Generation 2 of the Harp project
Dependencies: Servo TMP36 GZ chan_fatfs_sd buffered-serial1 nmea_parser watchdog mbed-rtos mbed
main.cpp@24:7477105103e5, 2012-12-17 (annotated)
- Committer:
- tylerjw
- Date:
- Mon Dec 17 23:42:34 2012 +0000
- Revision:
- 24:7477105103e5
- Parent:
- 23:5a7b5db55be5
- Child:
- 25:81c3696ba2c9
documentation and naming standards
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
tylerjw | 24:7477105103e5 | 1 | /** |
tylerjw | 24:7477105103e5 | 2 | * HARP Version 2 |
tylerjw | 24:7477105103e5 | 3 | */ |
tylerjw | 24:7477105103e5 | 4 | |
tylerjw | 0:ce5f06c3895f | 5 | #include "mbed.h" |
tylerjw | 7:d8ecabe16c9e | 6 | #include "rtos.h" |
tylerjw | 10:b13416bbb4cd | 7 | #include "buffered_serial.h" |
tylerjw | 12:0d943d69d3ec | 8 | #include "ff.h" |
tylerjw | 15:ceac642f6b75 | 9 | #include "BMP085.h" |
tylerjw | 24:7477105103e5 | 10 | #include "nmea_parser.h" |
tylerjw | 22:becb67846755 | 11 | #include "config.h" |
tylerjw | 19:1cfe22ef30e2 | 12 | |
tylerjw | 15:ceac642f6b75 | 13 | I2C i2c(p9, p10); // sda, scl |
tylerjw | 15:ceac642f6b75 | 14 | BMP085 alt_sensor(i2c); |
tylerjw | 15:ceac642f6b75 | 15 | |
tylerjw | 0:ce5f06c3895f | 16 | Serial pc(USBTX, USBRX); |
tylerjw | 24:7477105103e5 | 17 | BufferedSerial gps; |
tylerjw | 10:b13416bbb4cd | 18 | AnalogIn gps_battery(p20); |
tylerjw | 16:653df0cfe6ee | 19 | AnalogIn mbed_battery(p19); |
tylerjw | 7:d8ecabe16c9e | 20 | |
tylerjw | 24:7477105103e5 | 21 | NmeaParser nmea; |
tylerjw | 17:4927053e120f | 22 | |
tylerjw | 18:29b19a25a963 | 23 | Semaphore parachute_sem(0); |
tylerjw | 18:29b19a25a963 | 24 | |
tylerjw | 13:db6af0620264 | 25 | typedef struct { |
tylerjw | 13:db6af0620264 | 26 | char line[80]; |
tylerjw | 13:db6af0620264 | 27 | } gps_line; |
tylerjw | 13:db6af0620264 | 28 | MemoryPool<gps_line, 16> mpool_gps_line; |
tylerjw | 13:db6af0620264 | 29 | Queue<gps_line, 16> queue_gps_line; |
tylerjw | 13:db6af0620264 | 30 | |
tylerjw | 13:db6af0620264 | 31 | typedef struct { |
tylerjw | 14:dce4d8c29b17 | 32 | char line[80]; |
tylerjw | 13:db6af0620264 | 33 | } sensor_line; |
tylerjw | 13:db6af0620264 | 34 | MemoryPool<sensor_line, 16> mpool_sensor_line; |
tylerjw | 13:db6af0620264 | 35 | Queue<sensor_line, 16> queue_sensor_line; |
tylerjw | 12:0d943d69d3ec | 36 | |
tylerjw | 7:d8ecabe16c9e | 37 | void gps_thread(void const *args) |
tylerjw | 7:d8ecabe16c9e | 38 | { |
tylerjw | 10:b13416bbb4cd | 39 | char buffer[80]; |
tylerjw | 18:29b19a25a963 | 40 | float alt, alt_prev; |
tylerjw | 18:29b19a25a963 | 41 | alt = alt_prev = 0; |
tylerjw | 9:4debfbc1fb3e | 42 | |
tylerjw | 21:8799ee63c2cd | 43 | //DigitalOut gps_led(LED4); |
tylerjw | 7:d8ecabe16c9e | 44 | |
tylerjw | 7:d8ecabe16c9e | 45 | gps.baud(4800); |
tylerjw | 7:d8ecabe16c9e | 46 | |
tylerjw | 7:d8ecabe16c9e | 47 | while(true) { |
tylerjw | 21:8799ee63c2cd | 48 | //gps_led = !gps_led; |
tylerjw | 24:7477105103e5 | 49 | gps.get_line(buffer); |
tylerjw | 19:1cfe22ef30e2 | 50 | int line_type = nmea.parse(buffer); |
