Kees Tijsen / Beacon

-

Dependents:   GPSXbee_1_1 GPSXbee_1_0

Beacon.cpp@1:d4cbfcb2be46, 2014-12-16 (annotated)

Committer:
Deurklink
Date:
Tue Dec 16 13:00:07 2014 +0000
Revision:
1:d4cbfcb2be46
Parent:
0:8b33ba38cc3a 
Version 1.1

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Deurklink 0:8b33ba38cc3a 1 #include "Beacon.h"
Deurklink 0:8b33ba38cc3a 2
Deurklink 0:8b33ba38cc3a 3 Beacon::Beacon(PinName gpsTx, PinName gpsRx, PinName xbTx, PinName xbRx, int freq, int len) :
Deurklink 0:8b33ba38cc3a 4 gps(gpsTx, gpsRx),
Deurklink 1:d4cbfcb2be46 5 sd(p5, p6, p7, p8, "sd"),
Deurklink 0:8b33ba38cc3a 6 L1(LED1),
Deurklink 0:8b33ba38cc3a 7 L2(LED2),
Deurklink 0:8b33ba38cc3a 8 L3(LED3),
Deurklink 0:8b33ba38cc3a 9 L4(LED4),
Deurklink 0:8b33ba38cc3a 10 XBee(xbTx, xbRx),
Deurklink 1:d4cbfcb2be46 11 PPS(p30),
Deurklink 1:d4cbfcb2be46 12 CD(p25),
Deurklink 0:8b33ba38cc3a 13 T1(p11),
Deurklink 0:8b33ba38cc3a 14 T2(p12),
Deurklink 0:8b33ba38cc3a 15 T3(p15),
Deurklink 0:8b33ba38cc3a 16 T4(p16),
Deurklink 0:8b33ba38cc3a 17 T5(p17),
Deurklink 0:8b33ba38cc3a 18 T6(p18),
Deurklink 0:8b33ba38cc3a 19 T7(p19),
Deurklink 0:8b33ba38cc3a 20 T8(p20),
Deurklink 0:8b33ba38cc3a 21 B1(p24),
Deurklink 0:8b33ba38cc3a 22 B2(p23),
Deurklink 0:8b33ba38cc3a 23 B3(p22),
Deurklink 0:8b33ba38cc3a 24 B4(p21),
Deurklink 0:8b33ba38cc3a 25 PulseFrequency(freq),
Deurklink 0:8b33ba38cc3a 26 Pulselength(len)
Deurklink 0:8b33ba38cc3a 27 {
Deurklink 0:8b33ba38cc3a 28 PWMon = false;
Deurklink 0:8b33ba38cc3a 29 RxTO = false;
Deurklink 0:8b33ba38cc3a 30 PulseFrequency = 25; //Hz
Deurklink 0:8b33ba38cc3a 31 Pulselength = 1000; //usec
Deurklink 1:d4cbfcb2be46 32 SDEnabled = false;
Deurklink 0:8b33ba38cc3a 33 }
Deurklink 0:8b33ba38cc3a 34
Deurklink 0:8b33ba38cc3a 35 // Beacon initialisation
Deurklink 0:8b33ba38cc3a 36 bool Beacon::init(){
Deurklink 0:8b33ba38cc3a 37
Deurklink 0:8b33ba38cc3a 38 // Power down ethernet module
Deurklink 0:8b33ba38cc3a 39 PHY_PowerDown();
Deurklink 0:8b33ba38cc3a 40 // Initialize dipswitches
Deurklink 0:8b33ba38cc3a 41 initDipSwitch();
Deurklink 0:8b33ba38cc3a 42 // Read beacon number and timing offset
Deurklink 0:8b33ba38cc3a 43 readDipSwitch();
Deurklink 0:8b33ba38cc3a 44
Deurklink 1:d4cbfcb2be46 45 SDEnabled = initSD();
Deurklink 0:8b33ba38cc3a 46 // Set baud rate
Deurklink 0:8b33ba38cc3a 47 XBee.baud(9600);
Deurklink 0:8b33ba38cc3a 48
Deurklink 0:8b33ba38cc3a 49 // Initialize GPS unit
