DCS_TEAM / Mbed 2 deprecated GPR_STATE_MACHINE_PUSHING_BOX

uses pushing box to write to google spreadsheets

Dependencies:   GSM_PUSHING_BOX_STATE_MACHINE MBed_Adafruit-GPS-Library SDFileSystem mbed

Fork of DCS by DCS_TEAM

Sensor.cpp@7:1c38181cb11f, 2015-03-10 (annotated)

Committer:
bjcrofts
Date:
Tue Mar 10 00:38:48 2015 +0000
Revision:
7:1c38181cb11f
Parent:
5:f0946f8ed23a 
not working;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bjcrofts 0:d7b2716c5a4f 1 #pragma once
bjcrofts 0:d7b2716c5a4f 2 #include "mbed.h"
bjcrofts 0:d7b2716c5a4f 3 #include "math.h"
bjcrofts 0:d7b2716c5a4f 4 #include "MBed_Adafruit_GPS.h"
bjcrofts 0:d7b2716c5a4f 5 #include "SDFileSystem.h"
bjcrofts 0:d7b2716c5a4f 6 #include "QAM.h"
bjcrofts 0:d7b2716c5a4f 7 #include "param.h"
danilob 2:5c0513ab856e 8 #include "GSMLibrary.h"
bjcrofts 7:1c38181cb11f 9 #include <stdio.h>
bjcrofts 7:1c38181cb11f 10 #include <stdlib.h>
bjcrofts 0:d7b2716c5a4f 11
bjcrofts 0:d7b2716c5a4f 12 DigitalOut led_red(LED_RED);
bjcrofts 0:d7b2716c5a4f 13 Serial pc(USBTX, USBRX);
bjcrofts 7:1c38181cb11f 14 Serial gsm(PTC3,PTC4);
danilob 5:f0946f8ed23a 15
bjcrofts 0:d7b2716c5a4f 16 Timer t;
bjcrofts 0:d7b2716c5a4f 17
bjcrofts 0:d7b2716c5a4f 18 /**************************************************
bjcrofts 0:d7b2716c5a4f 19 ** SD FILE SYSTEM **
bjcrofts 0:d7b2716c5a4f 20 **************************************************/
bjcrofts 0:d7b2716c5a4f 21 SDFileSystem sd(PTE3, PTE1, PTE2, PTE4, "sd");
bjcrofts 0:d7b2716c5a4f 22 FILE *fp;
bjcrofts 0:d7b2716c5a4f 23
bjcrofts 0:d7b2716c5a4f 24 /**************************************************
bjcrofts 0:d7b2716c5a4f 25 ** GPS **
bjcrofts 0:d7b2716c5a4f 26 **************************************************/
bjcrofts 0:d7b2716c5a4f 27 Serial * gps_Serial;
bjcrofts 0:d7b2716c5a4f 28
bjcrofts 0:d7b2716c5a4f 29 /**************************************************
bjcrofts 0:d7b2716c5a4f 30 ** SENSOR INPUTS **
bjcrofts 0:d7b2716c5a4f 31 **************************************************/
bjcrofts 0:d7b2716c5a4f 32 AnalogIn AnLong(A0);
bjcrofts 0:d7b2716c5a4f 33 AnalogIn AnShort(A1);
bjcrofts 0:d7b2716c5a4f 34 AnalogIn AnRefLong(A2);
bjcrofts 0:d7b2716c5a4f 35 AnalogIn AnRefShort(A3);
bjcrofts 0:d7b2716c5a4f 36 Ticker sample_tick;
bjcrofts 0:d7b2716c5a4f 37 bool takeSample = false;
bjcrofts 0:d7b2716c5a4f 38 void tick(){takeSample = true;}
bjcrofts 0:d7b2716c5a4f 39
bjcrofts 0:d7b2716c5a4f 40 /**************************************************
bjcrofts 0:d7b2716c5a4f 41 ** SIN OUTPUT **
bjcrofts 0:d7b2716c5a4f 42 **************************************************/
bjcrofts 0:d7b2716c5a4f 43 AnalogOut dac0(DAC0_OUT);
bjcrofts 0:d7b2716c5a4f 44 int sinRes = (int)1/(CARRIER_FREQ*TIME_CONST);
bjcrofts 0:d7b2716c5a4f 45 float sinWave[SIN_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 46 int sinIndex = 0;
