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@18:29b19a25a963, 2012-12-12 (annotated)
- Committer:
- tylerjw
- Date:
- Wed Dec 12 18:13:11 2012 +0000
- Revision:
- 18:29b19a25a963
- Parent:
- 17:4927053e120f
- Child:
- 19:1cfe22ef30e2
gps altitude detection
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 | 17:4927053e120f | 6 | #include "GPS_parser.h" |
tylerjw | 15:ceac642f6b75 | 7 | |
tylerjw | 15:ceac642f6b75 | 8 | I2C i2c(p9, p10); // sda, scl |
tylerjw | 15:ceac642f6b75 | 9 | BMP085 alt_sensor(i2c); |
tylerjw | 15:ceac642f6b75 | 10 | |
tylerjw | 16:653df0cfe6ee | 11 | const float BAT_GPS_MUL = 15.51; |
tylerjw | 16:653df0cfe6ee | 12 | const float BAT_MBED_MUL = 10.26; |
tylerjw | 0:ce5f06c3895f | 13 | |
tylerjw | 0:ce5f06c3895f | 14 | Serial pc(USBTX, USBRX); |
tylerjw | 10:b13416bbb4cd | 15 | BufferedSerial gps(NC, p14); |
tylerjw | 10:b13416bbb4cd | 16 | AnalogIn gps_battery(p20); |
tylerjw | 16:653df0cfe6ee | 17 | AnalogIn mbed_battery(p19); |
tylerjw | 7:d8ecabe16c9e | 18 | |
tylerjw | 17:4927053e120f | 19 | GPS_Parser nmea_parser; |
tylerjw | 17:4927053e120f | 20 | |
tylerjw | 18:29b19a25a963 | 21 | Semaphore parachute_sem(0); |
tylerjw | 18:29b19a25a963 | 22 | |
tylerjw | 13:db6af0620264 | 23 | typedef struct { |
tylerjw | 13:db6af0620264 | 24 | char line[80]; |
tylerjw | 13:db6af0620264 | 25 | } gps_line; |
tylerjw | 13:db6af0620264 | 26 | MemoryPool<gps_line, 16> mpool_gps_line; |
tylerjw | 13:db6af0620264 | 27 | Queue<gps_line, 16> queue_gps_line; |
tylerjw | 13:db6af0620264 | 28 | |
tylerjw | 13:db6af0620264 | 29 | typedef struct { |
tylerjw | 14:dce4d8c29b17 | 30 | char line[80]; |
tylerjw | 13:db6af0620264 | 31 | } sensor_line; |
tylerjw | 13:db6af0620264 | 32 | MemoryPool<sensor_line, 16> mpool_sensor_line; |
tylerjw | 13:db6af0620264 | 33 | Queue<sensor_line, 16> queue_sensor_line; |
tylerjw | 12:0d943d69d3ec | 34 | |
tylerjw | 7:d8ecabe16c9e | 35 | void gps_thread(void const *args) |
tylerjw | 7:d8ecabe16c9e | 36 | { |
tylerjw | 10:b13416bbb4cd | 37 | char buffer[80]; |
tylerjw | 18:29b19a25a963 | 38 | float alt, alt_prev; |
tylerjw | 18:29b19a25a963 | 39 | alt = alt_prev = 0; |
tylerjw | 9:4debfbc1fb3e | 40 | |
tylerjw | 10:b13416bbb4cd | 41 | DigitalOut gps_led(LED4); |
tylerjw | 7:d8ecabe16c9e | 42 | |
tylerjw | 7:d8ecabe16c9e | 43 | gps.baud(4800); |
tylerjw | 7:d8ecabe16c9e | 44 | |
tylerjw | 7:d8ecabe16c9e | 45 | while(true) { |
tylerjw | 18:29b19a25a963 | 46 | gps_led = !gps_led; |
tylerjw | 10:b13416bbb4cd | 47 | gps.read_line(buffer); |
tylerjw | 17:4927053e120f | 48 | nmea_parser.sample(buffer); |
tylerjw | 14:dce4d8c29b17 | 49 | //pc.puts(buffer); |
tylerjw | 13:db6af0620264 | 50 | // send to log... |
tylerjw | 13:db6af0620264 | 51 | gps_line *message = mpool_gps_line.alloc(); |
tylerjw | 13:db6af0620264 | 52 | strcpy(message->line, buffer); |
tylerjw | 13:db6af0620264 | 53 | queue_gps_line.put(message); |
tylerjw | 18:29b19a25a963 | 54 | |
tylerjw | 18:29b19a25a963 | 55 | // test altitude direction |
tylerjw | 18:29b19a25a963 | 56 | if(nmea_parser.get_lock()) |
tylerjw | 18:29b19a25a963 | 57 | { |
