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@30:b81274979e73, 2013-01-17 (annotated)

Committer:
tylerjw
Date:
Thu Jan 17 01:44:32 2013 +0000
Revision:
30:b81274979e73
Parent:
29:8cdb56a0fe57
Child:
31:b9ac7d61b15b
Implemented release, watchdog improvements, and test routine - NOT TESTED; ; TODO: Calibrate release servo.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
tylerjw 24:7477105103e5 1 /**
tylerjw 24:7477105103e5 2 * HARP Version 2
tylerjw 26:85cdb1031eb1 3 *
tylerjw 26:85cdb1031eb1 4 * TODO: Test Servo Code
tylerjw 26:85cdb1031eb1 5 * Test Watchdog Timer
tylerjw 26:85cdb1031eb1 6 * Test Append file and f_size() macro
tylerjw 24:7477105103e5 7 */
tylerjw 24:7477105103e5 8
tylerjw 0:ce5f06c3895f 9 #include "mbed.h"
tylerjw 7:d8ecabe16c9e 10 #include "rtos.h"
tylerjw 10:b13416bbb4cd 11 #include "buffered_serial.h"
tylerjw 12:0d943d69d3ec 12 #include "ff.h"
tylerjw 26:85cdb1031eb1 13 #include "TMP36GZ.h"
tylerjw 24:7477105103e5 14 #include "nmea_parser.h"
tylerjw 25:81c3696ba2c9 15 #include "watchdog.h"
tylerjw 25:81c3696ba2c9 16 #include "Servo.h"
tylerjw 22:becb67846755 17 #include "config.h"
tylerjw 19:1cfe22ef30e2 18
tylerjw 0:ce5f06c3895f 19 Serial pc(USBTX, USBRX);
tylerjw 24:7477105103e5 20 BufferedSerial gps;
tylerjw 10:b13416bbb4cd 21 AnalogIn gps_battery(p20);
tylerjw 26:85cdb1031eb1 22 AnalogIn mbed_battery(p16);
tylerjw 26:85cdb1031eb1 23 TMP36GZ temperature(p17);
tylerjw 29:8cdb56a0fe57 24 DigitalOut alarm(p18);
tylerjw 7:d8ecabe16c9e 25
tylerjw 24:7477105103e5 26 NmeaParser nmea;
tylerjw 17:4927053e120f 27
tylerjw 18:29b19a25a963 28 Semaphore parachute_sem(0);
tylerjw 26:85cdb1031eb1 29 Semaphore sd_sem(0);
tylerjw 18:29b19a25a963 30
tylerjw 13:db6af0620264 31 typedef struct {
tylerjw 13:db6af0620264 32 char line[80];
tylerjw 13:db6af0620264 33 } gps_line;
tylerjw 13:db6af0620264 34 MemoryPool<gps_line, 16> mpool_gps_line;
tylerjw 13:db6af0620264 35 Queue<gps_line, 16> queue_gps_line;
tylerjw 13:db6af0620264 36
tylerjw 13:db6af0620264 37 typedef struct {
tylerjw 14:dce4d8c29b17 38 char line[80];
tylerjw 13:db6af0620264 39 } sensor_line;
tylerjw 13:db6af0620264 40 MemoryPool<sensor_line, 16> mpool_sensor_line;
tylerjw 13:db6af0620264 41 Queue<sensor_line, 16> queue_sensor_line;
tylerjw 12:0d943d69d3ec 42
tylerjw 28:032d55fa57b8 43 volatile float left_pos = 0.0; // servo position for logging
tylerjw 28:032d55fa57b8 44 volatile float right_pos = 0.0;
tylerjw 28:032d55fa57b8 45
tylerjw 29:8cdb56a0fe57 46 volatile bool gps_wd = false;
tylerjw 29:8cdb56a0fe57 47 volatile bool sensor_wd = false;
tylerjw 29:8cdb56a0fe57 48 volatile bool log_wd = false;
tylerjw 29:8cdb56a0fe57 49 volatile bool parachute_wd = false;
tylerjw 29:8cdb56a0fe57 50
tylerjw 7:d8ecabe16c9e 51 void gps_thread(void const *args)
tylerjw 7:d8ecabe16c9e 52 {
tylerjw 10:b13416bbb4cd 53 char buffer[80];
tylerjw 18:29b19a25a963 54 float alt, alt_prev;
tylerjw 18:29b19a25a963 55 alt = alt_prev = 0;
tylerjw 9:4debfbc1fb3e 56
tylerjw 21:8799ee63c2cd 57 //DigitalOut gps_led(LED4);
tylerjw 7:d8ecabe16c9e 58
tylerjw 7:d8ecabe16c9e 59 gps.baud(4800);
tylerjw 7:d8ecabe16c9e 60
tylerjw 7:d8ecabe16c9e 61 while(true) {
tylerjw 21:8799ee63c2cd 62 //gps_led = !gps_led;
tylerjw 24:7477105103e5 63 gps.get_line(buffer);
tylerjw 19:1cfe22ef30e2 64 int line_type = nmea.parse(buffer);
tylerjw 14:dce4d8c29b17 65 //pc.puts(buffer);
tylerjw 13:db6af0620264 66 // send to log...
