Generation 3 of the Harp project
Dependencies: Servo TMP36 GZ buffered-serial1 chan_fatfs_sd nmea_parser watchdog mbed-rtos mbed
Fork of HARP2 by
main.cpp@28:032d55fa57b8, 2013-01-10 (annotated)
- Committer:
- tylerjw
- Date:
- Thu Jan 10 19:25:13 2013 +0000
- Revision:
- 28:032d55fa57b8
- Parent:
- 27:24fd8e32511c
- Child:
- 29:8cdb56a0fe57
added logging of servo positions - NOT tested!
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 | 26:85cdb1031eb1 | 6 | * Test Append file and f_size() macro |
tylerjw | 24:7477105103e5 | 7 | */ |
tylerjw | 24:7477105103e5 | 8 | |
tylerjw | 0:ce5f06c3895f | 9 | #include "mbed.h" |
tylerjw | 7:d8ecabe16c9e | 10 | #include "rtos.h" |
tylerjw | 10:b13416bbb4cd | 11 | #include "buffered_serial.h" |
tylerjw | 12:0d943d69d3ec | 12 | #include "ff.h" |
tylerjw | 26:85cdb1031eb1 | 13 | #include "TMP36GZ.h" |
tylerjw | 24:7477105103e5 | 14 | #include "nmea_parser.h" |
tylerjw | 25:81c3696ba2c9 | 15 | #include "watchdog.h" |
tylerjw | 25:81c3696ba2c9 | 16 | #include "Servo.h" |
tylerjw | 22:becb67846755 | 17 | #include "config.h" |
tylerjw | 19:1cfe22ef30e2 | 18 | |
tylerjw | 0:ce5f06c3895f | 19 | Serial pc(USBTX, USBRX); |
tylerjw | 24:7477105103e5 | 20 | BufferedSerial gps; |
tylerjw | 10:b13416bbb4cd | 21 | AnalogIn gps_battery(p20); |
tylerjw | 26:85cdb1031eb1 | 22 | AnalogIn mbed_battery(p16); |
tylerjw | 26:85cdb1031eb1 | 23 | TMP36GZ temperature(p17); |
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 | 7:d8ecabe16c9e | 45 | void gps_thread(void const *args) |
tylerjw | 7:d8ecabe16c9e | 46 | { |
tylerjw | 10:b13416bbb4cd | 47 | char buffer[80]; |
tylerjw | 18:29b19a25a963 | 48 | float alt, alt_prev; |
tylerjw | 18:29b19a25a963 | 49 | alt = alt_prev = 0; |
tylerjw | 9:4debfbc1fb3e | 50 | |
tylerjw | 21:8799ee63c2cd | 51 | //DigitalOut gps_led(LED4); |
tylerjw | 7:d8ecabe16c9e | 52 | |
tylerjw | 7:d8ecabe16c9e | 53 | gps.baud(4800); |
tylerjw | 7:d8ecabe16c9e | 54 | |
tylerjw | 7:d8ecabe16c9e | 55 | while(true) { |
tylerjw | 21:8799ee63c2cd | 56 | //gps_led = !gps_led; |
tylerjw | 24:7477105103e5 | 57 | gps.get_line(buffer); |
tylerjw | 19:1cfe22ef30e2 | 58 | int line_type = nmea.parse(buffer); |
tylerjw | 14:dce4d8c29b17 | 59 | //pc.puts(buffer); |
tylerjw | 13:db6af0620264 | 60 | // send to log... |
tylerjw | 13:db6af0620264 | 61 | gps_line *message = mpool_gps_line.alloc(); |
tylerjw | 13:db6af0620264 | 62 | strcpy(message->line, buffer); |
tylerjw | 13:db6af0620264 | 63 | queue_gps_line.put(message); |
tylerjw | 19:1cfe22ef30e2 | 64 | |
tylerjw | 19:1cfe22ef30e2 | 65 | // test altitude direction - release parachute thread to run |
tylerjw | 24:7477105103e5 | 66 | if(line_type == RMC && nmea.quality()) { |
