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@5:f0946f8ed23a, 2015-03-07 (annotated)

Committer:
danilob
Date:
Sat Mar 07 23:57:06 2015 +0000
Revision:
5:f0946f8ed23a
Parent:
4:35d92f290cfe
Child:
7:1c38181cb11f
GSM added and ready maybe

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 0:d7b2716c5a4f 9
bjcrofts 0:d7b2716c5a4f 10 DigitalOut led_red(LED_RED);
bjcrofts 0:d7b2716c5a4f 11 Serial pc(USBTX, USBRX);
danilob 2:5c0513ab856e 12 Serial gsm(PTC17,PTC16);
danilob 5:f0946f8ed23a 13
bjcrofts 0:d7b2716c5a4f 14 Timer t;
bjcrofts 0:d7b2716c5a4f 15
bjcrofts 0:d7b2716c5a4f 16 /**************************************************
bjcrofts 0:d7b2716c5a4f 17 ** SD FILE SYSTEM **
bjcrofts 0:d7b2716c5a4f 18 **************************************************/
bjcrofts 0:d7b2716c5a4f 19 SDFileSystem sd(PTE3, PTE1, PTE2, PTE4, "sd");
bjcrofts 0:d7b2716c5a4f 20 FILE *fp;
bjcrofts 0:d7b2716c5a4f 21
bjcrofts 0:d7b2716c5a4f 22 /**************************************************
bjcrofts 0:d7b2716c5a4f 23 ** GPS **
bjcrofts 0:d7b2716c5a4f 24 **************************************************/
bjcrofts 0:d7b2716c5a4f 25 Serial * gps_Serial;
bjcrofts 0:d7b2716c5a4f 26
bjcrofts 0:d7b2716c5a4f 27 /**************************************************
bjcrofts 0:d7b2716c5a4f 28 ** SENSOR INPUTS **
bjcrofts 0:d7b2716c5a4f 29 **************************************************/
bjcrofts 0:d7b2716c5a4f 30 AnalogIn AnLong(A0);
bjcrofts 0:d7b2716c5a4f 31 AnalogIn AnShort(A1);
bjcrofts 0:d7b2716c5a4f 32 AnalogIn AnRefLong(A2);
bjcrofts 0:d7b2716c5a4f 33 AnalogIn AnRefShort(A3);
bjcrofts 0:d7b2716c5a4f 34 Ticker sample_tick;
bjcrofts 0:d7b2716c5a4f 35 bool takeSample = false;
bjcrofts 0:d7b2716c5a4f 36 void tick(){takeSample = true;}
bjcrofts 0:d7b2716c5a4f 37
bjcrofts 0:d7b2716c5a4f 38 /**************************************************
bjcrofts 0:d7b2716c5a4f 39 ** SIN OUTPUT **
bjcrofts 0:d7b2716c5a4f 40 **************************************************/
bjcrofts 0:d7b2716c5a4f 41 AnalogOut dac0(DAC0_OUT);
bjcrofts 0:d7b2716c5a4f 42 int sinRes = (int)1/(CARRIER_FREQ*TIME_CONST);
bjcrofts 0:d7b2716c5a4f 43 float sinWave[SIN_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 44 int sinIndex = 0;
bjcrofts 0:d7b2716c5a4f 45
bjcrofts 0:d7b2716c5a4f 46
bjcrofts 0:d7b2716c5a4f 47 /**************************************************
bjcrofts 0:d7b2716c5a4f 48 ** QAM **
bjcrofts 0:d7b2716c5a4f 49 **************************************************/
bjcrofts 0:d7b2716c5a4f 50 float sLQ[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 51 float sLI[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 52 float sSQ[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 53 float sSI[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 54 float sRefLQ[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 55 float sRefLI[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 56 float sRefSQ[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 57 float sRefSI[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 58