tylerjw 13:db6af0620264 67 gps_line *message = mpool_gps_line.alloc();
tylerjw 13:db6af0620264 68 strcpy(message->line, buffer);
tylerjw 13:db6af0620264 69 queue_gps_line.put(message);
tylerjw 19:1cfe22ef30e2 70
tylerjw 19:1cfe22ef30e2 71 // test altitude direction - release parachute thread to run
tylerjw 24:7477105103e5 72 if(line_type == RMC && nmea.quality()) {
tylerjw 19:1cfe22ef30e2 73 if(UNLOCK_ON_FALL) {
tylerjw 29:8cdb56a0fe57 74 if(RELEASE_AT_ALT) {
tylerjw 29:8cdb56a0fe57 75 if(nmea.msl_altitude() >= RELEASE_ALT)
tylerjw 29:8cdb56a0fe57 76 parachute_sem.release();
tylerjw 29:8cdb56a0fe57 77 }
tylerjw 29:8cdb56a0fe57 78 if(alt == 0) { // first time
tylerjw 24:7477105103e5 79 alt = nmea.msl_altitude();
tylerjw 19:1cfe22ef30e2 80 } else {
tylerjw 19:1cfe22ef30e2 81 alt_prev = alt;
tylerjw 24:7477105103e5 82 alt = nmea.msl_altitude();
tylerjw 19:1cfe22ef30e2 83 if(alt < alt_prev) // going down
tylerjw 29:8cdb56a0fe57 84 {
tylerjw 19:1cfe22ef30e2 85 parachute_sem.release(); // let the parachute code execute
tylerjw 29:8cdb56a0fe57 86 if(ALARM && alt < ALARM_ALT)
tylerjw 29:8cdb56a0fe57 87 alarm = 1;
tylerjw 29:8cdb56a0fe57 88 }
tylerjw 19:1cfe22ef30e2 89 }
tylerjw 18:29b19a25a963 90 } else {
tylerjw 19:1cfe22ef30e2 91 parachute_sem.release();
tylerjw 18:29b19a25a963 92 }
tylerjw 18:29b19a25a963 93 }
tylerjw 29:8cdb56a0fe57 94
tylerjw 29:8cdb56a0fe57 95 gps_wd = true; // kick the watchdog
tylerjw 13:db6af0620264 96 }
tylerjw 13:db6af0620264 97 }
tylerjw 13:db6af0620264 98
tylerjw 13:db6af0620264 99 void log_thread(const void *args)
tylerjw 13:db6af0620264 100 {
tylerjw 13:db6af0620264 101 FATFS fs;
tylerjw 13:db6af0620264 102 FIL fp_gps, fp_sensor;
tylerjw 13:db6af0620264 103
tylerjw 13:db6af0620264 104 DigitalOut log_led(LED3);
tylerjw 13:db6af0620264 105
tylerjw 29:8cdb56a0fe57 106 log_wd = true; // kick the dog
tylerjw 13:db6af0620264 107 f_mount(0, &fs);
tylerjw 25:81c3696ba2c9 108 f_open(&fp_gps, "0:gps.txt", FA_OPEN_EXISTING | FA_WRITE);
tylerjw 26:85cdb1031eb1 109 f_lseek(&fp_gps, f_size(&fp_gps));
tylerjw 25:81c3696ba2c9 110 f_open(&fp_sensor, "0:sensors.csv", FA_OPEN_EXISTING | FA_WRITE);
tylerjw 26:85cdb1031eb1 111 f_lseek(&fp_sensor, f_size(&fp_sensor));
tylerjw 29:8cdb56a0fe57 112 log_wd = true; // kick the dog
tylerjw 13:db6af0620264 113
tylerjw 26:85cdb1031eb1 114 sd_sem.release(); // sd card initialized... start sensor thread
tylerjw 29:8cdb56a0fe57 115
tylerjw 13:db6af0620264 116 while(1) {
tylerjw 18:29b19a25a963 117 log_led = !log_led;
tylerjw 14:dce4d8c29b17 118 osEvent evt1 = queue_gps_line.get(1);
tylerjw 14:dce4d8c29b17 119 if (evt1.status == osEventMessage) {
tylerjw 14:dce4d8c29b17 120 gps_line *message = (gps_line*)evt1.value.p;
tylerjw 13:db6af0620264 121
tylerjw 13:db6af0620264 122 f_puts(message->line, &fp_gps);
