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@22:becb67846755, 2012-12-13 (annotated)
- Committer:
- tylerjw
- Date:
- Thu Dec 13 23:08:10 2012 +0000
- Revision:
- 22:becb67846755
- Parent:
- 21:8799ee63c2cd
- Child:
- 23:5a7b5db55be5
swapped right and left turn;
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 | 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 | // debugging |
tylerjw | 19:1cfe22ef30e2 | 54 | //pc.printf("%d, %f, %f, %f\r\n", nmea.get_date(), nmea.get_time(), nmea.get_msl_altitude(), nmea.get_altitude_ft()); |
tylerjw | 19:1cfe22ef30e2 | 55 | //pc.printf("%f, %f\r\n", nmea.get_dec_longitude(), nmea.get_dec_latitude()); |
tylerjw | 19:1cfe22ef30e2 | 56 | //pc.printf("%f, %f, %f\r\n", nmea.calc_dist_to_mi(lat,lon), nmea.calc_dist_to_km(lat,lon), nmea.calc_course_to(lat,lon)); |
tylerjw | 22:becb67846755 | 57 | |
tylerjw | 19:1cfe22ef30e2 | 58 | // test altitude direction - release parachute thread to run |
tylerjw | 19:1cfe22ef30e2 | 59 | if(line_type == RMC && nmea.get_lock()) { |
tylerjw | 19:1cfe22ef30e2 | 60 | if(UNLOCK_ON_FALL) { |
tylerjw | 19:1cfe22ef30e2 | 61 | if(alt != 0) { // first time |
tylerjw | 19:1cfe22ef30e2 | 62 | alt = nmea.get_msl_altitude(); |
tylerjw | 19:1cfe22ef30e2 | 63 | } else { |
tylerjw | 19:1cfe22ef30e2 | 64 | alt_prev = alt; |
tylerjw | 19:1cfe22ef30e2 | 65 | alt = nmea.get_msl_altitude(); |
tylerjw | 19:1cfe22ef30e2 | 66 | if(alt < alt_prev) // going down |
tylerjw | 19:1cfe22ef30e2 | 67 | parachute_sem.release(); // let the parachute code execute |
tylerjw | 19:1cfe22ef30e2 | 68 | } |
tylerjw | 18:29b19a25a963 | 69 | } else { |
tylerjw | 19:1cfe22ef30e2 | 70 | parachute_sem.release(); |
tylerjw | 18:29b19a25a963 | 71 | } |
tylerjw | 18:29b19a25a963 | 72 | } |
tylerjw | 13:db6af0620264 | 73 | } |
tylerjw | 13:db6af0620264 | 74 | } |
tylerjw | 13:db6af0620264 | 75 | |
tylerjw | 13:db6af0620264 | 76 | void log_thread(const void *args) |
tylerjw | 13:db6af0620264 | 77 | { |
tylerjw | 13:db6af0620264 | 78 | FATFS fs; |
tylerjw | 13:db6af0620264 | 79 | FIL fp_gps, fp_sensor; |
tylerjw | 13:db6af0620264 | 80 | |
tylerjw | 13:db6af0620264 | 81 | DigitalOut log_led(LED3); |
tylerjw | 13:db6af0620264 | 82 | |
tylerjw | 13:db6af0620264 | 83 | f_mount(0, &fs); |
tylerjw | 13:db6af0620264 | 84 | f_open(&fp_gps, "0:gps.txt", FA_CREATE_ALWAYS | FA_WRITE); |
tylerjw | 17:4927053e120f | 85 | f_open(&fp_sensor, "0:sensors.csv", FA_CREATE_ALWAYS | FA_WRITE); |
tylerjw | 13:db6af0620264 | 86 | |
tylerjw | 13:db6af0620264 | 87 | while(1) { |
tylerjw | 18:29b19a25a963 | 88 | log_led = !log_led; |
tylerjw | 14:dce4d8c29b17 | 89 | osEvent evt1 = queue_gps_line.get(1); |
tylerjw | 14:dce4d8c29b17 | 90 | if (evt1.status == osEventMessage) { |
tylerjw | 14:dce4d8c29b17 | 91 | gps_line *message = (gps_line*)evt1.value.p; |
tylerjw | 13:db6af0620264 | 92 | |
tylerjw | 13:db6af0620264 | 93 | f_puts(message->line, &fp_gps); |
tylerjw | 13:db6af0620264 | 94 | f_sync(&fp_gps); |
tylerjw | 19:1cfe22ef30e2 | 95 | |
tylerjw | 13:db6af0620264 | 96 | mpool_gps_line.free(message); |