Deurklink 0:8b33ba38cc3a 50 gps.Init();
Deurklink 0:8b33ba38cc3a 51 //Attach interrupt to rising edge of GPS PPS pin
Deurklink 0:8b33ba38cc3a 52 PPS.rise(this, &Beacon::ppsSync);
Deurklink 0:8b33ba38cc3a 53
Deurklink 0:8b33ba38cc3a 54 // Initialize PWM
Deurklink 1:d4cbfcb2be46 55 resetPWM(PulseFrequency, Pulselength);
Deurklink 0:8b33ba38cc3a 56
Deurklink 0:8b33ba38cc3a 57 return true;
Deurklink 0:8b33ba38cc3a 58 }
Deurklink 0:8b33ba38cc3a 59
Deurklink 0:8b33ba38cc3a 60
Deurklink 0:8b33ba38cc3a 61 // PPS pin interrupt
Deurklink 0:8b33ba38cc3a 62 void Beacon::ppsSync(){
Deurklink 0:8b33ba38cc3a 63 // Toggle LED1
Deurklink 0:8b33ba38cc3a 64 L1 = !L1;
Deurklink 0:8b33ba38cc3a 65 if (PWMon == true){
Deurklink 0:8b33ba38cc3a 66 // Reset PWM timer value so that new cycle immediately starts
Deurklink 0:8b33ba38cc3a 67 LPC_PWM1->TC = Period*24+TimingOffset - 1;
Deurklink 0:8b33ba38cc3a 68 }
Deurklink 0:8b33ba38cc3a 69 }
Deurklink 0:8b33ba38cc3a 70
Deurklink 0:8b33ba38cc3a 71
Deurklink 0:8b33ba38cc3a 72 // XBee Receive Timeout
Deurklink 0:8b33ba38cc3a 73 void Beacon::rxTimeOut(){
Deurklink 0:8b33ba38cc3a 74 RxTO = true;
Deurklink 0:8b33ba38cc3a 75 }
Deurklink 0:8b33ba38cc3a 76
Deurklink 0:8b33ba38cc3a 77
Deurklink 0:8b33ba38cc3a 78 //------------------------------------DIP-SWITCHES---------------------------
Deurklink 0:8b33ba38cc3a 79 void Beacon::readDipSwitch(){
Deurklink 0:8b33ba38cc3a 80 // Transform the dip switch binary numbers into integers
Deurklink 0:8b33ba38cc3a 81 // For the timing offset, the leftmost bit is the sign bit (2's complement)
Deurklink 0:8b33ba38cc3a 82 TimingOffset = -128*T1 + 64*T2 + 32*T3 + 16*T4 + 8*T5 + 4*T6 + 2*T7 + T8;
Deurklink 0:8b33ba38cc3a 83 BeaconNumber = 8*B1 + 4*B2 + 2*B3 + B4;
Deurklink 0:8b33ba38cc3a 84 }
Deurklink 0:8b33ba38cc3a 85
Deurklink 0:8b33ba38cc3a 86 void Beacon::initDipSwitch(){
Deurklink 0:8b33ba38cc3a 87 // Set pull-down resistor for dip switch inputs
Deurklink 0:8b33ba38cc3a 88 T1.mode(PullDown);
Deurklink 0:8b33ba38cc3a 89 T2.mode(PullDown);
Deurklink 0:8b33ba38cc3a 90 T3.mode(PullDown);
Deurklink 0:8b33ba38cc3a 91 T4.mode(PullDown);
Deurklink 0:8b33ba38cc3a 92 T5.mode(PullDown);
Deurklink 0:8b33ba38cc3a 93 T6.mode(PullDown);
Deurklink 0:8b33ba38cc3a 94 T7.mode(PullDown);
Deurklink 0:8b33ba38cc3a 95 T8.mode(PullDown);
Deurklink 0:8b33ba38cc3a 96
Deurklink 0:8b33ba38cc3a 97 B1.mode(PullDown);
Deurklink 0:8b33ba38cc3a 98 B2.mode(PullDown);
