Generation 2 of the Harp project
Dependencies: Servo TMP36 GZ chan_fatfs_sd buffered-serial1 nmea_parser watchdog mbed-rtos mbed
main.cpp@16:653df0cfe6ee, 2012-12-12 (annotated)
- Committer:
- tylerjw
- Date:
- Wed Dec 12 17:16:08 2012 +0000
- Revision:
- 16:653df0cfe6ee
- Parent:
- 15:ceac642f6b75
- Child:
- 17:4927053e120f
batteries, bmp085 logging;
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 | 15:ceac642f6b75 | 5 | #include "BMP085.h" |
tylerjw | 15:ceac642f6b75 | 6 | |
tylerjw | 15:ceac642f6b75 | 7 | I2C i2c(p9, p10); // sda, scl |
tylerjw | 15:ceac642f6b75 | 8 | BMP085 alt_sensor(i2c); |
tylerjw | 15:ceac642f6b75 | 9 | |
tylerjw | 16:653df0cfe6ee | 10 | const float BAT_GPS_MUL = 15.51; |
tylerjw | 16:653df0cfe6ee | 11 | const float BAT_MBED_MUL = 10.26; |
tylerjw | 0:ce5f06c3895f | 12 | |
tylerjw | 0:ce5f06c3895f | 13 | Serial pc(USBTX, USBRX); |
tylerjw | 10:b13416bbb4cd | 14 | BufferedSerial gps(NC, p14); |
tylerjw | 10:b13416bbb4cd | 15 | AnalogIn gps_battery(p20); |
tylerjw | 16:653df0cfe6ee | 16 | AnalogIn mbed_battery(p19); |
tylerjw | 7:d8ecabe16c9e | 17 | |
tylerjw | 13:db6af0620264 | 18 | typedef struct { |
tylerjw | 13:db6af0620264 | 19 | char line[80]; |
tylerjw | 13:db6af0620264 | 20 | } gps_line; |
tylerjw | 13:db6af0620264 | 21 | MemoryPool<gps_line, 16> mpool_gps_line; |
tylerjw | 13:db6af0620264 | 22 | Queue<gps_line, 16> queue_gps_line; |
tylerjw | 13:db6af0620264 | 23 | |
tylerjw | 13:db6af0620264 | 24 | typedef struct { |
tylerjw | 14:dce4d8c29b17 | 25 | char line[80]; |
tylerjw | 13:db6af0620264 | 26 | } sensor_line; |
tylerjw | 13:db6af0620264 | 27 | MemoryPool<sensor_line, 16> mpool_sensor_line; |
tylerjw | 13:db6af0620264 | 28 | Queue<sensor_line, 16> queue_sensor_line; |
tylerjw | 12:0d943d69d3ec | 29 | |
tylerjw | 7:d8ecabe16c9e | 30 | void gps_thread(void const *args) |
tylerjw | 7:d8ecabe16c9e | 31 | { |
tylerjw | 10:b13416bbb4cd | 32 | char buffer[80]; |
tylerjw | 9:4debfbc1fb3e | 33 | |
tylerjw | 10:b13416bbb4cd | 34 | DigitalOut gps_led(LED4); |
tylerjw | 7:d8ecabe16c9e | 35 | |
tylerjw | 7:d8ecabe16c9e | 36 | gps.baud(4800); |
tylerjw | 7:d8ecabe16c9e | 37 | |
tylerjw | 7:d8ecabe16c9e | 38 | while(true) { |
tylerjw | 14:dce4d8c29b17 | 39 | gps_led = 1; |
tylerjw | 10:b13416bbb4cd | 40 | gps.read_line(buffer); |
tylerjw | 14:dce4d8c29b17 | 41 | //pc.puts(buffer); |
tylerjw | 13:db6af0620264 | 42 | // send to log... |
tylerjw | 14:dce4d8c29b17 | 43 | gps_led = 0; |
tylerjw | 13:db6af0620264 | 44 | gps_line *message = mpool_gps_line.alloc(); |