tylerjw | 13:db6af0620264 | 97 | } |
tylerjw | 19:1cfe22ef30e2 | 98 | |
tylerjw | 14:dce4d8c29b17 | 99 | osEvent evt2 = queue_sensor_line.get(1); |
tylerjw | 14:dce4d8c29b17 | 100 | if(evt2.status == osEventMessage) { |
tylerjw | 14:dce4d8c29b17 | 101 | sensor_line *message = (sensor_line*)evt2.value.p; |
tylerjw | 19:1cfe22ef30e2 | 102 | |
tylerjw | 14:dce4d8c29b17 | 103 | f_puts(message->line, &fp_sensor); |
tylerjw | 14:dce4d8c29b17 | 104 | f_sync(&fp_sensor); |
tylerjw | 19:1cfe22ef30e2 | 105 | |
tylerjw | 13:db6af0620264 | 106 | mpool_sensor_line.free(message); |
tylerjw | 13:db6af0620264 | 107 | } |
tylerjw | 13:db6af0620264 | 108 | } |
tylerjw | 13:db6af0620264 | 109 | } |
tylerjw | 13:db6af0620264 | 110 | |
tylerjw | 13:db6af0620264 | 111 | void sensor_thread(const void* args) |
tylerjw | 13:db6af0620264 | 112 | { |
tylerjw | 14:dce4d8c29b17 | 113 | DigitalOut sensor_led(LED2); |
tylerjw | 16:653df0cfe6ee | 114 | Timer t; |
tylerjw | 18:29b19a25a963 | 115 | float time; |
tylerjw | 18:29b19a25a963 | 116 | float gps_battery_voltage, mbed_battery_voltage; |
tylerjw | 18:29b19a25a963 | 117 | float bmp_temperature, bmp_altitude; |
tylerjw | 18:29b19a25a963 | 118 | int bmp_pressure; |
tylerjw | 19:1cfe22ef30e2 | 119 | |
tylerjw | 19:1cfe22ef30e2 | 120 | if(WAIT_FOR_LOCK) { |
tylerjw | 19:1cfe22ef30e2 | 121 | while(!nmea.get_date()) Thread::wait(100); // wait for lock |
tylerjw | 19:1cfe22ef30e2 | 122 | } |
tylerjw | 19:1cfe22ef30e2 | 123 | |
tylerjw | 17:4927053e120f | 124 | t.start(); // start timer after lock |
tylerjw | 19:1cfe22ef30e2 | 125 | |
tylerjw | 14:dce4d8c29b17 | 126 | sensor_line *message = mpool_sensor_line.alloc(); |
tylerjw | 22:becb67846755 | 127 | 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 | 128 | queue_sensor_line.put(message); |
tylerjw | 19:1cfe22ef30e2 | 129 | |
tylerjw | 19:1cfe22ef30e2 | 130 | while(true) { |
tylerjw | 13:db6af0620264 | 131 | //get sensor line memory |
tylerjw | 18:29b19a25a963 | 132 | sensor_led = !sensor_led; |
tylerjw | 13:db6af0620264 | 133 | sensor_line *message = mpool_sensor_line.alloc(); |
tylerjw | 19:1cfe22ef30e2 | 134 | |
tylerjw | 16:653df0cfe6ee | 135 | //timestamp |
tylerjw | 22:becb67846755 | 136 | time = nmea.get_time(); |
tylerjw | 19:1cfe22ef30e2 | 137 | |
tylerjw | 13:db6af0620264 | 138 | //gps battery |
tylerjw | 18:29b19a25a963 | 139 | gps_battery_voltage = gps_battery.read()*BAT_GPS_MUL; |
tylerjw | 19:1cfe22ef30e2 | 140 | |
tylerjw | 16:653df0cfe6ee | 141 | //mbed battery |
tylerjw | 18:29b19a25a963 | 142 | mbed_battery_voltage = mbed_battery.read()*BAT_MBED_MUL; |
tylerjw | 19:1cfe22ef30e2 | 143 | |
tylerjw | 15:ceac642f6b75 | 144 | //BMP085 |
tylerjw | 18:29b19a25a963 | 145 | bmp_temperature = (float)alt_sensor.get_temperature() / 10.0; |
tylerjw | 18:29b19a25a963 | 146 | bmp_pressure = alt_sensor.get_pressure(); |
tylerjw | 18:29b19a25a963 | 147 | bmp_altitude = alt_sensor.get_altitude_ft(); |
tylerjw | 19:1cfe22ef30e2 | 148 | |
tylerjw | 22:becb67846755 | 149 | 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 | 150 | queue_sensor_line.put(message); |
