Chase Farmer / Glider

Abstraction for the glider class

Dependents:   DropTest

Glider.cpp@18:a4fbe3ce0f16, 2017-05-16 (annotated)

Committer:
chasefarmer2808
Date:
Tue May 16 16:51:23 2017 +0000
Revision:
18:a4fbe3ce0f16
Parent:
16:7e1a1cd9f9fb
Child:
19:9bdc2b081b16
remove save file

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 16:7e1a1cd9f9fb 60 fprintf(fp, PACKET_FORMAT,
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 16:7e1a1cd9f9fb 67 this->solarVoltage,
chasefarmer2808 13:d95070aa9140 68 this->heading, //degrees from North
chasefarmer2808 15:5fea9af1cdb7 69 this->state);
chasefarmer2808 1:7039ae86fe70 70 fclose(fp);
chasefarmer2808 1:7039ae86fe70 71 }
chasefarmer2808 1:7039ae86fe70 72
chasefarmer2808 5:460412fc4a17 73 void Glider::initSaveData() {
chasefarmer2808 2:cc07e65227ff 74 this->dev->printf("getting the time...\r\n");
chasefarmer2808 3:d8932a3036a8 75 FILE *fp = fopen("/telem/data.txt", "r"); //attempt to read the saved data
chasefarmer2808 2:cc07e65227ff 76
chasefarmer2808 3:d8932a3036a8 77 if (fp == NULL) { //file does not exist
chasefarmer2808 3:d8932a3036a8 78 this->dev->printf("starting the time...\r\n");
chasefarmer2808 3:d8932a3036a8 79 this->startTime = time(NULL); //initialize the start time to now
chasefarmer2808 6:bb82dd1618c2 80 this->packetCount = 0; //start the packet count at 0
chasefarmer2808 6:bb82dd1618c2 81 this->state = CRUZE;
chasefarmer2808 3:d8932a3036a8 82 FILE *fp1 = fopen("/telem/data.txt", "w"); //create the data file
chasefarmer2808 6:bb82dd1618c2 83 fprintf(fp1, SAVE_DATA_FORMAT, this->startTime, this->packetCount, this->state); //save the start time
chasefarmer2808 2:cc07e65227ff 84 fclose(fp1);
chasefarmer2808 2:cc07e65227ff 85 return;
chasefarmer2808 2:cc07e65227ff 86 }
chasefarmer2808 3:d8932a3036a8 87
chasefarmer2808 6:bb82dd1618c2 88 //else, the file exists. Read the data
chasefarmer2808 6:bb82dd1618c2 89 fscanf(fp, SAVE_DATA_FORMAT, &this->startTime, &this->packetCount, &this->state); //set the start time, packet count, and state
chasefarmer2808 6:bb82dd1618c2 90 rewind(fp); //move cursor back to beginning of file
chasefarmer2808 2:cc07e65227ff 91 fclose(fp);
chasefarmer2808 2:cc07e65227ff 92 }
chasefarmer2808 2:cc07e65227ff 93
chasefarmer2808 6:bb82dd1618c2 94 void Glider::saveData() {
chasefarmer2808 2:cc07e65227ff 95 FILE *fp = fopen("/telem/data.txt", "w");
chasefarmer2808 10:4c4f0ea887a4 96 fprintf(fp, SAVE_DATA_FORMAT, this->startTime, this->packetCount, this->state); //save the start time, packet count, and state to flash
chasefarmer2808 2:cc07e65227ff 97 fclose(fp);
chasefarmer2808 2:cc07e65227ff 98 }
chasefarmer2808 2:cc07e65227ff 99
chasefarmer2808 1:7039ae86fe70 100 void Glider::transmitPacket() {
chasefarmer2808 4:ff59603d9fb6 101 this->packetCount++;
chasefarmer2808 4:ff59603d9fb6 102
chasefarmer2808 16:7e1a1cd9f9fb 103 this->xbee->printf(PACKET_FORMAT,
chasefarmer2808 10:4c4f0ea887a4 104 this->missionTime, //duration in seconds
chasefarmer2808 10:4c4f0ea887a4 105 this->packetCount,
chasefarmer2808 10:4c4f0ea887a4 106 this->alt, //meters
