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@24:7477105103e5, 2012-12-17 (annotated)

Committer:
tylerjw
Date:
Mon Dec 17 23:42:34 2012 +0000
Revision:
24:7477105103e5
Parent:
23:5a7b5db55be5
Child:
25:81c3696ba2c9
documentation and naming standards

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tylerjw 24:7477105103e5 1 /**
tylerjw 24:7477105103e5 2 * HARP Version 2
tylerjw 24:7477105103e5 3 */
tylerjw 24:7477105103e5 4
tylerjw 0:ce5f06c3895f 5 #include "mbed.h"
tylerjw 7:d8ecabe16c9e 6 #include "rtos.h"
tylerjw 10:b13416bbb4cd 7 #include "buffered_serial.h"
tylerjw 12:0d943d69d3ec 8 #include "ff.h"
tylerjw 15:ceac642f6b75 9 #include "BMP085.h"
tylerjw 24:7477105103e5 10 #include "nmea_parser.h"
tylerjw 22:becb67846755 11 #include "config.h"
tylerjw 19:1cfe22ef30e2 12
tylerjw 15:ceac642f6b75 13 I2C i2c(p9, p10); // sda, scl
tylerjw 15:ceac642f6b75 14 BMP085 alt_sensor(i2c);
tylerjw 15:ceac642f6b75 15
tylerjw 0:ce5f06c3895f 16 Serial pc(USBTX, USBRX);
tylerjw 24:7477105103e5 17 BufferedSerial gps;
tylerjw 10:b13416bbb4cd 18 AnalogIn gps_battery(p20);
tylerjw 16:653df0cfe6ee 19 AnalogIn mbed_battery(p19);
tylerjw 7:d8ecabe16c9e 20
tylerjw 24:7477105103e5 21 NmeaParser nmea;
tylerjw 17:4927053e120f 22
tylerjw 18:29b19a25a963 23 Semaphore parachute_sem(0);
tylerjw 18:29b19a25a963 24
tylerjw 13:db6af0620264 25 typedef struct {
tylerjw 13:db6af0620264 26 char line[80];
tylerjw 13:db6af0620264 27 } gps_line;
tylerjw 13:db6af0620264 28 MemoryPool<gps_line, 16> mpool_gps_line;
tylerjw 13:db6af0620264 29 Queue<gps_line, 16> queue_gps_line;
tylerjw 13:db6af0620264 30
tylerjw 13:db6af0620264 31 typedef struct {
tylerjw 14:dce4d8c29b17 32 char line[80];
tylerjw 13:db6af0620264 33 } sensor_line;
tylerjw 13:db6af0620264 34 MemoryPool<sensor_line, 16> mpool_sensor_line;
tylerjw 13:db6af0620264 35 Queue<sensor_line, 16> queue_sensor_line;
tylerjw 12:0d943d69d3ec 36
tylerjw 7:d8ecabe16c9e 37 void gps_thread(void const *args)
tylerjw 7:d8ecabe16c9e 38 {
tylerjw 10:b13416bbb4cd 39 char buffer[80];
tylerjw 18:29b19a25a963 40 float alt, alt_prev;
tylerjw 18:29b19a25a963 41 alt = alt_prev = 0;
tylerjw 9:4debfbc1fb3e 42
tylerjw 21:8799ee63c2cd 43 //DigitalOut gps_led(LED4);
tylerjw 7:d8ecabe16c9e 44
tylerjw 7:d8ecabe16c9e 45 gps.baud(4800);
tylerjw 7:d8ecabe16c9e 46
tylerjw 7:d8ecabe16c9e 47 while(true) {
tylerjw 21:8799ee63c2cd 48 //gps_led = !gps_led;
tylerjw 24:7477105103e5 49 gps.get_line(buffer);
tylerjw 19:1cfe22ef30e2 50 int line_type = nmea.parse(buffer);
tylerjw 14:dce4d8c29b17 51 //pc.puts(buffer);
tylerjw 13:db6af0620264 52 // send to log...