Deurklink 0:8b33ba38cc3a 99 B3.mode(PullDown);
Deurklink 0:8b33ba38cc3a 100 B4.mode(PullDown);
Deurklink 0:8b33ba38cc3a 101 }
Deurklink 0:8b33ba38cc3a 102 //---------------------------------------------------------------------------
Deurklink 0:8b33ba38cc3a 103
Deurklink 0:8b33ba38cc3a 104
Deurklink 1:d4cbfcb2be46 105
Deurklink 1:d4cbfcb2be46 106 //------------------------------------SD------------------------------------
Deurklink 1:d4cbfcb2be46 107 bool Beacon::initSD(){
Deurklink 1:d4cbfcb2be46 108 CD.mode(PullUp);
Deurklink 1:d4cbfcb2be46 109
Deurklink 1:d4cbfcb2be46 110 if (CD == 1) {
Deurklink 1:d4cbfcb2be46 111 L3 = 1;
Deurklink 1:d4cbfcb2be46 112 FILE *fp = fopen("/sd/log.txt", "a");
Deurklink 1:d4cbfcb2be46 113 if(fp == NULL) {
Deurklink 1:d4cbfcb2be46 114 fclose(fp);
Deurklink 1:d4cbfcb2be46 115 return false;
Deurklink 1:d4cbfcb2be46 116 }
Deurklink 1:d4cbfcb2be46 117 else{
Deurklink 1:d4cbfcb2be46 118 fprintf(fp,"\r\nSTART LOG");
Deurklink 1:d4cbfcb2be46 119 fclose(fp);
Deurklink 1:d4cbfcb2be46 120 L4 = 1;
Deurklink 1:d4cbfcb2be46 121 return true;
Deurklink 1:d4cbfcb2be46 122 }
Deurklink 1:d4cbfcb2be46 123 }
Deurklink 1:d4cbfcb2be46 124 else{
Deurklink 1:d4cbfcb2be46 125 return false;
Deurklink 1:d4cbfcb2be46 126 }
Deurklink 1:d4cbfcb2be46 127 }
Deurklink 1:d4cbfcb2be46 128
Deurklink 1:d4cbfcb2be46 129 //---------------------------------------------------------------------------
Deurklink 1:d4cbfcb2be46 130
Deurklink 1:d4cbfcb2be46 131
Deurklink 1:d4cbfcb2be46 132
Deurklink 0:8b33ba38cc3a 133 //------------------------------------PWM------------------------------------
Deurklink 0:8b33ba38cc3a 134 void Beacon::startPWM(){
Deurklink 0:8b33ba38cc3a 135 // enable PWM mode and counting
Deurklink 0:8b33ba38cc3a 136 LPC_PWM1->TCR = (1 << 3) | 1;
Deurklink 0:8b33ba38cc3a 137 PWMon = true;
Deurklink 0:8b33ba38cc3a 138 }
Deurklink 0:8b33ba38cc3a 139
Deurklink 0:8b33ba38cc3a 140 void Beacon::stopPWM(){
Deurklink 0:8b33ba38cc3a 141 // Reset PWM-counter; this also stops it
Deurklink 0:8b33ba38cc3a 142 LPC_PWM1->TCR = 2;
Deurklink 0:8b33ba38cc3a 143 PWMon = false;
Deurklink 0:8b33ba38cc3a 144 }
Deurklink 0:8b33ba38cc3a 145
Deurklink 0:8b33ba38cc3a 146 void Beacon::resetPWM(int _PulseFrequency, int _Pulselength){
Deurklink 0:8b33ba38cc3a 147 // Note: wherever you read pin P2.0, it is pin 2[0] of the microcontroller.
Deurklink 0:8b33ba38cc3a 148 // This is wired to p26 of the mbed board.