bjcrofts 0:d7b2716c5a4f 47
bjcrofts 0:d7b2716c5a4f 48
bjcrofts 0:d7b2716c5a4f 49 /**************************************************
bjcrofts 0:d7b2716c5a4f 50 ** QAM **
bjcrofts 0:d7b2716c5a4f 51 **************************************************/
bjcrofts 0:d7b2716c5a4f 52 float sLQ[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 53 float sLI[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 54 float sSQ[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 55 float sSI[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 56 float sRefLQ[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 57 float sRefLI[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 58 float sRefSQ[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 59 float sRefSI[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 60
bjcrofts 0:d7b2716c5a4f 61 float Iarray[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 62 float Qarray[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 63 int sampleIndex = 0;
bjcrofts 0:d7b2716c5a4f 64 float I = 0;
bjcrofts 0:d7b2716c5a4f 65 float Q = 0;
bjcrofts 0:d7b2716c5a4f 66 float lon = 0;
bjcrofts 0:d7b2716c5a4f 67 float lonRef = 0;
bjcrofts 0:d7b2716c5a4f 68 float shor = 0;
bjcrofts 0:d7b2716c5a4f 69 float shorRef = 0;
bjcrofts 0:d7b2716c5a4f 70
bjcrofts 0:d7b2716c5a4f 71 void buildIQ(){
bjcrofts 0:d7b2716c5a4f 72 for(int i = 0; i < SAMPLE_LENGTH; i++){
bjcrofts 0:d7b2716c5a4f 73 Iarray[i] = cos(2*PI*CARRIER_FREQ*i*TIME_CONST);
bjcrofts 0:d7b2716c5a4f 74 Qarray[i] = -sin(2*PI*CARRIER_FREQ*i*TIME_CONST);
bjcrofts 0:d7b2716c5a4f 75 }
bjcrofts 0:d7b2716c5a4f 76 }
bjcrofts 0:d7b2716c5a4f 77
bjcrofts 0:d7b2716c5a4f 78 void create_sinWave(){
bjcrofts 0:d7b2716c5a4f 79 int i = 0;
bjcrofts 0:d7b2716c5a4f 80 for(i = 0; i < sinRes; i++){
bjcrofts 0:d7b2716c5a4f 81 sinWave[i] = 0.25 * sin(2.0*PI*i/sinRes) + 0.75;
bjcrofts 0:d7b2716c5a4f 82 }
bjcrofts 0:d7b2716c5a4f 83 }
bjcrofts 0:d7b2716c5a4f 84
bjcrofts 0:d7b2716c5a4f 85 int main () {
bjcrofts 0:d7b2716c5a4f 86
bjcrofts 0:d7b2716c5a4f 87 pc.baud(115200);
bjcrofts 7:1c38181cb11f 88 //gsm.baud(115200);
danilob 5:f0946f8ed23a 89
bjcrofts 7:1c38181cb11f 90 pc.printf("----------------------------------\r\n");
bjcrofts 0:d7b2716c5a4f 91
danilob 2:5c0513ab856e 92 //GSM INITIALIZATION ///////////////////////////////
bjcrofts 7:1c38181cb11f 93 //gsm_initialize();
bjcrofts 0:d7b2716c5a4f 94 // GPS INITIALIZATION //////////////////////////////
danilob 5:f0946f8ed23a 95 Adafruit_GPS myGPS(gps_Serial);
bjcrofts 7:1c38181cb11f 96 pc.printf("top");
bjcrofts 7:1c38181cb11f 97 gps_Serial = new Serial(PTC17,PTC16);
bjcrofts 7:1c38181cb11f 98 pc.printf("bottom");
danilob 5:f0946f8ed23a 99 myGPS.begin(9600);
danilob 5:f0946f8ed23a 100 volatile char c;
danilob 5:f0946f8ed23a 101 myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA);
