Generation 2 of the Harp project
Dependencies: Servo TMP36 GZ chan_fatfs_sd buffered-serial1 nmea_parser watchdog mbed-rtos mbed
main.cpp@31:b9ac7d61b15b, 2013-01-17 (annotated)
- Committer:
- tylerjw
- Date:
- Thu Jan 17 18:09:16 2013 +0000
- Revision:
- 31:b9ac7d61b15b
- Parent:
- 30:b81274979e73
- Child:
- 32:4f811b397720
Tested release servo, updated release servo logic.
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 | 26:85cdb1031eb1 | 3 | * |
tylerjw | 26:85cdb1031eb1 | 4 | * TODO: Test Servo Code |
tylerjw | 26:85cdb1031eb1 | 5 | * Test Watchdog Timer |
tylerjw | 24:7477105103e5 | 6 | */ |
tylerjw | 24:7477105103e5 | 7 | |
tylerjw | 0:ce5f06c3895f | 8 | #include "mbed.h" |
tylerjw | 7:d8ecabe16c9e | 9 | #include "rtos.h" |
tylerjw | 10:b13416bbb4cd | 10 | #include "buffered_serial.h" |
tylerjw | 12:0d943d69d3ec | 11 | #include "ff.h" |
tylerjw | 26:85cdb1031eb1 | 12 | #include "TMP36GZ.h" |
tylerjw | 24:7477105103e5 | 13 | #include "nmea_parser.h" |
tylerjw | 25:81c3696ba2c9 | 14 | #include "watchdog.h" |
tylerjw | 25:81c3696ba2c9 | 15 | #include "Servo.h" |
tylerjw | 22:becb67846755 | 16 | #include "config.h" |
tylerjw | 19:1cfe22ef30e2 | 17 | |
tylerjw | 0:ce5f06c3895f | 18 | Serial pc(USBTX, USBRX); |
tylerjw | 24:7477105103e5 | 19 | BufferedSerial gps; |
tylerjw | 10:b13416bbb4cd | 20 | AnalogIn gps_battery(p20); |
tylerjw | 26:85cdb1031eb1 | 21 | AnalogIn mbed_battery(p16); |
tylerjw | 26:85cdb1031eb1 | 22 | TMP36GZ temperature(p17); |
tylerjw | 29:8cdb56a0fe57 | 23 | DigitalOut alarm(p18); |
tylerjw | 7:d8ecabe16c9e | 24 | |
tylerjw | 24:7477105103e5 | 25 | NmeaParser nmea; |
tylerjw | 17:4927053e120f | 26 | |
tylerjw | 18:29b19a25a963 | 27 | Semaphore parachute_sem(0); |
tylerjw | 26:85cdb1031eb1 | 28 | Semaphore sd_sem(0); |
tylerjw | 18:29b19a25a963 | 29 | |
tylerjw | 13:db6af0620264 | 30 | typedef struct { |
tylerjw | 13:db6af0620264 | 31 | char line[80]; |
tylerjw | 13:db6af0620264 | 32 | } gps_line; |
tylerjw | 13:db6af0620264 | 33 | MemoryPool<gps_line, 16> mpool_gps_line; |
tylerjw | 13:db6af0620264 | 34 | Queue<gps_line, 16> queue_gps_line; |
tylerjw | 13:db6af0620264 | 35 | |
tylerjw | 13:db6af0620264 | 36 | typedef struct { |
tylerjw | 14:dce4d8c29b17 | 37 | char line[80]; |
tylerjw | 13:db6af0620264 | 38 | } sensor_line; |
tylerjw | 13:db6af0620264 | 39 | MemoryPool<sensor_line, 16> mpool_sensor_line; |
tylerjw | 13:db6af0620264 | 40 | Queue<sensor_line, 16> queue_sensor_line; |
tylerjw | 12:0d943d69d3ec | 41 | |
tylerjw | 28:032d55fa57b8 | 42 | volatile float left_pos = 0.0; // servo position for logging |
tylerjw | 28:032d55fa57b8 | 43 | volatile float right_pos = 0.0; |
tylerjw | 28:032d55fa57b8 | 44 | |
tylerjw | 29:8cdb56a0fe57 | 45 | volatile bool gps_wd = false; |
tylerjw | 29:8cdb56a0fe57 | 46 | volatile bool sensor_wd = false; |
