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@23:5a7b5db55be5, 2012-12-13 (annotated)

Committer:
tylerjw
Date:
Thu Dec 13 23:56:31 2012 +0000
Revision:
23:5a7b5db55be5
Parent:
22:becb67846755
Child:
24:7477105103e5
publish

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 15:ceac642f6b75 5 #include "BMP085.h"
tylerjw 17:4927053e120f 6 #include "GPS_parser.h"
tylerjw 22:becb67846755 7 #include "config.h"
tylerjw 19:1cfe22ef30e2 8
tylerjw 15:ceac642f6b75 9 I2C i2c(p9, p10); // sda, scl
tylerjw 15:ceac642f6b75 10 BMP085 alt_sensor(i2c);
tylerjw 15:ceac642f6b75 11
tylerjw 0:ce5f06c3895f 12 Serial pc(USBTX, USBRX);
tylerjw 10:b13416bbb4cd 13 BufferedSerial gps(NC, p14);
tylerjw 10:b13416bbb4cd 14 AnalogIn gps_battery(p20);
tylerjw 16:653df0cfe6ee 15 AnalogIn mbed_battery(p19);
tylerjw 7:d8ecabe16c9e 16
tylerjw 19:1cfe22ef30e2 17 GPS_Parser nmea;
tylerjw 17:4927053e120f 18
tylerjw 18:29b19a25a963 19 Semaphore parachute_sem(0);
tylerjw 18:29b19a25a963 20
tylerjw 13:db6af0620264 21 typedef struct {
tylerjw 13:db6af0620264 22 char line[80];
tylerjw 13:db6af0620264 23 } gps_line;
tylerjw 13:db6af0620264 24 MemoryPool<gps_line, 16> mpool_gps_line;
tylerjw 13:db6af0620264 25 Queue<gps_line, 16> queue_gps_line;
tylerjw 13:db6af0620264 26
tylerjw 13:db6af0620264 27 typedef struct {
tylerjw 14:dce4d8c29b17 28 char line[80];
tylerjw 13:db6af0620264 29 } sensor_line;
tylerjw 13:db6af0620264 30 MemoryPool<sensor_line, 16> mpool_sensor_line;
tylerjw 13:db6af0620264 31 Queue<sensor_line, 16> queue_sensor_line;
tylerjw 12:0d943d69d3ec 32
tylerjw 7:d8ecabe16c9e 33 void gps_thread(void const *args)
tylerjw 7:d8ecabe16c9e 34 {
tylerjw 10:b13416bbb4cd 35 char buffer[80];
tylerjw 18:29b19a25a963 36 float alt, alt_prev;
tylerjw 18:29b19a25a963 37 alt = alt_prev = 0;
tylerjw 9:4debfbc1fb3e 38
tylerjw 21:8799ee63c2cd 39 //DigitalOut gps_led(LED4);
tylerjw 7:d8ecabe16c9e 40
tylerjw 7:d8ecabe16c9e 41 gps.baud(4800);
tylerjw 7:d8ecabe16c9e 42
tylerjw 7:d8ecabe16c9e 43 while(true) {
tylerjw 21:8799ee63c2cd 44 //gps_led = !gps_led;
tylerjw 10:b13416bbb4cd 45 gps.read_line(buffer);
tylerjw 19:1cfe22ef30e2 46 int line_type = nmea.parse(buffer);
tylerjw 14:dce4d8c29b17 47 //pc.puts(buffer);
tylerjw 13:db6af0620264 48 // send to log...