tylerjw 13:db6af0620264 123 f_sync(&fp_gps);
tylerjw 19:1cfe22ef30e2 124
tylerjw 13:db6af0620264 125 mpool_gps_line.free(message);
tylerjw 13:db6af0620264 126 }
tylerjw 19:1cfe22ef30e2 127
tylerjw 14:dce4d8c29b17 128 osEvent evt2 = queue_sensor_line.get(1);
tylerjw 14:dce4d8c29b17 129 if(evt2.status == osEventMessage) {
tylerjw 14:dce4d8c29b17 130 sensor_line *message = (sensor_line*)evt2.value.p;
tylerjw 19:1cfe22ef30e2 131
tylerjw 14:dce4d8c29b17 132 f_puts(message->line, &fp_sensor);
tylerjw 14:dce4d8c29b17 133 f_sync(&fp_sensor);
tylerjw 19:1cfe22ef30e2 134
tylerjw 13:db6af0620264 135 mpool_sensor_line.free(message);
tylerjw 13:db6af0620264 136 }
tylerjw 29:8cdb56a0fe57 137
tylerjw 29:8cdb56a0fe57 138 log_wd = true; // kick the dog
tylerjw 13:db6af0620264 139 }
tylerjw 13:db6af0620264 140 }
tylerjw 13:db6af0620264 141
tylerjw 13:db6af0620264 142 void sensor_thread(const void* args)
tylerjw 13:db6af0620264 143 {
tylerjw 14:dce4d8c29b17 144 DigitalOut sensor_led(LED2);
tylerjw 16:653df0cfe6ee 145 Timer t;
tylerjw 18:29b19a25a963 146 float time;
tylerjw 18:29b19a25a963 147 float gps_battery_voltage, mbed_battery_voltage;
tylerjw 26:85cdb1031eb1 148 float temp;
tylerjw 27:24fd8e32511c 149 float distance, course_to, course;
tylerjw 30:b81274979e73 150
tylerjw 30:b81274979e73 151 pc.baud(9600);
tylerjw 29:8cdb56a0fe57 152
tylerjw 29:8cdb56a0fe57 153 while( sd_sem.wait(50) <= 0) // wait for the sd card to initialize and open files
tylerjw 29:8cdb56a0fe57 154 sensor_wd = true; // kick the dog
tylerjw 19:1cfe22ef30e2 155
tylerjw 19:1cfe22ef30e2 156 if(WAIT_FOR_LOCK) {
tylerjw 29:8cdb56a0fe57 157 while(!nmea.date()) {
tylerjw 29:8cdb56a0fe57 158 Thread::wait(50); // wait for lock
tylerjw 29:8cdb56a0fe57 159 sensor_wd = true; // kick the dog
tylerjw 29:8cdb56a0fe57 160 }
tylerjw 19:1cfe22ef30e2 161 }
tylerjw 19:1cfe22ef30e2 162
tylerjw 17:4927053e120f 163 t.start(); // start timer after lock
tylerjw 19:1cfe22ef30e2 164
tylerjw 14:dce4d8c29b17 165 sensor_line *message = mpool_sensor_line.alloc();
tylerjw 29:8cdb56a0fe57 166 sprintf(message->line, "Date: %d, Time: %f\r\nGPS Time (UTC),GPS Battery(V),mbed Battery(V),", nmea.date(), nmea.utc_time());
tylerjw 26:85cdb1031eb1 167 queue_sensor_line.put(message);
tylerjw 29:8cdb56a0fe57 168
tylerjw 29:8cdb56a0fe57 169 sensor_wd = true; // kick the dog
tylerjw 29:8cdb56a0fe57 170
tylerjw 26:85cdb1031eb1 171 message = mpool_sensor_line.alloc();
tylerjw 29:8cdb56a0fe57 172 sprintf(message->line, "Temperature,GPS Altitude,GPS Course,");
tylerjw 29:8cdb56a0fe57 173 queue_sensor_line.put(message);
tylerjw 29:8cdb56a0fe57 174
tylerjw 29:8cdb56a0fe57 175 sensor_wd = true; // kick the dog
tylerjw 29:8cdb56a0fe57 176
tylerjw 29:8cdb56a0fe57 177 message = mpool_sensor_line.alloc();