tylerjw 13:db6af0620264 53 gps_line *message = mpool_gps_line.alloc();
tylerjw 13:db6af0620264 54 strcpy(message->line, buffer);
tylerjw 13:db6af0620264 55 queue_gps_line.put(message);
tylerjw 19:1cfe22ef30e2 56
tylerjw 19:1cfe22ef30e2 57 // test altitude direction - release parachute thread to run
tylerjw 24:7477105103e5 58 if(line_type == RMC && nmea.quality()) {
tylerjw 19:1cfe22ef30e2 59 if(UNLOCK_ON_FALL) {
tylerjw 19:1cfe22ef30e2 60 if(alt != 0) { // first time
tylerjw 24:7477105103e5 61 alt = nmea.msl_altitude();
tylerjw 19:1cfe22ef30e2 62 } else {
tylerjw 19:1cfe22ef30e2 63 alt_prev = alt;
tylerjw 24:7477105103e5 64 alt = nmea.msl_altitude();
tylerjw 19:1cfe22ef30e2 65 if(alt < alt_prev) // going down
tylerjw 19:1cfe22ef30e2 66 parachute_sem.release(); // let the parachute code execute
tylerjw 19:1cfe22ef30e2 67 }
tylerjw 18:29b19a25a963 68 } else {
tylerjw 19:1cfe22ef30e2 69 parachute_sem.release();
tylerjw 18:29b19a25a963 70 }
tylerjw 18:29b19a25a963 71 }
tylerjw 13:db6af0620264 72 }
tylerjw 13:db6af0620264 73 }
tylerjw 13:db6af0620264 74
tylerjw 13:db6af0620264 75 void log_thread(const void *args)
tylerjw 13:db6af0620264 76 {
tylerjw 13:db6af0620264 77 FATFS fs;
tylerjw 13:db6af0620264 78 FIL fp_gps, fp_sensor;
tylerjw 13:db6af0620264 79
tylerjw 13:db6af0620264 80 DigitalOut log_led(LED3);
tylerjw 13:db6af0620264 81
tylerjw 13:db6af0620264 82 f_mount(0, &fs);
tylerjw 13:db6af0620264 83 f_open(&fp_gps, "0:gps.txt", FA_CREATE_ALWAYS | FA_WRITE);
tylerjw 17:4927053e120f 84 f_open(&fp_sensor, "0:sensors.csv", FA_CREATE_ALWAYS | FA_WRITE);
tylerjw 13:db6af0620264 85
tylerjw 13:db6af0620264 86 while(1) {
tylerjw 18:29b19a25a963 87 log_led = !log_led;
tylerjw 14:dce4d8c29b17 88 osEvent evt1 = queue_gps_line.get(1);
tylerjw 14:dce4d8c29b17 89 if (evt1.status == osEventMessage) {
tylerjw 14:dce4d8c29b17 90 gps_line *message = (gps_line*)evt1.value.p;
tylerjw 13:db6af0620264 91
tylerjw 13:db6af0620264 92 f_puts(message->line, &fp_gps);
tylerjw 13:db6af0620264 93 f_sync(&fp_gps);
tylerjw 19:1cfe22ef30e2 94
tylerjw 13:db6af0620264 95 mpool_gps_line.free(message);
tylerjw 13:db6af0620264 96 }
tylerjw 19:1cfe22ef30e2 97
tylerjw 14:dce4d8c29b17 98 osEvent evt2 = queue_sensor_line.get(1);
tylerjw 14:dce4d8c29b17 99 if(evt2.status == osEventMessage) {
tylerjw 14:dce4d8c29b17 100 sensor_line *message = (sensor_line*)evt2.value.p;
tylerjw 19:1cfe22ef30e2 101
tylerjw 14:dce4d8c29b17 102 f_puts(message->line, &fp_sensor);
tylerjw 14:dce4d8c29b17 103 f_sync(&fp_sensor);
tylerjw 19:1cfe22ef30e2 104
tylerjw 13:db6af0620264 105 mpool_sensor_line.free(message);
tylerjw 13:db6af0620264 106 }
tylerjw 13:db6af0620264 107 }
tylerjw 13:db6af0620264 108 }
tylerjw 13:db6af0620264 109
tylerjw 13:db6af0620264 110 void sensor_thread(const void* args)
tylerjw 13:db6af0620264 111 {
tylerjw 14:dce4d8c29b17 112 DigitalOut sensor_led(LED2);
tylerjw 16:653df0cfe6ee 113 Timer t;
tylerjw 18:29b19a25a963 114 float time;
tylerjw 18:29b19a25a963 115 float gps_battery_voltage, mbed_battery_voltage;
tylerjw 18:29b19a25a963 116 float bmp_temperature, bmp_altitude;
tylerjw 18:29b19a25a963 117 int bmp_pressure;
tylerjw 19:1cfe22ef30e2 118
tylerjw 19:1cfe22ef30e2 119 if(WAIT_FOR_LOCK) {
tylerjw 24:7477105103e5 120 while(!nmea.date()) Thread::wait(100); // wait for lock
tylerjw 19:1cfe22ef30e2 121 }
tylerjw 19:1cfe22ef30e2 122
tylerjw 17:4927053e120f 123 t.start(); // start timer after lock
tylerjw 19:1cfe22ef30e2 124
tylerjw 14:dce4d8c29b17 125 sensor_line *message = mpool_sensor_line.alloc();
tylerjw 24:7477105103e5 126 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.date(), nmea.utc_time());
tylerjw 14:dce4d8c29b17 127 queue_sensor_line.put(message);
tylerjw 19:1cfe22ef30e2 128
