🔧 adds config in demo file

Astraeus-Library · Oct 2, 2023 · 3882abe · 3882abe
1 parent 21a11d2
commit 3882abe
Showing 1 changed file with 64 additions and 48 deletions.
diff --git a/demos/applications/telemetry-recorder.cpp b/demos/applications/telemetry-recorder.cpp
@@ -20,7 +20,7 @@
 #include <libhal-util/spi.hpp>
 
 #include "../hardware_map.hpp"
-#include<telemetry-recorder/telemetry-recorder.hpp>
+#include <telemetry-recorder/telemetry-recorder.hpp>
 
 hal::status application(hardware_map& p_map)
 {
@@ -36,77 +36,93 @@ hal::status application(hardware_map& p_map)
   auto spi2 = HAL_CHECK(hal::lpc40::spi::get(2));
   auto chip_select = HAL_CHECK(hal::lpc40::output_pin::get(1, 8));
 
+  hal::print(console, "Demo Telemetry Recorder Starting...\n\n");
+
+  // Device initialization
   auto micro_sd =
     HAL_CHECK(hal::microsd::microsd_card::create(spi2, chip_select));
+  (void)hal::delay(clock, 200ms);
   auto neoGPS = HAL_CHECK(hal::neo::neo_GPS::create(gps));
+  (void)hal::delay(clock, 200ms);
   auto xbee_module = HAL_CHECK(hal::xbee::xbee_radio::create(xbee));
+  (void)hal::delay(clock, 200ms);
   auto mpl_device = HAL_CHECK(hal::mpl::mpl3115a2::create(i2c));
+  (void)hal::delay(clock, 200ms);
   auto icm_device = HAL_CHECK(hal::icm::icm20948::create(i2c, 0x69));
+  (void)hal::delay(clock, 200ms);
   hal::delay(clock, 500ms);
 
-  xbee_module.configure_xbee("C", "2015"); // Channel C, PANID 2015
+  // device configuration
+  icm_device.auto_offsets();
+
+  int8_t alt_offset = 0;
+  mpl_device.set_altitude_offset(alt_offset);
+  // Set sea level pressure to 30 Hg
+  float slp = 101325;  // Default is 101325 Pa
+
+  mpl_device.set_sea_pressure(slp);
+
+  xbee_module.configure_xbee("C", "2015");  // Channel C, PANID 2015
 
   auto telemetry_recorder =
     HAL_CHECK(hal::telemetry_recorder::telemetry_recorder::create(
       icm_device, neoGPS, mpl_device, micro_sd, xbee_module));
   hal::delay(clock, 500ms);
 
-  hal::print(console, "Demo Telemetry Recorder Starting...\n\n");
-
   while (true) {
-    hal::delay(clock, 500ms);
     hal::print(console, "\n=================== Data ===================\n");
     auto telemetry_recorder_data = HAL_CHECK(telemetry_recorder.record());
-
-  char telem_data[512];
-  snprintf(telem_data, sizeof(telem_data),
-      "G-Accel Values: x = %fg, y = %fg, z = %fg\n"
-      "Gyro Values: x = %f, y = %f, z = %f\n"
-      "IMU Temperature: %f°C\n"
-      "Barometer Temperature: % f°C\n"
-      "Measured Pressure: %fPa\n"
-      "Barometer Measured Altitude: %fm\n"
-      "Latitude: %f\n"
-      "Longitude: %f\n"
-      "Number of satellites seen: %d\n"
-      "Altitude: %f meters\n"
-      "Time: %f\n",
-      telemetry_recorder_data.accel_x,
-      telemetry_recorder_data.accel_y,
-      telemetry_recorder_data.accel_z,
-      telemetry_recorder_data.gyro_x,
-      telemetry_recorder_data.gyro_y,
-      telemetry_recorder_data.gyro_z,
-      telemetry_recorder_data.imu_temp,
-      telemetry_recorder_data.baro_temp,
-      telemetry_recorder_data.baro_pressure,
-      telemetry_recorder_data.baro_altitude,
-      telemetry_recorder_data.gps_lat,
-      telemetry_recorder_data.gps_long,
-      telemetry_recorder_data.gps_sats,
-      telemetry_recorder_data.gps_alt,
-      telemetry_recorder_data.gps_time
-  );
-
+      hal::delay(clock, 100ms);
+
+    char telem_data[512];
+    snprintf(telem_data,
+             sizeof(telem_data),
+             "G-Accel Values: x = %fg, y = %fg, z = %fg\n"
+             "Gyro Values: x = %f, y = %f, z = %f\n"
+             "IMU Temperature: %f°C\n"
+             "Barometer Temperature: % f°C\n"
+             "Measured Pressure: %fPa\n"
+             "Barometer Measured Altitude: %fm\n"
+             "Latitude: %f\n"
+             "Longitude: %f\n"
+             "Number of satellites seen: %d\n"
+             "Altitude: %f meters\n"
+             "Time: %f\n",
+             telemetry_recorder_data.accel_x,
+             telemetry_recorder_data.accel_y,
+             telemetry_recorder_data.accel_z,
+             telemetry_recorder_data.gyro_x,
+             telemetry_recorder_data.gyro_y,
+             telemetry_recorder_data.gyro_z,
+             telemetry_recorder_data.imu_temp,
+             telemetry_recorder_data.baro_temp,
+             telemetry_recorder_data.baro_pressure,
+             telemetry_recorder_data.baro_altitude,
+             telemetry_recorder_data.gps_lat,
+             telemetry_recorder_data.gps_long,
+             telemetry_recorder_data.gps_sats,
+             telemetry_recorder_data.gps_alt,
+             telemetry_recorder_data.gps_time);
 
     hal::print<512>(console, telem_data);
 
     hal::print(console, "============================================\n\n");
 
-  hal::print(console, "Transmitting Data to Ground Station...\n\n");
-  telemetry_recorder.transmit("Here is some data!\n");
-  telemetry_recorder.transmit(telem_data);
+    hal::print(console, "Transmitting Data to Ground Station...\n\n");
+    telemetry_recorder.transmit("Here is some data!\n");
+    telemetry_recorder.transmit(telem_data);
 
-  hal::print(console, "Storing Data to SD Card...\n\n");
-  telemetry_recorder.store(telem_data);
-  hal::delay(clock, 500ms);
+    hal::print(console, "Storing Data to SD Card...\n\n");
+    telemetry_recorder.store(telem_data);
 
-  hal::print(console, "Recieveing Data from Ground Station...\n\n");
-  auto recieved_data = HAL_CHECK(telemetry_recorder.recieve());
-  hal::print(console, "\n=================== RECIEVED DATA ===================\n");
-  hal::print(console, recieved_data);
-  hal::print(console, "======================================================\n\n");
+    hal::print(console, "Recieveing Data from Ground Station...\n\n");
+    auto recieved_data = HAL_CHECK(telemetry_recorder.recieve());
+    hal::print(console,
+               "\n=================== RECIEVED DATA ===================\n");
+    hal::print(console, recieved_data);
+    hal::print(console,
+               "======================================================\n\n");
   }
-  
+
   return hal::success();
 }