Chase Farmer / Glider

Abstraction for the glider class

Dependents:   DropTest

Glider.cpp@15:5fea9af1cdb7, 2017-05-11 (annotated)

Committer:
chasefarmer2808
Date:
Thu May 11 14:49:26 2017 +0000
Revision:
15:5fea9af1cdb7
Parent:
14:a226bedae730
Child:
16:7e1a1cd9f9fb
solar panel voltage input

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chasefarmer2808 0:4e6b53a7bd38 1 #include "Glider.h"
chasefarmer2808 0:4e6b53a7bd38 2
chasefarmer2808 14:a226bedae730 3 Glider::Glider(Serial* device, PinName sda, PinName scl, PinName tx, PinName rx) : xbeeRxInt(rx), pitot(p15), solVoltIn(p16), buzzer(p26) {
chasefarmer2808 0:4e6b53a7bd38 4 dev = device;
chasefarmer2808 3:d8932a3036a8 5 dev->printf("constructing glider...");
chasefarmer2808 5:460412fc4a17 6 initSaveData();
chasefarmer2808 1:7039ae86fe70 7 xbee = new Serial(tx, rx);
chasefarmer2808 1:7039ae86fe70 8 heading = 0.0;
chasefarmer2808 1:7039ae86fe70 9 pressure = 0.0;
chasefarmer2808 1:7039ae86fe70 10 temp = 0.0;
chasefarmer2808 1:7039ae86fe70 11 alt = 0.0;
chasefarmer2808 6:bb82dd1618c2 12 cmdFlag = false;
chasefarmer2808 4:ff59603d9fb6 13 transmitFlag = false;
chasefarmer2808 0:4e6b53a7bd38 14 hmc = new HMC5883L(sda, scl);
chasefarmer2808 12:ca3e1c6203f7 15 hmc->init();
chasefarmer2808 0:4e6b53a7bd38 16 bmp = new BMP180(sda, scl);
chasefarmer2808 10:4c4f0ea887a4 17 bmp->Initialize(64, BMP180_OSS_ULTRA_LOW_POWER);
chasefarmer2808 3:d8932a3036a8 18 xbeeRxInt.rise(this, &Glider::setCommandFlag);
chasefarmer2808 0:4e6b53a7bd38 19 }
chasefarmer2808 0:4e6b53a7bd38 20
chasefarmer2808 0:4e6b53a7bd38 21 void Glider::setHeading() {
chasefarmer2808 7:dc93fe573846 22 this->heading = this->hmc->getHeading();
chasefarmer2808 0:4e6b53a7bd38 23 }
chasefarmer2808 0:4e6b53a7bd38 24
chasefarmer2808 8:7fc2caa10bbb 25 void Glider::setTempPressAlt() {
chasefarmer2808 0:4e6b53a7bd38 26 bmp->ReadData(&this->temp, &this->pressure, &this->alt);
chasefarmer2808 0:4e6b53a7bd38 27 }
chasefarmer2808 0:4e6b53a7bd38 28
chasefarmer2808 9:8e34e713e6ef 29 void Glider::setAirSpeed() {
chasefarmer2808 9:8e34e713e6ef 30 float vInput = this->pitot.read_u16() * PITO_ADC_RATIO;
chasefarmer2808 9:8e34e713e6ef 31 vInput = vInput / PITO_V_DIVIDER;
chasefarmer2808 9:8e34e713e6ef 32
chasefarmer2808 9:8e34e713e6ef 33 float diffPressure = (vInput - 0.5) / (0.2 * 5.0); //kPa
chasefarmer2808 9:8e34e713e6ef 34 this->speed = sqrt((2*diffPressure) / AIR_DENSITY);
chasefarmer2808 9:8e34e713e6ef 35 }
chasefarmer2808 9:8e34e713e6ef 36
chasefarmer2808 14:a226bedae730 37 void Glider::setSolarVoltage() {
chasefarmer2808 14:a226bedae730 38 solarVoltage = solVoltIn.read_u16() * PITO_ADC_RATIO;
chasefarmer2808 14:a226bedae730 39 solarVoltage = solarVoltage / SOLAR_V_DIVIDER;
chasefarmer2808 14:a226bedae730 40 }
chasefarmer2808 14:a226bedae730 41
chasefarmer2808 1:7039ae86fe70 42 void Glider::setMissionTime() {
chasefarmer2808 10:4c4f0ea887a4 43 this->missionTime = time(NULL) - this->startTime; //duration = current tome - start time
chasefarmer2808 1:7039ae86fe70 44 }
chasefarmer2808 1:7039ae86fe70 45
chasefarmer2808 12:ca3e1c6203f7 46 void Glider::updateTelem() {
chasefarmer2808 12:ca3e1c6203f7 47 setHeading();
chasefarmer2808 12:ca3e1c6203f7 48 setTempPressAlt();
chasefarmer2808 12:ca3e1c6203f7 49 setAirSpeed();
chasefarmer2808 14:a226bedae730 50 setSolarVoltage();
chasefarmer2808 12:ca3e1c6203f7 51 setMissionTime();
chasefarmer2808 12:ca3e1c6203f7 52 }