tylerjw | 19:1cfe22ef30e2 | 67 | if(UNLOCK_ON_FALL) { |
tylerjw | 19:1cfe22ef30e2 | 68 | if(alt != 0) { // first time |
tylerjw | 24:7477105103e5 | 69 | alt = nmea.msl_altitude(); |
tylerjw | 19:1cfe22ef30e2 | 70 | } else { |
tylerjw | 19:1cfe22ef30e2 | 71 | alt_prev = alt; |
tylerjw | 24:7477105103e5 | 72 | alt = nmea.msl_altitude(); |
tylerjw | 19:1cfe22ef30e2 | 73 | if(alt < alt_prev) // going down |
tylerjw | 19:1cfe22ef30e2 | 74 | parachute_sem.release(); // let the parachute code execute |
tylerjw | 19:1cfe22ef30e2 | 75 | } |
tylerjw | 18:29b19a25a963 | 76 | } else { |
tylerjw | 19:1cfe22ef30e2 | 77 | parachute_sem.release(); |
tylerjw | 18:29b19a25a963 | 78 | } |
tylerjw | 18:29b19a25a963 | 79 | } |
tylerjw | 13:db6af0620264 | 80 | } |
tylerjw | 13:db6af0620264 | 81 | } |
tylerjw | 13:db6af0620264 | 82 | |
tylerjw | 13:db6af0620264 | 83 | void log_thread(const void *args) |
tylerjw | 13:db6af0620264 | 84 | { |
tylerjw | 13:db6af0620264 | 85 | FATFS fs; |
tylerjw | 13:db6af0620264 | 86 | FIL fp_gps, fp_sensor; |
tylerjw | 13:db6af0620264 | 87 | |
tylerjw | 13:db6af0620264 | 88 | DigitalOut log_led(LED3); |
tylerjw | 13:db6af0620264 | 89 | |
tylerjw | 13:db6af0620264 | 90 | f_mount(0, &fs); |
tylerjw | 25:81c3696ba2c9 | 91 | f_open(&fp_gps, "0:gps.txt", FA_OPEN_EXISTING | FA_WRITE); |
tylerjw | 26:85cdb1031eb1 | 92 | f_lseek(&fp_gps, f_size(&fp_gps)); |
tylerjw | 25:81c3696ba2c9 | 93 | f_open(&fp_sensor, "0:sensors.csv", FA_OPEN_EXISTING | FA_WRITE); |
tylerjw | 26:85cdb1031eb1 | 94 | f_lseek(&fp_sensor, f_size(&fp_sensor)); |
tylerjw | 13:db6af0620264 | 95 | |
tylerjw | 26:85cdb1031eb1 | 96 | sd_sem.release(); // sd card initialized... start sensor thread |
tylerjw | 26:85cdb1031eb1 | 97 | |
tylerjw | 13:db6af0620264 | 98 | while(1) { |
tylerjw | 18:29b19a25a963 | 99 | log_led = !log_led; |
tylerjw | 14:dce4d8c29b17 | 100 | osEvent evt1 = queue_gps_line.get(1); |
tylerjw | 14:dce4d8c29b17 | 101 | if (evt1.status == osEventMessage) { |
tylerjw | 14:dce4d8c29b17 | 102 | gps_line *message = (gps_line*)evt1.value.p; |
tylerjw | 13:db6af0620264 | 103 | |
tylerjw | 13:db6af0620264 | 104 | f_puts(message->line, &fp_gps); |
tylerjw | 13:db6af0620264 | 105 | f_sync(&fp_gps); |
tylerjw | 19:1cfe22ef30e2 | 106 | |
tylerjw | 13:db6af0620264 | 107 | mpool_gps_line.free(message); |
tylerjw | 13:db6af0620264 | 108 | } |
tylerjw | 19:1cfe22ef30e2 | 109 | |
tylerjw | 14:dce4d8c29b17 | 110 | osEvent evt2 = queue_sensor_line.get(1); |
tylerjw | 14:dce4d8c29b17 | 111 | if(evt2.status == osEventMessage) { |
tylerjw | 14:dce4d8c29b17 | 112 | sensor_line *message = (sensor_line*)evt2.value.p; |
tylerjw | 19:1cfe22ef30e2 | 113 | |
