diff options
| -rw-r--r-- | test_fw/platformio.ini | 3 | ||||
| -rw-r--r-- | test_fw/plot.py | 98 | ||||
| -rw-r--r-- | test_fw/src/bringup.cpp | 12 | ||||
| -rw-r--r-- | test_fw/src/main.cpp | 143 |
4 files changed, 242 insertions, 14 deletions
diff --git a/test_fw/platformio.ini b/test_fw/platformio.ini index df71bc1..6b402d8 100644 --- a/test_fw/platformio.ini +++ b/test_fw/platformio.ini @@ -23,9 +23,10 @@ lib_deps = etlcpp/Embedded Template Library@^20.39.4 arduino-libraries/SD@^1.3.0 adafruit/Adafruit LSM6DS@^4.7.3 + boschsensortec/BSEC Software Library@^1.8.1492 build_flags = -std=c++2a -DPIO_FRAMEWORK_ARDUINO_ENABLE_EXCEPTIONS - -DDEBUG_RP2040_CORE + -DDEBUG_RP2040_CORE -DDEBUG_RP2040_PORT=Serial -fstack-protector diff --git a/test_fw/plot.py b/test_fw/plot.py new file mode 100644 index 0000000..53f1bc2 --- /dev/null +++ b/test_fw/plot.py @@ -0,0 +1,98 @@ +from datetime import datetime +import matplotlib.pyplot as plt +import matplotlib.animation as animation +import serial +import numpy as np +import math + + +SER = serial.Serial('COM14') + +CHANNELS = [ + 'ax', + 'ay', + 'az', + 'gx', + 'gy', + 'gz', + 'temp', + 'hum', + 'pres', + 'gas', + 'lux', +] +CHANNEL_IDX = {name: i for (i, name) in enumerate(CHANNELS)} + +SAMPLE_COUNT = 500 + + +def main(): + fig = plt.figure() + + # subfigs = fig.subfigures(3, math.ceil(len(CHANNELS) / 3)) + + elem_data = {} + + + for chan in CHANNELS: + idx = CHANNEL_IDX[chan] + # subfig = subfigs[idx % 3][idx // 3] + + ax = fig.add_subplot(3, math.ceil(len(CHANNELS) / 3), idx + 1) + ax.set_title(chan) + + xs = np.arange(SAMPLE_COUNT), + ys = np.zeros(SAMPLE_COUNT), + + line = ax.plot(xs, ys)[0] + + elem_data[chan] = { + 'ys': ys, + # 'fig': subfig, + 'ax': ax, + 'line': line + } + + elem_data['temp']['ax'].set_ylim([15, 40]) + elem_data['hum']['ax'].set_ylim([0, 100]) + elem_data['pres']['ax'].set_ylim([0, 100000]) + + def animate(i): + now = datetime.now() + + if not SER.in_waiting: + return [] + + line = SER.readline().decode('utf-8') + + for elem in line.split(','): + elem = elem.strip() + + if len(elem) == 0: + continue + + split = elem.split(':') + + if len(split) != 2: + continue + + k = split[0].strip() + v = float(split[1].strip()) + + if k in elem_data: + dat = elem_data[k] + + dat['ys'] = np.roll(dat['ys'], -1) + dat['ys'][-1] = v + dat['line'].set_ydata(dat['ys']) + + yield from (item['line'] for item in elem_data.values()) + + + ani = animation.FuncAnimation(fig, animate, interval=50, blit=True) + plt.show() + + + +if __name__ == '__main__': + main() diff --git a/test_fw/src/bringup.cpp b/test_fw/src/bringup.cpp index 44a07c0..f2d2292 100644 --- a/test_fw/src/bringup.cpp +++ b/test_fw/src/bringup.cpp @@ -8,6 +8,7 @@ using namespace ocularium; void bringup::startup_checks(const etl::span<bringup::init_check> &checks) { auto success = true; + auto fault_indication = false; do { @@ -27,8 +28,15 @@ void bringup::startup_checks(const etl::span<bringup::init_check> &checks) else Serial.println("bad"); } - if (!success) delay(10); + if (!success) + { + fault_indication = !fault_indication; + digitalWrite(LED_FAULT, fault_indication); + delay(25); + } } while (!success); + + digitalWrite(LED_FAULT, LOW); } void bringup::init_buses() @@ -71,7 +79,7 @@ void bringup::boot_animation() LED_CAPTURING, }; - for (auto i = 0; i < 5; i++) + for (auto i = 0; i < 4; i++) { for (const auto pin: chase) { diff --git a/test_fw/src/main.cpp b/test_fw/src/main.cpp index 5206c16..dd7240a 100644 --- a/test_fw/src/main.cpp +++ b/test_fw/src/main.cpp @@ -2,10 +2,14 @@ #include <Wire.h> #include <SPI.h> -#include <Adafruit_BME680.h> #include <Adafruit_LSM6DS.h> #include <Adafruit_LSM6DSL.h> +#include <FreeRTOS.h> +#include <task.h> +#include <message_buffer.h> +#include <queue.h> + #include <hardware/pio.h> #include "i2c_scan.h" @@ -13,9 +17,18 @@ #include "board.h" #include "bringup.h" -using namespace ocularium; +#define USE_BSEC 0 +#if USE_BSEC +#include <bsec.h> +static Bsec bme; +#else +#include <Adafruit_BME680.h> static Adafruit_BME680 bme(&Wire1); +#endif + +using namespace ocularium; + static VEML lux(Wire1); static Adafruit_LSM6DSL lsm; @@ -28,7 +41,25 @@ static SDClass sd; static bringup::init_check STARTUP_CHECKS[] = { { .name = String("bme680"), - .f = [] { return bme.begin(BME_ADDR); }, + .f = [] + { +#if USE_BSEC + bme.begin(BME_ADDR, Wire1); + + bsec_virtual_sensor_t sensors[] = { + BSEC_OUTPUT_IAQ, + BSEC_OUTPUT_SENSOR_HEAT_COMPENSATED_HUMIDITY, + BSEC_OUTPUT_SENSOR_HEAT_COMPENSATED_TEMPERATURE, + BSEC_OUTPUT_RAW_PRESSURE, + BSEC_OUTPUT_GAS_PERCENTAGE, + BSEC_OUTPUT_CO2_EQUIVALENT, + }; + bme.updateSubscription(sensors, ETL_ARRAY_SIZE(sensors), BSEC_SAMPLE_RATE_CONT); + return true; +#else + return bme.begin(BME_ADDR); +#endif + }, .succeeded = false, }, { @@ -58,6 +89,17 @@ static bringup::init_check STARTUP_CHECKS[] = { } }; +#if USE_BSEC +struct bme_data +{ + float temperature, humidity, pressure, iaq, co2, gas; +}; + +static uint8_t bme_storage[2 * sizeof(bme_data)]; +static StaticQueue_t bme_buffer; +static QueueHandle_t bme_buffer_handle; +#endif + void setup() { Serial.begin(115200); Serial.println("boot"); @@ -74,13 +116,57 @@ void setup() { Serial.println("sensors initialized"); +#if USE_BSEC + [[noreturn]] void bme_task(void* params); + + bme_buffer_handle = xQueueCreateStatic(2, sizeof(bme_data), bme_storage, &bme_buffer); + + static StaticTask_t bsec_task_buffer; + static StackType_t bsec_stack[2048]; + xTaskCreateStatic(bme_task, "bme", 2048, nullptr, tskIDLE_PRIORITY, bsec_stack, &bsec_task_buffer); +#endif + bringup::boot_animation(); delay(100); +} + - digitalWrite(LED_CAPTURING, HIGH); +#if USE_BSEC +[[noreturn]] void bme_task(void* params) +{ + while (true) + { + Serial.println("bme run start"); + const auto status = bme.run(); + Serial.println("bme run end"); + + if (status) + { + bme_data data { + .temperature = bme.temperature, + .humidity = bme.humidity, + .pressure = bme.pressure, + .iaq = bme.iaq, + .co2 = bme.co2Equivalent, + .gas = bme.gasPercentage, + }; + + xQueueSend(bme_buffer_handle, &data, 0); + } + + delay(max(bme.nextCall - millis(), 0)); + } } +#endif void loop() { +#if USE_BSEC + static bme_data bme_data; + // do not wait + xQueueReceiveFromISR(bme_buffer_handle, &bme_data, nullptr); + auto& bme_data_source = bme_data; + +#else static uint32_t bme_target_millis = 0; if (millis() >= bme_target_millis) @@ -93,16 +179,36 @@ void loop() { bme_target_millis = bme.beginReading(); } + auto& bme_data_source = bme; +#endif + + const auto lux_value = lux.lux(); + analogWrite(LED_STORAGE, map(static_cast<int>(lux_value), 200, 1000, 0, 255)); + static sensors_vec_t accel, gyro; - while (lsm.gyroscopeAvailable()) + if (lsm.gyroscopeAvailable()) { lsm.readGyroscope(gyro.x, gyro.y, gyro.z); } - while (lsm.accelerationAvailable()) + if (lsm.accelerationAvailable()) { lsm.readAcceleration(accel.x, accel.y, accel.z); + + const auto norm = sqrtf(accel.x * accel.x + accel.y * accel.y + accel.z * accel.z); + + constexpr auto NEUTRAL = 1.98f; + constexpr auto RANGE = 8.f; + + auto compensated = abs(norm - NEUTRAL) / RANGE; + compensated *= 5; // more sensitivity (heuristic) + + const auto pin_val = etl::clamp(static_cast<int>(compensated * 255), 0, 255); + + // Serial.printf("norm: %.2f, compensated: %.2f, pin_val: %d\n", norm, compensated, pin_val); + + analogWrite(LED_OTHER, pin_val); } struct @@ -112,25 +218,40 @@ void loop() { } readings[] = { { .name = "lux", - .value = lux.lux(), + .value = lux_value, }, { .name = "temp", - .value = bme.temperature, + .value = bme_data_source.temperature, }, { .name = "hum", - .value = bme.humidity, + .value = bme_data_source.humidity, }, { .name = "pres", - .value = static_cast<float>(bme.pressure), + .value = static_cast<float>(bme_data_source.pressure), + }, +#if USE_BSEC + { + .name = "iaq", + .value = bme_data_source.iaq, }, { + .name = "co2", + .value = bme_data_source.co2, + }, + { + .name = "gas", + .value = bme_data_source.gas, + }, +#else + { .name = "gas", - .value = bme.humidity, + .value = static_cast<float>(bme.gas_resistance), }, +#endif { .name = "ax", |