Mathias Lyngklip
Work in progress
Dependencies: MMA8451Q MPL3115A2 SDFileSystem Servo TSI ledDriver mbed
Diff: main.cpp
- Revision:
- 0:ea1809c84d7a
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Sun Nov 23 02:11:47 2014 +0000
@@ -0,0 +1,230 @@
+// *********************************************************************************************************************************************************
+// Settings *
+// *********************************************************************************************************************************************************
+// Serial Settings
+#define DEBUG_TO_SERIAL 1 // Echo to PC serial
+#define SD_CARD 1 // Are we using a SD card at this moment?
+#define SECONDS_BETWEEN_MESSAGE 1 // How long between sending a "i'm online" message
+
+
+// Servo positioning
+#define intPos 0.2 // Position for locking the chute
+#define rlsPos 1.0 // Position for releasing the chute
+
+
+
+
+
+// *********************************************************************************************************************************************************
+// Includes *
+// *********************************************************************************************************************************************************
+#include "mbed.h" // Mbed library
+#include "SDFileSystem.h" // SD Libary
+#include "MMA8451Q.h" // Built-in Accelerometer Libary
+#include "TSISensor.h" // Built-in Touch-sensor Libary
+#include "MPL3115A2.h" // MPL3115A2 Libary Altitude & pressure sensor
+#include "Servo.h" // Servo library
+
+
+
+
+// *********************************************************************************************************************************************************
+// Definitions *
+// *********************************************************************************************************************************************************
+// Adress for the I2C sensors
+#define MPL3115A2_I2C_ADDRESS (0x60<<1) // Alt & temp sensor
+#define MMA8451_I2C_ADDRESS (0x1d<<1) // Accelerometer
+
+
+// Calibrating the servo
+#define calFirst 0.0010 // First value for calibration
+#define calSecond 90.0 // Second value for calibration
+
+
+// Messages expected to be recieved. In DEC instead of char!
+//#define MESSAGE_LP_ONLINE 49 // Online message from LaunchPad (LP) 49 DEC
+//#define MESSAGE_RKT_ONLINE 50 // Online message from Rocket (RKT)
+//#define MESSAGE_RKT_RDY 52 // Rocket beginning countdown sequence
+//#define MESSAGE_LP_RDY 53 // LaunchPad beginning countdown sequence
+
+
+// Messages expected to be sending.
+//#define CONFIRM_ONLINE 8 // Prints "8" in DEC for confirmation to launchpad and rocket (dec 56)
+//#define CONFIRM_LAUNCH 3 // "3" for Launch
+
+
+// Confirmations expected to be sent
+#define CONFIRM_ONLINE 0x32 // HEX for "2" - the "i'm online!" message
+#define CONFIRM_LAUNCH 0x34 // HEX for "4" - The "OK we'll launch soon"
+
+// Messages expected to recieve
+#define MESSAGE_KTP_ONLINE 0x38 // HEX for "8" - Kontrolpanel confirms connection
+#define MESSAGE_KTP_LAUNCH 0x33 // HEX for "3" - LAUNCH command from Kontrolpanel
+#define MESSAGE_KTP_SD 0x41 // HEX for "A" - For starting to save data to the SD card. Used in pre-launch (in countdown sequence)
+
+// *********************************************************************************************************************************************************
+// Constructors *
+// *********************************************************************************************************************************************************
+MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS); // Built-in Accelerometer
+MPL3115A2 wigo_sensor1( PTE0, PTE1, MPL3115A2_I2C_ADDRESS); // Pressure- and temperature-sensor!