tylerjw | 14:dce4d8c29b17 | 114 | f_puts(message->line, &fp_sensor); |
tylerjw | 14:dce4d8c29b17 | 115 | f_sync(&fp_sensor); |
tylerjw | 19:1cfe22ef30e2 | 116 | |
tylerjw | 13:db6af0620264 | 117 | mpool_sensor_line.free(message); |
tylerjw | 13:db6af0620264 | 118 | } |
tylerjw | 13:db6af0620264 | 119 | } |
tylerjw | 13:db6af0620264 | 120 | } |
tylerjw | 13:db6af0620264 | 121 | |
tylerjw | 13:db6af0620264 | 122 | void sensor_thread(const void* args) |
tylerjw | 13:db6af0620264 | 123 | { |
tylerjw | 14:dce4d8c29b17 | 124 | DigitalOut sensor_led(LED2); |
tylerjw | 16:653df0cfe6ee | 125 | Timer t; |
tylerjw | 18:29b19a25a963 | 126 | float time; |
tylerjw | 18:29b19a25a963 | 127 | float gps_battery_voltage, mbed_battery_voltage; |
tylerjw | 26:85cdb1031eb1 | 128 | float temp; |
tylerjw | 27:24fd8e32511c | 129 | float distance, course_to, course; |
tylerjw | 26:85cdb1031eb1 | 130 | |
tylerjw | 26:85cdb1031eb1 | 131 | sd_sem.wait(); // wait for the sd card to initialize and open files |
tylerjw | 19:1cfe22ef30e2 | 132 | |
tylerjw | 19:1cfe22ef30e2 | 133 | if(WAIT_FOR_LOCK) { |
tylerjw | 24:7477105103e5 | 134 | while(!nmea.date()) Thread::wait(100); // wait for lock |
tylerjw | 19:1cfe22ef30e2 | 135 | } |
tylerjw | 19:1cfe22ef30e2 | 136 | |
tylerjw | 17:4927053e120f | 137 | t.start(); // start timer after lock |
tylerjw | 19:1cfe22ef30e2 | 138 | |
tylerjw | 14:dce4d8c29b17 | 139 | sensor_line *message = mpool_sensor_line.alloc(); |
tylerjw | 26:85cdb1031eb1 | 140 | 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 | 141 | queue_sensor_line.put(message); |
tylerjw | 26:85cdb1031eb1 | 142 | |
tylerjw | 26:85cdb1031eb1 | 143 | message = mpool_sensor_line.alloc(); |
tylerjw | 28:032d55fa57b8 | 144 | sprintf(message->line, ",Temperature,GPS Altitude,GPS Course,Course to Target,Distance,Left Servo,Right Servo \r\n"); |
tylerjw | 14:dce4d8c29b17 | 145 | queue_sensor_line.put(message); |
tylerjw | 19:1cfe22ef30e2 | 146 | |
tylerjw | 19:1cfe22ef30e2 | 147 | while(true) { |
tylerjw | 13:db6af0620264 | 148 | //get sensor line memory |
tylerjw | 18:29b19a25a963 | 149 | sensor_led = !sensor_led; |
tylerjw | 13:db6af0620264 | 150 | sensor_line *message = mpool_sensor_line.alloc(); |
tylerjw | 19:1cfe22ef30e2 | 151 | |
tylerjw | 16:653df0cfe6ee | 152 | //timestamp |
tylerjw | 24:7477105103e5 | 153 | time = nmea.utc_time(); |
tylerjw | 19:1cfe22ef30e2 | 154 | |
tylerjw | 13:db6af0620264 | 155 | //gps battery |
tylerjw | 18:29b19a25a963 | 156 | gps_battery_voltage = gps_battery.read()*BAT_GPS_MUL; |
tylerjw | 19:1cfe22ef30e2 | 157 | |
tylerjw | 16:653df0cfe6ee | 158 | //mbed battery |
tylerjw | 18:29b19a25a963 | 159 | mbed_battery_voltage = mbed_battery.read()*BAT_MBED_MUL; |
tylerjw | 19:1cfe22ef30e2 | 160 | |
