Tyler Weaver / HARP3

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 Tyler Weaver

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?

UserRevisionLine numberNew 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 }