Deurklink 0:8b33ba38cc3a 149 stopPWM();
Deurklink 0:8b33ba38cc3a 150 // First stop PWM if it is running
Deurklink 0:8b33ba38cc3a 151
Deurklink 0:8b33ba38cc3a 152 PWMclock = SystemCoreClock / 96;
Deurklink 0:8b33ba38cc3a 153 Period = PWMclock / _PulseFrequency;
Deurklink 0:8b33ba38cc3a 154
Deurklink 0:8b33ba38cc3a 155
Deurklink 0:8b33ba38cc3a 156 LPC_SC->PCONP |= 1 << 6;
Deurklink 0:8b33ba38cc3a 157 // Reset mode PWM timer
Deurklink 0:8b33ba38cc3a 158 LPC_PWM1->TCR = 2;
Deurklink 0:8b33ba38cc3a 159
Deurklink 0:8b33ba38cc3a 160 // configure P2.0 for PWM1.1 - O - Pulse Width Modulator 1, channel 1 output.
Deurklink 0:8b33ba38cc3a 161 LPC_PINCON->PINSEL4 = (LPC_PINCON->PINSEL4 & ~(0x3 << 0)) | (0x1 << 0);
Deurklink 0:8b33ba38cc3a 162
Deurklink 0:8b33ba38cc3a 163 // Disable pullups for P2.0
Deurklink 0:8b33ba38cc3a 164 LPC_PINCON->PINMODE4 = (LPC_PINCON->PINMODE4 & ~0x3) | 0x2;
Deurklink 0:8b33ba38cc3a 165
Deurklink 0:8b33ba38cc3a 166 // Set prescaler
Deurklink 0:8b33ba38cc3a 167 //LPC_PWM1->PR = SystemCoreClock / (4 * 1000000) - 1;
Deurklink 0:8b33ba38cc3a 168
Deurklink 0:8b33ba38cc3a 169 // Set up match registers
Deurklink 0:8b33ba38cc3a 170 LPC_PWM1->MR0 = Period*24+TimingOffset; // Set MR0 (Period)
Deurklink 0:8b33ba38cc3a 171 /*
Deurklink 0:8b33ba38cc3a 172 TimingOffset is there to compensate for crystal errors.
Deurklink 0:8b33ba38cc3a 173 It has to be calculated for every mbed, as every crystal is a little different
Deurklink 0:8b33ba38cc3a 174 It basically adds or detracts a few cycles from every period to keep the period equal for every module
Deurklink 0:8b33ba38cc3a 175 */
Deurklink 0:8b33ba38cc3a 176 LPC_PWM1->MR1 = _Pulselength*24; // Set MR1 (Pulse length)
Deurklink 0:8b33ba38cc3a 177 LPC_PWM1->LER = 0x07; // set latch-enable register
Deurklink 0:8b33ba38cc3a 178 LPC_PWM1->MCR |= 0x02; // Reset PWM1 on match
Deurklink 0:8b33ba38cc3a 179 LPC_PWM1->PCR = 1 << 9; // enable PWM1 with single-edge operation
Deurklink 0:8b33ba38cc3a 180 }
Deurklink 0:8b33ba38cc3a 181 //------------------------------------/PWM------------------------------------
Deurklink 0:8b33ba38cc3a 182
Deurklink 0:8b33ba38cc3a 183
Deurklink 0:8b33ba38cc3a 184
Deurklink 0:8b33ba38cc3a 185 //------------------------------------XBee------------------------------------
Deurklink 0:8b33ba38cc3a 186 bool Beacon::xbeeReadable(){
Deurklink 0:8b33ba38cc3a 187 return XBee.readable();
Deurklink 0:8b33ba38cc3a 188 }
Deurklink 0:8b33ba38cc3a 189
Deurklink 0:8b33ba38cc3a 190 void Beacon::printStatus(){
Deurklink 0:8b33ba38cc3a 191 // Print the status of a Beacon