danilob 5:f0946f8ed23a 102 myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
danilob 5:f0946f8ed23a 103 myGPS.sendCommand(PGCMD_ANTENNA);
bjcrofts 0:d7b2716c5a4f 104 ////////////////////////////////////////////////////
bjcrofts 0:d7b2716c5a4f 105
bjcrofts 0:d7b2716c5a4f 106 buildIQ();
bjcrofts 0:d7b2716c5a4f 107 create_sinWave();
bjcrofts 0:d7b2716c5a4f 108
bjcrofts 0:d7b2716c5a4f 109 float filteredLong = 0;
bjcrofts 0:d7b2716c5a4f 110 float filteredShort = 0;
bjcrofts 0:d7b2716c5a4f 111 float filteredLongRef = 0;
bjcrofts 0:d7b2716c5a4f 112 float filteredShortRef = 0;
bjcrofts 0:d7b2716c5a4f 113
bjcrofts 0:d7b2716c5a4f 114 sample_tick.attach(&tick, 0.0001);
bjcrofts 0:d7b2716c5a4f 115
bjcrofts 0:d7b2716c5a4f 116 t.start();
bjcrofts 0:d7b2716c5a4f 117
bjcrofts 7:1c38181cb11f 118 //char reset[100] = "";
bjcrofts 7:1c38181cb11f 119 //char message[100] = "";
bjcrofts 7:1c38181cb11f 120 //char num[50];
bjcrofts 7:1c38181cb11f 121
bjcrofts 7:1c38181cb11f 122
bjcrofts 0:d7b2716c5a4f 123 while(1){
bjcrofts 0:d7b2716c5a4f 124
bjcrofts 0:d7b2716c5a4f 125 if(takeSample){ //3.46 us per loop
bjcrofts 0:d7b2716c5a4f 126
bjcrofts 0:d7b2716c5a4f 127 takeSample = false;
bjcrofts 0:d7b2716c5a4f 128 dac0 = sinWave[sinIndex];
bjcrofts 0:d7b2716c5a4f 129 sinIndex++;
bjcrofts 0:d7b2716c5a4f 130 if((sinIndex+1) > sinRes){
bjcrofts 0:d7b2716c5a4f 131 sinIndex = 0;
bjcrofts 0:d7b2716c5a4f 132 }
bjcrofts 0:d7b2716c5a4f 133
bjcrofts 0:d7b2716c5a4f 134 lon = AnLong.read();
bjcrofts 0:d7b2716c5a4f 135 lonRef = AnRefLong.read();
bjcrofts 0:d7b2716c5a4f 136 shor = AnShort.read();
bjcrofts 0:d7b2716c5a4f 137 shorRef = AnRefShort.read();
bjcrofts 0:d7b2716c5a4f 138
bjcrofts 7:1c38181cb11f 139
bjcrofts 7:1c38181cb11f 140
bjcrofts 0:d7b2716c5a4f 141 I = Iarray[sampleIndex];
bjcrofts 0:d7b2716c5a4f 142 Q = Qarray[sampleIndex];
bjcrofts 0:d7b2716c5a4f 143 sLI[sampleIndex] = lon*I;
bjcrofts 0:d7b2716c5a4f 144 sLQ[sampleIndex] = lon*Q;
bjcrofts 0:d7b2716c5a4f 145 sSI[sampleIndex] = shor*I;
bjcrofts 0:d7b2716c5a4f 146 sSQ[sampleIndex] = shor*Q;
bjcrofts 0:d7b2716c5a4f 147 sRefLI[sampleIndex] = lonRef*I;
bjcrofts 0:d7b2716c5a4f 148 sRefLQ[sampleIndex] = lonRef*Q;
bjcrofts 0:d7b2716c5a4f 149 sRefSI[sampleIndex] = shorRef*I;
bjcrofts 0:d7b2716c5a4f 150 sRefSQ[sampleIndex] = shorRef*Q;
bjcrofts 0:d7b2716c5a4f 151
bjcrofts 0:d7b2716c5a4f 152 sampleIndex++;
bjcrofts 0:d7b2716c5a4f 153 if(sampleIndex+1 > SAMPLE_LENGTH){
bjcrofts 0:d7b2716c5a4f 154 sampleIndex--;
bjcrofts 0:d7b2716c5a4f 155 }
bjcrofts 0:d7b2716c5a4f 156 }
danilob 2:5c0513ab856e 157
bjcrofts 0:d7b2716c5a4f 158 if(sampleIndex+2 > SAMPLE_LENGTH){ //0.50 seconds
bjcrofts 0:d7b2716c5a4f 159
bjcrofts 0:d7b2716c5a4f 160 sampleIndex = 0;
bjcrofts 0:d7b2716c5a4f 161 filteredLong = QAM(sLI, sLQ, &pc);
