mirror of https://github.com/ArduPilot/ardupilot
AP_WindVane: Change from DOS to UNIX line endings
* This file had DOS line endings and ArduPilot uses UNIX endings * This fixes a pre-commit violation Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
This commit is contained in:
Ryan Friedman
Peter Barker
parent
a4bdf39e2e
commit
2335a25ec8
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@ -1,214 +1,214 @@
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#include <bluefruit.h>
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#include <bluefruit.h>
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// This code uses the bluefruit libary52 from Adafruit
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// This code uses the bluefruit libary52 from Adafruit
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// Documentation here: https://learn.adafruit.com/bluefruit-nrf52-feather-learning-guide/bluefruit-nrf52-api
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// Documentation here: https://learn.adafruit.com/bluefruit-nrf52-feather-learning-guide/bluefruit-nrf52-api
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// Should work with any nrf52 Bluetooth Arduino, tested with Seeed XIAO nRF52840 Sense
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// Should work with any nrf52 Bluetooth Arduino, tested with Seeed XIAO nRF52840 Sense
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// Wind vane address, found with mobile app
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// Wind vane address, found with mobile app
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#define WIND_VANE_ADDRESS 0xDDB7BEB45638
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#define WIND_VANE_ADDRESS 0xDDB7BEB45638
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// Define services and charicteristics to moniter
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// Define services and charicteristics to moniter
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BLEClientService env_sense(0x181A); // Environmental Sensing
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BLEClientService env_sense(0x181A); // Environmental Sensing
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BLEClientCharacteristic wind_speed(0x2A72); // Apparent Wind Speed
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BLEClientCharacteristic wind_speed(0x2A72); // Apparent Wind Speed
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BLEClientCharacteristic wind_dir(0x2A73); // Apparent Wind Direcetion
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BLEClientCharacteristic wind_dir(0x2A73); // Apparent Wind Direcetion
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BLEClientService bat_sense(0x180F); // Battery Sensing
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BLEClientService bat_sense(0x180F); // Battery Sensing
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BLEClientCharacteristic bat_level(0x2A19); // Battery level
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BLEClientCharacteristic bat_level(0x2A19); // Battery level
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ble_gap_addr_t addr;
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ble_gap_addr_t addr;
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float speed;
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float speed;
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float direction;
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float direction;
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uint8_t battery_level;
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uint8_t battery_level;
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bool speed_new;
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bool speed_new;
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bool direction_new;
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bool direction_new;
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bool battery_new;
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bool battery_new;
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uint32_t last_connect_attempt;
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uint32_t last_connect_attempt;
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#define RECONNECT_TIME_MS 1000
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#define RECONNECT_TIME_MS 1000
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#define NMEA_BAUD 57600
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#define NMEA_BAUD 57600
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#define LOW_BAT_BLINK_MS 200
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#define LOW_BAT_BLINK_MS 200
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void setup()
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void setup()
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{
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{
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// Disconected
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// Disconected
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digitalWrite(LED_RED, LOW);
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digitalWrite(LED_RED, LOW);
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uint64_t address = WIND_VANE_ADDRESS;
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uint64_t address = WIND_VANE_ADDRESS;
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memcpy(addr.addr, &address, BLE_GAP_ADDR_LEN);
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memcpy(addr.addr, &address, BLE_GAP_ADDR_LEN);
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addr.addr_type = BLE_GAP_ADDR_TYPE_RANDOM_STATIC;
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addr.addr_type = BLE_GAP_ADDR_TYPE_RANDOM_STATIC;
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// Extra info and debugging on USB, NMEA on serial 1
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// Extra info and debugging on USB, NMEA on serial 1
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Serial.begin(115200);
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Serial.begin(115200);
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Serial1.begin(NMEA_BAUD);
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Serial1.begin(NMEA_BAUD);
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Serial.println("ArduPilot Bluetooth windvane to NMEA translator");
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Serial.println("ArduPilot Bluetooth windvane to NMEA translator");
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Bluefruit.begin(0, 1);
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Bluefruit.begin(0, 1);
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Bluefruit.setName("ArduPilot Bluetooth");
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Bluefruit.setName("ArduPilot Bluetooth");
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// Initialize services client
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// Initialize services client
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env_sense.begin();
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env_sense.begin();
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bat_sense.begin();
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bat_sense.begin();
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// Set notify callbacks
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// Set notify callbacks
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wind_speed.setNotifyCallback(speed_notify_callback);
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wind_speed.setNotifyCallback(speed_notify_callback);
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wind_dir.setNotifyCallback(direction_notify_callback);
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wind_dir.setNotifyCallback(direction_notify_callback);
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bat_level.setNotifyCallback(bat_notify_callback);
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bat_level.setNotifyCallback(bat_notify_callback);
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// Initalize Caricterstics
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// Initalize Caricterstics
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wind_speed.begin(&env_sense);
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wind_speed.begin(&env_sense);
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wind_dir.begin(&env_sense);
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wind_dir.begin(&env_sense);
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bat_level.begin(&bat_sense);
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bat_level.begin(&bat_sense);
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// Turn of LEDs, we do our own
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// Turn of LEDs, we do our own
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Bluefruit.autoConnLed(false);
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Bluefruit.autoConnLed(false);
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// Callbacks for Central
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// Callbacks for Central
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Bluefruit.Central.setDisconnectCallback(disconnect_callback);