tylerjw | 14:dce4d8c29b17 | 51 | //pc.puts(buffer); |
tylerjw | 13:db6af0620264 | 52 | // send to log... |
tylerjw | 13:db6af0620264 | 53 | gps_line *message = mpool_gps_line.alloc(); |
tylerjw | 13:db6af0620264 | 54 | strcpy(message->line, buffer); |
tylerjw | 13:db6af0620264 | 55 | queue_gps_line.put(message); |
tylerjw | 19:1cfe22ef30e2 | 56 | |
tylerjw | 19:1cfe22ef30e2 | 57 | // test altitude direction - release parachute thread to run |
tylerjw | 24:7477105103e5 | 58 | if(line_type == RMC && nmea.quality()) { |
tylerjw | 19:1cfe22ef30e2 | 59 | if(UNLOCK_ON_FALL) { |
tylerjw | 19:1cfe22ef30e2 | 60 | if(alt != 0) { // first time |
tylerjw | 24:7477105103e5 | 61 | alt = nmea.msl_altitude(); |
tylerjw | 19:1cfe22ef30e2 | 62 | } else { |
tylerjw | 19:1cfe22ef30e2 | 63 | alt_prev = alt; |
tylerjw | 24:7477105103e5 | 64 | alt = nmea.msl_altitude(); |
tylerjw | 19:1cfe22ef30e2 | 65 | if(alt < alt_prev) // going down |
tylerjw | 19:1cfe22ef30e2 | 66 | parachute_sem.release(); // let the parachute code execute |
tylerjw | 19:1cfe22ef30e2 | 67 | } |
tylerjw | 18:29b19a25a963 | 68 | } else { |
tylerjw | 19:1cfe22ef30e2 | 69 | parachute_sem.release(); |
tylerjw | 18:29b19a25a963 | 70 | } |
tylerjw | 18:29b19a25a963 | 71 | } |
tylerjw | 13:db6af0620264 | 72 | } |
tylerjw | 13:db6af0620264 | 73 | } |
tylerjw | 13:db6af0620264 | 74 | |
tylerjw | 13:db6af0620264 | 75 | void log_thread(const void *args) |
tylerjw | 13:db6af0620264 | 76 | { |
tylerjw | 13:db6af0620264 | 77 | FATFS fs; |
tylerjw | 13:db6af0620264 | 78 | FIL fp_gps, fp_sensor; |
tylerjw | 13:db6af0620264 | 79 | |
tylerjw | 13:db6af0620264 | 80 | DigitalOut log_led(LED3); |
tylerjw | 13:db6af0620264 | 81 | |
tylerjw | 13:db6af0620264 | 82 | f_mount(0, &fs); |
tylerjw | 13:db6af0620264 | 83 | f_open(&fp_gps, "0:gps.txt", FA_CREATE_ALWAYS | FA_WRITE); |
tylerjw | 17:4927053e120f | 84 | f_open(&fp_sensor, "0:sensors.csv", FA_CREATE_ALWAYS | FA_WRITE); |
tylerjw | 13:db6af0620264 | 85 | |
tylerjw | 13:db6af0620264 | 86 | while(1) { |
tylerjw | 18:29b19a25a963 | 87 | log_led = !log_led; |
tylerjw | 14:dce4d8c29b17 | 88 | osEvent evt1 = queue_gps_line.get(1); |
tylerjw | 14:dce4d8c29b17 | 89 | if (evt1.status == osEventMessage) { |
tylerjw | 14:dce4d8c29b17 | 90 | gps_line *message = (gps_line*)evt1.value.p; |
tylerjw | 13:db6af0620264 | 91 | |
tylerjw | 13:db6af0620264 | 92 | f_puts(message->line, &fp_gps); |
tylerjw | 13:db6af0620264 | 93 | f_sync(&fp_gps); |
tylerjw | 19:1cfe22ef30e2 | 94 | |
tylerjw | 13:db6af0620264 | 95 | mpool_gps_line.free(message); |
tylerjw | 13:db6af0620264 | 96 | } |
tylerjw | 19:1cfe22ef30e2 | 97 | |
tylerjw | 14:dce4d8c29b17 | 98 | osEvent evt2 = queue_sensor_line.get(1); |
tylerjw | 14:dce4d8c29b17 | 99 | if(evt2.status == osEventMessage) { |
tylerjw | 14:dce4d8c29b17 | 100 | sensor_line *message = (sensor_line*)evt2.value.p; |
tylerjw | 19:1cfe22ef30e2 | 101 | |
tylerjw | 14:dce4d8c29b17 | 102 | f_puts(message->line, &fp_sensor); |