bjcrofts 0:d7b2716c5a4f 59 float Iarray[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 60 float Qarray[SAMPLE_LENGTH] = {};
bjcrofts 0:d7b2716c5a4f 61 int sampleIndex = 0;
bjcrofts 0:d7b2716c5a4f 62 float I = 0;
bjcrofts 0:d7b2716c5a4f 63 float Q = 0;
bjcrofts 0:d7b2716c5a4f 64 float lon = 0;
bjcrofts 0:d7b2716c5a4f 65 float lonRef = 0;
bjcrofts 0:d7b2716c5a4f 66 float shor = 0;
bjcrofts 0:d7b2716c5a4f 67 float shorRef = 0;
bjcrofts 0:d7b2716c5a4f 68
bjcrofts 0:d7b2716c5a4f 69 void buildIQ(){
bjcrofts 0:d7b2716c5a4f 70 for(int i = 0; i < SAMPLE_LENGTH; i++){
bjcrofts 0:d7b2716c5a4f 71 Iarray[i] = cos(2*PI*CARRIER_FREQ*i*TIME_CONST);
bjcrofts 0:d7b2716c5a4f 72 Qarray[i] = -sin(2*PI*CARRIER_FREQ*i*TIME_CONST);
bjcrofts 0:d7b2716c5a4f 73 }
bjcrofts 0:d7b2716c5a4f 74 }
bjcrofts 0:d7b2716c5a4f 75
bjcrofts 0:d7b2716c5a4f 76 void create_sinWave(){
bjcrofts 0:d7b2716c5a4f 77 int i = 0;
bjcrofts 0:d7b2716c5a4f 78 for(i = 0; i < sinRes; i++){
bjcrofts 0:d7b2716c5a4f 79 sinWave[i] = 0.25 * sin(2.0*PI*i/sinRes) + 0.75;
bjcrofts 0:d7b2716c5a4f 80 }
bjcrofts 0:d7b2716c5a4f 81 }
bjcrofts 0:d7b2716c5a4f 82
bjcrofts 0:d7b2716c5a4f 83 int main () {
bjcrofts 0:d7b2716c5a4f 84
bjcrofts 0:d7b2716c5a4f 85 pc.baud(115200);
danilob 2:5c0513ab856e 86 gsm.baud(115200);
danilob 5:f0946f8ed23a 87
bjcrofts 0:d7b2716c5a4f 88 pc.printf("hello\r\n");
bjcrofts 0:d7b2716c5a4f 89
danilob 2:5c0513ab856e 90 //GSM INITIALIZATION ///////////////////////////////
danilob 2:5c0513ab856e 91 gsm_initialize();
bjcrofts 0:d7b2716c5a4f 92 // GPS INITIALIZATION //////////////////////////////
danilob 5:f0946f8ed23a 93 Adafruit_GPS myGPS(gps_Serial);
danilob 5:f0946f8ed23a 94 gps_Serial = new Serial(PTD3,PTD2);
danilob 5:f0946f8ed23a 95 myGPS.begin(9600);
danilob 5:f0946f8ed23a 96 volatile char c;
danilob 5:f0946f8ed23a 97 myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA);
danilob 5:f0946f8ed23a 98 myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
danilob 5:f0946f8ed23a 99 myGPS.sendCommand(PGCMD_ANTENNA);
bjcrofts 0:d7b2716c5a4f 100 ////////////////////////////////////////////////////
bjcrofts 0:d7b2716c5a4f 101
bjcrofts 0:d7b2716c5a4f 102 buildIQ();
bjcrofts 0:d7b2716c5a4f 103 create_sinWave();
bjcrofts 0:d7b2716c5a4f 104
bjcrofts 0:d7b2716c5a4f 105 float filteredLong = 0;
bjcrofts 0:d7b2716c5a4f 106 float filteredShort = 0;
bjcrofts 0:d7b2716c5a4f 107 float filteredLongRef = 0;
bjcrofts 0:d7b2716c5a4f 108 float filteredShortRef = 0;
bjcrofts 0:d7b2716c5a4f 109
bjcrofts 0:d7b2716c5a4f 110 sample_tick.attach(&tick, 0.0001);
bjcrofts 0:d7b2716c5a4f 111
bjcrofts 0:d7b2716c5a4f 112 t.start();