Deurklink 0:8b33ba38cc3a 192 XBee.printf("\r\n\nBeacon (ID:%d); TimingOffset: %d",BeaconNumber, TimingOffset);
Deurklink 1:d4cbfcb2be46 193 XBee.printf("\r\nLogging enabled: %d (0=off,1=on)",SDEnabled);
Deurklink 0:8b33ba38cc3a 194 XBee.printf("\r\nLast GPS update: %d:%d:%2.2f",gps.hours, gps.minutes, gps.seconds);
Deurklink 0:8b33ba38cc3a 195 XBee.printf("\r\nFlash frequency: %d Hz; Pulse length: %d usec", PulseFrequency, Pulselength);
Deurklink 0:8b33ba38cc3a 196 XBee.printf("\r\nPulse generation: %d (0=off,1=on)",PWMon);
Deurklink 0:8b33ba38cc3a 197 XBee.printf("\r\nGPS location: %f,%f", gps.latitude, gps.longitude);
Deurklink 0:8b33ba38cc3a 198 XBee.printf("\r\nFixtype: %d (0=no fix,1=gps,2=differential)",gps.fixtype);
Deurklink 0:8b33ba38cc3a 199 XBee.printf("\r\nNo. of satellites: %d",gps.satellites);
Deurklink 0:8b33ba38cc3a 200 }
Deurklink 0:8b33ba38cc3a 201
Deurklink 0:8b33ba38cc3a 202 void Beacon::getXbeeData(){
Deurklink 0:8b33ba38cc3a 203 // Function used by parse data function
Deurklink 0:8b33ba38cc3a 204 // Read data from the Xbee serial Buffer
Deurklink 0:8b33ba38cc3a 205 // Wait until $ is read, then put characters received after that in RxBuffer[] until # is read.
Deurklink 0:8b33ba38cc3a 206
Deurklink 0:8b33ba38cc3a 207 RxTO = false; // Reset time-out
Deurklink 0:8b33ba38cc3a 208 bool dollarSignRcv = false;
Deurklink 0:8b33ba38cc3a 209 bool dashRcv = false;
Deurklink 0:8b33ba38cc3a 210
Deurklink 0:8b33ba38cc3a 211 _RxTimeOut.attach(this,&Beacon::rxTimeOut,XBEETIMEOUT); // timeout after XBEETIMEOUT seconds
Deurklink 0:8b33ba38cc3a 212
Deurklink 0:8b33ba38cc3a 213 while(!dollarSignRcv){
Deurklink 0:8b33ba38cc3a 214 // Read XBee until dollarsign received or timeout
Deurklink 0:8b33ba38cc3a 215 if (XBee.readable()){
Deurklink 0:8b33ba38cc3a 216 if (XBee.getc() == '$'){
Deurklink 0:8b33ba38cc3a 217 dollarSignRcv = true;
Deurklink 0:8b33ba38cc3a 218 //XBee.printf("$ received");
Deurklink 0:8b33ba38cc3a 219 }
Deurklink 0:8b33ba38cc3a 220 }
Deurklink 0:8b33ba38cc3a 221 // Timeout if no $ is received within XBEETIMEOUT seconds
Deurklink 0:8b33ba38cc3a 222 if (RxTO == true){
Deurklink 0:8b33ba38cc3a 223 wait(BeaconNumber);
Deurklink 0:8b33ba38cc3a 224 XBee.printf("\r\nBeacon (ID:%d) rx time out",BeaconNumber);
Deurklink 0:8b33ba38cc3a 225 return;
Deurklink 0:8b33ba38cc3a 226 }
Deurklink 0:8b33ba38cc3a 227 }
Deurklink 0:8b33ba38cc3a 228
Deurklink 0:8b33ba38cc3a 229 int i = 0;
Deurklink 0:8b33ba38cc3a 230 while(!dashRcv){
Deurklink 0:8b33ba38cc3a 231 // Fill buffer until dash is received, buffer is full or timeout
