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@14:97611177509b, 2015-04-14 (annotated)

Committer:
bjcrofts
Date:
Tue Apr 14 04:05:59 2015 +0000
Revision:
14:97611177509b
Parent:
10:02e2f8400e87
Child:
19:404594768414
finished;

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"
bjcrofts 8:6b4a6bcd7694 8 #include "GSMLibrary.h"
bjcrofts 8:6b4a6bcd7694 9 #include "stdlib.h"
bjcrofts 0:d7b2716c5a4f 10
bjcrofts 0:d7b2716c5a4f 11 DigitalOut led_red(LED_RED);
bjcrofts 0:d7b2716c5a4f 12 Serial pc(USBTX, USBRX);
bjcrofts 0:d7b2716c5a4f 13 Timer t;
bjcrofts 8:6b4a6bcd7694 14 bool run = 0;
bjcrofts 14:97611177509b 15 bool fil = 0;
bjcrofts 8:6b4a6bcd7694 16 Serial gsm(D1,D0);
bjcrofts 8:6b4a6bcd7694 17
bjcrofts 0:d7b2716c5a4f 18
bjcrofts 0:d7b2716c5a4f 19 /**************************************************
bjcrofts 0:d7b2716c5a4f 20 ** SD FILE SYSTEM **
bjcrofts 0:d7b2716c5a4f 21 **************************************************/
bjcrofts 0:d7b2716c5a4f 22 SDFileSystem sd(PTE3, PTE1, PTE2, PTE4, "sd");
bjcrofts 0:d7b2716c5a4f 23 FILE *fp;
bjcrofts 0:d7b2716c5a4f 24
bjcrofts 0:d7b2716c5a4f 25 /**************************************************
bjcrofts 0:d7b2716c5a4f 26 ** GPS **
bjcrofts 0:d7b2716c5a4f 27 **************************************************/
bjcrofts 0:d7b2716c5a4f 28 Serial * gps_Serial;
bjcrofts 0:d7b2716c5a4f 29
bjcrofts 0:d7b2716c5a4f 30 /**************************************************
bjcrofts 0:d7b2716c5a4f 31 ** SENSOR INPUTS **
bjcrofts 0:d7b2716c5a4f 32 **************************************************/
bjcrofts 0:d7b2716c5a4f 33 AnalogIn AnLong(A0);
bjcrofts 0:d7b2716c5a4f 34 AnalogIn AnShort(A1);
bjcrofts 0:d7b2716c5a4f 35 AnalogIn AnRefLong(A2);
bjcrofts 0:d7b2716c5a4f 36 AnalogIn AnRefShort(A3);
bjcrofts 0:d7b2716c5a4f 37 Ticker sample_tick;
bjcrofts 0:d7b2716c5a4f 38 bool takeSample = false;
bjcrofts 0:d7b2716c5a4f 39 void tick(){takeSample = true;}
bjcrofts 0:d7b2716c5a4f 40
bjcrofts 0:d7b2716c5a4f 41 /**************************************************
bjcrofts 0:d7b2716c5a4f 42 ** SIN OUTPUT **
bjcrofts 0:d7b2716c5a4f 43 **************************************************/
bjcrofts 0:d7b2716c5a4f 44 AnalogOut dac0(DAC0_OUT);
bjcrofts 0:d7b2716c5a4f 45 int sinRes = (int)1/(CARRIER_FREQ*TIME_CONST);
bjcrofts 0:d7b2716c5a4f 46 float sinWave[SIN_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 47 int sinIndex = 0;
bjcrofts 0:d7b2716c5a4f 48
bjcrofts 0:d7b2716c5a4f 49
bjcrofts 0:d7b2716c5a4f 50 /**************************************************
bjcrofts 0:d7b2716c5a4f 51 ** QAM **
bjcrofts 0:d7b2716c5a4f 52 **************************************************/