bjcrofts 0:d7b2716c5a4f 113
bjcrofts 0:d7b2716c5a4f 114 while(1){
bjcrofts 0:d7b2716c5a4f 115
bjcrofts 0:d7b2716c5a4f 116 if(takeSample){ //3.46 us per loop
bjcrofts 0:d7b2716c5a4f 117
bjcrofts 0:d7b2716c5a4f 118 takeSample = false;
bjcrofts 0:d7b2716c5a4f 119 dac0 = sinWave[sinIndex];
bjcrofts 0:d7b2716c5a4f 120 sinIndex++;
bjcrofts 0:d7b2716c5a4f 121 if((sinIndex+1) > sinRes){
bjcrofts 0:d7b2716c5a4f 122 sinIndex = 0;
bjcrofts 0:d7b2716c5a4f 123 }
bjcrofts 0:d7b2716c5a4f 124
bjcrofts 0:d7b2716c5a4f 125
bjcrofts 0:d7b2716c5a4f 126 lon = AnLong.read();
bjcrofts 0:d7b2716c5a4f 127 lonRef = AnRefLong.read();
bjcrofts 0:d7b2716c5a4f 128 shor = AnShort.read();
bjcrofts 0:d7b2716c5a4f 129 shorRef = AnRefShort.read();
bjcrofts 0:d7b2716c5a4f 130
bjcrofts 0:d7b2716c5a4f 131 I = Iarray[sampleIndex];
bjcrofts 0:d7b2716c5a4f 132 Q = Qarray[sampleIndex];
bjcrofts 0:d7b2716c5a4f 133 sLI[sampleIndex] = lon*I;
bjcrofts 0:d7b2716c5a4f 134 sLQ[sampleIndex] = lon*Q;
bjcrofts 0:d7b2716c5a4f 135 sSI[sampleIndex] = shor*I;
bjcrofts 0:d7b2716c5a4f 136 sSQ[sampleIndex] = shor*Q;
bjcrofts 0:d7b2716c5a4f 137 sRefLI[sampleIndex] = lonRef*I;
bjcrofts 0:d7b2716c5a4f 138 sRefLQ[sampleIndex] = lonRef*Q;
bjcrofts 0:d7b2716c5a4f 139 sRefSI[sampleIndex] = shorRef*I;
bjcrofts 0:d7b2716c5a4f 140 sRefSQ[sampleIndex] = shorRef*Q;
bjcrofts 0:d7b2716c5a4f 141
bjcrofts 0:d7b2716c5a4f 142 sampleIndex++;
bjcrofts 0:d7b2716c5a4f 143 if(sampleIndex+1 > SAMPLE_LENGTH){
bjcrofts 0:d7b2716c5a4f 144 sampleIndex--;
bjcrofts 0:d7b2716c5a4f 145 }
bjcrofts 0:d7b2716c5a4f 146 }
bjcrofts 0:d7b2716c5a4f 147
danilob 4:35d92f290cfe 148
danilob 2:5c0513ab856e 149
bjcrofts 0:d7b2716c5a4f 150 if(sampleIndex+2 > SAMPLE_LENGTH){ //0.50 seconds
bjcrofts 0:d7b2716c5a4f 151
bjcrofts 0:d7b2716c5a4f 152 sampleIndex = 0;
bjcrofts 0:d7b2716c5a4f 153 filteredLong = QAM(sLI, sLQ, &pc);
bjcrofts 0:d7b2716c5a4f 154 filteredLongRef = QAM(sRefLI, sRefLQ, &pc);
bjcrofts 0:d7b2716c5a4f 155 filteredShort = QAM(sSI, sSQ, &pc);
bjcrofts 0:d7b2716c5a4f 156 filteredShortRef = QAM(sRefSI, sRefSQ, &pc);
bjcrofts 0:d7b2716c5a4f 157 }
danilob 5:f0946f8ed23a 158
bjcrofts 0:d7b2716c5a4f 159 c = myGPS.read();
bjcrofts 0:d7b2716c5a4f 160 if ( myGPS.newNMEAreceived() ) {
bjcrofts 0:d7b2716c5a4f 161 if ( !myGPS.parse(myGPS.lastNMEA()) ) {
bjcrofts 0:d7b2716c5a4f 162 continue;
bjcrofts 0:d7b2716c5a4f 163 }
bjcrofts 0:d7b2716c5a4f 164 }
bjcrofts 0:d7b2716c5a4f 165
bjcrofts 0:d7b2716c5a4f 166
bjcrofts 0:d7b2716c5a4f 167 if(t.read_ms()>1000){
bjcrofts 0:d7b2716c5a4f 168 led_red = !led_red;
bjcrofts 0:d7b2716c5a4f 169
bjcrofts 0:d7b2716c5a4f 170 pc.printf("Long = %f\r\n", filteredLong);
bjcrofts 0:d7b2716c5a4f 171 pc.printf("LongRef = %f\r\n", filteredLongRef);
bjcrofts 0:d7b2716c5a4f 172 pc.printf("Short = %f\r\n", filteredShort);
bjcrofts 0:d7b2716c5a4f 173 pc.printf("ShortRef = %f\r\n", filteredShortRef);