tylerjw 19:1cfe22ef30e2 129 while(true) {
tylerjw 13:db6af0620264 130 //get sensor line memory
tylerjw 18:29b19a25a963 131 sensor_led = !sensor_led;
tylerjw 13:db6af0620264 132 sensor_line *message = mpool_sensor_line.alloc();
tylerjw 19:1cfe22ef30e2 133
tylerjw 16:653df0cfe6ee 134 //timestamp
tylerjw 24:7477105103e5 135 time = nmea.utc_time();
tylerjw 19:1cfe22ef30e2 136
tylerjw 13:db6af0620264 137 //gps battery
tylerjw 18:29b19a25a963 138 gps_battery_voltage = gps_battery.read()*BAT_GPS_MUL;
tylerjw 19:1cfe22ef30e2 139
tylerjw 16:653df0cfe6ee 140 //mbed battery
tylerjw 18:29b19a25a963 141 mbed_battery_voltage = mbed_battery.read()*BAT_MBED_MUL;
tylerjw 19:1cfe22ef30e2 142
tylerjw 15:ceac642f6b75 143 //BMP085
tylerjw 18:29b19a25a963 144 bmp_temperature = (float)alt_sensor.get_temperature() / 10.0;
tylerjw 18:29b19a25a963 145 bmp_pressure = alt_sensor.get_pressure();
tylerjw 18:29b19a25a963 146 bmp_altitude = alt_sensor.get_altitude_ft();
tylerjw 19:1cfe22ef30e2 147
tylerjw 24:7477105103e5 148 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.calc_altitude_ft(),nmea.track());
tylerjw 14:dce4d8c29b17 149 queue_sensor_line.put(message);
tylerjw 0:ce5f06c3895f 150 }
tylerjw 7:d8ecabe16c9e 151 }
tylerjw 7:d8ecabe16c9e 152
tylerjw 17:4927053e120f 153 void parachute_thread(const void *args)
tylerjw 17:4927053e120f 154 {
tylerjw 21:8799ee63c2cd 155 DigitalOut left_turn(LED4);
tylerjw 21:8799ee63c2cd 156 DigitalOut right_turn(LED1);
tylerjw 19:1cfe22ef30e2 157
tylerjw 21:8799ee63c2cd 158 right_turn = 1;
tylerjw 21:8799ee63c2cd 159 Thread::wait(400);
tylerjw 21:8799ee63c2cd 160 left_turn = 1;
tylerjw 21:8799ee63c2cd 161 Thread::wait(400);
tylerjw 19:1cfe22ef30e2 162 while(true) {
tylerjw 21:8799ee63c2cd 163 right_turn = left_turn = 0;
tylerjw 18:29b19a25a963 164 parachute_sem.wait();
tylerjw 22:becb67846755 165
tylerjw 21:8799ee63c2cd 166 float distance = nmea.calc_dist_to_km(target_lat, target_lon);
tylerjw 19:1cfe22ef30e2 167
tylerjw 21:8799ee63c2cd 168 if(distance < distance_fudge_km)
tylerjw 19:1cfe22ef30e2 169 continue; // dont do anything
tylerjw 19:1cfe22ef30e2 170
tylerjw 24:7477105103e5 171 float course = nmea.track();
tylerjw 24:7477105103e5 172 float course_to = nmea.calc_initial_bearing(target_lat, target_lon);
tylerjw 19:1cfe22ef30e2 173 float course_diff = course_to - course;
tylerjw 22:becb67846755 174
tylerjw 22:becb67846755 175 if(course == 0.0) // not moving fast enough
tylerjw 22:becb67846755 176 continue; // do nothing
tylerjw 19:1cfe22ef30e2 177
tylerjw 21:8799ee63c2cd 178 if(course_diff < course_fudge && course_diff > neg_course_fudge) {
tylerjw 21:8799ee63c2cd 179 right_turn = left_turn = 1;
tylerjw 21:8799ee63c2cd 180 Thread::wait(400);
tylerjw 19:1cfe22ef30e2 181 continue; // don't do anything
tylerjw 21:8799ee63c2cd 182 } else if(course_diff > 180.0 || course_diff < 0.0) {
tylerjw 21:8799ee63c2cd 183 left_turn = 1;
tylerjw 21:8799ee63c2cd 184 Thread::wait(400); // turn left
tylerjw 22:becb67846755 185 } else {
tylerjw 22:becb67846755 186 right_turn = 1;
tylerjw 22:becb67846755 187 Thread::wait(400); // turn righ
tylerjw 21:8799ee63c2cd 188 }
tylerjw 18:29b19a25a963 189 }
tylerjw 17:4927053e120f 190 }
tylerjw 17:4927053e120f 191
tylerjw 7:d8ecabe16c9e 192 int main()
tylerjw 7:d8ecabe16c9e 193 {
tylerjw 10:b13416bbb4cd 194 pc.baud(9600);
tylerjw 9:4debfbc1fb3e 195 Thread thread(gps_thread, NULL, osPriorityHigh);
tylerjw 13:db6af0620264 196 Thread thread2(log_thread, NULL, osPriorityNormal);
tylerjw 14:dce4d8c29b17 197 Thread thread3(sensor_thread, NULL, osPriorityNormal);
tylerjw 17:4927053e120f 198 Thread thread4(parachute_thread, NULL, osPriorityRealtime);
tylerjw 13:db6af0620264 199
tylerjw 18:29b19a25a963 200 while(true) ;
tylerjw 0:ce5f06c3895f 201 }