tylerjw | 18:29b19a25a963 | 58 | if(alt != 0) { // first time |
tylerjw | 18:29b19a25a963 | 59 | alt = nmea_parser.get_msl_altitude(); |
tylerjw | 18:29b19a25a963 | 60 | } else { |
tylerjw | 18:29b19a25a963 | 61 | alt_prev = alt; |
tylerjw | 18:29b19a25a963 | 62 | alt = nmea_parser.get_msl_altitude(); |
tylerjw | 18:29b19a25a963 | 63 | if(alt < alt_prev) // going down |
tylerjw | 18:29b19a25a963 | 64 | parachute_sem.release(); // let the parachute code execute |
tylerjw | 18:29b19a25a963 | 65 | } |
tylerjw | 18:29b19a25a963 | 66 | } |
tylerjw | 13:db6af0620264 | 67 | } |
tylerjw | 13:db6af0620264 | 68 | } |
tylerjw | 13:db6af0620264 | 69 | |
tylerjw | 13:db6af0620264 | 70 | void log_thread(const void *args) |
tylerjw | 13:db6af0620264 | 71 | { |
tylerjw | 13:db6af0620264 | 72 | FATFS fs; |
tylerjw | 13:db6af0620264 | 73 | FIL fp_gps, fp_sensor; |
tylerjw | 13:db6af0620264 | 74 | |
tylerjw | 13:db6af0620264 | 75 | DigitalOut log_led(LED3); |
tylerjw | 13:db6af0620264 | 76 | |
tylerjw | 13:db6af0620264 | 77 | f_mount(0, &fs); |
tylerjw | 13:db6af0620264 | 78 | f_open(&fp_gps, "0:gps.txt", FA_CREATE_ALWAYS | FA_WRITE); |
tylerjw | 17:4927053e120f | 79 | f_open(&fp_sensor, "0:sensors.csv", FA_CREATE_ALWAYS | FA_WRITE); |
tylerjw | 13:db6af0620264 | 80 | |
tylerjw | 13:db6af0620264 | 81 | while(1) { |
tylerjw | 18:29b19a25a963 | 82 | log_led = !log_led; |
tylerjw | 14:dce4d8c29b17 | 83 | osEvent evt1 = queue_gps_line.get(1); |
tylerjw | 14:dce4d8c29b17 | 84 | if (evt1.status == osEventMessage) { |
tylerjw | 14:dce4d8c29b17 | 85 | gps_line *message = (gps_line*)evt1.value.p; |
tylerjw | 13:db6af0620264 | 86 | |
tylerjw | 13:db6af0620264 | 87 | f_puts(message->line, &fp_gps); |
tylerjw | 13:db6af0620264 | 88 | f_sync(&fp_gps); |
tylerjw | 13:db6af0620264 | 89 | |
tylerjw | 13:db6af0620264 | 90 | mpool_gps_line.free(message); |
tylerjw | 13:db6af0620264 | 91 | } |
tylerjw | 13:db6af0620264 | 92 | |
tylerjw | 14:dce4d8c29b17 | 93 | osEvent evt2 = queue_sensor_line.get(1); |
tylerjw | 14:dce4d8c29b17 | 94 | if(evt2.status == osEventMessage) { |
tylerjw | 14:dce4d8c29b17 | 95 | sensor_line *message = (sensor_line*)evt2.value.p; |
tylerjw | 13:db6af0620264 | 96 | |
tylerjw | 14:dce4d8c29b17 | 97 | f_puts(message->line, &fp_sensor); |
tylerjw | 14:dce4d8c29b17 | 98 | f_sync(&fp_sensor); |
tylerjw | 13:db6af0620264 | 99 | |
tylerjw | 13:db6af0620264 | 100 | mpool_sensor_line.free(message); |
tylerjw | 13:db6af0620264 | 101 | } |
tylerjw | 13:db6af0620264 | 102 | } |
tylerjw | 13:db6af0620264 | 103 | } |
tylerjw | 13:db6af0620264 | 104 | |
tylerjw | 13:db6af0620264 | 105 | void sensor_thread(const void* args) |
tylerjw | 13:db6af0620264 | 106 | { |
tylerjw | 14:dce4d8c29b17 | 107 | DigitalOut sensor_led(LED2); |
tylerjw | 16:653df0cfe6ee | 108 | Timer t; |
tylerjw | 18:29b19a25a963 | 109 | float time; |
tylerjw | 18:29b19a25a963 | 110 | float gps_battery_voltage, mbed_battery_voltage; |
tylerjw | 18:29b19a25a963 | 111 | float bmp_temperature, bmp_altitude; |
tylerjw | 18:29b19a25a963 | 112 | int bmp_pressure; |
tylerjw | 17:4927053e120f | 113 | |
tylerjw | 17:4927053e120f | 114 | //while(!nmea_parser.get_lock()) Thread::wait(100); // wait for lock |