bjcrofts 0:d7b2716c5a4f 174 pc.printf("Time: %d:%d:%d \r\n", myGPS.hour, myGPS.minute, myGPS.seconds);
bjcrofts 0:d7b2716c5a4f 175
bjcrofts 0:d7b2716c5a4f 176
bjcrofts 0:d7b2716c5a4f 177 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 178 else pc.printf("No GPS fix\r\n");
bjcrofts 0:d7b2716c5a4f 179 pc.printf("--------------------------------\r\n");
bjcrofts 0:d7b2716c5a4f 180
bjcrofts 1:8614e190908b 181 fp = fopen("/sd/data.txt", "w");
bjcrofts 0:d7b2716c5a4f 182 if (fp != NULL){
bjcrofts 0:d7b2716c5a4f 183
bjcrofts 0:d7b2716c5a4f 184 fprintf(fp, "Long = %f\r\n", filteredLong);
bjcrofts 0:d7b2716c5a4f 185 fprintf(fp, "LongRef = %f\r\n", filteredLongRef);
bjcrofts 0:d7b2716c5a4f 186 fprintf(fp, "Short = %f\r\n", filteredShort);
bjcrofts 0:d7b2716c5a4f 187 fprintf(fp, "ShortRef = %f\r\n", filteredShortRef);
bjcrofts 0:d7b2716c5a4f 188 fprintf(fp, "Time: %d:%d:%d \r\n", myGPS.hour, myGPS.minute, myGPS.seconds);
bjcrofts 0:d7b2716c5a4f 189 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 190 else fprintf(fp, "No GPS fix\r\n");
bjcrofts 0:d7b2716c5a4f 191
bjcrofts 1:8614e190908b 192 fclose(fp);
bjcrofts 0:d7b2716c5a4f 193 }
bjcrofts 0:d7b2716c5a4f 194
bjcrofts 0:d7b2716c5a4f 195 t.reset();
bjcrofts 0:d7b2716c5a4f 196 }
bjcrofts 0:d7b2716c5a4f 197
bjcrofts 0:d7b2716c5a4f 198
bjcrofts 0:d7b2716c5a4f 199
bjcrofts 1:8614e190908b 200
bjcrofts 1:8614e190908b 201
danilob 5:f0946f8ed23a 202
bjcrofts 0:d7b2716c5a4f 203 if (sampleIndex+2 > SAMPLE_LENGTH) { // 0.25 seconds
bjcrofts 0:d7b2716c5a4f 204
bjcrofts 0:d7b2716c5a4f 205 sampleIndex = 0;
bjcrofts 0:d7b2716c5a4f 206 pc.printf("Time: %d:%d:%d \r\n", myGPS.hour, myGPS.minute, myGPS.seconds);
bjcrofts 0:d7b2716c5a4f 207 fp = fopen("/sd/data.txt", "w");
bjcrofts 0:d7b2716c5a4f 208 if (fp != NULL){
bjcrofts 0:d7b2716c5a4f 209 fprintf(fp,"Time: %d:%d:%d.%u \r\n", myGPS.hour, myGPS.minute, myGPS.seconds, myGPS.milliseconds);
bjcrofts 0:d7b2716c5a4f 210 fclose(fp);
bjcrofts 0:d7b2716c5a4f 211 }
bjcrofts 0:d7b2716c5a4f 212
bjcrofts 0:d7b2716c5a4f 213 if (myGPS.fix) {
bjcrofts 0:d7b2716c5a4f 214 pc.printf("Location: %5.2f%c, %5.2f%c\r\n", myGPS.latitude, myGPS.lat, myGPS.longitude, myGPS.lon);
bjcrofts 0:d7b2716c5a4f 215 led_red = !led_red;
bjcrofts 0:d7b2716c5a4f 216 fp = fopen("/sd/data.txt", "w");
bjcrofts 0:d7b2716c5a4f 217 if (fp != NULL){
bjcrofts 0:d7b2716c5a4f 218 fprintf(fp,"Location: %5.2f%c, %5.2f%c\r\n", myGPS.latitude, myGPS.lat, myGPS.longitude, myGPS.lon);
bjcrofts 0:d7b2716c5a4f 219 fclose(fp);
bjcrofts 0:d7b2716c5a4f 220 }
bjcrofts 0:d7b2716c5a4f 221 }else{
bjcrofts 0:d7b2716c5a4f 222 fprintf(fp,"no gps fix\r\n");
bjcrofts 0:d7b2716c5a4f 223 fclose(fp);
bjcrofts 0:d7b2716c5a4f 224 }
bjcrofts 0:d7b2716c5a4f 225 }
danilob 5:f0946f8ed23a 226
bjcrofts 0:d7b2716c5a4f 227 }
bjcrofts 0:d7b2716c5a4f 228 }