tylerjw | 13:db6af0620264 | 45 | strcpy(message->line, buffer); |
tylerjw | 13:db6af0620264 | 46 | queue_gps_line.put(message); |
tylerjw | 13:db6af0620264 | 47 | } |
tylerjw | 13:db6af0620264 | 48 | } |
tylerjw | 13:db6af0620264 | 49 | |
tylerjw | 13:db6af0620264 | 50 | void log_thread(const void *args) |
tylerjw | 13:db6af0620264 | 51 | { |
tylerjw | 13:db6af0620264 | 52 | FATFS fs; |
tylerjw | 13:db6af0620264 | 53 | FIL fp_gps, fp_sensor; |
tylerjw | 13:db6af0620264 | 54 | |
tylerjw | 13:db6af0620264 | 55 | DigitalOut log_led(LED3); |
tylerjw | 13:db6af0620264 | 56 | |
tylerjw | 13:db6af0620264 | 57 | f_mount(0, &fs); |
tylerjw | 13:db6af0620264 | 58 | f_open(&fp_gps, "0:gps.txt", FA_CREATE_ALWAYS | FA_WRITE); |
tylerjw | 13:db6af0620264 | 59 | f_open(&fp_sensor, "0:sensor.txt", FA_CREATE_ALWAYS | FA_WRITE); |
tylerjw | 13:db6af0620264 | 60 | |
tylerjw | 13:db6af0620264 | 61 | while(1) { |
tylerjw | 14:dce4d8c29b17 | 62 | log_led = 1; |
tylerjw | 14:dce4d8c29b17 | 63 | osEvent evt1 = queue_gps_line.get(1); |
tylerjw | 14:dce4d8c29b17 | 64 | if (evt1.status == osEventMessage) { |
tylerjw | 14:dce4d8c29b17 | 65 | gps_line *message = (gps_line*)evt1.value.p; |
tylerjw | 13:db6af0620264 | 66 | |
tylerjw | 13:db6af0620264 | 67 | f_puts(message->line, &fp_gps); |
tylerjw | 13:db6af0620264 | 68 | f_sync(&fp_gps); |
tylerjw | 13:db6af0620264 | 69 | |
tylerjw | 13:db6af0620264 | 70 | mpool_gps_line.free(message); |
tylerjw | 13:db6af0620264 | 71 | } |
tylerjw | 13:db6af0620264 | 72 | |
tylerjw | 14:dce4d8c29b17 | 73 | osEvent evt2 = queue_sensor_line.get(1); |
tylerjw | 14:dce4d8c29b17 | 74 | if(evt2.status == osEventMessage) { |
tylerjw | 14:dce4d8c29b17 | 75 | sensor_line *message = (sensor_line*)evt2.value.p; |
tylerjw | 13:db6af0620264 | 76 | |
tylerjw | 14:dce4d8c29b17 | 77 | f_puts(message->line, &fp_sensor); |
tylerjw | 14:dce4d8c29b17 | 78 | f_sync(&fp_sensor); |
tylerjw | 13:db6af0620264 | 79 | |
tylerjw | 13:db6af0620264 | 80 | mpool_sensor_line.free(message); |
tylerjw | 13:db6af0620264 | 81 | } |
tylerjw | 14:dce4d8c29b17 | 82 | log_led = 0; |
tylerjw | 13:db6af0620264 | 83 | } |
tylerjw | 13:db6af0620264 | 84 | } |
tylerjw | 13:db6af0620264 | 85 | |
tylerjw | 13:db6af0620264 | 86 | void sensor_thread(const void* args) |
tylerjw | 13:db6af0620264 | 87 | { |
tylerjw | 14:dce4d8c29b17 | 88 | DigitalOut sensor_led(LED2); |
tylerjw | 16:653df0cfe6ee | 89 | Timer t; |
tylerjw | 16:653df0cfe6ee | 90 | t.start(); |