+TSISensor tsi; //-------------------------------------------// TouchSensor på Mbed'en
+SDFileSystem sd(PTD2, PTD3, PTD1, PTD0, "sd"); // SD Shield
+Serial pc(USBTX, USBRX); // Serial w/ PC through wire
+Serial XB(PTC4, PTC3); // Serial XBee
+
+Timer t; // Timer "t" for keeping track of time
+
+
+
+// *********************************************************************************************************************************************************
+// Helper-functions for the Altimeter *
+// *********************************************************************************************************************************************************
+float print_PressureValue( unsigned char *dt);
+float print_AltimiterValue( unsigned char *dt);
+float print_TemperatureValue( unsigned char *dt);
+float sensor_data[2];
+void dataready( void); // callback function for data streaming using Interrupt
+void alttrigger( void);
+
+
+
+
+
+
+
+// *********************************************************************************************************************************************************
+// Variables *
+// *********************************************************************************************************************************************************
+// Filecreation
+int fileOpen = 0;
+char fileName[23] = "/sd/mydir/LOGGER00.CSV";
+
+
+// *********************************************************************************************************************************************************
+// Setup *
+// *********************************************************************************************************************************************************
+int main(){
+ Servo myservo(PTA4);
+
+ myservo.calibrate(calFirst, calSecond);
+ myservo.write(intPos);
+
+
+ #if DEBUG_TO_SERIAL
+ pc.baud(9600);
+ #endif
+ XB.baud(9600);
+
+
+ // ***********************************************
+ // Setting up the altimeter & temp sensor *
+ // ***********************************************
+
+ wigo_sensor1.Oversample_Ratio( OVERSAMPLE_RATIO_8); // Set over sampling value (see MPL3115A2.h for details)
+ wigo_sensor1.Altimeter_Mode(); // Configure the sensor
+
+
+ // ***********************************************
+ // Filecreating *
+ // ***********************************************
+ #if DEBUG_TO_SERIAL
+ XB.printf("SD Namecalling\n");
+ #endif
+
+ #if SD_CARD
+ mkdir("/sd/mydir", 0777); // Making the folder in where to put the file
+ int i = 1;
+ nameFinder:
+ fileName[18] = '.'; // Making the dot in .CSV
+ fileName[17] = i%10 + '0'; // Numbering the filename
+ fileName[16] = i/10 + '0'; // to something not already there
+ i++;
+ FILE *fp = fopen(fileName, "r" ); // This checks if there is a file called fileName
+ if(fp != NULL){
+ #if DEBUG_TO_SERIAL
+ XB.printf("File existed.\n");
+ #endif
+
+ goto nameFinder;
+ }
+
+ if(fp == NULL){
+ #if DEBUG_TO_SERIAL
+ XB.printf("fileName %c did not exist, creating one now!\n", fileName );
+ XB.printf(fileName);
+ XB.printf("\n");
+ #endif
+
+ fp = fopen(fileName, "w" ); // This creates a file called fileName
+ if(fp == NULL){
+ error("failed");
+ }
+ }
+ #if DEBUG_TO_SERIAL
+ XB.printf("SD File created in the Rocket.\n");
+ #endif
+ #endif //if SD
+
+
+
+
+
+
+
+
+
+
+
+
+
+ // ***********************************************
+ // Mode 0: Handshaking with KTP *
+ // ***********************************************
+ t.start();
+ int time1 = t.read();
+ bool confirmed_rdy = false;
+
+ while(confirmed_rdy == false){
+ if(time1 - t.read() >= SECONDS_BETWEEN_MESSAGE * 1000){
+ XB.putc(CONFIRM_ONLINE);
+ time1 = t.read();
+ }// if
+
+ while(time1 - t.read() < SECONDS_BETWEEN_MESSAGE * 1000){
+ if(XB.getc() == MESSAGE_KTP_ONLINE){
+ t.stop();
+ confirmed_rdy = true;
+ }// if
+ }// While time
+ }// while !confirmed_rdy
+// *********************************************************************************************************************************************************
+// Loop *
+// *********************************************************************************************************************************************************
+while(1){
+ // ***********************************************
+ // Mode 1: Listening for MESSAGE_KTP_SD *
+ // ***********************************************
+ bool confirmed_sd = false;
+ while(confirmed_sd == false){
+ if(XB.readable()){
+ if(XB.getc() == MESSAGE_KTP_SD){
+ confirmed_sd = true;
+ }// if MESSAGE_KTP_SD
+ }// if READABLE
+ }// while Mode 1
+ // ***********************************************
+ // Mode 2: Start logging data to SD *
+ // ***********************************************
+
+
+
+
+}// While loop. The code should stop looping after this point. Keep this close to "Recovered stage"
+// *********************************************************************************************************************************************************
+// Recovered stage: Writes end-message to SD-card datastream. *
+// *********************************************************************************************************************************************************
+
+
+
+
+}// main
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