High Altitude Recovery Payload
HARP: High Altitude Recovery Payload
Information
Version 0.1: RC design
By connecting the second xbee to a computer using a terminal command and supplying the characters L, R, C, F the light patterns change on the mbed.
main.cpp
- Committer:
- tylerjw
- Date:
- 2012-10-15
- Revision:
- 7:fcbf263a62b9
- Parent:
- 6:2bd373ba18ae
- Child:
- 8:513b31554e5f
File content as of revision 7:fcbf263a62b9:
/* Copyright (c) 2012 Tyler Weaver, MIT License * * Permission is hereby granted, free of charge, to any person obtaining a copy of this software * and associated documentation files (the "Software"), to deal in the Software without restriction, * including without limitation the rights to use, copy, modify, merge, publish, distribute, * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is * furnished to do so, subject to the following conditions: * * The above copyright notice and this permission notice shall be included in all copies or * substantial portions of the Software. * * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ #include "mbed.h" #include "rtos.h" #include "watchdog.h" #include "Servo.h" #define CENTER 'C' #define LEFT 'L' #define RIGHT 'R' // Setup the watchdog timer Watchdog wdt; // status leds BusOut status_led(LED4, LED3, LED2, LED1); typedef struct { char msg; // the direction to turn in } messageXbeeT; MemoryPool<messageXbeeT, 16> mpool_xbee; Queue<messageXbeeT, 16> queue_xbee; /** * xbee_thread * this thread reads characters from the xbee serial connection and posts messages containing them */ void xbee_thread(void const *argument) { // xbee serial connection Serial xbee(p9,p10); xbee.baud(9600); while (true) { if (xbee.readable()) { messageXbeeT *message = mpool_xbee.alloc(); message->msg = xbee.getc(); queue_xbee.put(message); } Thread::wait(100); } } /** parachute_thread this thread recieves messages from the main thread and turns the servos for control of the parachute */ void parachute_thread(void const *argument) { Serial pc(USBTX, USBRX); pc.baud(9600); pc.puts("\n\rCalibrating Servo Motors... "); // servos Servo left_s(p21); Servo right_s(p22); left_s.calibrate_max(0.0014); left_s.calibrate_min(-0.0008); right_s.calibrate_max(0.0016); right_s.calibrate_min(-0.0008); for(float i = 0.0; i <= 1.0; i+=0.1) { left_s = i; right_s = i; //release = i; Thread::wait(500); } right_s = 0; left_s = 0; pc.puts("OK!"); char state = CENTER; pc.puts("\n\rEntering Main Loop... "); while (true) { osEvent evt_xbee = queue_xbee.get(1); // 20 millisecond wait if (evt_xbee.status == osEventMessage) { messageXbeeT *message = (messageXbeeT*)evt_xbee.value.p; state = message->msg; pc.puts("\n\rMessage recieved!"); } switch (state) { case CENTER: // center status_led = 0x6; right_s = 0; left_s = 0; break; case LEFT: // left status_led = 0x3; right_s = 0; left_s = 1; break; case RIGHT: // right status_led = 0xC; right_s = 1; left_s = 0; break; } } } /** main thread this thread initializes everything then recieves messages from the xbee and sends messages to the parachute */ int main (void) { AnalogIn battery(p19); DigitalOut battery_warning(p24); battery_warning = 1; const float BAT_MUL = 10.26; float battery_voltage; status_led = 0x9; // setup watchdog wdt.kick(2.0); // 2 second watchdog // setup xbee serial Thread thread1(xbee_thread); Thread thread2(parachute_thread); while (true) { battery_voltage = battery.read() * BAT_MUL; if(battery_voltage < 6.4) battery_warning = 0; Thread::wait(1000); wdt.kick(); } }