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@0:d7b2716c5a4f, 2015-03-06 (annotated)

Committer:
bjcrofts
Date:
Fri Mar 06 22:13:58 2015 +0000
Revision:
0:d7b2716c5a4f
Child:
1:8614e190908b
hoy

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 0:d7b2716c5a4f 8
bjcrofts 0:d7b2716c5a4f 9 DigitalOut led_red(LED_RED);
bjcrofts 0:d7b2716c5a4f 10 Serial pc(USBTX, USBRX);
bjcrofts 0:d7b2716c5a4f 11 Timer t;
bjcrofts 0:d7b2716c5a4f 12
bjcrofts 0:d7b2716c5a4f 13 /**************************************************
bjcrofts 0:d7b2716c5a4f 14 ** SD FILE SYSTEM **
bjcrofts 0:d7b2716c5a4f 15 **************************************************/
bjcrofts 0:d7b2716c5a4f 16 SDFileSystem sd(PTE3, PTE1, PTE2, PTE4, "sd");
bjcrofts 0:d7b2716c5a4f 17 FILE *fp;
bjcrofts 0:d7b2716c5a4f 18
bjcrofts 0:d7b2716c5a4f 19 /**************************************************
bjcrofts 0:d7b2716c5a4f 20 ** GPS **
bjcrofts 0:d7b2716c5a4f 21 **************************************************/
bjcrofts 0:d7b2716c5a4f 22 Serial * gps_Serial;
bjcrofts 0:d7b2716c5a4f 23
bjcrofts 0:d7b2716c5a4f 24 /**************************************************
bjcrofts 0:d7b2716c5a4f 25 ** SENSOR INPUTS **
bjcrofts 0:d7b2716c5a4f 26 **************************************************/
bjcrofts 0:d7b2716c5a4f 27 AnalogIn AnLong(A0);
bjcrofts 0:d7b2716c5a4f 28 AnalogIn AnShort(A1);
bjcrofts 0:d7b2716c5a4f 29 AnalogIn AnRefLong(A2);
bjcrofts 0:d7b2716c5a4f 30 AnalogIn AnRefShort(A3);
bjcrofts 0:d7b2716c5a4f 31 Ticker sample_tick;
bjcrofts 0:d7b2716c5a4f 32 bool takeSample = false;
bjcrofts 0:d7b2716c5a4f 33 void tick(){takeSample = true;}
bjcrofts 0:d7b2716c5a4f 34
bjcrofts 0:d7b2716c5a4f 35 /**************************************************
bjcrofts 0:d7b2716c5a4f 36 ** SIN OUTPUT **
bjcrofts 0:d7b2716c5a4f 37 **************************************************/
bjcrofts 0:d7b2716c5a4f 38 AnalogOut dac0(DAC0_OUT);
bjcrofts 0:d7b2716c5a4f 39 int sinRes = (int)1/(CARRIER_FREQ*TIME_CONST);
bjcrofts 0:d7b2716c5a4f 40 float sinWave[SIN_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 41 int sinIndex = 0;
bjcrofts 0:d7b2716c5a4f 42
bjcrofts 0:d7b2716c5a4f 43
bjcrofts 0:d7b2716c5a4f 44 /**************************************************
bjcrofts 0:d7b2716c5a4f 45 ** QAM **
bjcrofts 0:d7b2716c5a4f 46 **************************************************/
bjcrofts 0:d7b2716c5a4f 47 float sLQ[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 48 float sLI[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 49 float sSQ[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 50 float sSI[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 51 float sRefLQ[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 52 float sRefLI[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 53 float sRefSQ[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 54 float sRefSI[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 55
