Diff: main.cpp

Revision:

23:1ca41779b8ec

Parent:

22:baa5a077d908

Child:

24:e274a34492cf

--- a/main.cpp	Sat Mar 26 02:51:09 2016 +0000
+++ b/main.cpp	Mon Mar 28 02:54:17 2016 +0000
@@ -71,21 +71,21 @@
 //GPS
 /////////////////////////////////////////////
 DigitalOut      gpsEN(PB_15, 0);
-Max_M8 gps(PB_9, PB_8,(66<<1));   
+Max_M8 gps(PB_9, PB_8,(0x84));   
 
 /////////////////////////////////////////////
 //Hbridge Valve Control
 /////////////////////////////////////////////
-/*
-DRV8830    motor1(PB_9, PB_8, 0xC4); 
-DRV8830    motor2(PB_9, PB_8, 0xCA); 
-DRV8830    motor3(PB_9, PB_8, 0xCC); 
-DRV8830    motor4(PB_9, PB_8, 0xCE); 
+
+DRV8830    motor1(PB_9, PB_8, 0xCA); //Not working with 0xC4 will remove R28 and try 0xCA
+DRV8830    motor2(PB_9, PB_8, 0xC8); //Works with 0xC8, not 0xCA since R8 isn't on the Tboards.
+DRV8830    motor3(PB_9, PB_8, 0xCC); //Not working with 0xCC might try replacing R15 with a 0 ohm resistor and try again.
+DRV8830    motor4(PB_9, PB_8, 0xCE); //Works!
 DigitalIn  hb_fault1(PA_6);
 DigitalIn  hb_fault2(PA_7);
 DigitalIn  hb_fault3(PA_5);
 DigitalIn  hb_fault4(PA_4);
-*/
+
 /////////////////////////////////////////////
 //SD Card
 /////////////////////////////////////////////
@@ -160,13 +160,14 @@
 float flat = 0;
 float flon = 0;
 
+bool    gpsFix;
 uint8_t gpssatellites = 0;
-double gpsspeed = 0.0;
-double gpslatitude = 0.0;
-double gpslongitude = 0.0;
-float gpsaltitude = 0.0;
-char gpslat = 'W';
-char gpslon = 'N';
+double  gpsspeed = 0.0;
+double  gpslatitude = 0.0;
+double  gpslongitude = 0.0;
+float   gpsaltitude = 0.0;
+char    gpslat = 'W';
+char    gpslon = 'N';
 
 
 float home_lat  = 40.580508;
@@ -404,8 +405,7 @@
 void log_data()
 {
 
-    RGB_LED.set_led(1,1,1);
-        
+           
     time_t seconds = time(NULL);
     strftime(timestr, 32, "%y%m%d%H%M%S", localtime(&seconds));
 
@@ -447,8 +447,14 @@
     vBlowerReading = ads.readADC_SingleEnded(2, 0xE783); // read channel 0
     omronDiff = ads.readADC_Differential(0x8583); // differential channel 2-3
     
-    if(gpsEN ==1){    
-    gps.read(1);
+    //if(gpsEN ==1){  
+      
+        if(gpsFix){
+            RGB_LED.set_led(1,1,1);
+        }else{
+            RGB_LED.set_led(1,0,0);
+        }
+        gpsFix = gps.read(1);
         //RGB_LED.set_led(1,1,0);
         gpsspeed = gps.speed;
         gpssatellites =  gps.satellites;
@@ -511,9 +517,9 @@
                 location = 3;
               }
                 
