Chase Farmer / Glider

Abstraction for the glider class

Dependents:   DropTest

Glider.cpp@10:4c4f0ea887a4, 2017-04-24 (annotated)

Committer:
chasefarmer2808
Date:
Mon Apr 24 21:34:11 2017 +0000
Revision:
10:4c4f0ea887a4
Parent:
9:8e34e713e6ef
Child:
11:5e83ff964f5f
accutate

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 10:4c4f0ea887a4 16 bmp->Initialize(64, 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 10:4c4f0ea887a4 37 this->missionTime = time(NULL) - this->startTime; //duration = current tome - start time
chasefarmer2808 1:7039ae86fe70 38 }
chasefarmer2808 1:7039ae86fe70 39
chasefarmer2808 4:ff59603d9fb6 40 void Glider::setTransmitFlag() {
chasefarmer2808 4:ff59603d9fb6 41 this->transmitFlag = true;
chasefarmer2808 4:ff59603d9fb6 42 }
chasefarmer2808 4:ff59603d9fb6 43
chasefarmer2808 0:4e6b53a7bd38 44 void Glider::saveTelem() {
chasefarmer2808 0:4e6b53a7bd38 45 FILE *fp = fopen("/telem/telem.txt", "w");
chasefarmer2808 0:4e6b53a7bd38 46 fprintf(fp, "hello,");
chasefarmer2808 1:7039ae86fe70 47 fclose(fp);
chasefarmer2808 1:7039ae86fe70 48 }
chasefarmer2808 1:7039ae86fe70 49
chasefarmer2808 5:460412fc4a17 50 void Glider::initSaveData() {
chasefarmer2808 2:cc07e65227ff 51 this->dev->printf("getting the time...\r\n");
chasefarmer2808 3:d8932a3036a8 52 FILE *fp = fopen("/telem/data.txt", "r"); //attempt to read the saved data
chasefarmer2808 2:cc07e65227ff 53
chasefarmer2808 3:d8932a3036a8 54 if (fp == NULL) { //file does not exist
chasefarmer2808 3:d8932a3036a8 55 this->dev->printf("starting the time...\r\n");
chasefarmer2808 3:d8932a3036a8 56 this->startTime = time(NULL); //initialize the start time to now
chasefarmer2808 6:bb82dd1618c2 57 this->packetCount = 0; //start the packet count at 0
chasefarmer2808 6:bb82dd1618c2 58 this->state = CRUZE;
chasefarmer2808 3:d8932a3036a8 59 FILE *fp1 = fopen("/telem/data.txt", "w"); //create the data file
chasefarmer2808 6:bb82dd1618c2 60 fprintf(fp1, SAVE_DATA_FORMAT, this->startTime, this->packetCount, this->state); //save the start time
chasefarmer2808 2:cc07e65227ff 61 fclose(fp1);
chasefarmer2808 2:cc07e65227ff 62 return;
chasefarmer2808 2:cc07e65227ff 63 }
chasefarmer2808 3:d8932a3036a8 64
chasefarmer2808 6:bb82dd1618c2 65 //else, the file exists. Read the data
chasefarmer2808 6:bb82dd1618c2 66 fscanf(fp, SAVE_DATA_FORMAT, &this->startTime, &this->packetCount, &this->state); //set the start time, packet count, and state
chasefarmer2808 6:bb82dd1618c2 67 rewind(fp); //move cursor back to beginning of file
chasefarmer2808 2:cc07e65227ff 68 fclose(fp);
chasefarmer2808 2:cc07e65227ff 69 }
chasefarmer2808 2:cc07e65227ff 70
chasefarmer2808 6:bb82dd1618c2 71 void Glider::saveData() {
chasefarmer2808 2:cc07e65227ff 72 FILE *fp = fopen("/telem/data.txt", "w");
chasefarmer2808 10:4c4f0ea887a4 73 fprintf(fp, SAVE_DATA_FORMAT, this->startTime, this->packetCount, this->state); //save the start time, packet count, and state to flash
chasefarmer2808 2:cc07e65227ff 74 fclose(fp);
chasefarmer2808 2:cc07e65227ff 75 }
chasefarmer2808 2:cc07e65227ff 76
chasefarmer2808 1:7039ae86fe70 77 void Glider::transmitPacket() {
chasefarmer2808 10:4c4f0ea887a4 78 //TODO: transmit
chasefarmer2808 9:8e34e713e6ef 79 // voltage
chasefarmer2808 4:ff59603d9fb6 80 this->packetCount++;
chasefarmer2808 4:ff59603d9fb6 81
chasefarmer2808 9:8e34e713e6ef 82 this->xbee->printf("3387, GLIDER, %d, %d, %f, %f, %f, %f, %f, %d\r\n",
chasefarmer2808 10:4c4f0ea887a4 83 this->missionTime, //duration in seconds
chasefarmer2808 10:4c4f0ea887a4 84 this->packetCount,
chasefarmer2808 10:4c4f0ea887a4 85 this->alt, //meters
chasefarmer2808 10:4c4f0ea887a4 86 this->pressure, //
chasefarmer2808 10:4c4f0ea887a4 87 this->temp, //C
chasefarmer2808 10:4c4f0ea887a4 88 this->speed, //m per s
chasefarmer2808 10:4c4f0ea887a4 89 this->heading, //degrees from North
chasefarmer2808 8:7fc2caa10bbb 90 this->state);
chasefarmer2808 1:7039ae86fe70 91 }
chasefarmer2808 2:cc07e65227ff 92
chasefarmer2808 3:d8932a3036a8 93 void Glider::setCommandFlag() {
chasefarmer2808 6:bb82dd1618c2 94 this->cmdFlag = true;
chasefarmer2808 2:cc07e65227ff 95 }
chasefarmer2808 2:cc07e65227ff 96
chasefarmer2808 2:cc07e65227ff 97 void Glider::processCommand() {
chasefarmer2808 6:bb82dd1618c2 98 if (this->cmdFlag) { //command recieved
chasefarmer2808 6:bb82dd1618c2 99 char command = this->xbee->getc(); //get the command char
chasefarmer2808 3:d8932a3036a8 100
chasefarmer2808 3:d8932a3036a8 101 switch (command) {
chasefarmer2808 6:bb82dd1618c2 102 case CMD_BUZZER: //'b' was recieved. sound the buzzer
chasefarmer2808 3:d8932a3036a8 103 this->dev->printf("buzzing...\r\n");
chasefarmer2808 7:dc93fe573846 104 this->state = LAND;
chasefarmer2808 3:d8932a3036a8 105 while(1);
chasefarmer2808 3:d8932a3036a8 106 break;
chasefarmer2808 6:bb82dd1618c2 107 case CMD_RESET:
chasefarmer2808 6:bb82dd1618c2 108 this->dev->printf("resetting save file...\r\n");
chasefarmer2808 6:bb82dd1618c2 109 remove("/telem/data.txt");
chasefarmer2808 6:bb82dd1618c2 110 this->initSaveData();
chasefarmer2808 3:d8932a3036a8 111 }
chasefarmer2808 3:d8932a3036a8 112
chasefarmer2808 6:bb82dd1618c2 113 this->cmdFlag = false; //reset the flag so a new command can be recieved
chasefarmer2808 2:cc07e65227ff 114 }
chasefarmer2808 2:cc07e65227ff 115 }