tylerjw | 26:85cdb1031eb1 | 161 | //temperature |
tylerjw | 26:85cdb1031eb1 | 162 | temp = temperature.sample_f(); |
tylerjw | 27:24fd8e32511c | 163 | |
tylerjw | 27:24fd8e32511c | 164 | //gps |
tylerjw | 27:24fd8e32511c | 165 | distance = nmea.calc_dist_to_km(target_lat, target_lon); |
tylerjw | 27:24fd8e32511c | 166 | course_to = nmea.calc_initial_bearing(target_lat, target_lon); |
tylerjw | 27:24fd8e32511c | 167 | course = nmea.track(); |
tylerjw | 19:1cfe22ef30e2 | 168 | |
tylerjw | 28:032d55fa57b8 | 169 | sprintf(message->line, "%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\r\n", time,gps_battery_voltage,mbed_battery_voltage,temp,nmea.calc_altitude_ft(),course,course_to,distance,left_pos,right_pos); |
tylerjw | 14:dce4d8c29b17 | 170 | queue_sensor_line.put(message); |
tylerjw | 26:85cdb1031eb1 | 171 | |
tylerjw | 26:85cdb1031eb1 | 172 | Thread::wait(100); |
tylerjw | 0:ce5f06c3895f | 173 | } |
tylerjw | 7:d8ecabe16c9e | 174 | } |
tylerjw | 7:d8ecabe16c9e | 175 | |
tylerjw | 17:4927053e120f | 176 | void parachute_thread(const void *args) |
tylerjw | 17:4927053e120f | 177 | { |
tylerjw | 28:032d55fa57b8 | 178 | DigitalOut left_turn_led(LED4); |
tylerjw | 28:032d55fa57b8 | 179 | DigitalOut right_turn_led(LED1); |
tylerjw | 25:81c3696ba2c9 | 180 | |
tylerjw | 25:81c3696ba2c9 | 181 | // servos ////////////////////////// NOT TESTED!!! /////////////////////////// |
tylerjw | 25:81c3696ba2c9 | 182 | Servo left_s(p21); |
tylerjw | 25:81c3696ba2c9 | 183 | Servo right_s(p22); |
tylerjw | 25:81c3696ba2c9 | 184 | |
tylerjw | 25:81c3696ba2c9 | 185 | left_s.calibrate_max(0.0007); |
tylerjw | 25:81c3696ba2c9 | 186 | left_s.calibrate_min(-0.0014); |
tylerjw | 25:81c3696ba2c9 | 187 | right_s.calibrate(0.0009); |
tylerjw | 25:81c3696ba2c9 | 188 | |
tylerjw | 25:81c3696ba2c9 | 189 | left_s = 0.0; |
tylerjw | 25:81c3696ba2c9 | 190 | right_s = 0.0; |
tylerjw | 25:81c3696ba2c9 | 191 | //////////////////////////////////////////////////////////////////////////////// |
tylerjw | 19:1cfe22ef30e2 | 192 | |
tylerjw | 28:032d55fa57b8 | 193 | right_turn_led = 1; |
tylerjw | 21:8799ee63c2cd | 194 | Thread::wait(400); |
tylerjw | 28:032d55fa57b8 | 195 | left_turn_led = 1; |
tylerjw | 21:8799ee63c2cd | 196 | Thread::wait(400); |
tylerjw | 19:1cfe22ef30e2 | 197 | while(true) { |
tylerjw | 28:032d55fa57b8 | 198 | right_turn_led = left_turn_led = 0; |
tylerjw | 18:29b19a25a963 | 199 | parachute_sem.wait(); |
tylerjw | 22:becb67846755 | 200 | |
tylerjw | 21:8799ee63c2cd | 201 | float distance = nmea.calc_dist_to_km(target_lat, target_lon); |
tylerjw | 19:1cfe22ef30e2 | 202 | |
tylerjw | 21:8799ee63c2cd | 203 | if(distance < distance_fudge_km) |