Deurklink 0:8b33ba38cc3a 232 if (XBee.readable()){
Deurklink 0:8b33ba38cc3a 233 RxBuffer[i] = XBee.getc();
Deurklink 0:8b33ba38cc3a 234 if(RxBuffer[i] == '#') {
Deurklink 0:8b33ba38cc3a 235 RxBuffer[i] = 0;
Deurklink 0:8b33ba38cc3a 236 dashRcv = true;
Deurklink 0:8b33ba38cc3a 237 //XBee.printf("# received");
Deurklink 0:8b33ba38cc3a 238 }
Deurklink 0:8b33ba38cc3a 239 i++;
Deurklink 0:8b33ba38cc3a 240 }
Deurklink 0:8b33ba38cc3a 241 // Return if buffer is full
Deurklink 0:8b33ba38cc3a 242 if (i > 255){
Deurklink 0:8b33ba38cc3a 243 wait(BeaconNumber);
Deurklink 0:8b33ba38cc3a 244 XBee.printf("\r\nBeacon (ID:%d) rx buffer overflow",BeaconNumber);
Deurklink 0:8b33ba38cc3a 245 return;
Deurklink 0:8b33ba38cc3a 246 }
Deurklink 0:8b33ba38cc3a 247 // Timeout if no '#' is received within XBEETIMEOUT seconds
Deurklink 0:8b33ba38cc3a 248 if (RxTO == true){
Deurklink 0:8b33ba38cc3a 249 wait(BeaconNumber);
Deurklink 0:8b33ba38cc3a 250 XBee.printf("\r\nBeacon (ID:%d) rx time out",BeaconNumber);
Deurklink 0:8b33ba38cc3a 251 XBee.printf("\r\nReceived: %s",RxBuffer);
Deurklink 0:8b33ba38cc3a 252 return;
Deurklink 0:8b33ba38cc3a 253 }
Deurklink 0:8b33ba38cc3a 254 }
Deurklink 0:8b33ba38cc3a 255 }
Deurklink 0:8b33ba38cc3a 256
Deurklink 0:8b33ba38cc3a 257 void Beacon::parseXbee(){
Deurklink 0:8b33ba38cc3a 258 // This function collects data from RxBuffer[] and reads it
Deurklink 0:8b33ba38cc3a 259
Deurklink 0:8b33ba38cc3a 260 // put data into RxBuffer[]
Deurklink 0:8b33ba38cc3a 261 getXbeeData();
Deurklink 0:8b33ba38cc3a 262
Deurklink 0:8b33ba38cc3a 263 // $STATUS#
Deurklink 0:8b33ba38cc3a 264 // Send a status message
Deurklink 0:8b33ba38cc3a 265 if (strncmp(RxBuffer, "STATUS",6) == 0){
Deurklink 0:8b33ba38cc3a 266 wait(BeaconNumber);
Deurklink 0:8b33ba38cc3a 267 printStatus();
Deurklink 0:8b33ba38cc3a 268 }
Deurklink 0:8b33ba38cc3a 269
Deurklink 0:8b33ba38cc3a 270 // $STARTPULSE#
Deurklink 0:8b33ba38cc3a 271 // Start pulse generation if there is a GPS fix
Deurklink 0:8b33ba38cc3a 272 else if (strncmp(RxBuffer, "STARTPULSE",10) == 0){
Deurklink 0:8b33ba38cc3a 273 if (gps.fixtype > 0){
Deurklink 0:8b33ba38cc3a 274 startPWM();
Deurklink 0:8b33ba38cc3a 275 wait(BeaconNumber);
Deurklink 0:8b33ba38cc3a 276 XBee.printf("\r\nBeacon (ID:%d) pulses started",BeaconNumber);
Deurklink 0:8b33ba38cc3a 277 }
Deurklink 0:8b33ba38cc3a 278 else{
Deurklink 0:8b33ba38cc3a 279 wait(BeaconNumber);
Deurklink 0:8b33ba38cc3a 280 XBee.printf("\r\nBeacon (ID:%d) has no GPS fix",BeaconNumber);
Deurklink 0:8b33ba38cc3a 281 }
Deurklink 0:8b33ba38cc3a 282 }
Deurklink 0:8b33ba38cc3a 283
Deurklink 0:8b33ba38cc3a 284 // $FORCEPULSE#