tylerjw 29:8cdb56a0fe57 178 sprintf(message->line, "Course to Target,Distance,Left Servo,Right Servo \r\n");
tylerjw 14:dce4d8c29b17 179 queue_sensor_line.put(message);
tylerjw 19:1cfe22ef30e2 180
tylerjw 19:1cfe22ef30e2 181 while(true) {
tylerjw 13:db6af0620264 182 //get sensor line memory
tylerjw 18:29b19a25a963 183 sensor_led = !sensor_led;
tylerjw 19:1cfe22ef30e2 184
tylerjw 16:653df0cfe6ee 185 //timestamp
tylerjw 24:7477105103e5 186 time = nmea.utc_time();
tylerjw 19:1cfe22ef30e2 187
tylerjw 13:db6af0620264 188 //gps battery
tylerjw 18:29b19a25a963 189 gps_battery_voltage = gps_battery.read()*BAT_GPS_MUL;
tylerjw 19:1cfe22ef30e2 190
tylerjw 16:653df0cfe6ee 191 //mbed battery
tylerjw 18:29b19a25a963 192 mbed_battery_voltage = mbed_battery.read()*BAT_MBED_MUL;
tylerjw 19:1cfe22ef30e2 193
tylerjw 26:85cdb1031eb1 194 //temperature
tylerjw 26:85cdb1031eb1 195 temp = temperature.sample_f();
tylerjw 29:8cdb56a0fe57 196
tylerjw 27:24fd8e32511c 197 //gps
tylerjw 27:24fd8e32511c 198 distance = nmea.calc_dist_to_km(target_lat, target_lon);
tylerjw 27:24fd8e32511c 199 course_to = nmea.calc_initial_bearing(target_lat, target_lon);
tylerjw 27:24fd8e32511c 200 course = nmea.track();
tylerjw 30:b81274979e73 201
tylerjw 30:b81274979e73 202 pc.printf("course: %4.1f course_to: %4.1f distance: %f\r\n", course, course_to, distance);
tylerjw 19:1cfe22ef30e2 203
tylerjw 29:8cdb56a0fe57 204 sensor_line *message = mpool_sensor_line.alloc();
tylerjw 29:8cdb56a0fe57 205 sprintf(message->line, "%f,%f,%f,%f,%f,", time,gps_battery_voltage,mbed_battery_voltage,temp,nmea.calc_altitude_ft());
tylerjw 14:dce4d8c29b17 206 queue_sensor_line.put(message);
tylerjw 29:8cdb56a0fe57 207
tylerjw 29:8cdb56a0fe57 208 message = mpool_sensor_line.alloc();
tylerjw 29:8cdb56a0fe57 209 sprintf(message->line, "%f,%f,%f,%f,%f\r\n", course,course_to,distance,left_pos,right_pos);
tylerjw 29:8cdb56a0fe57 210 queue_sensor_line.put(message);
tylerjw 29:8cdb56a0fe57 211
tylerjw 29:8cdb56a0fe57 212 sensor_wd = true; // kick the dog
tylerjw 30:b81274979e73 213 Thread::wait(500);
tylerjw 0:ce5f06c3895f 214 }
tylerjw 7:d8ecabe16c9e 215 }
tylerjw 7:d8ecabe16c9e 216
tylerjw 17:4927053e120f 217 void parachute_thread(const void *args)
tylerjw 17:4927053e120f 218 {
tylerjw 28:032d55fa57b8 219 DigitalOut left_turn_led(LED4);
tylerjw 28:032d55fa57b8 220 DigitalOut right_turn_led(LED1);
tylerjw 29:8cdb56a0fe57 221 bool is_released = false;
tylerjw 29:8cdb56a0fe57 222
tylerjw 25:81c3696ba2c9 223 // servos ////////////////////////// NOT TESTED!!! ///////////////////////////
tylerjw 25:81c3696ba2c9 224 Servo left_s(p21);
tylerjw 25:81c3696ba2c9 225 Servo right_s(p22);
tylerjw 29:8cdb56a0fe57 226 Servo release_s(p23);
tylerjw 25:81c3696ba2c9 227
tylerjw 29:8cdb56a0fe57 228 left_s.calibrate_max(SERVO_L_MAX);