tylerjw | 19:1cfe22ef30e2 | 204 | continue; // dont do anything |
tylerjw | 19:1cfe22ef30e2 | 205 | |
tylerjw | 24:7477105103e5 | 206 | float course = nmea.track(); |
tylerjw | 24:7477105103e5 | 207 | float course_to = nmea.calc_initial_bearing(target_lat, target_lon); |
tylerjw | 19:1cfe22ef30e2 | 208 | float course_diff = course_to - course; |
tylerjw | 22:becb67846755 | 209 | |
tylerjw | 22:becb67846755 | 210 | if(course == 0.0) // not moving fast enough |
tylerjw | 22:becb67846755 | 211 | continue; // do nothing |
tylerjw | 19:1cfe22ef30e2 | 212 | |
tylerjw | 21:8799ee63c2cd | 213 | if(course_diff < course_fudge && course_diff > neg_course_fudge) { |
tylerjw | 28:032d55fa57b8 | 214 | right_turn_led = left_turn_led = 1; |
tylerjw | 21:8799ee63c2cd | 215 | Thread::wait(400); |
tylerjw | 19:1cfe22ef30e2 | 216 | continue; // don't do anything |
tylerjw | 21:8799ee63c2cd | 217 | } else if(course_diff > 180.0 || course_diff < 0.0) { |
tylerjw | 28:032d55fa57b8 | 218 | left_turn_led = 1; |
tylerjw | 28:032d55fa57b8 | 219 | right_s = right_pos = 0.0; // NOT TESTED!!! |
tylerjw | 28:032d55fa57b8 | 220 | left_s = left_pos = 1.0; |
tylerjw | 21:8799ee63c2cd | 221 | Thread::wait(400); // turn left |
tylerjw | 25:81c3696ba2c9 | 222 | left_s = 0.0; |
tylerjw | 22:becb67846755 | 223 | } else { |
tylerjw | 28:032d55fa57b8 | 224 | right_turn_led = 1; |
tylerjw | 28:032d55fa57b8 | 225 | left_s = left_pos = 0.0; |
tylerjw | 28:032d55fa57b8 | 226 | right_s = right_pos = 1.0; |
tylerjw | 22:becb67846755 | 227 | Thread::wait(400); // turn righ |
tylerjw | 28:032d55fa57b8 | 228 | right_s = right_pos = 0.0; |
tylerjw | 21:8799ee63c2cd | 229 | } |
tylerjw | 18:29b19a25a963 | 230 | } |
tylerjw | 17:4927053e120f | 231 | } |
tylerjw | 17:4927053e120f | 232 | |
tylerjw | 7:d8ecabe16c9e | 233 | int main() |
tylerjw | 7:d8ecabe16c9e | 234 | { |
tylerjw | 10:b13416bbb4cd | 235 | pc.baud(9600); |
tylerjw | 9:4debfbc1fb3e | 236 | Thread thread(gps_thread, NULL, osPriorityHigh); |
tylerjw | 13:db6af0620264 | 237 | Thread thread2(log_thread, NULL, osPriorityNormal); |
tylerjw | 14:dce4d8c29b17 | 238 | Thread thread3(sensor_thread, NULL, osPriorityNormal); |
tylerjw | 17:4927053e120f | 239 | Thread thread4(parachute_thread, NULL, osPriorityRealtime); |
tylerjw | 25:81c3696ba2c9 | 240 | |
tylerjw | 25:81c3696ba2c9 | 241 | Watchdog wdt; // NOT TESTED!!! |
tylerjw | 25:81c3696ba2c9 | 242 | |
tylerjw | 25:81c3696ba2c9 | 243 | wdt.kick(2.0); |
tylerjw | 13:db6af0620264 | 244 | |
tylerjw | 25:81c3696ba2c9 | 245 | while(true) { |
tylerjw | 25:81c3696ba2c9 | 246 | wdt.kick(); |
tylerjw | 25:81c3696ba2c9 | 247 | Thread::wait(500); |
tylerjw | 25:81c3696ba2c9 | 248 | } |
tylerjw | 0:ce5f06c3895f | 249 | } |