tylerjw | 29:8cdb56a0fe57 | 47 | volatile bool log_wd = false; |
tylerjw | 29:8cdb56a0fe57 | 48 | volatile bool parachute_wd = false; |
tylerjw | 29:8cdb56a0fe57 | 49 | |
tylerjw | 7:d8ecabe16c9e | 50 | void gps_thread(void const *args) |
tylerjw | 7:d8ecabe16c9e | 51 | { |
tylerjw | 10:b13416bbb4cd | 52 | char buffer[80]; |
tylerjw | 18:29b19a25a963 | 53 | float alt, alt_prev; |
tylerjw | 18:29b19a25a963 | 54 | alt = alt_prev = 0; |
tylerjw | 9:4debfbc1fb3e | 55 | |
tylerjw | 21:8799ee63c2cd | 56 | //DigitalOut gps_led(LED4); |
tylerjw | 7:d8ecabe16c9e | 57 | |
tylerjw | 7:d8ecabe16c9e | 58 | gps.baud(4800); |
tylerjw | 7:d8ecabe16c9e | 59 | |
tylerjw | 7:d8ecabe16c9e | 60 | while(true) { |
tylerjw | 21:8799ee63c2cd | 61 | //gps_led = !gps_led; |
tylerjw | 24:7477105103e5 | 62 | gps.get_line(buffer); |
tylerjw | 19:1cfe22ef30e2 | 63 | int line_type = nmea.parse(buffer); |
tylerjw | 14:dce4d8c29b17 | 64 | //pc.puts(buffer); |
tylerjw | 13:db6af0620264 | 65 | // send to log... |
tylerjw | 13:db6af0620264 | 66 | gps_line *message = mpool_gps_line.alloc(); |
tylerjw | 13:db6af0620264 | 67 | strcpy(message->line, buffer); |
tylerjw | 13:db6af0620264 | 68 | queue_gps_line.put(message); |
tylerjw | 19:1cfe22ef30e2 | 69 | |
tylerjw | 19:1cfe22ef30e2 | 70 | // test altitude direction - release parachute thread to run |
tylerjw | 24:7477105103e5 | 71 | if(line_type == RMC && nmea.quality()) { |
tylerjw | 19:1cfe22ef30e2 | 72 | if(UNLOCK_ON_FALL) { |
tylerjw | 29:8cdb56a0fe57 | 73 | if(RELEASE_AT_ALT) { |
tylerjw | 29:8cdb56a0fe57 | 74 | if(nmea.msl_altitude() >= RELEASE_ALT) |
tylerjw | 29:8cdb56a0fe57 | 75 | parachute_sem.release(); |
tylerjw | 29:8cdb56a0fe57 | 76 | } |
tylerjw | 29:8cdb56a0fe57 | 77 | if(alt == 0) { // first time |
tylerjw | 24:7477105103e5 | 78 | alt = nmea.msl_altitude(); |
tylerjw | 19:1cfe22ef30e2 | 79 | } else { |
tylerjw | 19:1cfe22ef30e2 | 80 | alt_prev = alt; |
tylerjw | 24:7477105103e5 | 81 | alt = nmea.msl_altitude(); |
tylerjw | 19:1cfe22ef30e2 | 82 | if(alt < alt_prev) // going down |
tylerjw | 29:8cdb56a0fe57 | 83 | { |
tylerjw | 19:1cfe22ef30e2 | 84 | parachute_sem.release(); // let the parachute code execute |
tylerjw | 29:8cdb56a0fe57 | 85 | if(ALARM && alt < ALARM_ALT) |
tylerjw | 29:8cdb56a0fe57 | 86 | alarm = 1; |
tylerjw | 29:8cdb56a0fe57 | 87 | } |
tylerjw | 19:1cfe22ef30e2 | 88 | } |
tylerjw | 18:29b19a25a963 | 89 | } else { |
tylerjw | 19:1cfe22ef30e2 | 90 | parachute_sem.release(); |
tylerjw | 18:29b19a25a963 | 91 | } |
tylerjw | 18:29b19a25a963 | 92 | } |
tylerjw | 29:8cdb56a0fe57 | 93 | |
tylerjw | 29:8cdb56a0fe57 | 94 | gps_wd = true; // kick the watchdog |
tylerjw | 13:db6af0620264 | 95 | } |
tylerjw | 13:db6af0620264 | 96 | } |
tylerjw | 13:db6af0620264 | 97 | |
tylerjw | 13:db6af0620264 | 98 | void log_thread(const void *args) |
