Abstraction for the glider class
Glider.h@17:aa62b351af43, 2017-05-16 (annotated)
- Committer:
- chasefarmer2808
- Date:
- Tue May 16 15:31:39 2017 +0000
- Revision:
- 17:aa62b351af43
- Parent:
- 16:7e1a1cd9f9fb
- Child:
- 20:d8044cd4819f
comments
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
chasefarmer2808 | 0:4e6b53a7bd38 | 1 | #ifndef Glider_H |
chasefarmer2808 | 0:4e6b53a7bd38 | 2 | #define Glider_H |
chasefarmer2808 | 0:4e6b53a7bd38 | 3 | |
chasefarmer2808 | 0:4e6b53a7bd38 | 4 | #include "mbed.h" |
chasefarmer2808 | 0:4e6b53a7bd38 | 5 | #include <string> |
chasefarmer2808 | 9:8e34e713e6ef | 6 | #include "math.h" |
chasefarmer2808 | 0:4e6b53a7bd38 | 7 | #include "HMC5883L.h" |
chasefarmer2808 | 0:4e6b53a7bd38 | 8 | #include "BMP180.h" |
chasefarmer2808 | 11:5e83ff964f5f | 9 | #include "beep.h" |
chasefarmer2808 | 0:4e6b53a7bd38 | 10 | |
chasefarmer2808 | 17:aa62b351af43 | 11 | #define SAVE_DATA_FORMAT "%d %d %d" //string format for the data saved to flash mem |
chasefarmer2808 | 17:aa62b351af43 | 12 | #define PACKET_FORMAT "3387, GLIDER, %d, %u, %.2f, %.2f, %.2f, %.2f, %.2f, %.2f, %d\r\n" //string format for telemetry packet |
chasefarmer2808 | 6:bb82dd1618c2 | 13 | |
chasefarmer2808 | 17:aa62b351af43 | 14 | #define CMD_BUZZER 'b' //sound buzzer for 3 seconds |
chasefarmer2808 | 17:aa62b351af43 | 15 | #define CMD_RESET 'z' //zero out packet count, mission time, and state |
chasefarmer2808 | 17:aa62b351af43 | 16 | #define CMD_NEXT_STATE 'n' //increment state |
chasefarmer2808 | 17:aa62b351af43 | 17 | #define CMD_PREV_STATE 'p' //decrement state |
chasefarmer2808 | 13:d95070aa9140 | 18 | |
chasefarmer2808 | 17:aa62b351af43 | 19 | #define FREQ 1.0 //frequency of sending a telem packet (1 a second) |
chasefarmer2808 | 17:aa62b351af43 | 20 | |
chasefarmer2808 | 17:aa62b351af43 | 21 | #define CRUZE 0 //released from container |
chasefarmer2808 | 17:aa62b351af43 | 22 | #define LAND 1 //on the ground |
chasefarmer2808 | 3:d8932a3036a8 | 23 | |
chasefarmer2808 | 9:8e34e713e6ef | 24 | #define PITO_V_DIVIDER 0.6666 |
chasefarmer2808 | 14:a226bedae730 | 25 | #define SOLAR_V_DIVIDER 0.5 |
chasefarmer2808 | 9:8e34e713e6ef | 26 | #define PITO_ADC_RATIO 3.3 / 0xffff |
chasefarmer2808 | 9:8e34e713e6ef | 27 | |
chasefarmer2808 | 9:8e34e713e6ef | 28 | #define AIR_DENSITY 1.225 //kg per m3 |
chasefarmer2808 | 9:8e34e713e6ef | 29 | |
chasefarmer2808 | 11:5e83ff964f5f | 30 | #define BUZZER_FREQ 700.0 |
chasefarmer2808 | 11:5e83ff964f5f | 31 | |
chasefarmer2808 | 13:d95070aa9140 | 32 | #define ALT_THRESH 100.0 //meters |
chasefarmer2808 | 13:d95070aa9140 | 33 | |
chasefarmer2808 | 17:aa62b351af43 | 34 | #define EMERGENCY_TIMEOUT 30.0 //seconds before buzzer will sound forever no matter what |
chasefarmer2808 | 14:a226bedae730 | 35 | |
chasefarmer2808 | 0:4e6b53a7bd38 | 36 | class Glider { |
chasefarmer2808 | 0:4e6b53a7bd38 | 37 | public: |