Deurklink 0:8b33ba38cc3a 285 // Start pulse generation regardless of GPS fix
Deurklink 0:8b33ba38cc3a 286 else if (strncmp(RxBuffer, "FORCEPULSE",10) == 0){
Deurklink 0:8b33ba38cc3a 287 startPWM();
Deurklink 0:8b33ba38cc3a 288 if (gps.fixtype > 0){
Deurklink 0:8b33ba38cc3a 289 wait(BeaconNumber);
Deurklink 0:8b33ba38cc3a 290 XBee.printf("\r\nBeacon (ID:%d) pulses started",BeaconNumber);
Deurklink 0:8b33ba38cc3a 291 }
Deurklink 0:8b33ba38cc3a 292 else{
Deurklink 0:8b33ba38cc3a 293 wait(BeaconNumber);
Deurklink 0:8b33ba38cc3a 294 XBee.printf("\r\nBeacon (ID:%d) has no GPS fix; pulses started anyway",BeaconNumber);
Deurklink 0:8b33ba38cc3a 295 }
Deurklink 0:8b33ba38cc3a 296 }
Deurklink 0:8b33ba38cc3a 297
Deurklink 0:8b33ba38cc3a 298 // $STOPPULSE#
Deurklink 0:8b33ba38cc3a 299 // Stop pulse generation
Deurklink 0:8b33ba38cc3a 300 else if (strncmp(RxBuffer, "STOPPULSE",9) == 0){
Deurklink 0:8b33ba38cc3a 301 if (PWMon == true){
Deurklink 0:8b33ba38cc3a 302 stopPWM();
Deurklink 0:8b33ba38cc3a 303 wait(BeaconNumber);
Deurklink 0:8b33ba38cc3a 304 XBee.printf("\r\nBeacon (ID:%d) pulses stopped",BeaconNumber);
Deurklink 0:8b33ba38cc3a 305 }
Deurklink 0:8b33ba38cc3a 306 else{
Deurklink 0:8b33ba38cc3a 307 wait(BeaconNumber);
Deurklink 0:8b33ba38cc3a 308 XBee.printf("\r\nBeacon (ID:%d) has not been started yet. No action",BeaconNumber);
Deurklink 0:8b33ba38cc3a 309 }
Deurklink 0:8b33ba38cc3a 310 }
Deurklink 0:8b33ba38cc3a 311
Deurklink 0:8b33ba38cc3a 312 // $CHANGEPULSE,freq(hz),pulselength(us)#
Deurklink 0:8b33ba38cc3a 313 // Change frequency and pulse length
Deurklink 0:8b33ba38cc3a 314 else if (strncmp(RxBuffer, "CHANGEPULSE",11) == 0){
Deurklink 0:8b33ba38cc3a 315 if(sscanf(RxBuffer, "%*s %d %d", &PulseFrequency, &Pulselength) ==2){
Deurklink 0:8b33ba38cc3a 316 resetPWM(PulseFrequency, Pulselength);
Deurklink 0:8b33ba38cc3a 317 wait(BeaconNumber);
Deurklink 0:8b33ba38cc3a 318 XBee.printf("\r\nBeacon (ID:%d) frequency set to: %d Hz. Pulselength set to %d us",BeaconNumber,PulseFrequency,Pulselength);
Deurklink 0:8b33ba38cc3a 319 XBee.printf("\r\nWaiting for start pulse command");
Deurklink 0:8b33ba38cc3a 320 }
Deurklink 0:8b33ba38cc3a 321 else{
Deurklink 0:8b33ba38cc3a 322 wait(BeaconNumber);
Deurklink 0:8b33ba38cc3a 323 XBee.printf("\r\nBeacon (ID:%d) pulselength or frequency not received correctly, please try again (CHANGEPULSE,freq,pulselength)",BeaconNumber);
Deurklink 0:8b33ba38cc3a 324 }
Deurklink 0:8b33ba38cc3a 325 }
Deurklink 0:8b33ba38cc3a 326
Deurklink 0:8b33ba38cc3a 327 // $CAMCHANGEPULSE,freq(hz),pulselength(us),delay(us)#