tylerjw | 13:db6af0620264 | 99 | { |
tylerjw | 13:db6af0620264 | 100 | FATFS fs; |
tylerjw | 13:db6af0620264 | 101 | FIL fp_gps, fp_sensor; |
tylerjw | 13:db6af0620264 | 102 | |
tylerjw | 13:db6af0620264 | 103 | DigitalOut log_led(LED3); |
tylerjw | 13:db6af0620264 | 104 | |
tylerjw | 29:8cdb56a0fe57 | 105 | log_wd = true; // kick the dog |
tylerjw | 13:db6af0620264 | 106 | f_mount(0, &fs); |
tylerjw | 25:81c3696ba2c9 | 107 | f_open(&fp_gps, "0:gps.txt", FA_OPEN_EXISTING | FA_WRITE); |
tylerjw | 26:85cdb1031eb1 | 108 | f_lseek(&fp_gps, f_size(&fp_gps)); |
tylerjw | 25:81c3696ba2c9 | 109 | f_open(&fp_sensor, "0:sensors.csv", FA_OPEN_EXISTING | FA_WRITE); |
tylerjw | 26:85cdb1031eb1 | 110 | f_lseek(&fp_sensor, f_size(&fp_sensor)); |
tylerjw | 29:8cdb56a0fe57 | 111 | log_wd = true; // kick the dog |
tylerjw | 13:db6af0620264 | 112 | |
tylerjw | 26:85cdb1031eb1 | 113 | sd_sem.release(); // sd card initialized... start sensor thread |
tylerjw | 29:8cdb56a0fe57 | 114 | |
tylerjw | 13:db6af0620264 | 115 | while(1) { |
tylerjw | 18:29b19a25a963 | 116 | log_led = !log_led; |
tylerjw | 14:dce4d8c29b17 | 117 | osEvent evt1 = queue_gps_line.get(1); |
tylerjw | 14:dce4d8c29b17 | 118 | if (evt1.status == osEventMessage) { |
tylerjw | 14:dce4d8c29b17 | 119 | gps_line *message = (gps_line*)evt1.value.p; |
tylerjw | 13:db6af0620264 | 120 | |
tylerjw | 13:db6af0620264 | 121 | f_puts(message->line, &fp_gps); |
tylerjw | 13:db6af0620264 | 122 | f_sync(&fp_gps); |
tylerjw | 19:1cfe22ef30e2 | 123 | |
tylerjw | 13:db6af0620264 | 124 | mpool_gps_line.free(message); |
tylerjw | 13:db6af0620264 | 125 | } |
tylerjw | 19:1cfe22ef30e2 | 126 | |
tylerjw | 14:dce4d8c29b17 | 127 | osEvent evt2 = queue_sensor_line.get(1); |
tylerjw | 14:dce4d8c29b17 | 128 | if(evt2.status == osEventMessage) { |
tylerjw | 14:dce4d8c29b17 | 129 | sensor_line *message = (sensor_line*)evt2.value.p; |
tylerjw | 19:1cfe22ef30e2 | 130 | |
tylerjw | 14:dce4d8c29b17 | 131 | f_puts(message->line, &fp_sensor); |
tylerjw | 14:dce4d8c29b17 | 132 | f_sync(&fp_sensor); |
tylerjw | 19:1cfe22ef30e2 | 133 | |
tylerjw | 13:db6af0620264 | 134 | mpool_sensor_line.free(message); |
tylerjw | 13:db6af0620264 | 135 | } |
tylerjw | 29:8cdb56a0fe57 | 136 | |
tylerjw | 29:8cdb56a0fe57 | 137 | log_wd = true; // kick the dog |
tylerjw | 13:db6af0620264 | 138 | } |
tylerjw | 13:db6af0620264 | 139 | } |
tylerjw | 13:db6af0620264 | 140 | |
tylerjw | 13:db6af0620264 | 141 | void sensor_thread(const void* args) |
tylerjw | 13:db6af0620264 | 142 | { |
tylerjw | 14:dce4d8c29b17 | 143 | DigitalOut sensor_led(LED2); |
tylerjw | 16:653df0cfe6ee | 144 | Timer t; |
tylerjw | 18:29b19a25a963 | 145 | float time; |
tylerjw | 18:29b19a25a963 | 146 | float gps_battery_voltage, mbed_battery_voltage; |