tylerjw 13:db6af0620264 49 gps_line *message = mpool_gps_line.alloc();
tylerjw 13:db6af0620264 50 strcpy(message->line, buffer);
tylerjw 13:db6af0620264 51 queue_gps_line.put(message);
tylerjw 19:1cfe22ef30e2 52
tylerjw 19:1cfe22ef30e2 53 // test altitude direction - release parachute thread to run
tylerjw 19:1cfe22ef30e2 54 if(line_type == RMC && nmea.get_lock()) {
tylerjw 19:1cfe22ef30e2 55 if(UNLOCK_ON_FALL) {
tylerjw 19:1cfe22ef30e2 56 if(alt != 0) { // first time
tylerjw 19:1cfe22ef30e2 57 alt = nmea.get_msl_altitude();
tylerjw 19:1cfe22ef30e2 58 } else {
tylerjw 19:1cfe22ef30e2 59 alt_prev = alt;
tylerjw 19:1cfe22ef30e2 60 alt = nmea.get_msl_altitude();
tylerjw 19:1cfe22ef30e2 61 if(alt < alt_prev) // going down
tylerjw 19:1cfe22ef30e2 62 parachute_sem.release(); // let the parachute code execute
tylerjw 19:1cfe22ef30e2 63 }
tylerjw 18:29b19a25a963 64 } else {
tylerjw 19:1cfe22ef30e2 65 parachute_sem.release();
tylerjw 18:29b19a25a963 66 }
tylerjw 18:29b19a25a963 67 }
tylerjw 13:db6af0620264 68 }
tylerjw 13:db6af0620264 69 }
tylerjw 13:db6af0620264 70
tylerjw 13:db6af0620264 71 void log_thread(const void *args)
tylerjw 13:db6af0620264 72 {
tylerjw 13:db6af0620264 73 FATFS fs;
tylerjw 13:db6af0620264 74 FIL fp_gps, fp_sensor;
tylerjw 13:db6af0620264 75
tylerjw 13:db6af0620264 76 DigitalOut log_led(LED3);
tylerjw 13:db6af0620264 77
tylerjw 13:db6af0620264 78 f_mount(0, &fs);
tylerjw 13:db6af0620264 79 f_open(&fp_gps, "0:gps.txt", FA_CREATE_ALWAYS | FA_WRITE);
tylerjw 17:4927053e120f 80 f_open(&fp_sensor, "0:sensors.csv", FA_CREATE_ALWAYS | FA_WRITE);
tylerjw 13:db6af0620264 81
tylerjw 13:db6af0620264 82 while(1) {
tylerjw 18:29b19a25a963 83 log_led = !log_led;
tylerjw 14:dce4d8c29b17 84 osEvent evt1 = queue_gps_line.get(1);
tylerjw 14:dce4d8c29b17 85 if (evt1.status == osEventMessage) {
tylerjw 14:dce4d8c29b17 86 gps_line *message = (gps_line*)evt1.value.p;
tylerjw 13:db6af0620264 87
tylerjw 13:db6af0620264 88 f_puts(message->line, &fp_gps);
tylerjw 13:db6af0620264 89 f_sync(&fp_gps);
tylerjw 19:1cfe22ef30e2 90
tylerjw 13:db6af0620264 91 mpool_gps_line.free(message);
tylerjw 13:db6af0620264 92 }
tylerjw 19:1cfe22ef30e2 93
tylerjw 14:dce4d8c29b17 94 osEvent evt2 = queue_sensor_line.get(1);
tylerjw 14:dce4d8c29b17 95 if(evt2.status == osEventMessage) {
tylerjw 14:dce4d8c29b17 96 sensor_line *message = (sensor_line*)evt2.value.p;
tylerjw 19:1cfe22ef30e2 97
tylerjw 14:dce4d8c29b17 98 f_puts(message->line, &fp_sensor);
tylerjw 14:dce4d8c29b17 99 f_sync(&fp_sensor);
tylerjw 19:1cfe22ef30e2 100
tylerjw 13:db6af0620264 101 mpool_sensor_line.free(message);
tylerjw 13:db6af0620264 102 }
tylerjw 13:db6af0620264 103 }
tylerjw 13:db6af0620264 104 }
tylerjw 13:db6af0620264 105
tylerjw 13:db6af0620264 106 void sensor_thread(const void* args)
tylerjw 13:db6af0620264 107 {
tylerjw 14:dce4d8c29b17 108 DigitalOut sensor_led(LED2);
tylerjw 16:653df0cfe6ee 109 Timer t;
tylerjw 18:29b19a25a963 110 float time;
tylerjw 18:29b19a25a963 111 float gps_battery_voltage, mbed_battery_voltage;
tylerjw 18:29b19a25a963 112 float bmp_temperature, bmp_altitude;
tylerjw 18:29b19a25a963 113 int bmp_pressure;
tylerjw 19:1cfe22ef30e2 114
tylerjw 19:1cfe22ef30e2 115 if(WAIT_FOR_LOCK) {
tylerjw 19:1cfe22ef30e2 116 while(!nmea.get_date()) Thread::wait(100); // wait for lock
tylerjw 19:1cfe22ef30e2 117 }
tylerjw 19:1cfe22ef30e2 118
tylerjw 17:4927053e120f 119 t.start(); // start timer after lock
tylerjw 19:1cfe22ef30e2 120
tylerjw 14:dce4d8c29b17 121 sensor_line *message = mpool_sensor_line.alloc();
tylerjw 22:becb67846755 122 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.get_date(), nmea.get_time());
tylerjw 14:dce4d8c29b17 123 queue_sensor_line.put(message);
tylerjw 19:1cfe22ef30e2 124
