HARP: High Altitude Recovery Payload

Revision 0:043ed5bb10f2, committed 2012-07-23

Comitter:

tylerjw

Date:

Mon Jul 23 19:20:55 2012 +0000

Child:

1:21a6da67311c

Commit message:

0.1 LED change with serial xbee connection

Changed in this revision

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Mon Jul 23 19:20:55 2012 +0000
@@ -0,0 +1,68 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "watchdog.h"
+
+// Setup the watchdog timer
+Watchdog wdt;
+
+// xbee serial connection
+Serial xbee(p13,p14);
+
+// status leds
+BusOut status_led(LED4, LED3, LED2, LED1);
+
+typedef struct {
+    char msg;   // the direction to turn in
+} message_p;
+
+MemoryPool<message_p, 16> mpool_p;
+Queue<message_p, 16> queue_p;
+
+void xbee_thread(void const *argument) {
+    while (true) {
+        if (xbee.readable()) {
+            message_p *message = mpool_p.alloc();
+            message->msg = xbee.getc();
+
+            queue_p.put(message);
+        }
+        Thread::wait(100);
+    }
+}
+
+int main (void) {
+    status_led = 0x9;
+    // setup watchdog
+    wdt.kick(2.0); // 2 second watchdog
+    // setup xbee serial
+    xbee.baud(9600);
+
+    Thread thread1(xbee_thread);
+
+    while (true) {
+
+        osEvent evt_p = queue_p.get(1000); // wait for 1 second
+
+        if (evt_p.status == osEventMessage) {
+            message_p *message = (message_p*)evt_p.value.p;
+            printf("\nMessage from xbee: %c\n\r", message->msg);
+            switch (message->msg) {
+                case 'L': // turn left
+                    status_led = 0x3;
+                    break;
+                case 'C': // center
+                    status_led = 0x6;
+                    break;
+                case 'R': // turn right
+                    status_led = 0xC;
+                    break;
+                case 'F': // flare
+                    status_led = 0xF;
+                    break;
+            }
+
+            mpool_p.free(message);
+        }
+        wdt.kick();
+    }
+}

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed.bld	Mon Jul 23 19:20:55 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/mbed/builds/10b9abbe79a6
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rtos.lib	Mon Jul 23 19:20:55 2012 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/mbed_official/code/rtos/#68e146c0e76b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/watchdog.cpp	Mon Jul 23 19:20:55 2012 +0000
@@ -0,0 +1,20 @@
+#include "mbed.h"
+#include "watchdog.h"
+
+// Simon's Watchdog code from
+// http://mbed.org/forum/mbed/topic/508/
+
+// Load timeout value in watchdog timer and enable
+void Watchdog::kick(float s) {
+    LPC_WDT->WDCLKSEL = 0x1;                // Set CLK src to PCLK
+    uint32_t clk = SystemCoreClock / 16;    // WD has a fixed /4 prescaler, PCLK default is /4
+    LPC_WDT->WDTC = s * (float)clk;
+    LPC_WDT->WDMOD = 0x3;                   // Enabled and Reset
+    kick();
+}
+// "kick" or "feed" the dog - reset the watchdog timer
+// by writing this required bit pattern
+void Watchdog::kick() {
+    LPC_WDT->WDFEED = 0xAA;
+    LPC_WDT->WDFEED = 0x55;
+}
\ No newline at end of file

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/watchdog.h	Mon Jul 23 19:20:55 2012 +0000
@@ -0,0 +1,7 @@
+#include "mbed.h"
+
+class Watchdog {
+public:
+    void kick(float); // init watchdog to number of seconds
+    void kick(); // kick the dog
+};
\ No newline at end of file