chasefarmer2808 12:ca3e1c6203f7 53
chasefarmer2808 4:ff59603d9fb6 54 void Glider::setTransmitFlag() {
chasefarmer2808 4:ff59603d9fb6 55 this->transmitFlag = true;
chasefarmer2808 4:ff59603d9fb6 56 }
chasefarmer2808 4:ff59603d9fb6 57
chasefarmer2808 0:4e6b53a7bd38 58 void Glider::saveTelem() {
chasefarmer2808 13:d95070aa9140 59 FILE *fp = fopen("/telem/telem.csv", "a");
chasefarmer2808 13:d95070aa9140 60 fprintf(fp, "3387, GLIDER, %d, %u, %f, %f, %f, %f, %f, %u\r\n",
chasefarmer2808 13:d95070aa9140 61 this->missionTime, //duration in seconds
chasefarmer2808 13:d95070aa9140 62 this->packetCount,
chasefarmer2808 13:d95070aa9140 63 this->alt, //meters
chasefarmer2808 13:d95070aa9140 64 this->pressure, //
chasefarmer2808 13:d95070aa9140 65 this->temp, //C
chasefarmer2808 13:d95070aa9140 66 this->speed, //m per s
chasefarmer2808 13:d95070aa9140 67 this->heading, //degrees from North
chasefarmer2808 15:5fea9af1cdb7 68 this->state);
chasefarmer2808 1:7039ae86fe70 69 fclose(fp);
chasefarmer2808 1:7039ae86fe70 70 }
chasefarmer2808 1:7039ae86fe70 71
chasefarmer2808 5:460412fc4a17 72 void Glider::initSaveData() {
chasefarmer2808 2:cc07e65227ff 73 this->dev->printf("getting the time...\r\n");
chasefarmer2808 3:d8932a3036a8 74 FILE *fp = fopen("/telem/data.txt", "r"); //attempt to read the saved data
chasefarmer2808 2:cc07e65227ff 75
chasefarmer2808 3:d8932a3036a8 76 if (fp == NULL) { //file does not exist
chasefarmer2808 3:d8932a3036a8 77 this->dev->printf("starting the time...\r\n");
chasefarmer2808 3:d8932a3036a8 78 this->startTime = time(NULL); //initialize the start time to now
chasefarmer2808 6:bb82dd1618c2 79 this->packetCount = 0; //start the packet count at 0
chasefarmer2808 6:bb82dd1618c2 80 this->state = CRUZE;
chasefarmer2808 3:d8932a3036a8 81 FILE *fp1 = fopen("/telem/data.txt", "w"); //create the data file
chasefarmer2808 6:bb82dd1618c2 82 fprintf(fp1, SAVE_DATA_FORMAT, this->startTime, this->packetCount, this->state); //save the start time
chasefarmer2808 2:cc07e65227ff 83 fclose(fp1);
chasefarmer2808 2:cc07e65227ff 84 return;
chasefarmer2808 2:cc07e65227ff 85 }
chasefarmer2808 3:d8932a3036a8 86
chasefarmer2808 6:bb82dd1618c2 87 //else, the file exists. Read the data
chasefarmer2808 6:bb82dd1618c2 88 fscanf(fp, SAVE_DATA_FORMAT, &this->startTime, &this->packetCount, &this->state); //set the start time, packet count, and state
chasefarmer2808 6:bb82dd1618c2 89 rewind(fp); //move cursor back to beginning of file
chasefarmer2808 2:cc07e65227ff 90 fclose(fp);
chasefarmer2808 2:cc07e65227ff 91 }
chasefarmer2808 2:cc07e65227ff 92
chasefarmer2808 6:bb82dd1618c2 93 void Glider::saveData() {
chasefarmer2808 2:cc07e65227ff 94 FILE *fp = fopen("/telem/data.txt", "w");
chasefarmer2808 10:4c4f0ea887a4 95 fprintf(fp, SAVE_DATA_FORMAT, this->startTime, this->packetCount, this->state); //save the start time, packet count, and state to flash
chasefarmer2808 2:cc07e65227ff 96 fclose(fp);
chasefarmer2808 2:cc07e65227ff 97 }
chasefarmer2808 2:cc07e65227ff 98
chasefarmer2808 1:7039ae86fe70 99 void Glider::transmitPacket() {
chasefarmer2808 10:4c4f0ea887a4 100 //TODO: transmit
chasefarmer2808 9:8e34e713e6ef 101 // voltage
chasefarmer2808 4:ff59603d9fb6 102 this->packetCount++;
chasefarmer2808 4:ff59603d9fb6 103
chasefarmer2808 15:5fea9af1cdb7 104 this->xbee->printf("3387, GLIDER, %d, %d, %f, %f, %f, %f, %f, %f, %d\r\n",