bjcrofts 0:d7b2716c5a4f 56 float Iarray[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 57 float Qarray[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 58 int sampleIndex = 0;
bjcrofts 0:d7b2716c5a4f 59 float I = 0;
bjcrofts 0:d7b2716c5a4f 60 float Q = 0;
bjcrofts 0:d7b2716c5a4f 61 float lon = 0;
bjcrofts 0:d7b2716c5a4f 62 float lonRef = 0;
bjcrofts 0:d7b2716c5a4f 63 float shor = 0;
bjcrofts 0:d7b2716c5a4f 64 float shorRef = 0;
bjcrofts 0:d7b2716c5a4f 65
bjcrofts 0:d7b2716c5a4f 66 void buildIQ(){
bjcrofts 0:d7b2716c5a4f 67 for(int i = 0; i < SAMPLE_LENGTH; i++){
bjcrofts 0:d7b2716c5a4f 68 Iarray[i] = cos(2*PI*CARRIER_FREQ*i*TIME_CONST);
bjcrofts 0:d7b2716c5a4f 69 Qarray[i] = -sin(2*PI*CARRIER_FREQ*i*TIME_CONST);
bjcrofts 0:d7b2716c5a4f 70 }
bjcrofts 0:d7b2716c5a4f 71 }
bjcrofts 0:d7b2716c5a4f 72
bjcrofts 0:d7b2716c5a4f 73 void create_sinWave(){
bjcrofts 0:d7b2716c5a4f 74 int i = 0;
bjcrofts 0:d7b2716c5a4f 75 for(i = 0; i < sinRes; i++){
bjcrofts 0:d7b2716c5a4f 76 sinWave[i] = 0.25 * sin(2.0*PI*i/sinRes) + 0.75;
bjcrofts 0:d7b2716c5a4f 77 }
bjcrofts 0:d7b2716c5a4f 78 }
bjcrofts 0:d7b2716c5a4f 79
bjcrofts 0:d7b2716c5a4f 80 int main () {
bjcrofts 0:d7b2716c5a4f 81
bjcrofts 0:d7b2716c5a4f 82 pc.baud(115200);
bjcrofts 0:d7b2716c5a4f 83 pc.printf("hello\r\n");
bjcrofts 0:d7b2716c5a4f 84
bjcrofts 0:d7b2716c5a4f 85 // GPS INITIALIZATION //////////////////////////////
bjcrofts 0:d7b2716c5a4f 86 gps_Serial = new Serial(D1,D0);
bjcrofts 0:d7b2716c5a4f 87 Adafruit_GPS myGPS(gps_Serial);
bjcrofts 0:d7b2716c5a4f 88 char c;
bjcrofts 0:d7b2716c5a4f 89 myGPS.begin(9600);
bjcrofts 0:d7b2716c5a4f 90 myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA);
bjcrofts 0:d7b2716c5a4f 91 myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
bjcrofts 0:d7b2716c5a4f 92 myGPS.sendCommand(PGCMD_ANTENNA);
bjcrofts 0:d7b2716c5a4f 93 ////////////////////////////////////////////////////
bjcrofts 0:d7b2716c5a4f 94
bjcrofts 0:d7b2716c5a4f 95 buildIQ();
bjcrofts 0:d7b2716c5a4f 96 create_sinWave();
bjcrofts 0:d7b2716c5a4f 97
bjcrofts 0:d7b2716c5a4f 98 float filteredLong = 0;
bjcrofts 0:d7b2716c5a4f 99 float filteredShort = 0;
bjcrofts 0:d7b2716c5a4f 100 float filteredLongRef = 0;
bjcrofts 0:d7b2716c5a4f 101 float filteredShortRef = 0;
bjcrofts 0:d7b2716c5a4f 102
bjcrofts 0:d7b2716c5a4f 103 sample_tick.attach(&tick, 0.0001);
bjcrofts 0:d7b2716c5a4f 104
bjcrofts 0:d7b2716c5a4f 105 t.start();
bjcrofts 0:d7b2716c5a4f 106
bjcrofts 0:d7b2716c5a4f 107 while(1){
bjcrofts 0:d7b2716c5a4f 108
bjcrofts 0:d7b2716c5a4f 109 if(takeSample){ //3.46 us per loop