tylerjw | 26:85cdb1031eb1 | 147 | float temp; |
tylerjw | 27:24fd8e32511c | 148 | float distance, course_to, course; |
tylerjw | 30:b81274979e73 | 149 | |
tylerjw | 30:b81274979e73 | 150 | pc.baud(9600); |
tylerjw | 29:8cdb56a0fe57 | 151 | |
tylerjw | 29:8cdb56a0fe57 | 152 | while( sd_sem.wait(50) <= 0) // wait for the sd card to initialize and open files |
tylerjw | 29:8cdb56a0fe57 | 153 | sensor_wd = true; // kick the dog |
tylerjw | 19:1cfe22ef30e2 | 154 | |
tylerjw | 19:1cfe22ef30e2 | 155 | if(WAIT_FOR_LOCK) { |
tylerjw | 29:8cdb56a0fe57 | 156 | while(!nmea.date()) { |
tylerjw | 29:8cdb56a0fe57 | 157 | Thread::wait(50); // wait for lock |
tylerjw | 29:8cdb56a0fe57 | 158 | sensor_wd = true; // kick the dog |
tylerjw | 29:8cdb56a0fe57 | 159 | } |
tylerjw | 19:1cfe22ef30e2 | 160 | } |
tylerjw | 19:1cfe22ef30e2 | 161 | |
tylerjw | 17:4927053e120f | 162 | t.start(); // start timer after lock |
tylerjw | 19:1cfe22ef30e2 | 163 | |
tylerjw | 14:dce4d8c29b17 | 164 | sensor_line *message = mpool_sensor_line.alloc(); |
tylerjw | 29:8cdb56a0fe57 | 165 | sprintf(message->line, "Date: %d, Time: %f\r\nGPS Time (UTC),GPS Battery(V),mbed Battery(V),", nmea.date(), nmea.utc_time()); |
tylerjw | 26:85cdb1031eb1 | 166 | queue_sensor_line.put(message); |
tylerjw | 29:8cdb56a0fe57 | 167 | |
tylerjw | 29:8cdb56a0fe57 | 168 | sensor_wd = true; // kick the dog |
tylerjw | 29:8cdb56a0fe57 | 169 | |
tylerjw | 26:85cdb1031eb1 | 170 | message = mpool_sensor_line.alloc(); |
tylerjw | 29:8cdb56a0fe57 | 171 | sprintf(message->line, "Temperature,GPS Altitude,GPS Course,"); |
tylerjw | 29:8cdb56a0fe57 | 172 | queue_sensor_line.put(message); |
tylerjw | 29:8cdb56a0fe57 | 173 | |
tylerjw | 29:8cdb56a0fe57 | 174 | sensor_wd = true; // kick the dog |
tylerjw | 29:8cdb56a0fe57 | 175 | |
tylerjw | 29:8cdb56a0fe57 | 176 | message = mpool_sensor_line.alloc(); |
tylerjw | 29:8cdb56a0fe57 | 177 | sprintf(message->line, "Course to Target,Distance,Left Servo,Right Servo \r\n"); |
tylerjw | 14:dce4d8c29b17 | 178 | queue_sensor_line.put(message); |
tylerjw | 19:1cfe22ef30e2 | 179 | |
tylerjw | 19:1cfe22ef30e2 | 180 | while(true) { |
tylerjw | 13:db6af0620264 | 181 | //get sensor line memory |
tylerjw | 18:29b19a25a963 | 182 | sensor_led = !sensor_led; |
tylerjw | 19:1cfe22ef30e2 | 183 | |
tylerjw | 16:653df0cfe6ee | 184 | //timestamp |
tylerjw | 24:7477105103e5 | 185 | time = nmea.utc_time(); |
tylerjw | 19:1cfe22ef30e2 | 186 | |
tylerjw | 13:db6af0620264 | 187 | //gps battery |
tylerjw | 18:29b19a25a963 | 188 | gps_battery_voltage = gps_battery.read()*BAT_GPS_MUL; |
tylerjw | 19:1cfe22ef30e2 | 189 | |
tylerjw | 16:653df0cfe6ee | 190 | //mbed battery |
tylerjw | 18:29b19a25a963 | 191 | mbed_battery_voltage = mbed_battery.read()*BAT_MBED_MUL; |
tylerjw | 19:1cfe22ef30e2 | 192 | |
tylerjw | 26:85cdb1031eb1 | 193 | //temperature |
