Chase Farmer / Glider

Abstraction for the glider class

Dependents:   DropTest

Glider.cpp@9:8e34e713e6ef, 2017-04-20 (annotated)

Committer:
chasefarmer2808
Date:
Thu Apr 20 16:39:12 2017 +0000
Revision:
9:8e34e713e6ef
Parent:
8:7fc2caa10bbb
Child:
10:4c4f0ea887a4
air speed;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chasefarmer2808 0:4e6b53a7bd38 1 #include "Glider.h"
chasefarmer2808 0:4e6b53a7bd38 2
chasefarmer2808 9:8e34e713e6ef 3 Glider::Glider(Serial* device, PinName sda, PinName scl, PinName tx, PinName rx) : xbeeRxInt(rx), pitot(p15) {
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 0:4e6b53a7bd38 15 bmp = new BMP180(sda, scl);
chasefarmer2808 0:4e6b53a7bd38 16 bmp->Initialize(1013.25, BMP180_OSS_ULTRA_LOW_POWER);
chasefarmer2808 3:d8932a3036a8 17 xbeeRxInt.rise(this, &Glider::setCommandFlag);
chasefarmer2808 0:4e6b53a7bd38 18 }
chasefarmer2808 0:4e6b53a7bd38 19
chasefarmer2808 0:4e6b53a7bd38 20 void Glider::setHeading() {
chasefarmer2808 7:dc93fe573846 21 this->heading = this->hmc->getHeading();
chasefarmer2808 0:4e6b53a7bd38 22 }
chasefarmer2808 0:4e6b53a7bd38 23
chasefarmer2808 8:7fc2caa10bbb 24 void Glider::setTempPressAlt() {
chasefarmer2808 0:4e6b53a7bd38 25 bmp->ReadData(&this->temp, &this->pressure, &this->alt);
chasefarmer2808 0:4e6b53a7bd38 26 }
chasefarmer2808 0:4e6b53a7bd38 27
chasefarmer2808 9:8e34e713e6ef 28 void Glider::setAirSpeed() {
chasefarmer2808 9:8e34e713e6ef 29 float vInput = this->pitot.read_u16() * PITO_ADC_RATIO;
chasefarmer2808 9:8e34e713e6ef 30 vInput = vInput / PITO_V_DIVIDER;
chasefarmer2808 9:8e34e713e6ef 31
chasefarmer2808 9:8e34e713e6ef 32 float diffPressure = (vInput - 0.5) / (0.2 * 5.0); //kPa
chasefarmer2808 9:8e34e713e6ef 33 this->speed = sqrt((2*diffPressure) / AIR_DENSITY);
chasefarmer2808 9:8e34e713e6ef 34 }
chasefarmer2808 9:8e34e713e6ef 35
chasefarmer2808 1:7039ae86fe70 36 void Glider::setMissionTime() {
chasefarmer2808 6:bb82dd1618c2 37 //this->dev->printf("current time: %d\r\n", this->missionTime);
chasefarmer2808 1:7039ae86fe70 38 this->missionTime = time(NULL) - this->startTime;
chasefarmer2808 1:7039ae86fe70 39 }
chasefarmer2808 1:7039ae86fe70 40
chasefarmer2808 4:ff59603d9fb6 41 void Glider::setTransmitFlag() {
chasefarmer2808 4:ff59603d9fb6 42 this->transmitFlag = true;
chasefarmer2808 4:ff59603d9fb6 43 }
chasefarmer2808 4:ff59603d9fb6 44
chasefarmer2808 0:4e6b53a7bd38 45 void Glider::saveTelem() {
chasefarmer2808 0:4e6b53a7bd38 46 FILE *fp = fopen("/telem/telem.txt", "w");
chasefarmer2808 0:4e6b53a7bd38 47 fprintf(fp, "hello,");
chasefarmer2808 1:7039ae86fe70 48 fclose(fp);
chasefarmer2808 1:7039ae86fe70 49 }
chasefarmer2808 1:7039ae86fe70 50
chasefarmer2808 5:460412fc4a17 51 void Glider::initSaveData() {
chasefarmer2808 2:cc07e65227ff 52 this->dev->printf("getting the time...\r\n");
chasefarmer2808 3:d8932a3036a8 53 FILE *fp = fopen("/telem/data.txt", "r"); //attempt to read the saved data
chasefarmer2808 2:cc07e65227ff 54
chasefarmer2808 3:d8932a3036a8 55 if (fp == NULL) { //file does not exist
chasefarmer2808 3:d8932a3036a8 56 this->dev->printf("starting the time...\r\n");
chasefarmer2808 3:d8932a3036a8 57 this->startTime = time(NULL); //initialize the start time to now
chasefarmer2808 6:bb82dd1618c2 58 this->packetCount = 0; //start the packet count at 0
chasefarmer2808 6:bb82dd1618c2 59 this->state = CRUZE;
chasefarmer2808 3:d8932a3036a8 60 FILE *fp1 = fopen("/telem/data.txt", "w"); //create the data file