chasefarmer2808 10:4c4f0ea887a4 107 this->pressure, //
chasefarmer2808 10:4c4f0ea887a4 108 this->temp, //C
chasefarmer2808 10:4c4f0ea887a4 109 this->speed, //m per s
chasefarmer2808 15:5fea9af1cdb7 110 this->solarVoltage,
chasefarmer2808 10:4c4f0ea887a4 111 this->heading, //degrees from North
chasefarmer2808 8:7fc2caa10bbb 112 this->state);
chasefarmer2808 1:7039ae86fe70 113 }
chasefarmer2808 2:cc07e65227ff 114
chasefarmer2808 3:d8932a3036a8 115 void Glider::setCommandFlag() {
chasefarmer2808 6:bb82dd1618c2 116 this->cmdFlag = true;
chasefarmer2808 2:cc07e65227ff 117 }
chasefarmer2808 2:cc07e65227ff 118
chasefarmer2808 2:cc07e65227ff 119 void Glider::processCommand() {
chasefarmer2808 6:bb82dd1618c2 120 if (this->cmdFlag) { //command recieved
chasefarmer2808 6:bb82dd1618c2 121 char command = this->xbee->getc(); //get the command char
chasefarmer2808 3:d8932a3036a8 122
chasefarmer2808 3:d8932a3036a8 123 switch (command) {
chasefarmer2808 6:bb82dd1618c2 124 case CMD_BUZZER: //'b' was recieved. sound the buzzer
chasefarmer2808 11:5e83ff964f5f 125 this->state = LAND; //set state to land
chasefarmer2808 3:d8932a3036a8 126 break;
chasefarmer2808 11:5e83ff964f5f 127 case CMD_RESET: //'z' was recieved
chasefarmer2808 13:d95070aa9140 128 xbee->printf("resetting save file...\r\n");
chasefarmer2808 18:a4fbe3ce0f16 129 /*
chasefarmer2808 13:d95070aa9140 130 state = 0;
chasefarmer2808 13:d95070aa9140 131 packetCount = 0;
chasefarmer2808 13:d95070aa9140 132 startTime = 0;
chasefarmer2808 13:d95070aa9140 133 saveData();
chasefarmer2808 18:a4fbe3ce0f16 134 */
chasefarmer2808 18:a4fbe3ce0f16 135
chasefarmer2808 18:a4fbe3ce0f16 136 remove("/telem/data.txt");
chasefarmer2808 18:a4fbe3ce0f16 137
chasefarmer2808 13:d95070aa9140 138 break;
chasefarmer2808 3:d8932a3036a8 139 }
chasefarmer2808 3:d8932a3036a8 140
chasefarmer2808 6:bb82dd1618c2 141 this->cmdFlag = false; //reset the flag so a new command can be recieved
chasefarmer2808 2:cc07e65227ff 142 }
chasefarmer2808 2:cc07e65227ff 143 }
chasefarmer2808 11:5e83ff964f5f 144
chasefarmer2808 11:5e83ff964f5f 145 void Glider::soundBuzzer(float freq, float dur, bool infinate) {
chasefarmer2808 11:5e83ff964f5f 146 buzzer.beep(freq, dur, infinate);
chasefarmer2808 11:5e83ff964f5f 147 }
chasefarmer2808 13:d95070aa9140 148
chasefarmer2808 13:d95070aa9140 149 void Glider::checkForLand() {
chasefarmer2808 13:d95070aa9140 150 xbee->printf("%f\r\n", alt);
chasefarmer2808 13:d95070aa9140 151 if (alt <= ALT_THRESH) {
chasefarmer2808 13:d95070aa9140 152 state = LAND;
chasefarmer2808 13:d95070aa9140 153 }
chasefarmer2808 13:d95070aa9140 154 }
chasefarmer2808 13:d95070aa9140 155
chasefarmer2808 13:d95070aa9140 156 void Glider::endMission() {
chasefarmer2808 13:d95070aa9140 157 this->transmitPacket(); //transmit one last packet
chasefarmer2808 13:d95070aa9140 158 this->soundBuzzer(BUZZER_FREQ, 1, true); //sound buzzer forever
chasefarmer2808 13:d95070aa9140 159 while (1) {
chasefarmer2808 13:d95070aa9140 160 processCommand();
chasefarmer2808 13:d95070aa9140 161 }
chasefarmer2808 13:d95070aa9140 162 }