bjcrofts 0:d7b2716c5a4f 162 filteredLongRef = QAM(sRefLI, sRefLQ, &pc);
bjcrofts 0:d7b2716c5a4f 163 filteredShort = QAM(sSI, sSQ, &pc);
bjcrofts 0:d7b2716c5a4f 164 filteredShortRef = QAM(sRefSI, sRefSQ, &pc);
bjcrofts 0:d7b2716c5a4f 165 }
danilob 5:f0946f8ed23a 166
bjcrofts 0:d7b2716c5a4f 167 c = myGPS.read();
bjcrofts 0:d7b2716c5a4f 168 if ( myGPS.newNMEAreceived() ) {
bjcrofts 0:d7b2716c5a4f 169 if ( !myGPS.parse(myGPS.lastNMEA()) ) {
bjcrofts 0:d7b2716c5a4f 170 continue;
bjcrofts 0:d7b2716c5a4f 171 }
bjcrofts 0:d7b2716c5a4f 172 }
bjcrofts 0:d7b2716c5a4f 173
bjcrofts 0:d7b2716c5a4f 174
bjcrofts 0:d7b2716c5a4f 175 if(t.read_ms()>1000){
bjcrofts 0:d7b2716c5a4f 176 led_red = !led_red;
bjcrofts 0:d7b2716c5a4f 177
bjcrofts 0:d7b2716c5a4f 178 pc.printf("Long = %f\r\n", filteredLong);
bjcrofts 0:d7b2716c5a4f 179 pc.printf("LongRef = %f\r\n", filteredLongRef);
bjcrofts 0:d7b2716c5a4f 180 pc.printf("Short = %f\r\n", filteredShort);
bjcrofts 0:d7b2716c5a4f 181 pc.printf("ShortRef = %f\r\n", filteredShortRef);
bjcrofts 0:d7b2716c5a4f 182 pc.printf("Time: %d:%d:%d \r\n", myGPS.hour, myGPS.minute, myGPS.seconds);
bjcrofts 0:d7b2716c5a4f 183
bjcrofts 7:1c38181cb11f 184 //snprintf(num,50,"%f",filteredLong);
bjcrofts 7:1c38181cb11f 185 //strcat(message, num);
bjcrofts 0:d7b2716c5a4f 186
bjcrofts 0:d7b2716c5a4f 187 if (myGPS.fix) pc.printf("Location: %5.2f%c, %5.2f%c\r\n", myGPS.latitude, myGPS.lat, myGPS.longitude, myGPS.lon);
bjcrofts 0:d7b2716c5a4f 188 else pc.printf("No GPS fix\r\n");
bjcrofts 0:d7b2716c5a4f 189 pc.printf("--------------------------------\r\n");
bjcrofts 0:d7b2716c5a4f 190
bjcrofts 1:8614e190908b 191 fp = fopen("/sd/data.txt", "w");
bjcrofts 0:d7b2716c5a4f 192 if (fp != NULL){
bjcrofts 0:d7b2716c5a4f 193
bjcrofts 0:d7b2716c5a4f 194 fprintf(fp, "Long = %f\r\n", filteredLong);
bjcrofts 0:d7b2716c5a4f 195 fprintf(fp, "LongRef = %f\r\n", filteredLongRef);
bjcrofts 0:d7b2716c5a4f 196 fprintf(fp, "Short = %f\r\n", filteredShort);
bjcrofts 0:d7b2716c5a4f 197 fprintf(fp, "ShortRef = %f\r\n", filteredShortRef);
bjcrofts 0:d7b2716c5a4f 198 fprintf(fp, "Time: %d:%d:%d \r\n", myGPS.hour, myGPS.minute, myGPS.seconds);
bjcrofts 0:d7b2716c5a4f 199 if (myGPS.fix) fprintf(fp, "Location: %5.2f%c, %5.2f%c\r\n", myGPS.latitude, myGPS.lat, myGPS.longitude, myGPS.lon);
bjcrofts 0:d7b2716c5a4f 200 else fprintf(fp, "No GPS fix\r\n");
bjcrofts 0:d7b2716c5a4f 201
bjcrofts 1:8614e190908b 202 fclose(fp);
bjcrofts 0:d7b2716c5a4f 203 }
bjcrofts 0:d7b2716c5a4f 204
bjcrofts 0:d7b2716c5a4f 205 t.reset();
bjcrofts 0:d7b2716c5a4f 206 }
bjcrofts 0:d7b2716c5a4f 207
bjcrofts 7:1c38181cb11f 208 //if(gsm_ready()){
bjcrofts 7:1c38181cb11f 209 // gsm_send_sms(message);
bjcrofts 7:1c38181cb11f 210 // message[0] = '\0';
bjcrofts 7:1c38181cb11f 211 //}
danilob 5:f0946f8ed23a 212
bjcrofts 0:d7b2716c5a4f 213 }
bjcrofts 0:d7b2716c5a4f 214 }