我的 SAMD21 板遇到了一点问题。我有这个入门套件（原理图），我想添加更多传感器。他们使用 SPI，所以我对它们进行了编程。由于 SAMD21 每次都得到它滞后的代码，所以当代码到达时传感器开始功能。请给我一些建议，如何正确控制两个 SPI 并避免滞后。
*滞后是总滞后 - SAMD21 在达到开始功能后什么也不做。
*原理图：http: //kit.sciencein.cz/wiki/images/b/be/MainBoard_v2.0_RevB_SCH.png
*对不起代码中的错误（将长代码剪短）
*我的代码：
#include <Adafruit_BME280.h> // include Adafruit BME280 library
#include <Adafruit_INA219.h> // include INA219
#include <SD.h> // include Arduino SD library
#include "Open_Cansat_GPS.h"
//include our new sensors
#include "MQ131.h"
#include <Wire.h>
#include <SPI.h>
#include "RFM69.h" // include RFM69 library
// Local
#define PC_BAUDRATE 115200
#define MS_DELAY 0 // Number of milliseconds between data sending and LED signalization
#define LED_DELAY 100
#define Serial SerialUSB
RTCZero rtc;
// RFM69
#define NETWORKID 0 // Must be the same for all nodes (0 to 255)
#define MYNODEID 1 // My node ID (0 to 255)
#define TONODEID 2 // Destination node ID (0 to 254, 255 = broadcast)
#define FREQUENCY RF69_433MHZ // Frequency set up
#define FREQUENCYSPECIFIC 433000000 // Should be value in Hz, now 433 Mhz will be set
#define CHIP_SELECT_PIN 43 //radio chip select
#define INTERUP_PIN 9 //radio interrupt
// BME280 SETTING
#define BME280_ADDRESS_OPEN_CANSAT 0x77
#define SEALEVELPRESSURE_HPA 1013.25
//OZONE2CLICK
const byte pinSS = 2; //cs pin
const byte pinRDY = 12;
const byte pinSCK = 13;
const byte O2Pin = 10;
#define DcPin 8
// SD card
#define sd_cs_pin 35 // set SD's chip select pin (according to the circuit)
// create object 'rf69' from the library, which will
// be used to access the library methods by a dot notation
RFM69 radio(CHIP_SELECT_PIN, INTERUP_PIN, true);
// define our own struct data type with variables; used to send data
typedef struct
{
int16_t messageId;
uint16_t year;
uint8_t month;
uint8_t day;
uint8_t hour;
uint8_t minute;
uint8_t sec;
float longitude;
float latitude;
uint8_t num_of_satelites;
float temperature;
float pressure;
float altitude;
float humidity_bme280;
float voltage_shunt;
float voltage_bus;
float current_mA;
float voltage_load;
int16_t rssi;
} messageOut;
messageOut cansatdata; //create the struct variable
// create object 'bme' from the library, which will
// be used to access the library methods by a dot notation
Adafruit_BME280 bme;
// create object 'ina219' from the library with address 0x40
// (according to the circuit, which will be used to access the
// library methods by a dot notation
Adafruit_INA219 ina219(0x40);
// create object 'gps' from the library
OpenCansatGPS gps;
// SD card
File file; // SD library variable
// LEDS
#define D13_led_pin 42 // D13 LED
#define M_led_pin 36 // MLED
// Local variables
int idCounter = 1;
bool isBmeOk = true;
bool isSdOk = true;
bool isRadioOk = true;
bool isGpsConnected = true;
// My variables
float NH3Data;
float COData;
float NO2Data;
float PPMO2;
float PPBO2;
float MGM3O2;
float UGM3O2;
float SSmoke1;
float SSmoke2;
float SSmoke3;
float ESmoke1;
float ESmoke2;
float ESmoke3;
int DataCounter = 0;
void OZONE2CLICKCalibrate ()
{
Serial.println("2");
//MQ131.begin(pinSS, pinRDY, O2Pin, LOW_CONCENTRATION, 10000); //(int _pinCS, int _pinRDY, int _pinPower, MQ131Model _model, int _RL)
Serial.println("99");
Serial.println("Calibration in progress...");
MQ131.calibrate();
Serial.println("Calibration done!");
Serial.print("R0 = ");
Serial.print(MQ131.getR0());
Serial.println(" Ohms");
Serial.print("Time to heat = ");
Serial.print(MQ131.getTimeToRead());
Serial.println(" s");
}
void OZONE2CLICKMeasure ()
{
Serial.println("Sampling...");
MQ131.sample();
Serial.print("Concentration O3 : ");
PPMO2 = MQ131.getO3(PPM);
Serial.print(PPMO2);
Serial.println(" ppm");
Serial.print("Concentration O3 : ");
PPBO2 = MQ131.getO3(PPB);
Serial.print(PPBO2);
Serial.println(" ppb");
Serial.print("Concentration O3 : ");
MGM3O2 = MQ131.getO3(MG_M3);
Serial.print(MGM3O2);
Serial.println(" mg/m3");
Serial.print("Concentration O3 : ");
UGM3O2 = MQ131.getO3(UG_M3);
Serial.print(UGM3O2);
Serial.println(" ug/m3");
}
void setup()
{
pinMode(pinSS, OUTPUT);
digitalWrite(pinSS, HIGH);
delay(10000);
Serial.begin(PC_BAUDRATE);
// wait for the Arduino serial (on your PC) to connect
// please, open the Arduino serial console (right top corner)
// note that the port may change after uploading the sketch
// COMMENT OUT FOR USAGE WITHOUT A PC!