tylerjw 29:8cdb56a0fe57 229 left_s.calibrate_min(SERVO_L_MIN);
tylerjw 29:8cdb56a0fe57 230 right_s.calibrate_max(SERVO_R_MAX);
tylerjw 29:8cdb56a0fe57 231 right_s.calibrate_min(SERVO_R_MIN);
tylerjw 29:8cdb56a0fe57 232
tylerjw 29:8cdb56a0fe57 233 // TODO: Calibrate release servo
tylerjw 29:8cdb56a0fe57 234
tylerjw 25:81c3696ba2c9 235 left_s = 0.0;
tylerjw 25:81c3696ba2c9 236 right_s = 0.0;
tylerjw 29:8cdb56a0fe57 237
tylerjw 29:8cdb56a0fe57 238 // TODO: Move release servo in and out to allow attachment on startup
tylerjw 30:b81274979e73 239 release_s = 0.0; // NOT TESTED!
tylerjw 30:b81274979e73 240 Thread::wait(1000);
tylerjw 30:b81274979e73 241 parachute_wd = true; // kick the dog
tylerjw 30:b81274979e73 242 Thread::wait(1000);
tylerjw 30:b81274979e73 243 release_s = 1.0;
tylerjw 29:8cdb56a0fe57 244
tylerjw 25:81c3696ba2c9 245 ////////////////////////////////////////////////////////////////////////////////
tylerjw 19:1cfe22ef30e2 246
tylerjw 30:b81274979e73 247 //right_turn_led = 1; // remove with watchdog on - test to determine which led is which
tylerjw 30:b81274979e73 248 //Thread::wait(1000);
tylerjw 30:b81274979e73 249 //left_turn_led = 1;
tylerjw 30:b81274979e73 250 //Thread::wait(1000);
tylerjw 30:b81274979e73 251
tylerjw 30:b81274979e73 252 int counter = 0;
tylerjw 30:b81274979e73 253
tylerjw 19:1cfe22ef30e2 254 while(true) {
tylerjw 30:b81274979e73 255 parachute_wd = true; // kick the dog
tylerjw 28:032d55fa57b8 256 right_turn_led = left_turn_led = 0;
tylerjw 29:8cdb56a0fe57 257 while( parachute_sem.wait(50) <= 0) // didn't get it (timeout)
tylerjw 29:8cdb56a0fe57 258 parachute_wd = true; // kick the dog
tylerjw 29:8cdb56a0fe57 259
tylerjw 30:b81274979e73 260 if(!is_released)
tylerjw 30:b81274979e73 261 release_s = 0.0; // let go of the balloon (NOT Tested)
tylerjw 30:b81274979e73 262
tylerjw 30:b81274979e73 263 if(counter < test_length) // test flight -- (NOT Tested)
tylerjw 30:b81274979e73 264 {
tylerjw 30:b81274979e73 265 left_s = test_left[counter];
tylerjw 30:b81274979e73 266 right_s = test_right[counter];
tylerjw 30:b81274979e73 267 Thread::wait(1000);
tylerjw 30:b81274979e73 268 parachute_wd = true; // kick the watchdog
tylerjw 30:b81274979e73 269 Thread::wait(1000);
tylerjw 30:b81274979e73 270 counter++;
tylerjw 30:b81274979e73 271 continue;
tylerjw 30:b81274979e73 272 }
tylerjw 30:b81274979e73 273
tylerjw 21:8799ee63c2cd 274 float distance = nmea.calc_dist_to_km(target_lat, target_lon);
tylerjw 19:1cfe22ef30e2 275
tylerjw 21:8799ee63c2cd 276 if(distance < distance_fudge_km)
tylerjw 30:b81274979e73 277 {
tylerjw 30:b81274979e73 278 alarm = 1; // sound the alarm
tylerjw 19:1cfe22ef30e2 279 continue; // dont do anything
tylerjw 30:b81274979e73 280 }
tylerjw 19:1cfe22ef30e2 281