tylerjw | 14:dce4d8c29b17 | 91 | |
tylerjw | 14:dce4d8c29b17 | 92 | sensor_line *message = mpool_sensor_line.alloc(); |
tylerjw | 16:653df0cfe6ee | 93 | strcpy(message->line, "Time(s),GPS Battery(V),mbed Battery(V),BMP085 Temperature(C),Pressure,Altitude(ft)\r\n"); |
tylerjw | 14:dce4d8c29b17 | 94 | queue_sensor_line.put(message); |
tylerjw | 14:dce4d8c29b17 | 95 | |
tylerjw | 13:db6af0620264 | 96 | while(true) |
tylerjw | 13:db6af0620264 | 97 | { |
tylerjw | 13:db6af0620264 | 98 | //get sensor line memory |
tylerjw | 14:dce4d8c29b17 | 99 | sensor_led = 1; |
tylerjw | 13:db6af0620264 | 100 | sensor_line *message = mpool_sensor_line.alloc(); |
tylerjw | 13:db6af0620264 | 101 | |
tylerjw | 16:653df0cfe6ee | 102 | //timestamp |
tylerjw | 16:653df0cfe6ee | 103 | float time = t.read(); |
tylerjw | 16:653df0cfe6ee | 104 | |
tylerjw | 13:db6af0620264 | 105 | //gps battery |
tylerjw | 16:653df0cfe6ee | 106 | float gps_battery_voltage = gps_battery.read()*BAT_GPS_MUL; |
tylerjw | 16:653df0cfe6ee | 107 | |
tylerjw | 16:653df0cfe6ee | 108 | //mbed battery |
tylerjw | 16:653df0cfe6ee | 109 | float mbed_battery_voltage = mbed_battery.read()*BAT_MBED_MUL; |
tylerjw | 13:db6af0620264 | 110 | |
tylerjw | 15:ceac642f6b75 | 111 | //BMP085 |
tylerjw | 16:653df0cfe6ee | 112 | float bmp_temperature = (float)alt_sensor.get_temperature() / 10.0; |
tylerjw | 15:ceac642f6b75 | 113 | int bmp_pressure = alt_sensor.get_pressure(); |
tylerjw | 15:ceac642f6b75 | 114 | float bmp_altitude = alt_sensor.get_altitude_ft(); |
tylerjw | 16:653df0cfe6ee | 115 | |
tylerjw | 16:653df0cfe6ee | 116 | sprintf(message->line, "%f,%f,%f,%f,%d,%f\r\n", time,gps_battery_voltage,mbed_battery_voltage,bmp_temperature,bmp_pressure,bmp_altitude); |
tylerjw | 14:dce4d8c29b17 | 117 | queue_sensor_line.put(message); |
tylerjw | 14:dce4d8c29b17 | 118 | sensor_led = 0; |
tylerjw | 0:ce5f06c3895f | 119 | } |
tylerjw | 7:d8ecabe16c9e | 120 | } |
tylerjw | 7:d8ecabe16c9e | 121 | |
tylerjw | 7:d8ecabe16c9e | 122 | int main() |
tylerjw | 7:d8ecabe16c9e | 123 | { |
tylerjw | 10:b13416bbb4cd | 124 | pc.baud(9600); |
tylerjw | 9:4debfbc1fb3e | 125 | Thread thread(gps_thread, NULL, osPriorityHigh); |
tylerjw | 13:db6af0620264 | 126 | Thread thread2(log_thread, NULL, osPriorityNormal); |
tylerjw | 14:dce4d8c29b17 | 127 | Thread thread3(sensor_thread, NULL, osPriorityNormal); |
tylerjw | 13:db6af0620264 | 128 | |
tylerjw | 10:b13416bbb4cd | 129 | while(true) { |
tylerjw | 10:b13416bbb4cd | 130 | } |
tylerjw | 0:ce5f06c3895f | 131 | } |