bjcrofts 0:d7b2716c5a4f 110
bjcrofts 0:d7b2716c5a4f 111 takeSample = false;
bjcrofts 0:d7b2716c5a4f 112 dac0 = sinWave[sinIndex];
bjcrofts 0:d7b2716c5a4f 113 sinIndex++;
bjcrofts 0:d7b2716c5a4f 114 if((sinIndex+1) > sinRes){
bjcrofts 0:d7b2716c5a4f 115 sinIndex = 0;
bjcrofts 0:d7b2716c5a4f 116 }
bjcrofts 0:d7b2716c5a4f 117
bjcrofts 0:d7b2716c5a4f 118
bjcrofts 0:d7b2716c5a4f 119 lon = AnLong.read();
bjcrofts 0:d7b2716c5a4f 120 lonRef = AnRefLong.read();
bjcrofts 0:d7b2716c5a4f 121 shor = AnShort.read();
bjcrofts 0:d7b2716c5a4f 122 shorRef = AnRefShort.read();
bjcrofts 0:d7b2716c5a4f 123
bjcrofts 0:d7b2716c5a4f 124 I = Iarray[sampleIndex];
bjcrofts 0:d7b2716c5a4f 125 Q = Qarray[sampleIndex];
bjcrofts 0:d7b2716c5a4f 126 sLI[sampleIndex] = lon*I;
bjcrofts 0:d7b2716c5a4f 127 sLQ[sampleIndex] = lon*Q;
bjcrofts 0:d7b2716c5a4f 128 sSI[sampleIndex] = shor*I;
bjcrofts 0:d7b2716c5a4f 129 sSQ[sampleIndex] = shor*Q;
bjcrofts 0:d7b2716c5a4f 130 sRefLI[sampleIndex] = lonRef*I;
bjcrofts 0:d7b2716c5a4f 131 sRefLQ[sampleIndex] = lonRef*Q;
bjcrofts 0:d7b2716c5a4f 132 sRefSI[sampleIndex] = shorRef*I;
bjcrofts 0:d7b2716c5a4f 133 sRefSQ[sampleIndex] = shorRef*Q;
bjcrofts 0:d7b2716c5a4f 134
bjcrofts 0:d7b2716c5a4f 135 sampleIndex++;
bjcrofts 0:d7b2716c5a4f 136 if(sampleIndex+1 > SAMPLE_LENGTH){
bjcrofts 0:d7b2716c5a4f 137 sampleIndex--;
bjcrofts 0:d7b2716c5a4f 138 }
bjcrofts 0:d7b2716c5a4f 139 }
bjcrofts 0:d7b2716c5a4f 140
bjcrofts 0:d7b2716c5a4f 141 /*
bjcrofts 0:d7b2716c5a4f 142
bjcrofts 0:d7b2716c5a4f 143 if(sampleIndex+2 > SAMPLE_LENGTH){ //0.50 seconds
bjcrofts 0:d7b2716c5a4f 144
bjcrofts 0:d7b2716c5a4f 145 sampleIndex = 0;
bjcrofts 0:d7b2716c5a4f 146 filteredLong = QAM(sLI, sLQ, &pc);
bjcrofts 0:d7b2716c5a4f 147 filteredLongRef = QAM(sRefLI, sRefLQ, &pc);
bjcrofts 0:d7b2716c5a4f 148 filteredShort = QAM(sSI, sSQ, &pc);
bjcrofts 0:d7b2716c5a4f 149 filteredShortRef = QAM(sRefSI, sRefSQ, &pc);
bjcrofts 0:d7b2716c5a4f 150 }
bjcrofts 0:d7b2716c5a4f 151
bjcrofts 0:d7b2716c5a4f 152 c = myGPS.read();
bjcrofts 0:d7b2716c5a4f 153 if ( myGPS.newNMEAreceived() ) {
bjcrofts 0:d7b2716c5a4f 154 if ( !myGPS.parse(myGPS.lastNMEA()) ) {
bjcrofts 0:d7b2716c5a4f 155 continue;
bjcrofts 0:d7b2716c5a4f 156 }
bjcrofts 0:d7b2716c5a4f 157 }
bjcrofts 0:d7b2716c5a4f 158
bjcrofts 0:d7b2716c5a4f 159
bjcrofts 0:d7b2716c5a4f 160 if(t.read_ms()>1000){
bjcrofts 0:d7b2716c5a4f 161 led_red = !led_red;
bjcrofts 0:d7b2716c5a4f 162
bjcrofts 0:d7b2716c5a4f 163 pc.printf("Long = %f\r\n", filteredLong);
bjcrofts 0:d7b2716c5a4f 164 pc.printf("LongRef = %f\r\n", filteredLongRef);
bjcrofts 0:d7b2716c5a4f 165 pc.printf("Short = %f\r\n", filteredShort);
bjcrofts 0:d7b2716c5a4f 166 pc.printf("ShortRef = %f\r\n", filteredShortRef);