Deurklink 0:8b33ba38cc3a 328 // Change frequency and pulse length of camera; Ignored by beacon
Deurklink 0:8b33ba38cc3a 329 else if (strncmp(RxBuffer, "CAMCHANGEPULSE",14) == 0){
Deurklink 0:8b33ba38cc3a 330 wait(BeaconNumber);
Deurklink 0:8b33ba38cc3a 331 XBee.printf("\r\nBeacon (ID:%d) ignored message",BeaconNumber);
Deurklink 0:8b33ba38cc3a 332 }
Deurklink 0:8b33ba38cc3a 333
Deurklink 0:8b33ba38cc3a 334
Deurklink 0:8b33ba38cc3a 335 // $RESETPULSE#
Deurklink 0:8b33ba38cc3a 336 // Read the dip switches, stop and reset PWM with new timing offset
Deurklink 0:8b33ba38cc3a 337 else if (strncmp(RxBuffer, "RESETPULSE",10) == 0){
Deurklink 0:8b33ba38cc3a 338 readDipSwitch();
Deurklink 0:8b33ba38cc3a 339 resetPWM(PulseFrequency, Pulselength);
Deurklink 0:8b33ba38cc3a 340 wait(BeaconNumber);
Deurklink 0:8b33ba38cc3a 341 XBee.printf("\r\nBeacon (ID:%d) PWM reset",BeaconNumber);
Deurklink 0:8b33ba38cc3a 342 }
Deurklink 0:8b33ba38cc3a 343
Deurklink 0:8b33ba38cc3a 344 // Received message was not one of the above commands
Deurklink 0:8b33ba38cc3a 345 else{
Deurklink 0:8b33ba38cc3a 346 wait(BeaconNumber);
Deurklink 0:8b33ba38cc3a 347 XBee.printf("\r\nBeacon (ID:%d) did not understand message",BeaconNumber);
Deurklink 0:8b33ba38cc3a 348 XBee.printf("\r\nReceived: %s",RxBuffer);
Deurklink 0:8b33ba38cc3a 349 }
Deurklink 1:d4cbfcb2be46 350
Deurklink 1:d4cbfcb2be46 351 if (SDEnabled){
Deurklink 1:d4cbfcb2be46 352 FILE *fp = fopen("/sd/log.txt", "a");
Deurklink 1:d4cbfcb2be46 353 fprintf(fp,"\r\n%d:%d:%2.2f Received: %s",gps.hours, gps.minutes, gps.seconds, RxBuffer);
Deurklink 1:d4cbfcb2be46 354 fclose(fp);
Deurklink 1:d4cbfcb2be46 355 }
Deurklink 1:d4cbfcb2be46 356
Deurklink 1:d4cbfcb2be46 357
Deurklink 0:8b33ba38cc3a 358 // Flush buffer
Deurklink 0:8b33ba38cc3a 359 for (int i=0;i<255;i++){
Deurklink 0:8b33ba38cc3a 360 RxBuffer[i] = '0';
Deurklink 0:8b33ba38cc3a 361 }
Deurklink 0:8b33ba38cc3a 362 }
Deurklink 0:8b33ba38cc3a 363 //-----------------------------------/XBee------------------------------------
Deurklink 0:8b33ba38cc3a 364
Deurklink 0:8b33ba38cc3a 365 //------------------------------------GPS-------------------------------------
Deurklink 0:8b33ba38cc3a 366 bool Beacon::gpsReadable(){
Deurklink 0:8b33ba38cc3a 367 return gps.readable();
Deurklink 0:8b33ba38cc3a 368 }
Deurklink 0:8b33ba38cc3a 369
Deurklink 0:8b33ba38cc3a 370 void Beacon::parseGpsData(){
Deurklink 0:8b33ba38cc3a 371 gps.parseData();
Deurklink 0:8b33ba38cc3a 372 }
Deurklink 0:8b33ba38cc3a 373 //-----------------------------------/GPS-------------------------------------