//private readonly Lcd _lcd;
public BNOCalibUpdate(SerialBno bno, int delay)
{
//_lcd = lcd;
_bno = bno;
_delay = delay;
_workItem = new WorkItem(UpdateCalib, ref _dataArray, loggable: false, persistent: true, pauseable: true);
}
public SerialBnoUpdater(int sigFigs = 4, int delay = 30000)
{
_bnoSensor = new SerialBno(SerialPorts.COM3, 5000, 5000, SerialBno.Bno055OpMode.OperationModeNdof);
_dataArray = new byte[_dataCount + _metaDataCount + _timeDataCount];
_dataArray[0] = (byte)PacketType.StartByte; // start bit = 0xff
_dataArray[1] = (byte)PacketType.BnoDump;
_delay = delay;
_precision = (int)System.Math.Pow(10, sigFigs - 1);
_workItem = new WorkItem(BnoUpdater, ref _dataArray, loggable: true, persistent: true, pauseable: true);
_bnoSensor.Begin();
}
public SerialBnoUpdater(SerialBno bno, int sigFigs = 3, int delay = 30000)
{
_bnoSensor = bno;
_dataArray = new byte[_dataCount + _metaDataCount + _timeDataCount];
_dataArray[0] = (byte)PacketType.StartByte; // start bit = 0xff
_dataArray[1] = (byte)PacketType.BnoDump;
_delay = delay;
_precision = (int)System.Math.Pow(10, sigFigs - 1);
_workItem = new WorkItem(OnTaskExecute, ref _dataArray, loggable: true, persistent: true, pauseable: true);
_bnoSensor.Begin();
}
public static void Main()
{
var bus = new I2CBus();
var lcdProvider = new MCP23008LcdTransferProvider(bus);
var lcd = new Lcd(lcdProvider);
lcd.Begin(16, 2);
lcd.Backlight = true;
lcd.Write("Payload McPayload Face v1.0");
for (int i = 0; i < 12; i++)
{
lcd.ScrollDisplayLeft();
Thread.Sleep(200);
}
Thread.Sleep(1000);
lcd.Clear();
LCDFinish(lcd, "ACC DemoSat 2016");
//THIS SECTION CREATES / INITIALIZES THE SERIAL LOGGER
Debug.Print("Flight computer started successfully. Beginning INIT.");
//Lcd = new LiquidCrystalI2C(0x01, 16, 2);
//Lcd.write("Testing!");
lcd.Write("Starting logger.");
var logger = new Logger();
Debug.Print("Starting logger.");
logger.Start();
LCDFinish(lcd, "Done.");
lcd.Write("Starting clock...");
Rebug.Print("Starting clock.");
Clock.Instance.Start();
LCDFinish(lcd, "Done.");
//THIS SECTION CREATES/INITIALIZES THE PRESSURE SENSOR
//lcd.Write("Init BMP sensor.");
//Rebug.Print("Initializing BMP Sensor ");
//var bmploop = new PressureTempAltitudeUpdater(bus, delay: 1000);
//LCDFinish(lcd);
//THIS SECTION CREATES/INITIALIZES THE SERIAL BNO 100HZ UPDATER
lcd.Write("Init BNO sensor...");
Rebug.Print("Initializing BNO Sensor ");
var bno = new SerialBno(SerialPorts.COM1, 5000, 5000, SerialBno.Bno055OpMode.OperationModeNdof);
var bnoloop = new SerialBnoUpdater(bno, delay: 1000);
LCDFinish(lcd, "Done.");
////Starts up the expensive mag
lcd.Write("Init exp. mag...");
Rebug.Print("Initializing expensive magnetometer on com3");
var expensiveMagLoop = new ExpensiveMagUpdater(delay: 1000);
LCDFinish(lcd, "Done.");
lcd.Write("Init calib disp.");
Rebug.Print("Initializing BNO calibration display loop");
var printBnoCalib = new BNOCalibUpdate(bno, lcd, delay: 1000);
LCDFinish(lcd, "Done.");
//////THIS SECTION CREATES/INITIALIZES THE MAGNETOMETER UPDATER
var mag_dump_size = 18432;
lcd.Write("Init fast mag...");
Rebug.Print("Initializing fast mag dump collector with a size of " + mag_dump_size + "bytes.");
var customMagLoop = new CustomMagUpdater(mag_dump_size, AnalogChannels.ANALOG_PIN_A0);
LCDFinish(lcd, "Done.");
//Thread.Sleep(5000);