chasefarmer2808 10:4c4f0ea887a4 105 this->missionTime, //duration in seconds
chasefarmer2808 10:4c4f0ea887a4 106 this->packetCount,
chasefarmer2808 10:4c4f0ea887a4 107 this->alt, //meters
chasefarmer2808 10:4c4f0ea887a4 108 this->pressure, //
chasefarmer2808 10:4c4f0ea887a4 109 this->temp, //C
chasefarmer2808 10:4c4f0ea887a4 110 this->speed, //m per s
chasefarmer2808 15:5fea9af1cdb7 111 this->solarVoltage,
chasefarmer2808 10:4c4f0ea887a4 112 this->heading, //degrees from North
chasefarmer2808 8:7fc2caa10bbb 113 this->state);
chasefarmer2808 1:7039ae86fe70 114 }
chasefarmer2808 2:cc07e65227ff 115
chasefarmer2808 3:d8932a3036a8 116 void Glider::setCommandFlag() {
chasefarmer2808 6:bb82dd1618c2 117 this->cmdFlag = true;
chasefarmer2808 2:cc07e65227ff 118 }
chasefarmer2808 2:cc07e65227ff 119
chasefarmer2808 2:cc07e65227ff 120 void Glider::processCommand() {
chasefarmer2808 6:bb82dd1618c2 121 if (this->cmdFlag) { //command recieved
chasefarmer2808 6:bb82dd1618c2 122 char command = this->xbee->getc(); //get the command char
chasefarmer2808 3:d8932a3036a8 123
chasefarmer2808 3:d8932a3036a8 124 switch (command) {
chasefarmer2808 6:bb82dd1618c2 125 case CMD_BUZZER: //'b' was recieved. sound the buzzer
chasefarmer2808 11:5e83ff964f5f 126 this->state = LAND; //set state to land
chasefarmer2808 13:d95070aa9140 127 //this->transmitPacket(); //transmit one last packet
chasefarmer2808 13:d95070aa9140 128 //this->soundBuzzer(BUZZER_FREQ, 1, true); //sound buzzer forever
chasefarmer2808 13:d95070aa9140 129 //while (1);
chasefarmer2808 3:d8932a3036a8 130 break;
chasefarmer2808 11:5e83ff964f5f 131 case CMD_RESET: //'z' was recieved
chasefarmer2808 13:d95070aa9140 132 xbee->printf("resetting save file...\r\n");
chasefarmer2808 13:d95070aa9140 133
chasefarmer2808 13:d95070aa9140 134 state = 0;
chasefarmer2808 13:d95070aa9140 135 packetCount = 0;
chasefarmer2808 13:d95070aa9140 136 startTime = 0;
chasefarmer2808 13:d95070aa9140 137 saveData();
chasefarmer2808 13:d95070aa9140 138 //remove("/telem/data.txt");
chasefarmer2808 13:d95070aa9140 139 //this->initSaveData();
chasefarmer2808 13:d95070aa9140 140 break;
chasefarmer2808 3:d8932a3036a8 141 }
chasefarmer2808 3:d8932a3036a8 142
chasefarmer2808 6:bb82dd1618c2 143 this->cmdFlag = false; //reset the flag so a new command can be recieved
chasefarmer2808 2:cc07e65227ff 144 }
chasefarmer2808 2:cc07e65227ff 145 }
chasefarmer2808 11:5e83ff964f5f 146
chasefarmer2808 11:5e83ff964f5f 147 void Glider::soundBuzzer(float freq, float dur, bool infinate) {
chasefarmer2808 11:5e83ff964f5f 148 buzzer.beep(freq, dur, infinate);
chasefarmer2808 11:5e83ff964f5f 149 }
chasefarmer2808 13:d95070aa9140 150
chasefarmer2808 13:d95070aa9140 151 void Glider::checkForLand() {
chasefarmer2808 13:d95070aa9140 152 xbee->printf("%f\r\n", alt);
chasefarmer2808 13:d95070aa9140 153 if (alt <= ALT_THRESH) {
chasefarmer2808 13:d95070aa9140 154 state = LAND;
chasefarmer2808 13:d95070aa9140 155 }
chasefarmer2808 13:d95070aa9140 156 }
chasefarmer2808 13:d95070aa9140 157
chasefarmer2808 13:d95070aa9140 158 void Glider::endMission() {
chasefarmer2808 13:d95070aa9140 159 this->transmitPacket(); //transmit one last packet
chasefarmer2808 13:d95070aa9140 160 this->soundBuzzer(BUZZER_FREQ, 1, true); //sound buzzer forever
chasefarmer2808 13:d95070aa9140 161 while (1) {
chasefarmer2808 13:d95070aa9140 162 processCommand();
chasefarmer2808 13:d95070aa9140 163 }
chasefarmer2808 13:d95070aa9140 164 }