bjcrofts 0:d7b2716c5a4f 53 float sLQ[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 54 float sLI[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 55 float sSQ[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 56 float sSI[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 57 float sRefLQ[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 58 float sRefLI[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 59 float sRefSQ[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 60 float sRefSI[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 61
bjcrofts 0:d7b2716c5a4f 62 float Iarray[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 63 float Qarray[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 64 int sampleIndex = 0;
bjcrofts 0:d7b2716c5a4f 65 float I = 0;
bjcrofts 0:d7b2716c5a4f 66 float Q = 0;
bjcrofts 0:d7b2716c5a4f 67 float lon = 0;
bjcrofts 0:d7b2716c5a4f 68 float lonRef = 0;
bjcrofts 0:d7b2716c5a4f 69 float shor = 0;
bjcrofts 0:d7b2716c5a4f 70 float shorRef = 0;
bjcrofts 0:d7b2716c5a4f 71
bjcrofts 0:d7b2716c5a4f 72 void buildIQ(){
bjcrofts 0:d7b2716c5a4f 73 for(int i = 0; i < SAMPLE_LENGTH; i++){
bjcrofts 0:d7b2716c5a4f 74 Iarray[i] = cos(2*PI*CARRIER_FREQ*i*TIME_CONST);
bjcrofts 0:d7b2716c5a4f 75 Qarray[i] = -sin(2*PI*CARRIER_FREQ*i*TIME_CONST);
bjcrofts 0:d7b2716c5a4f 76 }
bjcrofts 0:d7b2716c5a4f 77 }
bjcrofts 0:d7b2716c5a4f 78
bjcrofts 0:d7b2716c5a4f 79 void create_sinWave(){
bjcrofts 0:d7b2716c5a4f 80 int i = 0;
bjcrofts 14:97611177509b 81 for(i = 0; i < SIN_LENGTH; i++){
bjcrofts 0:d7b2716c5a4f 82 sinWave[i] = 0.25 * sin(2.0*PI*i/sinRes) + 0.75;
bjcrofts 0:d7b2716c5a4f 83 }
bjcrofts 0:d7b2716c5a4f 84 }
bjcrofts 0:d7b2716c5a4f 85
bjcrofts 0:d7b2716c5a4f 86 int main () {
bjcrofts 0:d7b2716c5a4f 87
bjcrofts 0:d7b2716c5a4f 88 pc.baud(115200);
bjcrofts 8:6b4a6bcd7694 89 gsm.baud(115200);
bjcrofts 0:d7b2716c5a4f 90 pc.printf("hello\r\n");
bjcrofts 0:d7b2716c5a4f 91
bjcrofts 8:6b4a6bcd7694 92 //GSM INITIALIZATION ///////////////////////////////
bjcrofts 8:6b4a6bcd7694 93 gsm_initialize();
bjcrofts 8:6b4a6bcd7694 94
bjcrofts 0:d7b2716c5a4f 95 // GPS INITIALIZATION //////////////////////////////
bjcrofts 8:6b4a6bcd7694 96 gps_Serial = new Serial(PTC4,PTC3); ////Serial gsm(D1,D0);
bjcrofts 0:d7b2716c5a4f 97 Adafruit_GPS myGPS(gps_Serial);
bjcrofts 0:d7b2716c5a4f 98 char c;
bjcrofts 0:d7b2716c5a4f 99 myGPS.begin(9600);
bjcrofts 0:d7b2716c5a4f 100 myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA);
bjcrofts 0:d7b2716c5a4f 101 myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
bjcrofts 0:d7b2716c5a4f 102 myGPS.sendCommand(PGCMD_ANTENNA);
bjcrofts 0:d7b2716c5a4f 103 ////////////////////////////////////////////////////
bjcrofts 0:d7b2716c5a4f 104
bjcrofts 0:d7b2716c5a4f 105 buildIQ();
bjcrofts 0:d7b2716c5a4f 106 create_sinWave();
bjcrofts 0:d7b2716c5a4f 107
bjcrofts 0:d7b2716c5a4f 108 float filteredLong = 0;
bjcrofts 0:d7b2716c5a4f 109 float filteredShort = 0;
bjcrofts 0:d7b2716c5a4f 110 float filteredLongRef = 0;
bjcrofts 0:d7b2716c5a4f 111 float filteredShortRef = 0;