bjcrofts 0:d7b2716c5a4f 167 pc.printf("Time: %d:%d:%d \r\n", myGPS.hour, myGPS.minute, myGPS.seconds);
bjcrofts 0:d7b2716c5a4f 168
bjcrofts 0:d7b2716c5a4f 169
bjcrofts 0:d7b2716c5a4f 170 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 171 else pc.printf("No GPS fix\r\n");
bjcrofts 0:d7b2716c5a4f 172 pc.printf("--------------------------------\r\n");
bjcrofts 0:d7b2716c5a4f 173
bjcrofts 0:d7b2716c5a4f 174 //fp = fopen("/sd/data.txt", "w");
bjcrofts 0:d7b2716c5a4f 175 if (fp != NULL){
bjcrofts 0:d7b2716c5a4f 176
bjcrofts 0:d7b2716c5a4f 177 fprintf(fp, "Long = %f\r\n", filteredLong);
bjcrofts 0:d7b2716c5a4f 178 fprintf(fp, "LongRef = %f\r\n", filteredLongRef);
bjcrofts 0:d7b2716c5a4f 179 fprintf(fp, "Short = %f\r\n", filteredShort);
bjcrofts 0:d7b2716c5a4f 180 fprintf(fp, "ShortRef = %f\r\n", filteredShortRef);
bjcrofts 0:d7b2716c5a4f 181 fprintf(fp, "Time: %d:%d:%d \r\n", myGPS.hour, myGPS.minute, myGPS.seconds);
bjcrofts 0:d7b2716c5a4f 182 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 183 else fprintf(fp, "No GPS fix\r\n");
bjcrofts 0:d7b2716c5a4f 184
bjcrofts 0:d7b2716c5a4f 185 //fclose(fp);
bjcrofts 0:d7b2716c5a4f 186 }
bjcrofts 0:d7b2716c5a4f 187
bjcrofts 0:d7b2716c5a4f 188 t.reset();
bjcrofts 0:d7b2716c5a4f 189 }
bjcrofts 0:d7b2716c5a4f 190
bjcrofts 0:d7b2716c5a4f 191
bjcrofts 0:d7b2716c5a4f 192
bjcrofts 0:d7b2716c5a4f 193 /*
bjcrofts 0:d7b2716c5a4f 194 if (sampleIndex+2 > SAMPLE_LENGTH) { // 0.25 seconds
bjcrofts 0:d7b2716c5a4f 195
bjcrofts 0:d7b2716c5a4f 196 sampleIndex = 0;
bjcrofts 0:d7b2716c5a4f 197 pc.printf("Time: %d:%d:%d \r\n", myGPS.hour, myGPS.minute, myGPS.seconds);
bjcrofts 0:d7b2716c5a4f 198 fp = fopen("/sd/data.txt", "w");
bjcrofts 0:d7b2716c5a4f 199 if (fp != NULL){
bjcrofts 0:d7b2716c5a4f 200 fprintf(fp,"Time: %d:%d:%d.%u \r\n", myGPS.hour, myGPS.minute, myGPS.seconds, myGPS.milliseconds);
bjcrofts 0:d7b2716c5a4f 201 fclose(fp);
bjcrofts 0:d7b2716c5a4f 202 }
bjcrofts 0:d7b2716c5a4f 203
bjcrofts 0:d7b2716c5a4f 204 if (myGPS.fix) {
bjcrofts 0:d7b2716c5a4f 205 pc.printf("Location: %5.2f%c, %5.2f%c\r\n", myGPS.latitude, myGPS.lat, myGPS.longitude, myGPS.lon);
bjcrofts 0:d7b2716c5a4f 206 led_red = !led_red;
bjcrofts 0:d7b2716c5a4f 207 fp = fopen("/sd/data.txt", "w");
bjcrofts 0:d7b2716c5a4f 208 if (fp != NULL){
bjcrofts 0:d7b2716c5a4f 209 fprintf(fp,"Location: %5.2f%c, %5.2f%c\r\n", myGPS.latitude, myGPS.lat, myGPS.longitude, myGPS.lon);
bjcrofts 0:d7b2716c5a4f 210 fclose(fp);
bjcrofts 0:d7b2716c5a4f 211 }
bjcrofts 0:d7b2716c5a4f 212 }else{
bjcrofts 0:d7b2716c5a4f 213 fprintf(fp,"no gps fix\r\n");
bjcrofts 0:d7b2716c5a4f 214 fclose(fp);
bjcrofts 0:d7b2716c5a4f 215 }
bjcrofts 0:d7b2716c5a4f 216 }
bjcrofts 0:d7b2716c5a4f 217 */
bjcrofts 0:d7b2716c5a4f 218 }
bjcrofts 0:d7b2716c5a4f 219 }