Diff: main.cpp

Revision:

0:feaa05d35ccf

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed Mar 07 20:02:35 2012 +0000
@@ -0,0 +1,166 @@
+#include <fstream>
+#include "mbed.h"
+#include "SDFileSystem.h"
+#include "GPS.h"
+#include "BMP085.h"
+#include "flash.h"
+#include "HIH4030.h"
+#include "UM12.h"
+
+const float expmin = 8000.0;
+const float expmax = 11000.0;
+
+Serial pc(USBTX, USBRX);
+
+Timer tmr;
+HIH4030 humSens(p15);
+BMP085 presSens(p28, p27);
+SDFileSystem sd(p5, p6, p7, p8, "sd");
+GPS gps(p13, p14);
+UM12 radio(p9, p10);
+DigitalInOut cam(p21);
+DigitalOut jimShut(p19);
+DigitalOut jimOpen(p20);
+
+int main(void) 
+{
+    bool lock=false, open = false;
+    float lat = 9001.0, lng = 9001.0, alt=-999.0, maxalt=-999.0, temp, pres, hum;
+    int start, sat=0, loop=0;
+    unsigned int time;
+    char str[] = "Loading";
+
+    // Set timer going
+    tmr.start();
+    start = tmr.read_us();
+    
+    // Ensure camera pin is set high
+    cam.mode(OpenDrain);
+    cam.output();
+    cam=1;
+
+    // Give obvious sign that program has started
+    lightup();
+    flash(3, 0.25);
+    
+    // Ensure Jim's thing is closed
+    jimOpen = 0;
+    jimShut = 1;
+    wait(1.0);
+    jimShut = 0;
+    
+    // Set up text file for recording data on sd card
+    ofstream fout("/sd/data.txt");
+    ofstream ferr("/sd/errors.txt");
+    if(!fout)
+    {
+        errormsg1(0.25);
+    }
+    fout << "#Time Loop Lock Lat Long Altitude Pressure Temperature Humidity Sat" << endl;
+    fout.close();
+    ferr.close();
+    
+    // Wait for GPS lock 
+    while(gps.lock!=1)
+    {
+        gps.sample();
+        wait(0.1);
+        flash1(0.25);
+        radio.send('@');
+        radio.send((int)strlen(str));
+        for(int z=0; z<strlen(str); z++) radio.send(str[z]);
+    }
+    
+    // Give all clear signal
+    signal(0.25);
+    flash(5, 0.25);
+    
+    while(1) 
+    {      
+        // Get time
+        time = tmr.read_us() - start;
+        
+        // reopen file in append mode
+        ofstream out("/sd/data.txt", fstream::app );
+        
+        gps.sample();
+        
+        // Probe GPS
+        if(gps.lock==1)
+        {
+            lat = gps.latitude;
+            lng = gps.longitude;
+            alt = gps.altitude;
+            sat = gps.satillites;
+            lock = true;
+            if(alt>maxalt) maxalt = alt;
+        }
+        else 
+        {
+            // Set up text for for recording errors on sd card
+            ofstream err("/sd/errors.txt", fstream::app);
+            err << "No GPS lock at time " << time << endl;
+            err.close();
+            
+            lock = false;
+        }
+        
+        // Probe temperature/pressure sensor
+        presSens.update();
+        pres = presSens.get_pressure();
+        temp = presSens.get_temperature();
+        
+        // Probe humidity sensor 
+        hum = humSens.getH(temp);
+        
+        // Record data on SD card (endl to ensure flushing)
+        out << time << " " << loop << " " << lock << " " << lat << " " << lng << " ";
+        out << alt << " " << pres << " " << temp << " " << hum << " " << sat << endl;
+        out.close();
+        
+        // Decide whether or not to take a picture
+        if(!(loop%5))
+        {
+            cam = 0;
+        }
+        if(!((loop-2)%5))
+        {
+            cam = 1;
+        }
+        
+        // Decide if Jim's thing should be open or closed and make it so
+        if(alt > expmin && alt < expmax && ((alt+3000)>maxalt))
+        {
+            jimShut = 0;
+            jimOpen = 1;
+            if(open) wait(0.1);
+            else wait(1.0);
+            jimOpen = 0;
+            open = true;
+        }
+        else
+        {
+            jimOpen = 0;
+            jimShut = 1;
+            if(!open) wait(0.1);
+            else wait(1.0);
+            jimShut = 0;
+            open = false;
+        }
+        
+        // Send location over radio in the form "$<latitude>,<longitude>,<altitude>?"
+        radio.send('$');
+        radio.send(lat);
+        radio.send(',');
+        radio.send(lng);
+        radio.send(',');
+        radio.send(alt);
+        radio.send(',');
+        radio.send(lock);
+        radio.send('?');
+        
+        loop++;
+    }
+    
+    return 0;
+}
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