// while(!Serial);
Serial.println("openCanSat PRO");
Serial.print("Node ");
Serial.print(MYNODEID,DEC);
Serial.println(" ready");
// begin communication with the BME280 on the previously specified address
// print an error to the serial in case the sensor is not found
if (!bme.begin(BME280_ADDRESS_OPEN_CANSAT))
{
isBmeOk = false;
Serial.println("Could not find a valid BME280 sensor, check wiring!");
return;
}
// begin communication with the INA219
ina219.begin();
// check of Gps is connected
Wire.beginTransmission(0x42); // 42 is addres of GPS
int error = Wire.endTransmission();
if (error != 0)
{
isGpsConnected = false;
}
// begin communication with gps
gps.begin();
// Uncomment when you want to see debug prints from GPS library
// gps.debugPrintOn(57600);
if(!radio.initialize(FREQUENCY, MYNODEID, NETWORKID))
{
isRadioOk = false;
Serial.println("RFM69HW initialization failed!");
}
else
{
radio.setFrequency(FREQUENCYSPECIFIC);
radio.setHighPower(true); // Always use this for RFM69HW
}
pinMode(D13_led_pin, OUTPUT);
pinMode(DcPin, OUTPUT);
pinMode(MICS6814Pin, OUTPUT);
pinMode(MICSVZ89TEPin, OUTPUT);
pinMode(O2Pin, OUTPUT);
GyroscopeTurnOn();
}
void loop()
{
cansatdata.messageId = idCounter;
GyroscopeMeasure();
LandingChecker();
Serial.println("MessageId = " + static_cast<String>(cansatdata.messageId));
cansatdata.temperature = 0;
cansatdata.pressure = 0;
cansatdata.altitude = 0;
if(isBmeOk)
{
cansatdata.temperature += bme.readTemperature();
cansatdata.pressure += bme.readPressure() / 100.0F;
cansatdata.altitude += bme.readAltitude(SEALEVELPRESSURE_HPA);
cansatdata.humidity_bme280 = bme.readHumidity();
}
Serial.println("Temperature = " + static_cast<String>(cansatdata.temperature) + " *C");
Serial.println("Pressure = " + static_cast<String>(cansatdata.pressure) + " Pa");
Serial.println("Approx altitude = " + static_cast<String>(cansatdata.altitude) + " m");
Serial.println("Humidity = " + static_cast<String>(cansatdata.humidity_bme280) + " %");
// read values from INA219 into structure
cansatdata.voltage_shunt = ina219.getShuntVoltage_mV();
cansatdata.voltage_bus = ina219.getBusVoltage_V();
cansatdata.current_mA = ina219.getCurrent_mA();
cansatdata.voltage_load = cansatdata.voltage_bus + (cansatdata.voltage_shunt / 1000);
Serial.println("Shunt Voltage: " + static_cast<String>(cansatdata.voltage_shunt) + " mV");
Serial.println("Bus Voltage: " + static_cast<String>(cansatdata.voltage_bus) + " V");
Serial.println("Current: " + static_cast<String>(cansatdata.current_mA) + " mA");
Serial.println("Load Voltage: " + static_cast<String>(cansatdata.voltage_load) + " V");
// Initialize GPS
cansatdata.year = 0;
cansatdata.month = 0 ;
cansatdata.day = 0;
cansatdata.hour = 0;
cansatdata.minute = 0;
cansatdata.sec = 0;
cansatdata.latitude = 0;
cansatdata.longitude = 0;
cansatdata.num_of_satelites = 0;
// save start time in millisec
uint32_t start = millis();
// END LED BLINK
digitalWrite(D13_led_pin, LOW);
pinMode(M_led_pin, INPUT);
// END LED BLINK
if(isGpsConnected)
{
if (gps.scan(250))
{
cansatdata.year = gps.getYear();
cansatdata.month = gps.getMonth();
cansatdata.day = gps.getDay();
cansatdata.hour = gps.getHour();
cansatdata.minute = gps.getMinute();
cansatdata.sec = gps.getSecond();
cansatdata.latitude = gps.getLat();
cansatdata.longitude = gps.getLon();
cansatdata.num_of_satelites = gps.getNumberOfSatellites();
Serial.println(String("Time to find fix: ") + (millis() - start) + String("ms"));
Serial.println(String("Datetime: ") + String(cansatdata.year) + "/"+ String(cansatdata.month) + "/"+ String(cansatdata.day) + " " + String(cansatdata.hour) + ":"+ String(cansatdata.minute) + ":"+ String(cansatdata.sec));
Serial.println(String("Lat: ") + String(cansatdata.latitude, 7));
Serial.println(String("Lon: ") + String(cansatdata.longitude, 7));
Serial.println(String("Num of sats: ") + String(cansatdata.num_of_satelites));
Serial.println();
}
else
{
Serial.println("Gps have no satelit to fix.");
}
}
// RFM69HW
cansatdata.rssi = 0;
if(isRadioOk)
{
cansatdata.rssi = radio.RSSI;
Serial.println("Signal = " + static_cast<String>(radio.RSSI));
radio.send(TONODEID, (const void*)&cansatdata, sizeof(cansatdata));
}
Serial.println();
// START LED hart beat
pinMode(M_led_pin, OUTPUT);
digitalWrite(D13_led_pin, HIGH);
digitalWrite(M_led_pin, HIGH);
// START LED hart beat
if(!isGpsConnected)
{
delay(200);
}
idCounter ++;
}