tylerjw | 26:85cdb1031eb1 | 194 | temp = temperature.sample_f(); |
tylerjw | 29:8cdb56a0fe57 | 195 | |
tylerjw | 27:24fd8e32511c | 196 | //gps |
tylerjw | 27:24fd8e32511c | 197 | distance = nmea.calc_dist_to_km(target_lat, target_lon); |
tylerjw | 27:24fd8e32511c | 198 | course_to = nmea.calc_initial_bearing(target_lat, target_lon); |
tylerjw | 27:24fd8e32511c | 199 | course = nmea.track(); |
tylerjw | 30:b81274979e73 | 200 | |
tylerjw | 30:b81274979e73 | 201 | pc.printf("course: %4.1f course_to: %4.1f distance: %f\r\n", course, course_to, distance); |
tylerjw | 19:1cfe22ef30e2 | 202 | |
tylerjw | 29:8cdb56a0fe57 | 203 | sensor_line *message = mpool_sensor_line.alloc(); |
tylerjw | 29:8cdb56a0fe57 | 204 | sprintf(message->line, "%f,%f,%f,%f,%f,", time,gps_battery_voltage,mbed_battery_voltage,temp,nmea.calc_altitude_ft()); |
tylerjw | 14:dce4d8c29b17 | 205 | queue_sensor_line.put(message); |
tylerjw | 29:8cdb56a0fe57 | 206 | |
tylerjw | 29:8cdb56a0fe57 | 207 | message = mpool_sensor_line.alloc(); |
tylerjw | 29:8cdb56a0fe57 | 208 | sprintf(message->line, "%f,%f,%f,%f,%f\r\n", course,course_to,distance,left_pos,right_pos); |
tylerjw | 29:8cdb56a0fe57 | 209 | queue_sensor_line.put(message); |
tylerjw | 29:8cdb56a0fe57 | 210 | |
tylerjw | 29:8cdb56a0fe57 | 211 | sensor_wd = true; // kick the dog |
tylerjw | 31:b9ac7d61b15b | 212 | Thread::wait(200); |
tylerjw | 0:ce5f06c3895f | 213 | } |
tylerjw | 7:d8ecabe16c9e | 214 | } |
tylerjw | 7:d8ecabe16c9e | 215 | |
tylerjw | 17:4927053e120f | 216 | void parachute_thread(const void *args) |
tylerjw | 17:4927053e120f | 217 | { |
tylerjw | 28:032d55fa57b8 | 218 | DigitalOut left_turn_led(LED4); |
tylerjw | 28:032d55fa57b8 | 219 | DigitalOut right_turn_led(LED1); |
tylerjw | 29:8cdb56a0fe57 | 220 | bool is_released = false; |
tylerjw | 29:8cdb56a0fe57 | 221 | |
tylerjw | 25:81c3696ba2c9 | 222 | // servos ////////////////////////// NOT TESTED!!! /////////////////////////// |
tylerjw | 25:81c3696ba2c9 | 223 | Servo left_s(p21); |
tylerjw | 25:81c3696ba2c9 | 224 | Servo right_s(p22); |
tylerjw | 29:8cdb56a0fe57 | 225 | Servo release_s(p23); |
tylerjw | 25:81c3696ba2c9 | 226 | |
tylerjw | 29:8cdb56a0fe57 | 227 | left_s.calibrate_max(SERVO_L_MAX); |
tylerjw | 29:8cdb56a0fe57 | 228 | left_s.calibrate_min(SERVO_L_MIN); |
tylerjw | 29:8cdb56a0fe57 | 229 | right_s.calibrate_max(SERVO_R_MAX); |
tylerjw | 29:8cdb56a0fe57 | 230 | right_s.calibrate_min(SERVO_R_MIN); |
tylerjw | 31:b9ac7d61b15b | 231 | release_s.calibrate_max(SERVO_RELEASE_MAX); |
tylerjw | 31:b9ac7d61b15b | 232 | release_s.calibrate_min(SERVO_RELEASE_MIN); |
tylerjw | 29:8cdb56a0fe57 | 233 | |
tylerjw | 25:81c3696ba2c9 | 234 | left_s = 0.0; |
tylerjw | 25:81c3696ba2c9 | 235 | right_s = 0.0; |
tylerjw | 31:b9ac7d61b15b | 236 | release_s = 0.0; |