tylerjw | 14:dce4d8c29b17 | 103 | f_sync(&fp_sensor); |
tylerjw | 19:1cfe22ef30e2 | 104 | |
tylerjw | 13:db6af0620264 | 105 | mpool_sensor_line.free(message); |
tylerjw | 13:db6af0620264 | 106 | } |
tylerjw | 13:db6af0620264 | 107 | } |
tylerjw | 13:db6af0620264 | 108 | } |
tylerjw | 13:db6af0620264 | 109 | |
tylerjw | 13:db6af0620264 | 110 | void sensor_thread(const void* args) |
tylerjw | 13:db6af0620264 | 111 | { |
tylerjw | 14:dce4d8c29b17 | 112 | DigitalOut sensor_led(LED2); |
tylerjw | 16:653df0cfe6ee | 113 | Timer t; |
tylerjw | 18:29b19a25a963 | 114 | float time; |
tylerjw | 18:29b19a25a963 | 115 | float gps_battery_voltage, mbed_battery_voltage; |
tylerjw | 18:29b19a25a963 | 116 | float bmp_temperature, bmp_altitude; |
tylerjw | 18:29b19a25a963 | 117 | int bmp_pressure; |
tylerjw | 19:1cfe22ef30e2 | 118 | |
tylerjw | 19:1cfe22ef30e2 | 119 | if(WAIT_FOR_LOCK) { |
tylerjw | 24:7477105103e5 | 120 | while(!nmea.date()) Thread::wait(100); // wait for lock |
tylerjw | 19:1cfe22ef30e2 | 121 | } |
tylerjw | 19:1cfe22ef30e2 | 122 | |
tylerjw | 17:4927053e120f | 123 | t.start(); // start timer after lock |
tylerjw | 19:1cfe22ef30e2 | 124 | |
tylerjw | 14:dce4d8c29b17 | 125 | sensor_line *message = mpool_sensor_line.alloc(); |
tylerjw | 24:7477105103e5 | 126 | sprintf(message->line, "Date: %d, Time: %f\r\nGPS Time (UTC),GPS Battery(V),mbed Battery(V),BMP085 Temperature(C),Pressure,Altitude(ft),GPS Altitude, GPS Course\r\n", nmea.date(), nmea.utc_time()); |
tylerjw | 14:dce4d8c29b17 | 127 | queue_sensor_line.put(message); |
tylerjw | 19:1cfe22ef30e2 | 128 | |
tylerjw | 19:1cfe22ef30e2 | 129 | while(true) { |
tylerjw | 13:db6af0620264 | 130 | //get sensor line memory |
tylerjw | 18:29b19a25a963 | 131 | sensor_led = !sensor_led; |
tylerjw | 13:db6af0620264 | 132 | sensor_line *message = mpool_sensor_line.alloc(); |
tylerjw | 19:1cfe22ef30e2 | 133 | |
tylerjw | 16:653df0cfe6ee | 134 | //timestamp |
tylerjw | 24:7477105103e5 | 135 | time = nmea.utc_time(); |
tylerjw | 19:1cfe22ef30e2 | 136 | |
tylerjw | 13:db6af0620264 | 137 | //gps battery |
tylerjw | 18:29b19a25a963 | 138 | gps_battery_voltage = gps_battery.read()*BAT_GPS_MUL; |
tylerjw | 19:1cfe22ef30e2 | 139 | |
tylerjw | 16:653df0cfe6ee | 140 | //mbed battery |
tylerjw | 18:29b19a25a963 | 141 | mbed_battery_voltage = mbed_battery.read()*BAT_MBED_MUL; |
tylerjw | 19:1cfe22ef30e2 | 142 | |
tylerjw | 15:ceac642f6b75 | 143 | //BMP085 |
tylerjw | 18:29b19a25a963 | 144 | bmp_temperature = (float)alt_sensor.get_temperature() / 10.0; |
tylerjw | 18:29b19a25a963 | 145 | bmp_pressure = alt_sensor.get_pressure(); |
tylerjw | 18:29b19a25a963 | 146 | bmp_altitude = alt_sensor.get_altitude_ft(); |
tylerjw | 19:1cfe22ef30e2 | 147 | |
tylerjw | 24:7477105103e5 | 148 | sprintf(message->line, "%f,%f,%f,%f,%d,%f,%f,%f\r\n", time,gps_battery_voltage,mbed_battery_voltage,bmp_temperature,bmp_pressure,bmp_altitude,nmea.calc_altitude_ft(),nmea.track()); |
tylerjw | 14:dce4d8c29b17 | 149 | queue_sensor_line.put(message); |