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Bluefruit.Central.setDisconnectCallback(disconnect_callback);
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Bluefruit.Central.setConnectCallback(connect_callback);
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Bluefruit.Central.setConnectCallback(connect_callback);
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// Connect to known address
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// Connect to known address
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Bluefruit.Central.connect(&addr);
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Bluefruit.Central.connect(&addr);
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last_connect_attempt = millis();
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last_connect_attempt = millis();
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}
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}
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bool low_battery;
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bool low_battery;
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uint32_t last_low_battery_blink;
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uint32_t last_low_battery_blink;
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char NMEA_buffer[50];
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char NMEA_buffer[50];
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void loop()
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void loop()
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{
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{
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if (!Bluefruit.connected(0)) {
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if (!Bluefruit.connected(0)) {
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// Disconected
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// Disconected
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digitalWrite(LED_RED, LOW);
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digitalWrite(LED_RED, LOW);
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digitalWrite(LED_GREEN, HIGH);
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digitalWrite(LED_GREEN, HIGH);
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const uint32_t now = millis();
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const uint32_t now = millis();
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if (now - last_connect_attempt > RECONNECT_TIME_MS) {
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if (now - last_connect_attempt > RECONNECT_TIME_MS) {
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// try and re-connect
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// try and re-connect
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Bluefruit.Central.connect(&addr);
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Bluefruit.Central.connect(&addr);
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last_connect_attempt = now;
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last_connect_attempt = now;
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}
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}
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return;
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return;
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}
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}
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// Connected, show green LED
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// Connected, show green LED
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digitalWrite(LED_GREEN, LOW);
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digitalWrite(LED_GREEN, LOW);
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// flash red LED for low battery
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// flash red LED for low battery
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if (low_battery) {
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if (low_battery) {
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const uint32_t now = millis();
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const uint32_t now = millis();
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if (now - last_low_battery_blink > LOW_BAT_BLINK_MS) {
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if (now - last_low_battery_blink > LOW_BAT_BLINK_MS) {
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digitalWrite(LED_RED, !digitalRead(LED_RED));
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digitalWrite(LED_RED, !digitalRead(LED_RED));
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last_low_battery_blink = now;
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last_low_battery_blink = now;
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}
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}
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} else {
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} else {
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digitalWrite(LED_RED, HIGH);
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digitalWrite(LED_RED, HIGH);
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}
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}
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if (speed_new && direction_new) {
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if (speed_new && direction_new) {
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speed_new = false;
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speed_new = false;
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direction_new = false;
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direction_new = false;
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Serial.printf("Wind Speed: %0.2f (m/s), Direction: %0.2f (deg), Battery: %u%%\n", speed, direction, battery_level);
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Serial.printf("Wind Speed: %0.2f (m/s), Direction: %0.2f (deg), Battery: %u%%\n", speed, direction, battery_level);
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sprintf(NMEA_buffer, "APMWV,%0.2f,R,%0.2f,M,A", direction, speed);
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sprintf(NMEA_buffer, "APMWV,%0.2f,R,%0.2f,M,A", direction, speed);
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Serial1.printf("$%s*%02X\n",NMEA_buffer, NMEA_checksum(NMEA_buffer));
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Serial1.printf("$%s*%02X\n",NMEA_buffer, NMEA_checksum(NMEA_buffer));
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}
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}
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if (battery_new) {
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if (battery_new) {
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battery_new = false;
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battery_new = false;
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sprintf(NMEA_buffer, "APXDR,G,%u,%%,BT", battery_level);
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sprintf(NMEA_buffer, "APXDR,G,%u,%%,BT", battery_level);
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Serial1.printf("$%s*%02X\n",NMEA_buffer, NMEA_checksum(NMEA_buffer));
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Serial1.printf("$%s*%02X\n",NMEA_buffer, NMEA_checksum(NMEA_buffer));
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if (battery_level < 25) {
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if (battery_level < 25) {
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// Windvane enters low power mode at less than 20% battery
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// Windvane enters low power mode at less than 20% battery
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low_battery = true;
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low_battery = true;
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} else if (battery_level > 30) {
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} else if (battery_level > 30) {
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low_battery = false;
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low_battery = false;
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}
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}
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}
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}
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}
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}
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uint8_t NMEA_checksum(const char* NMEA_string)
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uint8_t NMEA_checksum(const char* NMEA_string)
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{
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{
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uint8_t checksum = 0;
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uint8_t checksum = 0;
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for (uint8_t i = 0; i < strlen(NMEA_string); i++) {
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for (uint8_t i = 0; i < strlen(NMEA_string); i++) {
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checksum ^= NMEA_string[i];
