll = sensor:read_registers(addr+0)
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local lh = sensor:read_registers(addr+1)
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local hl = sensor:read_registers(addr+2)
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local hh = sensor:read_registers(addr+3)
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if ll and lh and hl and hh then
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return (hh << 24) | (hl << 16) | (lh << 8) | (ll << 0)
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end
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end
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local function getPM(pmRegister)
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local count = readRegister32(pmRegister)
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if count then
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return count / 1000.0
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end
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end
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function update() -- this is the loop which periodically runs
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-- read status
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local state = sensor:read_registers(SNGCJA5_STATE)
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if not state then
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gcs:send_text(0, "Failed to read particle sensor state")
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return update, 10000
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end
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local Sensors = (state >> 6) & 3
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local PD = (state >> 4) & 3
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local LD = (state >> 2) & 3
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local Fan = (state >> 0) & 3
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-- report sensor errors
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if Sensors ~= 0 then
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if Sensors == 1 then
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gcs:send_text(0, "particle sensor: One sensor or fan abnormal")
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elseif Sensors == 2 then
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gcs:send_text(0, "particle sensor: Two sensors or fan abnormal")
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else
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gcs:send_text(0, "particle sensor: Both sensors and fan abnormal")
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end
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return update, 10000
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end
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-- report photo diode errors
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if PD ~= 0 then
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if statusPD == 1 then
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gcs:send_text(0, "particle sensor: Photo diode: Normal w/ software correction")
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elseif statusPD == 2 then
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gcs:send_text(0, "particle sensor: Photo diode: Abnormal, loss of function")
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else
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gcs:send_text(0, "particle sensor: Photo diode: Abnormal, with software correction")
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end
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return update, 10000
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end
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-- report laser diode errors
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if LD ~= 0 then
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if LD == 1 then
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gcs:send_text(0, "particle sensor: Laser diode: Normal w/ software correction")
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elseif LD == 2 then
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gcs:send_text(0, "particle sensor: Laser diode: Abnormal, loss of function")
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else
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gcs:send_text(0, "particle sensor: Laser diode: Abnormal, with software correction")
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end
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return update, 10000
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end
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-- report fan errors
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if Fan ~= 0 then
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if Fan == 1 then
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gcs:send_text(0, "particle sensor: Fan: Normal w/ software correction")
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elseif Fan == 2 then
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gcs:send_text(0, "particle sensor: Fan: In calibration")
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else
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gcs:send_text(0, "particle sensor: Fan: Abnormal, out of control")
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end
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return update, 10000
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end
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-- read mass density
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local PM1_0 = getPM(SNGCJA5_PM1_0)
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local PM2_5 = getPM(SNGCJA5_PM2_5)
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local PM10 = getPM(SNGCJA5_PM10)
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if (not PM1_0) or (not PM2_5) or (not PM10) then
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gcs:send_text(0, "Failed to read particle sensor mass density")
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return update, 10000
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end
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-- read particle counts
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local PC0_5 = readRegister16(SNGCJA5_PCOUNT_0_5)
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local PC1_0 = readRegister16(SNGCJA5_PCOUNT_1_0)
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local PC2_5 = readRegister16(SNGCJA5_PCOUNT_2_5)
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local PC5_0 = readRegister16(SNGCJA5_PCOUNT_5_0)
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local PC7_5 = readRegister16(SNGCJA5_PCOUNT_7_5)
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local PC10 = readRegister16(SNGCJA5_PCOUNT_10)
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if (not PC0_5) or (not PC1_0) or (not PC2_5) or (not PC5_0) or (not PC7_5) or (not PC10) then
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gcs:send_text(0, "Failed to read particle sensor counts")
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return update, 10000
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end
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local lat = 0
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local lng = 0
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local alt = 0
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-- try and get true position, but don't fail for no GPS lock
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local position = ahrs:get_position()
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if position then
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lat = position:lat()*10^-7
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lng = position:lng()*10^-7
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alt = position:alt()*0.01
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end
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-- write to csv
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file = io.open(file_name, 'a')
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file:write(string.format('%0.8f, %0.8f, %0.2f, %0.4f, %0.4f, %0.4f, %i, %i, %i, %i, %i, %i\n',lat,lng,alt,PM1_0,PM2_5,PM10,PC0_5,PC1_0,PC2_5,PC5_0,PC7_5,PC10))
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file:close()
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-- save to data flash
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logger.write('PART','PM1,PM2.5,PM10,Cnt0.5,Cnt1,Cnt2.5,Cnt5,Cnt7.5,Cnt10','fffffffff',PM1_0,PM2_5,PM10,PC0_5,PC1_0,PC2_5,PC5_0,PC7_5,PC10)
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-- send to GCS
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gcs:send_named_float('PM 1.0',PM1_0)
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gcs:send_named_float('PM 2.5',PM2_5)
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gcs:send_named_float('PM 10',PM10)
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gcs:send_named_float('count 0.5',PC0_5)
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gcs:send_named_float('count 1,',PC1_0)
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gcs:send_named_float('count 2.5,',PC2_5)
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gcs:send_named_float('count 5,',PC5_0)
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gcs:send_named_float('count 7.5,',PC7_5)
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gcs:send_named_float('count 10,',PC10)
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return update, 1000 -- reschedules the loop, 1hz
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end
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return update() -- run immediately before starting to reschedule
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