tylerjw | 0:ce5f06c3895f | 150 | } |
tylerjw | 7:d8ecabe16c9e | 151 | } |
tylerjw | 7:d8ecabe16c9e | 152 | |
tylerjw | 17:4927053e120f | 153 | void parachute_thread(const void *args) |
tylerjw | 17:4927053e120f | 154 | { |
tylerjw | 21:8799ee63c2cd | 155 | DigitalOut left_turn(LED4); |
tylerjw | 21:8799ee63c2cd | 156 | DigitalOut right_turn(LED1); |
tylerjw | 19:1cfe22ef30e2 | 157 | |
tylerjw | 21:8799ee63c2cd | 158 | right_turn = 1; |
tylerjw | 21:8799ee63c2cd | 159 | Thread::wait(400); |
tylerjw | 21:8799ee63c2cd | 160 | left_turn = 1; |
tylerjw | 21:8799ee63c2cd | 161 | Thread::wait(400); |
tylerjw | 19:1cfe22ef30e2 | 162 | while(true) { |
tylerjw | 21:8799ee63c2cd | 163 | right_turn = left_turn = 0; |
tylerjw | 18:29b19a25a963 | 164 | parachute_sem.wait(); |
tylerjw | 22:becb67846755 | 165 | |
tylerjw | 21:8799ee63c2cd | 166 | float distance = nmea.calc_dist_to_km(target_lat, target_lon); |
tylerjw | 19:1cfe22ef30e2 | 167 | |
tylerjw | 21:8799ee63c2cd | 168 | if(distance < distance_fudge_km) |
tylerjw | 19:1cfe22ef30e2 | 169 | continue; // dont do anything |
tylerjw | 19:1cfe22ef30e2 | 170 | |
tylerjw | 24:7477105103e5 | 171 | float course = nmea.track(); |
tylerjw | 24:7477105103e5 | 172 | float course_to = nmea.calc_initial_bearing(target_lat, target_lon); |
tylerjw | 19:1cfe22ef30e2 | 173 | float course_diff = course_to - course; |
tylerjw | 22:becb67846755 | 174 | |
tylerjw | 22:becb67846755 | 175 | if(course == 0.0) // not moving fast enough |
tylerjw | 22:becb67846755 | 176 | continue; // do nothing |
tylerjw | 19:1cfe22ef30e2 | 177 | |
tylerjw | 21:8799ee63c2cd | 178 | if(course_diff < course_fudge && course_diff > neg_course_fudge) { |
tylerjw | 21:8799ee63c2cd | 179 | right_turn = left_turn = 1; |
tylerjw | 21:8799ee63c2cd | 180 | Thread::wait(400); |
tylerjw | 19:1cfe22ef30e2 | 181 | continue; // don't do anything |
tylerjw | 21:8799ee63c2cd | 182 | } else if(course_diff > 180.0 || course_diff < 0.0) { |
tylerjw | 21:8799ee63c2cd | 183 | left_turn = 1; |
tylerjw | 21:8799ee63c2cd | 184 | Thread::wait(400); // turn left |
tylerjw | 22:becb67846755 | 185 | } else { |
tylerjw | 22:becb67846755 | 186 | right_turn = 1; |
tylerjw | 22:becb67846755 | 187 | Thread::wait(400); // turn righ |
tylerjw | 21:8799ee63c2cd | 188 | } |
tylerjw | 18:29b19a25a963 | 189 | } |
tylerjw | 17:4927053e120f | 190 | } |
tylerjw | 17:4927053e120f | 191 | |
tylerjw | 7:d8ecabe16c9e | 192 | int main() |
tylerjw | 7:d8ecabe16c9e | 193 | { |
tylerjw | 10:b13416bbb4cd | 194 | pc.baud(9600); |
tylerjw | 9:4debfbc1fb3e | 195 | Thread thread(gps_thread, NULL, osPriorityHigh); |
tylerjw | 13:db6af0620264 | 196 | Thread thread2(log_thread, NULL, osPriorityNormal); |
tylerjw | 14:dce4d8c29b17 | 197 | Thread thread3(sensor_thread, NULL, osPriorityNormal); |
tylerjw | 17:4927053e120f | 198 | Thread thread4(parachute_thread, NULL, osPriorityRealtime); |
tylerjw | 13:db6af0620264 | 199 | |
tylerjw | 18:29b19a25a963 | 200 | while(true) ; |
tylerjw | 0:ce5f06c3895f | 201 | } |