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checksum ^= NMEA_string[i];
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}
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}
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return checksum;
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return checksum;
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}
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}
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void connect_callback(uint16_t conn_handle)
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void connect_callback(uint16_t conn_handle)
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{
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{
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Serial.println("Connected");
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Serial.println("Connected");
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Serial.print("Discovering Environmental characteristics ... ");
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Serial.print("Discovering Environmental characteristics ... ");
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if (!env_sense.discover(conn_handle) || !wind_speed.discover() || !wind_dir.discover()) {
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if (!env_sense.discover(conn_handle) || !wind_speed.discover() || !wind_dir.discover()) {
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Serial.println("Failed");
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Serial.println("Failed");
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Bluefruit.disconnect(conn_handle);
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Bluefruit.disconnect(conn_handle);
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return;
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return;
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}
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}
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Serial.println("Found");
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Serial.println("Found");
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Serial.print("Discovering Battery characteristics ... ");
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Serial.print("Discovering Battery characteristics ... ");
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if (!bat_sense.discover(conn_handle) || !bat_level.discover()) {
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if (!bat_sense.discover(conn_handle) || !bat_level.discover()) {
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Serial.println("failed");
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Serial.println("failed");
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Bluefruit.disconnect(conn_handle);
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Bluefruit.disconnect(conn_handle);
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return;
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return;
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}
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}
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Serial.println("Found");
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Serial.println("Found");
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if (wind_speed.enableNotify() && wind_dir.enableNotify() && bat_level.enableNotify()) {
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if (wind_speed.enableNotify() && wind_dir.enableNotify() && bat_level.enableNotify()) {
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Serial.println("Ready to receive");
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Serial.println("Ready to receive");
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} else {
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} else {
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Serial.println("Couldn't enable notify. Increase DEBUG LEVEL for troubleshooting");
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Serial.println("Couldn't enable notify. Increase DEBUG LEVEL for troubleshooting");
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}
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}
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}
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}
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void disconnect_callback(uint16_t conn_handle, uint8_t reason)
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void disconnect_callback(uint16_t conn_handle, uint8_t reason)
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{
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{
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(void) conn_handle;
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(void) conn_handle;
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speed_new = false;
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speed_new = false;
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direction_new = false;
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direction_new = false;
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battery_new = false;
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battery_new = false;
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Serial.print("Disconnected, reason = 0x"); Serial.println(reason, HEX);
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Serial.print("Disconnected, reason = 0x"); Serial.println(reason, HEX);
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}
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}
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void speed_notify_callback(BLEClientCharacteristic* chr, uint8_t* data, uint16_t len)
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void speed_notify_callback(BLEClientCharacteristic* chr, uint8_t* data, uint16_t len)
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{
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{
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if (len == 2) {
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if (len == 2) {
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uint16_t value;
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uint16_t value;
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memcpy(&value, data, 2);
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memcpy(&value, data, 2);
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speed = value * 0.01;
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speed = value * 0.01;
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speed_new = true;
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speed_new = true;
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}
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}
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}
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}
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void direction_notify_callback(BLEClientCharacteristic* chr, uint8_t* data, uint16_t len)
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void direction_notify_callback(BLEClientCharacteristic* chr, uint8_t* data, uint16_t len)
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{
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{
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if (len == 2) {
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if (len == 2) {
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uint16_t value;
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uint16_t value;
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memcpy(&value, data, 2);
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memcpy(&value, data, 2);
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direction = value * 0.01;
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direction = value * 0.01;
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direction_new = true;
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direction_new = true;
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}
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}
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}
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}
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void bat_notify_callback(BLEClientCharacteristic* chr, uint8_t* data, uint16_t len)
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void bat_notify_callback(BLEClientCharacteristic* chr, uint8_t* data, uint16_t len)
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{
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{
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if (len == 1) {
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if (len == 1) {
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battery_level = data[0];
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battery_level = data[0];
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battery_new = true;
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battery_new = true;
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}
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}
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}
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}
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