tylerjw 24:7477105103e5 282 float course = nmea.track();
tylerjw 24:7477105103e5 283 float course_to = nmea.calc_initial_bearing(target_lat, target_lon);
tylerjw 19:1cfe22ef30e2 284 float course_diff = course_to - course;
tylerjw 29:8cdb56a0fe57 285
tylerjw 22:becb67846755 286 if(course == 0.0) // not moving fast enough
tylerjw 22:becb67846755 287 continue; // do nothing
tylerjw 19:1cfe22ef30e2 288
tylerjw 21:8799ee63c2cd 289 if(course_diff < course_fudge && course_diff > neg_course_fudge) {
tylerjw 28:032d55fa57b8 290 right_turn_led = left_turn_led = 1;
tylerjw 21:8799ee63c2cd 291 Thread::wait(400);
tylerjw 19:1cfe22ef30e2 292 continue; // don't do anything
tylerjw 21:8799ee63c2cd 293 } else if(course_diff > 180.0 || course_diff < 0.0) {
tylerjw 28:032d55fa57b8 294 left_turn_led = 1;
tylerjw 30:b81274979e73 295 right_s = right_pos = 0.0;
tylerjw 28:032d55fa57b8 296 left_s = left_pos = 1.0;
tylerjw 21:8799ee63c2cd 297 Thread::wait(400); // turn left
tylerjw 25:81c3696ba2c9 298 left_s = 0.0;
tylerjw 22:becb67846755 299 } else {
tylerjw 28:032d55fa57b8 300 right_turn_led = 1;
tylerjw 28:032d55fa57b8 301 left_s = left_pos = 0.0;
tylerjw 28:032d55fa57b8 302 right_s = right_pos = 1.0;
tylerjw 22:becb67846755 303 Thread::wait(400); // turn righ
tylerjw 28:032d55fa57b8 304 right_s = right_pos = 0.0;
tylerjw 21:8799ee63c2cd 305 }
tylerjw 29:8cdb56a0fe57 306 }
tylerjw 29:8cdb56a0fe57 307 }
tylerjw 29:8cdb56a0fe57 308
tylerjw 29:8cdb56a0fe57 309 void watchdog_thread(const void *args)
tylerjw 29:8cdb56a0fe57 310 {
tylerjw 29:8cdb56a0fe57 311 Watchdog wdt; // NOT TESTED!!!
tylerjw 29:8cdb56a0fe57 312
tylerjw 29:8cdb56a0fe57 313 wdt.kick(2.0);
tylerjw 29:8cdb56a0fe57 314
tylerjw 29:8cdb56a0fe57 315 while(true) {
tylerjw 29:8cdb56a0fe57 316 if(gps_wd && sensor_wd && parachute_wd && log_wd) {
tylerjw 29:8cdb56a0fe57 317 wdt.kick();
tylerjw 29:8cdb56a0fe57 318 gps_wd = sensor_wd = parachute_wd = log_wd = false;
tylerjw 29:8cdb56a0fe57 319 } else {
tylerjw 29:8cdb56a0fe57 320 Thread::wait(50);
tylerjw 29:8cdb56a0fe57 321 }
tylerjw 18:29b19a25a963 322 }
tylerjw 17:4927053e120f 323 }
tylerjw 17:4927053e120f 324
tylerjw 7:d8ecabe16c9e 325 int main()
tylerjw 7:d8ecabe16c9e 326 {
tylerjw 9:4debfbc1fb3e 327 Thread thread(gps_thread, NULL, osPriorityHigh);
tylerjw 13:db6af0620264 328 Thread thread2(log_thread, NULL, osPriorityNormal);
tylerjw 14:dce4d8c29b17 329 Thread thread3(sensor_thread, NULL, osPriorityNormal);
tylerjw 17:4927053e120f 330 Thread thread4(parachute_thread, NULL, osPriorityRealtime);
tylerjw 29:8cdb56a0fe57 331 Thread thread5(watchdog_thread, NULL, osPriorityHigh);
tylerjw 13:db6af0620264 332
tylerjw 25:81c3696ba2c9 333 while(true) {
tylerjw 29:8cdb56a0fe57 334 Thread::wait(osWaitForever);
tylerjw 25:81c3696ba2c9 335 }
tylerjw 0:ce5f06c3895f 336 }