lcd.Write("Init complete...");
Rebug.Print("Flight computer INIT Complete. Continuing with boot.");
LCDFinish(lcd, "Continuing boot.");
//THIS SECTION INITIALIZES AND STARTS THE MEMORY MONITOR
lcd.Write("Start memory monitor...");
Rebug.Print("Starting memory monitor...");
MemoryMonitor.Instance.Start(ref logger);
LCDFinish(lcd, "Done.");
////THIS STARTS THE Mag dump update
lcd.Write("Start f.mag loop...");
Rebug.Print("Starting fast mag dump...");
customMagLoop.Start();
LCDFinish(lcd, "Done.");
////THIS STARTS THE BNO SENSOR UPDATE
lcd.Write("Start bno loop...");
Rebug.Print("Starting bno sensor updates...");
bnoloop.Start();
LCDFinish(lcd, "Done.");
//THIS STARTS THE BNO SENSOR UPDATE
//lcd.Write("Start bmp loop");
//Rebug.Print("Starting bmp sensor updates...");
//bmploop.Start();
//LCDFinish(lcd);
//THIS STARTS THE EXPENSIVE MAG UPDATE
lcd.Write("Start e.mag loop...");
Rebug.Print("Starting expensive mag updates...");
expensiveMagLoop.Start();
LCDFinish(lcd, "Done.");
lcd.Write("Boot successful!");
LCDFinish(lcd, "Entering run state.");
Rebug.Print("Flight computer boot successful.");
printBnoCalib.Start();
}
public static void Main()
{
I2CBus bus = new I2CBus();
//THIS SECTION CREATES / INITIALIZES THE SERIAL LOGGER
Debug.Print("Flight computer started successfully. Beginning INIT.");
var logger = new Logger();
Debug.Print("Starting logger.");
logger.Start();
Rebug.Print("Starting clock.");
Clock.Instance.Start();
//var tracker = new LightTracker(PWMChannels.PWM_PIN_D5, PWMChannels.PWM_PIN_D10,
// Cpu.AnalogChannel.ANALOG_2, Cpu.AnalogChannel.ANALOG_0,
// Cpu.AnalogChannel.ANALOG_3, Cpu.AnalogChannel.ANALOG_1);
var tracker = new LightTracker(PWMChannels.PWM_PIN_D5, Cpu.AnalogChannel.ANALOG_0,
Cpu.AnalogChannel.ANALOG_1);
tracker.Start();
//THIS SECTION CREATES/INITIALIZES THE PRESSURE SENSOR
//lcd.Write("Init BMP sensor.");
Rebug.Print("Initializing BMP Sensor ");
var bmploop = new PressureTempAltitudeUpdater(bus, delay: 1000);
//LCDFinish(lcd);
//THIS SECTION CREATES/INITIALIZES THE SERIAL BNO 100HZ UPDATER
Rebug.Print("Initializing BNO Sensor ");
var bno = new SerialBno(SerialPorts.COM1, 5000, 5000, SerialBno.Bno055OpMode.OperationModeNdof);
var bnoloop = new SerialBnoUpdater(bno, delay: 1000);
Rebug.Print("Initializing BNO calibration display loop");
var printBnoCalib = new BNOCalibUpdate(bno, delay: 1000);
//LCDFinish(lcd, "Done.");
//Thread.Sleep(5000);
//lcd.Write("Init complete...");
Rebug.Print("Flight computer INIT Complete. Continuing with boot.");
//LCDFinish(lcd, "Continuing boot.");
//THIS SECTION INITIALIZES AND STARTS THE MEMORY MONITOR
//lcd.Write("Start memory monitor...");
Rebug.Print("Starting memory monitor...");
MemoryMonitor.Instance.Start(ref logger);
//LCDFinish(lcd, "Done.");
//LCDFinish(lcd, "Done.");
////THIS STARTS THE BNO SENSOR UPDATE
//lcd.Write("Start bno loop...");
Rebug.Print("Starting bno sensor updates...");
bnoloop.Start();
//LCDFinish(lcd, "Done.");
//THIS STARTS THE BNO SENSOR UPDATE
//lcd.Write("Start bmp loop");
//TODO BNP180 discontinued... Update at later time
Rebug.Print("Starting bmp sensor updates...");
bmploop.Start();
//LCDFinish(lcd);
//lcd.Write("Boot successful!");
//LCDFinish(lcd,"Entering run state.");
Rebug.Print("Flight computer boot successful.");
printBnoCalib.Start();
}