tylerjw | 17:4927053e120f | 115 | |
tylerjw | 17:4927053e120f | 116 | t.start(); // start timer after lock |
tylerjw | 14:dce4d8c29b17 | 117 | |
tylerjw | 14:dce4d8c29b17 | 118 | sensor_line *message = mpool_sensor_line.alloc(); |
tylerjw | 17:4927053e120f | 119 | sprintf(message->line, "Date: %d, Time: %f\r\nTime(s),GPS Battery(V),mbed Battery(V),BMP085 Temperature(C),Pressure,Altitude(ft)\r\n", nmea_parser.get_date(), nmea_parser.get_time()); |
tylerjw | 14:dce4d8c29b17 | 120 | queue_sensor_line.put(message); |
tylerjw | 14:dce4d8c29b17 | 121 | |
tylerjw | 13:db6af0620264 | 122 | while(true) |
tylerjw | 13:db6af0620264 | 123 | { |
tylerjw | 13:db6af0620264 | 124 | //get sensor line memory |
tylerjw | 18:29b19a25a963 | 125 | sensor_led = !sensor_led; |
tylerjw | 13:db6af0620264 | 126 | sensor_line *message = mpool_sensor_line.alloc(); |
tylerjw | 13:db6af0620264 | 127 | |
tylerjw | 16:653df0cfe6ee | 128 | //timestamp |
tylerjw | 18:29b19a25a963 | 129 | time = t.read(); |
tylerjw | 16:653df0cfe6ee | 130 | |
tylerjw | 13:db6af0620264 | 131 | //gps battery |
tylerjw | 18:29b19a25a963 | 132 | gps_battery_voltage = gps_battery.read()*BAT_GPS_MUL; |
tylerjw | 16:653df0cfe6ee | 133 | |
tylerjw | 16:653df0cfe6ee | 134 | //mbed battery |
tylerjw | 18:29b19a25a963 | 135 | mbed_battery_voltage = mbed_battery.read()*BAT_MBED_MUL; |
tylerjw | 13:db6af0620264 | 136 | |
tylerjw | 15:ceac642f6b75 | 137 | //BMP085 |
tylerjw | 18:29b19a25a963 | 138 | bmp_temperature = (float)alt_sensor.get_temperature() / 10.0; |
tylerjw | 18:29b19a25a963 | 139 | bmp_pressure = alt_sensor.get_pressure(); |
tylerjw | 18:29b19a25a963 | 140 | bmp_altitude = alt_sensor.get_altitude_ft(); |
tylerjw | 16:653df0cfe6ee | 141 | |
tylerjw | 16:653df0cfe6ee | 142 | 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 | 143 | queue_sensor_line.put(message); |
tylerjw | 0:ce5f06c3895f | 144 | } |
tylerjw | 7:d8ecabe16c9e | 145 | } |
tylerjw | 7:d8ecabe16c9e | 146 | |
tylerjw | 17:4927053e120f | 147 | void parachute_thread(const void *args) |
tylerjw | 17:4927053e120f | 148 | { |
tylerjw | 18:29b19a25a963 | 149 | DigitalOut para_led(LED1); |
tylerjw | 17:4927053e120f | 150 | |
tylerjw | 18:29b19a25a963 | 151 | while(true) |
tylerjw | 18:29b19a25a963 | 152 | { |
tylerjw | 18:29b19a25a963 | 153 | parachute_sem.wait(); |
tylerjw | 18:29b19a25a963 | 154 | para_led = !para_led; |
tylerjw | 18:29b19a25a963 | 155 | } |
tylerjw | 17:4927053e120f | 156 | } |
tylerjw | 17:4927053e120f | 157 | |
tylerjw | 7:d8ecabe16c9e | 158 | int main() |
tylerjw | 7:d8ecabe16c9e | 159 | { |
tylerjw | 10:b13416bbb4cd | 160 | pc.baud(9600); |
tylerjw | 9:4debfbc1fb3e | 161 | Thread thread(gps_thread, NULL, osPriorityHigh); |
tylerjw | 13:db6af0620264 | 162 | Thread thread2(log_thread, NULL, osPriorityNormal); |
tylerjw | 14:dce4d8c29b17 | 163 | Thread thread3(sensor_thread, NULL, osPriorityNormal); |
tylerjw | 17:4927053e120f | 164 | Thread thread4(parachute_thread, NULL, osPriorityRealtime); |
tylerjw | 13:db6af0620264 | 165 | |
tylerjw | 18:29b19a25a963 | 166 | while(true) ; |
tylerjw | 0:ce5f06c3895f | 167 | } |