Generation 2 of the Harp project
Dependencies: Servo TMP36 GZ chan_fatfs_sd buffered-serial1 nmea_parser watchdog mbed-rtos mbed
main.cpp@12:0d943d69d3ec, 2012-12-11 (annotated)
- Committer:
- tylerjw
- Date:
- Tue Dec 11 23:57:13 2012 +0000
- Revision:
- 12:0d943d69d3ec
- Parent:
- 11:890a721158a5
- Child:
- 13:db6af0620264
chan with rtos :)
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tylerjw | 0:ce5f06c3895f | 1 | #include "mbed.h" |
tylerjw | 7:d8ecabe16c9e | 2 | #include "rtos.h" |
tylerjw | 10:b13416bbb4cd | 3 | #include "buffered_serial.h" |
tylerjw | 12:0d943d69d3ec | 4 | #include "ff.h" |
tylerjw | 10:b13416bbb4cd | 5 | |
tylerjw | 10:b13416bbb4cd | 6 | #define CELLS 3.0 |
tylerjw | 10:b13416bbb4cd | 7 | #define LIPO_EMPTY 3.4 |
tylerjw | 10:b13416bbb4cd | 8 | #define LIPO_FULL 4.2 |
tylerjw | 10:b13416bbb4cd | 9 | |
tylerjw | 10:b13416bbb4cd | 10 | const float BAT_MUL = 4.7; |
tylerjw | 10:b13416bbb4cd | 11 | const float BAT_FULL = (CELLS * LIPO_FULL); |
tylerjw | 10:b13416bbb4cd | 12 | const float BAT_EMPTY = (CELLS * LIPO_EMPTY); |
tylerjw | 10:b13416bbb4cd | 13 | const float BAT_RANGE = BAT_FULL - BAT_EMPTY; |
tylerjw | 0:ce5f06c3895f | 14 | |
tylerjw | 0:ce5f06c3895f | 15 | Serial pc(USBTX, USBRX); |
tylerjw | 10:b13416bbb4cd | 16 | BufferedSerial gps(NC, p14); |
tylerjw | 10:b13416bbb4cd | 17 | AnalogIn gps_battery(p20); |
tylerjw | 7:d8ecabe16c9e | 18 | |
tylerjw | 12:0d943d69d3ec | 19 | #define FSS_DBG |
tylerjw | 12:0d943d69d3ec | 20 | |
tylerjw | 7:d8ecabe16c9e | 21 | void gps_thread(void const *args) |
tylerjw | 7:d8ecabe16c9e | 22 | { |
tylerjw | 10:b13416bbb4cd | 23 | char buffer[80]; |
tylerjw | 12:0d943d69d3ec | 24 | FATFS fs; |
tylerjw | 12:0d943d69d3ec | 25 | FIL fp; |
tylerjw | 9:4debfbc1fb3e | 26 | |
tylerjw | 10:b13416bbb4cd | 27 | DigitalOut gps_led(LED4); |
tylerjw | 7:d8ecabe16c9e | 28 | |
tylerjw | 7:d8ecabe16c9e | 29 | gps.baud(4800); |
tylerjw | 12:0d943d69d3ec | 30 | |
tylerjw | 12:0d943d69d3ec | 31 | f_mount(0, &fs); |
tylerjw | 12:0d943d69d3ec | 32 | f_open(&fp, "0:gps.txt", FA_CREATE_ALWAYS | FA_WRITE); |
tylerjw | 7:d8ecabe16c9e | 33 | |
tylerjw | 7:d8ecabe16c9e | 34 | while(true) { |
tylerjw | 10:b13416bbb4cd | 35 | gps.read_line(buffer); |
tylerjw | 10:b13416bbb4cd | 36 | gps_led = !gps_led; |
tylerjw | 12:0d943d69d3ec | 37 | pc.puts(buffer); |
tylerjw | 12:0d943d69d3ec | 38 | f_puts(buffer, &fp); |
tylerjw | 12:0d943d69d3ec | 39 | f_sync(&fp); |
tylerjw | 0:ce5f06c3895f | 40 | } |
tylerjw | 7:d8ecabe16c9e | 41 | } |
tylerjw | 7:d8ecabe16c9e | 42 | |
tylerjw | 7:d8ecabe16c9e | 43 | int main() |
tylerjw | 7:d8ecabe16c9e | 44 | { |
tylerjw | 10:b13416bbb4cd | 45 | pc.baud(9600); |
tylerjw | 9:4debfbc1fb3e | 46 | Thread thread(gps_thread, NULL, osPriorityHigh); |
tylerjw | 11:890a721158a5 | 47 | |
tylerjw | 10:b13416bbb4cd | 48 | while(true) { |
tylerjw | 10:b13416bbb4cd | 49 | float sample = gps_battery.read(); |
tylerjw | 12:0d943d69d3ec | 50 | //pc.printf("Sample: %f Volts\r\n", sample*3.3); |
tylerjw | 10:b13416bbb4cd | 51 | float voltage = sample*BAT_MUL*3.3; |
tylerjw | 12:0d943d69d3ec | 52 | //pc.printf("Battery Voltage: %f Volts\r\n", voltage); |
tylerjw | 10:b13416bbb4cd | 53 | float level = (voltage-BAT_EMPTY) / (BAT_RANGE); |
tylerjw | 12:0d943d69d3ec | 54 | //pc.printf("Battery Level: %f \r\n", level); |
tylerjw | 10:b13416bbb4cd | 55 | Thread::wait(1000); |
tylerjw | 10:b13416bbb4cd | 56 | } |
tylerjw | 0:ce5f06c3895f | 57 | } |