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@10:b13416bbb4cd, 2012-12-11 (annotated)
- Committer:
- tylerjw
- Date:
- Tue Dec 11 00:27:45 2012 +0000
- Revision:
- 10:b13416bbb4cd
- Parent:
- 9:4debfbc1fb3e
- Child:
- 11:890a721158a5
with voltage monitor
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 | 10:b13416bbb4cd | 4 | |
tylerjw | 10:b13416bbb4cd | 5 | #define CELLS 3.0 |
tylerjw | 10:b13416bbb4cd | 6 | #define LIPO_EMPTY 3.4 |
tylerjw | 10:b13416bbb4cd | 7 | #define LIPO_FULL 4.2 |
tylerjw | 10:b13416bbb4cd | 8 | |
tylerjw | 10:b13416bbb4cd | 9 | const float BAT_MUL = 4.7; |
tylerjw | 10:b13416bbb4cd | 10 | const float BAT_FULL = (CELLS * LIPO_FULL); |
tylerjw | 10:b13416bbb4cd | 11 | const float BAT_EMPTY = (CELLS * LIPO_EMPTY); |
tylerjw | 10:b13416bbb4cd | 12 | const float BAT_RANGE = BAT_FULL - BAT_EMPTY; |
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 | 7:d8ecabe16c9e | 17 | |
tylerjw | 7:d8ecabe16c9e | 18 | void gps_thread(void const *args) |
tylerjw | 7:d8ecabe16c9e | 19 | { |
tylerjw | 10:b13416bbb4cd | 20 | char buffer[80]; |
tylerjw | 9:4debfbc1fb3e | 21 | |
tylerjw | 10:b13416bbb4cd | 22 | DigitalOut gps_led(LED4); |
tylerjw | 7:d8ecabe16c9e | 23 | |
tylerjw | 7:d8ecabe16c9e | 24 | gps.baud(4800); |
tylerjw | 7:d8ecabe16c9e | 25 | |
tylerjw | 7:d8ecabe16c9e | 26 | while(true) { |
tylerjw | 10:b13416bbb4cd | 27 | gps.read_line(buffer); |
tylerjw | 10:b13416bbb4cd | 28 | gps_led = !gps_led; |
tylerjw | 10:b13416bbb4cd | 29 | //pc.puts(buffer); |
tylerjw | 0:ce5f06c3895f | 30 | } |
tylerjw | 7:d8ecabe16c9e | 31 | } |
tylerjw | 7:d8ecabe16c9e | 32 | |
tylerjw | 7:d8ecabe16c9e | 33 | int main() |
tylerjw | 7:d8ecabe16c9e | 34 | { |
tylerjw | 10:b13416bbb4cd | 35 | pc.baud(9600); |
tylerjw | 9:4debfbc1fb3e | 36 | Thread thread(gps_thread, NULL, osPriorityHigh); |
tylerjw | 9:4debfbc1fb3e | 37 | |
tylerjw | 10:b13416bbb4cd | 38 | while(true) { |
tylerjw | 10:b13416bbb4cd | 39 | float sample = gps_battery.read(); |
tylerjw | 10:b13416bbb4cd | 40 | pc.printf("Sample: %f Volts\r\n", sample*3.3); |
tylerjw | 10:b13416bbb4cd | 41 | float voltage = sample*BAT_MUL*3.3; |
tylerjw | 10:b13416bbb4cd | 42 | pc.printf("Battery Voltage: %f Volts\r\n", voltage); |
tylerjw | 10:b13416bbb4cd | 43 | float level = (voltage-BAT_EMPTY) / (BAT_RANGE); |
tylerjw | 10:b13416bbb4cd | 44 | pc.printf("Battery Level: %f \r\n", level); |
tylerjw | 10:b13416bbb4cd | 45 | |
tylerjw | 10:b13416bbb4cd | 46 | Thread::wait(1000); |
tylerjw | 10:b13416bbb4cd | 47 | } |
tylerjw | 0:ce5f06c3895f | 48 | } |