圧力測定基板追加

.github/workflows/arduino_ci.yml

@@ -111,6 +111,8 @@ jobs:
           version: latest
         - name: Adafruit BNO055
           version: latest
+        - name: Adafruit LPS35HW
+          version: latest
         - source-url: https://github.com/uChip/MCP342X.git
         - source-url: https://github.com/core-rocket/CCP.git
         - source-url: https://github.com/coryjfowler/MCP_CAN_lib.git
@@ -145,6 +147,14 @@ jobs:
               vendor: rp2040
               arch: rp2040
               name: seeed_xiao_rp2040
+
+          - sketch-paths: Pressure
+            libraries: |
+              - 
+            board:
+              vendor: rp2040
+              arch: rp2040
+              name: seeed_xiao_rp2040
 
         include:
           - code:

Pressure/Pressure.ino

@@ -0,0 +1,58 @@
+#include <SPI.h>
+#include <string.h>
+#include <CCP_MCP2515.h>
+#include <Adafruit_LPS35HW.h>
+
+Adafruit_LPS35HW lps35hw = Adafruit_LPS35HW();
+
+#define CAN_INT D6
+#define CAN_CS D7
+
+// CAN
+CCP_MCP2515 CCP(CAN_CS, CAN_INT);
+char msgString[128];
+char str_buf[7];  // 6+\0
+
+void setup() {
+  delay(500);
+  Serial.begin(115200);
+  pinMode(CAN_CS, OUTPUT);
+  pinMode(CAN_INT, INPUT);
+  digitalWrite(CAN_CS, HIGH);
+
+  // CAN
+  CCP.begin();
+
+  while (!lps35hw.begin_I2C(0x5C)) {
+    //if (!lps35hw.begin_SPI(LPS_CS)) {
+    //if (!lps35hw.begin_SPI(LPS_CS, LPS_SCK, LPS_MISO, LPS_MOSI)) {
+    Serial.println("Couldn't find LPS35HW chip");
+    delay(10);
+  }
+  delay(10);
+  lps35hw.setDataRate(LPS35HW_RATE_75_HZ);
+}
+
+void loop() {
+  static uint32_t time = 0;
+  if (millis() - time >= 10) {
+    time = millis();
+    CCP.float_to_device(CCP_surface_pressure1_pressure_pa, lps35hw.readPressure());
+  }
+
+  if (!digitalRead(CAN_INT))  // データ受信確認
+  {
+    CCP.read_device();
+    if (CCP.id < 0x40) {
+      CCP.string(str_buf, 7);
+      sprintf(msgString, "%d,ID,%03x,time,%d000,string,%s,,,,", millis(), CCP.id, CCP.time16(), str_buf);
+    } else if (CCP.id < 0x80) {
+      sprintf(msgString, "%d,ID,%03x,time,%lu,uint32,%lu,,,,", millis(), CCP.id, CCP.time32(), CCP.data_uint32());
+    } else if (CCP.id < 0xC0) {
+      sprintf(msgString, "%d,ID,%03x,time,%lu,float,%8.2f,,,,", millis(), CCP.id, CCP.time32(), CCP.data_float());
+    } else {
+      sprintf(msgString, "%d,ID,%03x,time,%d000,fp16_0,%8.2f,fp16_1,%8.2f,fp16_2,%8.2f", millis(), CCP.id, CCP.time16(), CCP.data_fp16_0(), CCP.data_fp16_1(), CCP.data_fp16_2());
+    }
+    Serial.println(msgString);
+  }
+}

test/pressure_board_CAN_inspector/pressure_board_CAN_inspector.ino

@@ -0,0 +1,51 @@
+#include <SPI.h>
+#include <string.h>
+#include <CCP_MCP2515.h>
+
+#define CAN_INT D6
+#define CAN_CS D7
+
+// CAN
+CCP_MCP2515 CCP(CAN_CS, CAN_INT);
+
+// Other
+char msgString[128];
+char str_buf[7]; // 6+\0
+
+void setup()
+{
+  delay(500);
+  Serial.begin(115200);
+  pinMode(CAN_CS, OUTPUT);
+  pinMode(CAN_INT, INPUT);
+  digitalWrite(CAN_CS, HIGH);
+
+  // CAN
+  CCP.begin();
+}
+
+void loop()
+{
+  if (!digitalRead(CAN_INT)) // データ受信確認
+  {
+    CCP.read_device();
+    if (CCP.id < 0x40)
+    {
+      CCP.string(str_buf, 7);
+      sprintf(msgString, "%d,ID,%03x,time,%d000,string,%s,,,,", millis(), CCP.id, CCP.time16(), str_buf);
+    }
+    else if (CCP.id < 0x80)
+    {
+      sprintf(msgString, "%d,ID,%03x,time,%lu,uint32,%lu,,,,", millis(), CCP.id, CCP.time32(), CCP.data_uint32());
+    }
+    else if (CCP.id < 0xC0)
+    {
+      sprintf(msgString, "%d,ID,%03x,time,%lu,float,%8.2f,,,,", millis(), CCP.id, CCP.time32(), CCP.data_float());
+    }
+    else
+    {
+      sprintf(msgString, "%d,ID,%03x,time,%d000,fp16_0,%8.2f,fp16_1,%8.2f,fp16_2,%8.2f", millis(), CCP.id, CCP.time16(), CCP.data_fp16_0(), CCP.data_fp16_1(), CCP.data_fp16_2());
+    }
+    Serial.println(msgString);
+  }
+}