bjcrofts 0:d7b2716c5a4f 112
bjcrofts 14:97611177509b 113 fp = fopen("/sd/data.txt", "w");
bjcrofts 14:97611177509b 114 if (fp != NULL){
bjcrofts 14:97611177509b 115 fprintf(fp, "--------------- DCS ------------------");
bjcrofts 14:97611177509b 116 }
bjcrofts 14:97611177509b 117
bjcrofts 14:97611177509b 118
bjcrofts 8:6b4a6bcd7694 119 void gsm_initialize();
bjcrofts 8:6b4a6bcd7694 120
bjcrofts 0:d7b2716c5a4f 121 sample_tick.attach(&tick, 0.0001);
bjcrofts 0:d7b2716c5a4f 122
bjcrofts 0:d7b2716c5a4f 123 t.start();
bjcrofts 0:d7b2716c5a4f 124
bjcrofts 0:d7b2716c5a4f 125 while(1){
bjcrofts 0:d7b2716c5a4f 126
bjcrofts 14:97611177509b 127 if(takeSample){
bjcrofts 0:d7b2716c5a4f 128
bjcrofts 0:d7b2716c5a4f 129 dac0 = sinWave[sinIndex];
bjcrofts 0:d7b2716c5a4f 130
bjcrofts 0:d7b2716c5a4f 131 lon = AnLong.read();
bjcrofts 0:d7b2716c5a4f 132 lonRef = AnRefLong.read();
bjcrofts 0:d7b2716c5a4f 133 shor = AnShort.read();
bjcrofts 0:d7b2716c5a4f 134 shorRef = AnRefShort.read();
bjcrofts 0:d7b2716c5a4f 135
bjcrofts 0:d7b2716c5a4f 136 I = Iarray[sampleIndex];
bjcrofts 0:d7b2716c5a4f 137 Q = Qarray[sampleIndex];
bjcrofts 0:d7b2716c5a4f 138 sLI[sampleIndex] = lon*I;
bjcrofts 0:d7b2716c5a4f 139 sLQ[sampleIndex] = lon*Q;
bjcrofts 0:d7b2716c5a4f 140 sSI[sampleIndex] = shor*I;
bjcrofts 0:d7b2716c5a4f 141 sSQ[sampleIndex] = shor*Q;
bjcrofts 0:d7b2716c5a4f 142 sRefLI[sampleIndex] = lonRef*I;
bjcrofts 0:d7b2716c5a4f 143 sRefLQ[sampleIndex] = lonRef*Q;
bjcrofts 0:d7b2716c5a4f 144 sRefSI[sampleIndex] = shorRef*I;
bjcrofts 0:d7b2716c5a4f 145 sRefSQ[sampleIndex] = shorRef*Q;
bjcrofts 0:d7b2716c5a4f 146
bjcrofts 8:6b4a6bcd7694 147 takeSample = false;
bjcrofts 8:6b4a6bcd7694 148
bjcrofts 8:6b4a6bcd7694 149 sinIndex++;
bjcrofts 14:97611177509b 150 if((sinIndex+1) > SIN_LENGTH){
bjcrofts 8:6b4a6bcd7694 151 sinIndex = 0;
bjcrofts 8:6b4a6bcd7694 152 }
bjcrofts 8:6b4a6bcd7694 153
bjcrofts 8:6b4a6bcd7694 154
bjcrofts 0:d7b2716c5a4f 155 sampleIndex++;
bjcrofts 0:d7b2716c5a4f 156 if(sampleIndex+1 > SAMPLE_LENGTH){
bjcrofts 14:97611177509b 157 fil = 1;
bjcrofts 0:d7b2716c5a4f 158 }
bjcrofts 8:6b4a6bcd7694 159
bjcrofts 8:6b4a6bcd7694 160
bjcrofts 0:d7b2716c5a4f 161 }
bjcrofts 0:d7b2716c5a4f 162
bjcrofts 1:8614e190908b 163
bjcrofts 8:6b4a6bcd7694 164
bjcrofts 14:97611177509b 165 if(fil==1){
bjcrofts 0:d7b2716c5a4f 166
bjcrofts 14:97611177509b 167 fil = 0;
bjcrofts 8:6b4a6bcd7694 168 run = 1;
bjcrofts 14:97611177509b 169
bjcrofts 0:d7b2716c5a4f 170 sampleIndex = 0;
bjcrofts 8:6b4a6bcd7694 171
bjcrofts 8:6b4a6bcd7694 172 gsm_tick();
bjcrofts 14:97611177509b 173
bjcrofts 14:97611177509b 174 filteredLong = 10*QAM(sLI, sLQ);
bjcrofts 14:97611177509b 175 filteredLongRef = QAM(sRefLI, sRefLQ);
bjcrofts 14:97611177509b 176 filteredShort = 25*QAM(sSI, sSQ);
bjcrofts 14:97611177509b 177 filteredShortRef = QAM(sRefSI, sRefSQ);