tylerjw 19:1cfe22ef30e2 125 while(true) {
tylerjw 13:db6af0620264 126 //get sensor line memory
tylerjw 18:29b19a25a963 127 sensor_led = !sensor_led;
tylerjw 13:db6af0620264 128 sensor_line *message = mpool_sensor_line.alloc();
tylerjw 19:1cfe22ef30e2 129
tylerjw 16:653df0cfe6ee 130 //timestamp
tylerjw 22:becb67846755 131 time = nmea.get_time();
tylerjw 19:1cfe22ef30e2 132
tylerjw 13:db6af0620264 133 //gps battery
tylerjw 18:29b19a25a963 134 gps_battery_voltage = gps_battery.read()*BAT_GPS_MUL;
tylerjw 19:1cfe22ef30e2 135
tylerjw 16:653df0cfe6ee 136 //mbed battery
tylerjw 18:29b19a25a963 137 mbed_battery_voltage = mbed_battery.read()*BAT_MBED_MUL;
tylerjw 19:1cfe22ef30e2 138
tylerjw 15:ceac642f6b75 139 //BMP085
tylerjw 18:29b19a25a963 140 bmp_temperature = (float)alt_sensor.get_temperature() / 10.0;
tylerjw 18:29b19a25a963 141 bmp_pressure = alt_sensor.get_pressure();
tylerjw 18:29b19a25a963 142 bmp_altitude = alt_sensor.get_altitude_ft();
tylerjw 19:1cfe22ef30e2 143
tylerjw 22:becb67846755 144 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.get_altitude_ft(),nmea.get_course_d());
tylerjw 14:dce4d8c29b17 145 queue_sensor_line.put(message);
tylerjw 0:ce5f06c3895f 146 }
tylerjw 7:d8ecabe16c9e 147 }
tylerjw 7:d8ecabe16c9e 148
tylerjw 17:4927053e120f 149 void parachute_thread(const void *args)
tylerjw 17:4927053e120f 150 {
tylerjw 21:8799ee63c2cd 151 DigitalOut left_turn(LED4);
tylerjw 21:8799ee63c2cd 152 DigitalOut right_turn(LED1);
tylerjw 19:1cfe22ef30e2 153
tylerjw 21:8799ee63c2cd 154 right_turn = 1;
tylerjw 21:8799ee63c2cd 155 Thread::wait(400);
tylerjw 21:8799ee63c2cd 156 left_turn = 1;
tylerjw 21:8799ee63c2cd 157 Thread::wait(400);
tylerjw 19:1cfe22ef30e2 158 while(true) {
tylerjw 21:8799ee63c2cd 159 right_turn = left_turn = 0;
tylerjw 18:29b19a25a963 160 parachute_sem.wait();
tylerjw 22:becb67846755 161
tylerjw 21:8799ee63c2cd 162 float distance = nmea.calc_dist_to_km(target_lat, target_lon);
tylerjw 19:1cfe22ef30e2 163
tylerjw 21:8799ee63c2cd 164 if(distance < distance_fudge_km)
tylerjw 19:1cfe22ef30e2 165 continue; // dont do anything
tylerjw 19:1cfe22ef30e2 166
tylerjw 19:1cfe22ef30e2 167 float course = nmea.get_course_d();
tylerjw 19:1cfe22ef30e2 168 float course_to = nmea.calc_course_to(target_lat, target_lon);
tylerjw 19:1cfe22ef30e2 169 float course_diff = course_to - course;
tylerjw 22:becb67846755 170
tylerjw 22:becb67846755 171 if(course == 0.0) // not moving fast enough
tylerjw 22:becb67846755 172 continue; // do nothing
tylerjw 19:1cfe22ef30e2 173
tylerjw 21:8799ee63c2cd 174 if(course_diff < course_fudge && course_diff > neg_course_fudge) {
tylerjw 21:8799ee63c2cd 175 right_turn = left_turn = 1;
tylerjw 21:8799ee63c2cd 176 Thread::wait(400);
tylerjw 19:1cfe22ef30e2 177 continue; // don't do anything
tylerjw 21:8799ee63c2cd 178 } else if(course_diff > 180.0 || course_diff < 0.0) {
tylerjw 21:8799ee63c2cd 179 left_turn = 1;
tylerjw 21:8799ee63c2cd 180 Thread::wait(400); // turn left
tylerjw 22:becb67846755 181 } else {
tylerjw 22:becb67846755 182 right_turn = 1;
tylerjw 22:becb67846755 183 Thread::wait(400); // turn righ
tylerjw 21:8799ee63c2cd 184 }
tylerjw 18:29b19a25a963 185 }
tylerjw 17:4927053e120f 186 }
tylerjw 17:4927053e120f 187
tylerjw 7:d8ecabe16c9e 188 int main()
tylerjw 7:d8ecabe16c9e 189 {
tylerjw 10:b13416bbb4cd 190 pc.baud(9600);
tylerjw 9:4debfbc1fb3e 191 Thread thread(gps_thread, NULL, osPriorityHigh);
tylerjw 13:db6af0620264 192 Thread thread2(log_thread, NULL, osPriorityNormal);
tylerjw 14:dce4d8c29b17 193 Thread thread3(sensor_thread, NULL, osPriorityNormal);
tylerjw 17:4927053e120f 194 Thread thread4(parachute_thread, NULL, osPriorityRealtime);
tylerjw 13:db6af0620264 195
tylerjw 18:29b19a25a963 196 while(true) ;
tylerjw 0:ce5f06c3895f 197 }