tylerjw | 29:8cdb56a0fe57 | 237 | |
tylerjw | 25:81c3696ba2c9 | 238 | //////////////////////////////////////////////////////////////////////////////// |
tylerjw | 19:1cfe22ef30e2 | 239 | |
tylerjw | 30:b81274979e73 | 240 | //right_turn_led = 1; // remove with watchdog on - test to determine which led is which |
tylerjw | 30:b81274979e73 | 241 | //Thread::wait(1000); |
tylerjw | 30:b81274979e73 | 242 | //left_turn_led = 1; |
tylerjw | 30:b81274979e73 | 243 | //Thread::wait(1000); |
tylerjw | 30:b81274979e73 | 244 | |
tylerjw | 30:b81274979e73 | 245 | int counter = 0; |
tylerjw | 30:b81274979e73 | 246 | |
tylerjw | 19:1cfe22ef30e2 | 247 | while(true) { |
tylerjw | 30:b81274979e73 | 248 | parachute_wd = true; // kick the dog |
tylerjw | 28:032d55fa57b8 | 249 | right_turn_led = left_turn_led = 0; |
tylerjw | 29:8cdb56a0fe57 | 250 | while( parachute_sem.wait(50) <= 0) // didn't get it (timeout) |
tylerjw | 29:8cdb56a0fe57 | 251 | parachute_wd = true; // kick the dog |
tylerjw | 29:8cdb56a0fe57 | 252 | |
tylerjw | 30:b81274979e73 | 253 | if(!is_released) |
tylerjw | 31:b9ac7d61b15b | 254 | { |
tylerjw | 31:b9ac7d61b15b | 255 | release_s = 1.0; // let go of the balloon |
tylerjw | 31:b9ac7d61b15b | 256 | is_released = true; |
tylerjw | 31:b9ac7d61b15b | 257 | } |
tylerjw | 30:b81274979e73 | 258 | |
tylerjw | 30:b81274979e73 | 259 | if(counter < test_length) // test flight -- (NOT Tested) |
tylerjw | 30:b81274979e73 | 260 | { |
tylerjw | 30:b81274979e73 | 261 | left_s = test_left[counter]; |
tylerjw | 30:b81274979e73 | 262 | right_s = test_right[counter]; |
tylerjw | 30:b81274979e73 | 263 | Thread::wait(1000); |
tylerjw | 30:b81274979e73 | 264 | parachute_wd = true; // kick the watchdog |
tylerjw | 30:b81274979e73 | 265 | Thread::wait(1000); |
tylerjw | 30:b81274979e73 | 266 | counter++; |
tylerjw | 30:b81274979e73 | 267 | continue; |
tylerjw | 30:b81274979e73 | 268 | } |
tylerjw | 30:b81274979e73 | 269 | |
tylerjw | 21:8799ee63c2cd | 270 | float distance = nmea.calc_dist_to_km(target_lat, target_lon); |
tylerjw | 19:1cfe22ef30e2 | 271 | |
tylerjw | 21:8799ee63c2cd | 272 | if(distance < distance_fudge_km) |
tylerjw | 30:b81274979e73 | 273 | { |
tylerjw | 30:b81274979e73 | 274 | alarm = 1; // sound the alarm |
tylerjw | 19:1cfe22ef30e2 | 275 | continue; // dont do anything |
tylerjw | 30:b81274979e73 | 276 | } |
tylerjw | 19:1cfe22ef30e2 | 277 | |
tylerjw | 24:7477105103e5 | 278 | float course = nmea.track(); |
tylerjw | 24:7477105103e5 | 279 | float course_to = nmea.calc_initial_bearing(target_lat, target_lon); |
tylerjw | 19:1cfe22ef30e2 | 280 | float course_diff = course_to - course; |
tylerjw | 29:8cdb56a0fe57 | 281 | |
tylerjw | 22:becb67846755 | 282 | if(course == 0.0) // not moving fast enough |
tylerjw | 22:becb67846755 | 283 | continue; // do nothing |