bjcrofts 14:97611177509b 178
bjcrofts 14:97611177509b 179 gsm_tick();
bjcrofts 14:97611177509b 180
bjcrofts 0:d7b2716c5a4f 181 }
bjcrofts 0:d7b2716c5a4f 182
bjcrofts 0:d7b2716c5a4f 183 c = myGPS.read();
bjcrofts 0:d7b2716c5a4f 184 if ( myGPS.newNMEAreceived() ) {
bjcrofts 0:d7b2716c5a4f 185 if ( !myGPS.parse(myGPS.lastNMEA()) ) {
bjcrofts 0:d7b2716c5a4f 186 continue;
bjcrofts 0:d7b2716c5a4f 187 }
bjcrofts 0:d7b2716c5a4f 188 }
bjcrofts 0:d7b2716c5a4f 189
bjcrofts 0:d7b2716c5a4f 190
bjcrofts 8:6b4a6bcd7694 191 if(run){
bjcrofts 0:d7b2716c5a4f 192 led_red = !led_red;
bjcrofts 8:6b4a6bcd7694 193 run = 0;
bjcrofts 0:d7b2716c5a4f 194
bjcrofts 8:6b4a6bcd7694 195 pc.printf("%f, ", filteredLong);
bjcrofts 8:6b4a6bcd7694 196 pc.printf("%f, ", filteredLongRef);
bjcrofts 8:6b4a6bcd7694 197 pc.printf("%f, ", filteredShort);
bjcrofts 8:6b4a6bcd7694 198 pc.printf("%f\r\n", filteredShortRef);
bjcrofts 8:6b4a6bcd7694 199 pc.printf("%f, ", filteredLong/filteredLongRef);
bjcrofts 8:6b4a6bcd7694 200 pc.printf("%f\r\n", filteredShort/filteredShortRef);
bjcrofts 14:97611177509b 201 pc.printf("%d:%d:%d \r\n", myGPS.hour+6, myGPS.minute, myGPS.seconds);
bjcrofts 8:6b4a6bcd7694 202
bjcrofts 8:6b4a6bcd7694 203 if (myGPS.fix) pc.printf("%5.2f%c, %5.2f%c\r\n", myGPS.latitude, myGPS.lat, myGPS.longitude, myGPS.lon);
bjcrofts 0:d7b2716c5a4f 204 else pc.printf("No GPS fix\r\n");
bjcrofts 0:d7b2716c5a4f 205 pc.printf("--------------------------------\r\n");
bjcrofts 0:d7b2716c5a4f 206
bjcrofts 14:97611177509b 207 fp = fopen("/sd/data.txt", "a");
bjcrofts 0:d7b2716c5a4f 208 if (fp != NULL){
bjcrofts 0:d7b2716c5a4f 209
bjcrofts 8:6b4a6bcd7694 210 fprintf(fp, "%f, ", filteredLong);
bjcrofts 8:6b4a6bcd7694 211 fprintf(fp, "%f, ", filteredLongRef);
bjcrofts 8:6b4a6bcd7694 212 fprintf(fp, "%f, ", filteredShort);
bjcrofts 8:6b4a6bcd7694 213 fprintf(fp, "%f\r\n", filteredShortRef);
bjcrofts 14:97611177509b 214 fprintf(fp, "%d:%d:%d\r\n", myGPS.hour+6, myGPS.minute, myGPS.seconds);
bjcrofts 8:6b4a6bcd7694 215 if (myGPS.fix) fprintf(fp, "%5.2f%c, %5.2f%c\r\n", myGPS.latitude, myGPS.lat, myGPS.longitude, myGPS.lon);
bjcrofts 8:6b4a6bcd7694 216 else fprintf(fp, "No_GPS_fix\r\n");
bjcrofts 0:d7b2716c5a4f 217
bjcrofts 1:8614e190908b 218 fclose(fp);
bjcrofts 0:d7b2716c5a4f 219 }
bjcrofts 14:97611177509b 220
bjcrofts 14:97611177509b 221 if(myGPS.fix)
bjcrofts 14:97611177509b 222 gsm_send_data(filteredLong, filteredLongRef, filteredShort, filteredShortRef, myGPS.hour+6, myGPS.minute, myGPS.seconds, myGPS.latitude, myGPS.lat, myGPS.longitude, myGPS.lon);
bjcrofts 14:97611177509b 223 else
bjcrofts 14:97611177509b 224 gsm_send_data(filteredLong, filteredLongRef, filteredShort, filteredShortRef, 0, 0, 0, 0, 0, 0, 0);
bjcrofts 14:97611177509b 225
bjcrofts 0:d7b2716c5a4f 226 }
bjcrofts 0:d7b2716c5a4f 227
bjcrofts 0:d7b2716c5a4f 228 }
bjcrofts 0:d7b2716c5a4f 229 }