From 874970fd3e0b422a0a01a87165df4cc0af29ca60 Mon Sep 17 00:00:00 2001
From: Hoa Ben The Nguyen <hbnguye@stud.ntnu.no>
Date: Tue, 14 May 2024 11:58:00 +0200
Subject: [PATCH] update: arduino code
---
droneCode/lidar_setup/lidar_setup.ino | 96 +++++++++++++++------------
1 file changed, 52 insertions(+), 44 deletions(-)
diff --git a/droneCode/lidar_setup/lidar_setup.ino b/droneCode/lidar_setup/lidar_setup.ino
index cb9bcd35..31c7ddc4 100644
--- a/droneCode/lidar_setup/lidar_setup.ino
+++ b/droneCode/lidar_setup/lidar_setup.ino
@@ -4,54 +4,55 @@
#include <TinyGPS++.h>
#include <SoftwareSerial.h>
-// #include <TimerOne.h>
#include <Wire.h>
#include <LIDARLite.h>
#include <SD.h>
+#include <SPI.h>
LIDARLite myLidarLite; // LiDar object
TinyGPSPlus gps; // GPS object
SoftwareSerial ss(RXPin, TXPin); // serial connection to GPS device
+// structrue of each measurement in waterbody
struct WaterBody {
+ int measurementID;
const char* name;
float latitude;
float longitude;
};
-// if new coordinates or body of water is added then add it here
+// NB: if new coordinates or body of water is added then add it here
// define an array of waterbody structures
WaterBody waterCoords = {
- {"mjosa",60.000000,10.000000},
- {"mjosa",60.000000,10.000000},
- {"mjosa",60.000000,10.000000},
- {"mjosa",60.000000,10.000000},
+ {"mjosa",60.000000,12.000000, 1},
+ {"mjosa",65.000000,11.000000, 2},
+ {"mjosa",59.000000,12.000000, 3},
+ {"mjosa",63.000000,13.000000, 4},
};
-// #define DIR_PIN 2
-// #define STEP_PIN 3
+#define CHIP_SELECT_PIN 10 \\ Pin connected to the CS pin of SD card moudle
+#define MAX_READING 1000 \\ Maximum number of LIDAR readings to store
+#define RXPIN 2
+#define TXPIN 3
-static const int RXPin = 4, TXPin = 3;
static const uint32_t GPSBaoud = 9600; // baud rate
const float maxRadius = 5; // max distance from location to gps coordinates
-
-// volatile int stepCount = 0;
-// volatile int roundCount = 0;
-
void setup() {
Serial.begin(GPSBaud); // Initialize serial connection to display distances readings
+ pinMode(CHIP_SELECT_PIN, OUTPUT);
+
+ if (!SD.begin(CHIP_SELECT_PIN)){
+ Serial.println("SD card initialization failed");
+ return;
+ }
+
+ Serial.println("SD card initialized");
+
myLidarLite.begin(0, true); // Start sensor and I2C
myLidarLite.configure(0); // set to default mode, balanced performance
ss.begin(GPSBaud); // Start GPS tracking
-
- // pinMode(DIR_PIN, OUTPUT);
- // pinMode(STEP_PIN, OUTPUT);
-
- // digitalWrite(DIR_PIN, HIGH);
-
- // Timer1.initialize();
- // Timer1.attachInterrupt(tick, 1000000.0f / (3200 * 1));
+
}
// extra: Reciever bias correction is performed 1 out of every 100 readings
@@ -60,15 +61,36 @@ void loop() {
while (ss.available() > 0){
gps.encode(ss.read());
if (gps.location.isUpdated()){
- for (int i = 0; i< waterCoors.size(); i++){
+ for (int i = 0; i< sizeof(waterCoords)/sizeof(waterCoords[0]); i++){
// scan after lidar reached designated location
- if withinRadius(gps.location.lat, gps.location.lng, waterCoordinates[i][1], waterCoordinates[i][2], maxRadius) {
- // Take a measurement with receiver bias correction and print to serial terminal
- receive(true);
-
- // Take 99 measurement without receiver bias correction and print to serial terminal
- for(int i = 0; i < 99; i++){
- receive(false);
+ if withinRadius(gps.location.lat, gps.location.lng, waterCoords[i].latitude, waterCoords[i].longitude, maxRadius) {
+ String filename = String(waterCoords[i].name) + "_ID_" + String(waterCoords[i].measurementID) + ".txt";
+
+ if (SD.exist(filename)){
+ SD.remove(filename);
+ Serial.println("File deleted:" + filename);
+ }
+
+ // Create a new file on the SD card
+ File dataFile = SD.open(filename, FILE_WRITE);
+
+ if (!dataFile){
+ Serial.println("SD card initialized");
+
+ // Take 99 measurement without receiver bias correction and print to file
+ for(int i = 0; i < 10; i++){
+ // convert it to (XYZ) format
+ sprintf(coordinate,"%d %d %d\n\0",(int)(0,0,myLidarLite.distance(false));
+ datafile.println(coordinate);
+ }
+
+ dataFile.close();
+ // Convert and send them
+ Serial.print(s);
+ Serial.println("File created.", filename);
+ }
+ else{
+ Serial.println("Error opening file for writing: ", filename);
}
}
}
@@ -87,18 +109,4 @@ void receive(bool bias)
bool withinRadius(float x1,float y1,float x2,float y2, float radius){
float distance = sqrt(pow((x1-x2),2)+pow((y1-y2),2));
return (distance <= radius);
-}
-
-// void tick()
-// {
-// digitalWrite(STEP_PIN, HIGH);
-// //delay(1);
-// digitalWrite(STEP_PIN, LOW);
-
-// stepCount++;
-// if(stepCount >= 3200)
-// {
-// stepCount = 0;
-// roundCount++;
-// }
-// }
\ No newline at end of file
+}
\ No newline at end of file
--
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