tylerjw | 0:ce5f06c3895f | 151 | } |
tylerjw | 7:d8ecabe16c9e | 152 | } |
tylerjw | 7:d8ecabe16c9e | 153 | |
tylerjw | 17:4927053e120f | 154 | void parachute_thread(const void *args) |
tylerjw | 17:4927053e120f | 155 | { |
tylerjw | 21:8799ee63c2cd | 156 | DigitalOut left_turn(LED4); |
tylerjw | 21:8799ee63c2cd | 157 | DigitalOut right_turn(LED1); |
tylerjw | 19:1cfe22ef30e2 | 158 | |
tylerjw | 21:8799ee63c2cd | 159 | right_turn = 1; |
tylerjw | 21:8799ee63c2cd | 160 | Thread::wait(400); |
tylerjw | 21:8799ee63c2cd | 161 | left_turn = 1; |
tylerjw | 21:8799ee63c2cd | 162 | Thread::wait(400); |
tylerjw | 19:1cfe22ef30e2 | 163 | while(true) { |
tylerjw | 21:8799ee63c2cd | 164 | right_turn = left_turn = 0; |
tylerjw | 18:29b19a25a963 | 165 | parachute_sem.wait(); |
tylerjw | 22:becb67846755 | 166 | |
tylerjw | 21:8799ee63c2cd | 167 | float distance = nmea.calc_dist_to_km(target_lat, target_lon); |
tylerjw | 19:1cfe22ef30e2 | 168 | |
tylerjw | 21:8799ee63c2cd | 169 | if(distance < distance_fudge_km) |
tylerjw | 19:1cfe22ef30e2 | 170 | continue; // dont do anything |
tylerjw | 19:1cfe22ef30e2 | 171 | |
tylerjw | 19:1cfe22ef30e2 | 172 | float course = nmea.get_course_d(); |
tylerjw | 19:1cfe22ef30e2 | 173 | float course_to = nmea.calc_course_to(target_lat, target_lon); |
tylerjw | 19:1cfe22ef30e2 | 174 | float course_diff = course_to - course; |
tylerjw | 22:becb67846755 | 175 | |
tylerjw | 22:becb67846755 | 176 | if(course == 0.0) // not moving fast enough |
tylerjw | 22:becb67846755 | 177 | continue; // do nothing |
tylerjw | 19:1cfe22ef30e2 | 178 | |
tylerjw | 21:8799ee63c2cd | 179 | if(course_diff < course_fudge && course_diff > neg_course_fudge) { |
tylerjw | 21:8799ee63c2cd | 180 | right_turn = left_turn = 1; |
tylerjw | 21:8799ee63c2cd | 181 | Thread::wait(400); |
tylerjw | 19:1cfe22ef30e2 | 182 | continue; // don't do anything |
tylerjw | 21:8799ee63c2cd | 183 | } else if(course_diff > 180.0 || course_diff < 0.0) { |
tylerjw | 21:8799ee63c2cd | 184 | left_turn = 1; |
tylerjw | 21:8799ee63c2cd | 185 | Thread::wait(400); // turn left |
tylerjw | 22:becb67846755 | 186 | } else { |
tylerjw | 22:becb67846755 | 187 | right_turn = 1; |
tylerjw | 22:becb67846755 | 188 | Thread::wait(400); // turn righ |
tylerjw | 21:8799ee63c2cd | 189 | } |
tylerjw | 18:29b19a25a963 | 190 | } |
tylerjw | 17:4927053e120f | 191 | } |
tylerjw | 17:4927053e120f | 192 | |
tylerjw | 7:d8ecabe16c9e | 193 | int main() |
tylerjw | 7:d8ecabe16c9e | 194 | { |
tylerjw | 10:b13416bbb4cd | 195 | pc.baud(9600); |
tylerjw | 9:4debfbc1fb3e | 196 | Thread thread(gps_thread, NULL, osPriorityHigh); |
tylerjw | 13:db6af0620264 | 197 | Thread thread2(log_thread, NULL, osPriorityNormal); |
tylerjw | 14:dce4d8c29b17 | 198 | Thread thread3(sensor_thread, NULL, osPriorityNormal); |
tylerjw | 17:4927053e120f | 199 | Thread thread4(parachute_thread, NULL, osPriorityRealtime); |
tylerjw | 13:db6af0620264 | 200 | |
tylerjw | 18:29b19a25a963 | 201 | while(true) ; |
tylerjw | 0:ce5f06c3895f | 202 | } |