chasefarmer2808 6:bb82dd1618c2 61 fprintf(fp1, SAVE_DATA_FORMAT, this->startTime, this->packetCount, this->state); //save the start time
chasefarmer2808 2:cc07e65227ff 62 fclose(fp1);
chasefarmer2808 2:cc07e65227ff 63 return;
chasefarmer2808 2:cc07e65227ff 64 }
chasefarmer2808 3:d8932a3036a8 65
chasefarmer2808 6:bb82dd1618c2 66 //else, the file exists. Read the data
chasefarmer2808 6:bb82dd1618c2 67 fscanf(fp, SAVE_DATA_FORMAT, &this->startTime, &this->packetCount, &this->state); //set the start time, packet count, and state
chasefarmer2808 6:bb82dd1618c2 68 //this->dev->printf("start time: %d\r\n", this->startTime);
chasefarmer2808 6:bb82dd1618c2 69 //this->dev->printf("start packetCount: %d\r\n", this->packetCount);
chasefarmer2808 6:bb82dd1618c2 70 rewind(fp); //move cursor back to beginning of file
chasefarmer2808 2:cc07e65227ff 71 fclose(fp);
chasefarmer2808 2:cc07e65227ff 72 }
chasefarmer2808 2:cc07e65227ff 73
chasefarmer2808 6:bb82dd1618c2 74 void Glider::saveData() {
chasefarmer2808 2:cc07e65227ff 75 FILE *fp = fopen("/telem/data.txt", "w");
chasefarmer2808 6:bb82dd1618c2 76 //this->dev->printf("saving packet count: %d\r\n", this->packetCount);
chasefarmer2808 6:bb82dd1618c2 77 fprintf(fp, SAVE_DATA_FORMAT, this->startTime, this->packetCount, this->state);
chasefarmer2808 2:cc07e65227ff 78 fclose(fp);
chasefarmer2808 2:cc07e65227ff 79 }
chasefarmer2808 2:cc07e65227ff 80
chasefarmer2808 1:7039ae86fe70 81 void Glider::transmitPacket() {
chasefarmer2808 9:8e34e713e6ef 82 //TODO: transmit speed
chasefarmer2808 9:8e34e713e6ef 83 // voltage
chasefarmer2808 4:ff59603d9fb6 84 this->packetCount++;
chasefarmer2808 4:ff59603d9fb6 85
chasefarmer2808 9:8e34e713e6ef 86 this->xbee->printf("3387, GLIDER, %d, %d, %f, %f, %f, %f, %f, %d\r\n",
chasefarmer2808 8:7fc2caa10bbb 87 this->missionTime,
chasefarmer2808 8:7fc2caa10bbb 88 this->packetCount,
chasefarmer2808 8:7fc2caa10bbb 89 this->alt,
chasefarmer2808 8:7fc2caa10bbb 90 this->pressure,
chasefarmer2808 8:7fc2caa10bbb 91 this->temp,
chasefarmer2808 9:8e34e713e6ef 92 this->speed,
chasefarmer2808 8:7fc2caa10bbb 93 this->heading,
chasefarmer2808 8:7fc2caa10bbb 94 this->state);
chasefarmer2808 1:7039ae86fe70 95 }
chasefarmer2808 2:cc07e65227ff 96
chasefarmer2808 3:d8932a3036a8 97 void Glider::setCommandFlag() {
chasefarmer2808 6:bb82dd1618c2 98 this->cmdFlag = true;
chasefarmer2808 2:cc07e65227ff 99 }
chasefarmer2808 2:cc07e65227ff 100
chasefarmer2808 2:cc07e65227ff 101 void Glider::processCommand() {
chasefarmer2808 6:bb82dd1618c2 102 if (this->cmdFlag) { //command recieved
chasefarmer2808 6:bb82dd1618c2 103 char command = this->xbee->getc(); //get the command char
chasefarmer2808 3:d8932a3036a8 104
chasefarmer2808 3:d8932a3036a8 105 switch (command) {
chasefarmer2808 6:bb82dd1618c2 106 case CMD_BUZZER: //'b' was recieved. sound the buzzer
chasefarmer2808 3:d8932a3036a8 107 this->dev->printf("buzzing...\r\n");
chasefarmer2808 7:dc93fe573846 108 this->state = LAND;
chasefarmer2808 3:d8932a3036a8 109 while(1);
chasefarmer2808 3:d8932a3036a8 110 break;
chasefarmer2808 6:bb82dd1618c2 111 case CMD_RESET:
chasefarmer2808 6:bb82dd1618c2 112 this->dev->printf("resetting save file...\r\n");
chasefarmer2808 6:bb82dd1618c2 113 remove("/telem/data.txt");
chasefarmer2808 6:bb82dd1618c2 114 this->initSaveData();
chasefarmer2808 3:d8932a3036a8 115 }
chasefarmer2808 3:d8932a3036a8 116
chasefarmer2808 6:bb82dd1618c2 117 this->cmdFlag = false; //reset the flag so a new command can be recieved
chasefarmer2808 2:cc07e65227ff 118 }
chasefarmer2808 2:cc07e65227ff 119 }