chasefarmer2808 | 0:4e6b53a7bd38 | 38 | Serial* dev; |
chasefarmer2808 | 17:aa62b351af43 | 39 | Serial* xbee; //xbee radio |
chasefarmer2808 | 17:aa62b351af43 | 40 | double heading; //degrees from north |
chasefarmer2808 | 17:aa62b351af43 | 41 | float pressure; //hpa |
chasefarmer2808 | 17:aa62b351af43 | 42 | float temp; //C |
chasefarmer2808 | 17:aa62b351af43 | 43 | float alt; //m |
chasefarmer2808 | 17:aa62b351af43 | 44 | float speed; //m per s |
chasefarmer2808 | 17:aa62b351af43 | 45 | float solarVoltage; //volts |
chasefarmer2808 | 17:aa62b351af43 | 46 | bool cmdFlag; //goes true when a command is recieved |
chasefarmer2808 | 17:aa62b351af43 | 47 | bool transmitFlag; //goes true once a second |
chasefarmer2808 | 17:aa62b351af43 | 48 | time_t startTime; //saved data |
chasefarmer2808 | 17:aa62b351af43 | 49 | time_t missionTime; //current time - initial time |
chasefarmer2808 | 7:dc93fe573846 | 50 | uint8_t packetCount; //saved data |
chasefarmer2808 | 6:bb82dd1618c2 | 51 | uint8_t state; //saved data |
chasefarmer2808 | 17:aa62b351af43 | 52 | HMC5883L* hmc; //magnetometer object |
chasefarmer2808 | 17:aa62b351af43 | 53 | BMP180* bmp; //pressor sensor object |
chasefarmer2808 | 17:aa62b351af43 | 54 | |
chasefarmer2808 | 17:aa62b351af43 | 55 | //constructor for glider object |
chasefarmer2808 | 1:7039ae86fe70 | 56 | Glider(Serial* device, PinName sda, PinName scl, PinName tx, PinName rx); |
chasefarmer2808 | 17:aa62b351af43 | 57 | InterruptIn xbeeRxInt; //ISR for RX external interrupt |
chasefarmer2808 | 9:8e34e713e6ef | 58 | AnalogIn pitot; |
chasefarmer2808 | 14:a226bedae730 | 59 | AnalogIn solVoltIn; |
chasefarmer2808 | 11:5e83ff964f5f | 60 | Beep buzzer; |
chasefarmer2808 | 0:4e6b53a7bd38 | 61 | void setHeading(); |
chasefarmer2808 | 8:7fc2caa10bbb | 62 | void setTempPressAlt(); |
chasefarmer2808 | 9:8e34e713e6ef | 63 | void setAirSpeed(); |
chasefarmer2808 | 14:a226bedae730 | 64 | void setSolarVoltage(); |
chasefarmer2808 | 1:7039ae86fe70 | 65 | void setMissionTime(); |
chasefarmer2808 | 4:ff59603d9fb6 | 66 | void setTransmitFlag(); |
chasefarmer2808 | 12:ca3e1c6203f7 | 67 | void updateTelem(); |
chasefarmer2808 | 5:460412fc4a17 | 68 | void initSaveData(); |
chasefarmer2808 | 0:4e6b53a7bd38 | 69 | void saveTelem(); |
chasefarmer2808 | 2:cc07e65227ff | 70 | void saveData(); |
chasefarmer2808 | 1:7039ae86fe70 | 71 | void transmitPacket(); |
chasefarmer2808 | 3:d8932a3036a8 | 72 | void setCommandFlag(); |
chasefarmer2808 | 2:cc07e65227ff | 73 | void processCommand(); |
chasefarmer2808 | 11:5e83ff964f5f | 74 | void soundBuzzer(float freq, float dur, bool infinate); |
chasefarmer2808 | 13:d95070aa9140 | 75 | void checkForLand(); |
chasefarmer2808 | 13:d95070aa9140 | 76 | void endMission(); |
chasefarmer2808 | 0:4e6b53a7bd38 | 77 | }; |
chasefarmer2808 | 0:4e6b53a7bd38 | 78 | |
chasefarmer2808 | 1:7039ae86fe70 | 79 | #endif |