tylerjw | 19:1cfe22ef30e2 | 284 | |
tylerjw | 21:8799ee63c2cd | 285 | if(course_diff < course_fudge && course_diff > neg_course_fudge) { |
tylerjw | 28:032d55fa57b8 | 286 | right_turn_led = left_turn_led = 1; |
tylerjw | 21:8799ee63c2cd | 287 | Thread::wait(400); |
tylerjw | 19:1cfe22ef30e2 | 288 | continue; // don't do anything |
tylerjw | 21:8799ee63c2cd | 289 | } else if(course_diff > 180.0 || course_diff < 0.0) { |
tylerjw | 28:032d55fa57b8 | 290 | left_turn_led = 1; |
tylerjw | 30:b81274979e73 | 291 | right_s = right_pos = 0.0; |
tylerjw | 28:032d55fa57b8 | 292 | left_s = left_pos = 1.0; |
tylerjw | 21:8799ee63c2cd | 293 | Thread::wait(400); // turn left |
tylerjw | 25:81c3696ba2c9 | 294 | left_s = 0.0; |
tylerjw | 22:becb67846755 | 295 | } else { |
tylerjw | 28:032d55fa57b8 | 296 | right_turn_led = 1; |
tylerjw | 28:032d55fa57b8 | 297 | left_s = left_pos = 0.0; |
tylerjw | 28:032d55fa57b8 | 298 | right_s = right_pos = 1.0; |
tylerjw | 22:becb67846755 | 299 | Thread::wait(400); // turn righ |
tylerjw | 28:032d55fa57b8 | 300 | right_s = right_pos = 0.0; |
tylerjw | 21:8799ee63c2cd | 301 | } |
tylerjw | 29:8cdb56a0fe57 | 302 | } |
tylerjw | 29:8cdb56a0fe57 | 303 | } |
tylerjw | 29:8cdb56a0fe57 | 304 | |
tylerjw | 29:8cdb56a0fe57 | 305 | void watchdog_thread(const void *args) |
tylerjw | 29:8cdb56a0fe57 | 306 | { |
tylerjw | 29:8cdb56a0fe57 | 307 | Watchdog wdt; // NOT TESTED!!! |
tylerjw | 29:8cdb56a0fe57 | 308 | |
tylerjw | 29:8cdb56a0fe57 | 309 | wdt.kick(2.0); |
tylerjw | 29:8cdb56a0fe57 | 310 | |
tylerjw | 29:8cdb56a0fe57 | 311 | while(true) { |
tylerjw | 29:8cdb56a0fe57 | 312 | if(gps_wd && sensor_wd && parachute_wd && log_wd) { |
tylerjw | 29:8cdb56a0fe57 | 313 | wdt.kick(); |
tylerjw | 29:8cdb56a0fe57 | 314 | gps_wd = sensor_wd = parachute_wd = log_wd = false; |
tylerjw | 29:8cdb56a0fe57 | 315 | } else { |
tylerjw | 29:8cdb56a0fe57 | 316 | Thread::wait(50); |
tylerjw | 29:8cdb56a0fe57 | 317 | } |
tylerjw | 18:29b19a25a963 | 318 | } |
tylerjw | 17:4927053e120f | 319 | } |
tylerjw | 17:4927053e120f | 320 | |
tylerjw | 7:d8ecabe16c9e | 321 | int main() |
tylerjw | 7:d8ecabe16c9e | 322 | { |
tylerjw | 9:4debfbc1fb3e | 323 | Thread thread(gps_thread, NULL, osPriorityHigh); |
tylerjw | 13:db6af0620264 | 324 | Thread thread2(log_thread, NULL, osPriorityNormal); |
tylerjw | 14:dce4d8c29b17 | 325 | Thread thread3(sensor_thread, NULL, osPriorityNormal); |
tylerjw | 17:4927053e120f | 326 | Thread thread4(parachute_thread, NULL, osPriorityRealtime); |
tylerjw | 29:8cdb56a0fe57 | 327 | Thread thread5(watchdog_thread, NULL, osPriorityHigh); |
tylerjw | 13:db6af0620264 | 328 | |
tylerjw | 25:81c3696ba2c9 | 329 | while(true) { |
tylerjw | 29:8cdb56a0fe57 | 330 | Thread::wait(osWaitForever); |
tylerjw | 25:81c3696ba2c9 | 331 | } |
tylerjw | 0:ce5f06c3895f | 332 | } |