-*/     
+    
 }
-
+*/ 
    
     FILE *fp = fopen(filename, "a");
     fprintf(fp, "%02d,%02d,%02d,%02d,%02d,%02d,",RTC_UPAS.year, RTC_UPAS.month,RTC_UPAS.date,RTC_UPAS.hour,RTC_UPAS.minutes,RTC_UPAS.seconds);
@@ -523,8 +529,7 @@
     fprintf(fp, "%.1f,%.1f,%.1f,%.3f,%.3f,%.3f,%.1f,", angle_x,angle_y,angle_z,mag_x, mag_y, mag_z,compass);
     fprintf(fp, "%d,%d,%d,%d,%d,%d," ,uv,omronReading, vInReading, vBlowerReading, omronDiff,gasG.getAmps());
     fprintf(fp, "%d,%d,%d,%1.3f,%1.3f,", gasG.getVolts(), gasG.getCharge(),digital_pot_set, deltaMflow, deltaVflow);
-    //fprintf(fp, "%f,%f,%06d,%06d\r\n",  gps.lat, gps.lon, (long)gps.date, (long)gps.utc); // test and add in speed, etc that Josh added in to match the adafruit GPS
-    fprintf(fp, "%f,%f,%06d,%06d,%f,%d,%f\r\n",  gps.lat, gps.lon, (long)gps.date, (long)gps.utc, gpsspeed, gpssatellites,  gpsaltitude); // test and add in speed, etc that Josh added in to match the adafruit GPS
+    fprintf(fp, "%f,%f,%06d,%06d,%f,%d,%f,%d,%f\r\n",  gps.lat, gps.lon, (long)gps.date, (long)gps.utc, gpsspeed, gpssatellites,  gpsaltitude, gpsFix, gps.hdop); // test and add in speed, etc that Josh added in to match the adafruit GPS
     fclose(fp);
     free(fp);
     RGB_LED.set_led(0,1,0);
@@ -592,15 +597,10 @@
 //Main Function
 //////////////////////////////////////////////////////////////
 int main(){
+   
+    RGB_LED.set_led(0,0,1);
     
-    gpsEN = 1;
-    wait(1);
-    BT_SW = 1;
-    wait(1);
-    BT_IRST = 1;
-    wait(1);
-    
-    /*
+    /*    
     //CODE ADDED TO TEST EEPROM
     //////////////////////////////////////////
     uint8_t serialNumWriter [2] = {0x00,0x12};
@@ -611,8 +611,7 @@
     if(putDataInMe[0] == 0x02)pumps=1;
     //////////////////////////////////////////
     //END CODE ADDED TO TEST EEPROM
-   
-    
+       
     RGB_LED.set_led(0,0,1);
     STtime.tm_sec = 10;    // 0-59
     STtime.tm_min = 30;    // 0-59
@@ -624,22 +623,24 @@
     set_time(seconds); // Set RTC time to 16 December 2013 10:05:23 UTC
     wait(5);
 
+*/
 
 motor1.getFault();
-    //wait(5);
+    wait(1);
     RGB_LED.set_led(0,0,0);
 motor2.getFault();
-    //wait(5);
-    RGB_LED.set_led(1,0,0);
+    wait(1);
+    RGB_LED.set_led(0,1,0);
 
 motor3.getFault();
-    wait(5);
+    wait(1);
     RGB_LED.set_led(0,0,0);
     
 motor4.getFault();
-    //wait(5);
-    RGB_LED.set_led(1,0,0);
+    wait(1);
+    RGB_LED.set_led(0,1,0);
 
+/*
     RGB_LED.set_led(1,0,0);
     motor1.drive(254); //closed = 253, open = 254
         wait(10);
@@ -665,6 +666,26 @@
 
 */
 
+    motor1.drive(254); //closed = 253, open = 254
+    motor2.drive(254); //closed = 253, open = 254
+    motor3.drive(254); //closed = 253, open = 254
+    motor4.drive(254); //closed = 253, open = 254
+    
+
+    wait(10);
+    motor1.stop();
+    motor2.stop();
+    motor3.stop();
+    motor4.stop();
+
+
+    gpsEN = 1;
+    wait(1);
+    BT_SW = 1;
+    wait(1);
+    BT_IRST = 1;
+    wait(1);
+    
 
     pc.baud(115200);  // set what you want here depending on your terminal program speed
     pc.printf("\f\n\r-------------Startup-------------\n\r");
@@ -765,7 +786,7 @@
 
     DigPot.writeRegister(digital_pot_setpoint);
     wait(1);
-    pumps = 1;
+    //pumps = 1;
 
     uint8_t subjectLabelOriginal[8] = {0,};
     E2PROM.read(0x00001, subjectLabelOriginal,8);