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@15:ceac642f6b75, 2012-12-12 (annotated)
- Committer:
- tylerjw
- Date:
- Wed Dec 12 16:45:23 2012 +0000
- Revision:
- 15:ceac642f6b75
- Parent:
- 14:dce4d8c29b17
- Child:
- 16:653df0cfe6ee
working BMP085 sampling
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 | 15:ceac642f6b75 | 6 | #include "ITG3200.h" |
tylerjw | 15:ceac642f6b75 | 7 | |
tylerjw | 15:ceac642f6b75 | 8 | I2C i2c(p9, p10); // sda, scl |
tylerjw | 15:ceac642f6b75 | 9 | BMP085 alt_sensor(i2c); |
tylerjw | 15:ceac642f6b75 | 10 | |
tylerjw | 15:ceac642f6b75 | 11 | I2C i2c_2(p28,p27); |
tylerjw | 15:ceac642f6b75 | 12 | |
tylerjw | 10:b13416bbb4cd | 13 | |
tylerjw | 10:b13416bbb4cd | 14 | #define CELLS 3.0 |
tylerjw | 10:b13416bbb4cd | 15 | #define LIPO_EMPTY 3.4 |
tylerjw | 10:b13416bbb4cd | 16 | #define LIPO_FULL 4.2 |
tylerjw | 10:b13416bbb4cd | 17 | |
tylerjw | 10:b13416bbb4cd | 18 | const float BAT_MUL = 4.7; |
tylerjw | 10:b13416bbb4cd | 19 | const float BAT_FULL = (CELLS * LIPO_FULL); |
tylerjw | 10:b13416bbb4cd | 20 | const float BAT_EMPTY = (CELLS * LIPO_EMPTY); |
tylerjw | 10:b13416bbb4cd | 21 | const float BAT_RANGE = BAT_FULL - BAT_EMPTY; |
tylerjw | 0:ce5f06c3895f | 22 | |
tylerjw | 0:ce5f06c3895f | 23 | Serial pc(USBTX, USBRX); |
tylerjw | 10:b13416bbb4cd | 24 | BufferedSerial gps(NC, p14); |
tylerjw | 10:b13416bbb4cd | 25 | AnalogIn gps_battery(p20); |
tylerjw | 7:d8ecabe16c9e | 26 | |
tylerjw | 13:db6af0620264 | 27 | typedef struct { |
tylerjw | 13:db6af0620264 | 28 | char line[80]; |
tylerjw | 13:db6af0620264 | 29 | } gps_line; |
tylerjw | 13:db6af0620264 | 30 | MemoryPool<gps_line, 16> mpool_gps_line; |
tylerjw | 13:db6af0620264 | 31 | Queue<gps_line, 16> queue_gps_line; |
tylerjw | 13:db6af0620264 | 32 | |
tylerjw | 13:db6af0620264 | 33 | typedef struct { |
tylerjw | 14:dce4d8c29b17 | 34 | char line[80]; |
tylerjw | 13:db6af0620264 | 35 | } sensor_line; |
tylerjw | 13:db6af0620264 | 36 | MemoryPool<sensor_line, 16> mpool_sensor_line; |
tylerjw | 13:db6af0620264 | 37 | Queue<sensor_line, 16> queue_sensor_line; |
tylerjw | 12:0d943d69d3ec | 38 | |
tylerjw | 7:d8ecabe16c9e | 39 | void gps_thread(void const *args) |
tylerjw | 7:d8ecabe16c9e | 40 | { |
tylerjw | 10:b13416bbb4cd | 41 | char buffer[80]; |
tylerjw | 9:4debfbc1fb3e | 42 | |
tylerjw | 10:b13416bbb4cd | 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 | 14:dce4d8c29b17 | 48 | gps_led = 1; |
tylerjw | 10:b13416bbb4cd | 49 | gps.read_line(buffer); |
tylerjw | 14:dce4d8c29b17 | 50 | //pc.puts(buffer); |
tylerjw | 13:db6af0620264 | 51 | // send to log... |
tylerjw | 14:dce4d8c29b17 | 52 | gps_led = 0; |
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 | 13:db6af0620264 | 56 | } |
tylerjw | 13:db6af0620264 | 57 | } |
tylerjw | 13:db6af0620264 | 58 | |
tylerjw | 13:db6af0620264 | 59 | void log_thread(const void *args) |
tylerjw | 13:db6af0620264 | 60 | { |
tylerjw | 13:db6af0620264 | 61 | FATFS fs; |
tylerjw | 13:db6af0620264 | 62 | FIL fp_gps, fp_sensor; |
tylerjw | 13:db6af0620264 | 63 | |
tylerjw | 13:db6af0620264 | 64 | DigitalOut log_led(LED3); |
tylerjw | 13:db6af0620264 | 65 | |
tylerjw | 13:db6af0620264 | 66 | f_mount(0, &fs); |
tylerjw | 13:db6af0620264 | 67 | f_open(&fp_gps, "0:gps.txt", FA_CREATE_ALWAYS | FA_WRITE); |
tylerjw | 13:db6af0620264 | 68 | f_open(&fp_sensor, "0:sensor.txt", FA_CREATE_ALWAYS | FA_WRITE); |
tylerjw | 13:db6af0620264 | 69 | |
tylerjw | 13:db6af0620264 | 70 | while(1) { |
tylerjw | 14:dce4d8c29b17 | 71 | log_led = 1; |
tylerjw | 14:dce4d8c29b17 | 72 | osEvent evt1 = queue_gps_line.get(1); |
tylerjw | 14:dce4d8c29b17 | 73 | if (evt1.status == osEventMessage) { |
tylerjw | 14:dce4d8c29b17 | 74 | gps_line *message = (gps_line*)evt1.value.p; |
tylerjw | 13:db6af0620264 | 75 | |
tylerjw | 13:db6af0620264 | 76 | f_puts(message->line, &fp_gps); |
tylerjw | 13:db6af0620264 | 77 | f_sync(&fp_gps); |
tylerjw | 13:db6af0620264 | 78 | |
tylerjw | 13:db6af0620264 | 79 | mpool_gps_line.free(message); |
tylerjw | 13:db6af0620264 | 80 | } |
tylerjw | 13:db6af0620264 | 81 | |
tylerjw | 14:dce4d8c29b17 | 82 | osEvent evt2 = queue_sensor_line.get(1); |
tylerjw | 14:dce4d8c29b17 | 83 | if(evt2.status == osEventMessage) { |
tylerjw | 14:dce4d8c29b17 | 84 | sensor_line *message = (sensor_line*)evt2.value.p; |
tylerjw | 13:db6af0620264 | 85 | |
tylerjw | 14:dce4d8c29b17 | 86 | f_puts(message->line, &fp_sensor); |
tylerjw | 14:dce4d8c29b17 | 87 | f_sync(&fp_sensor); |
tylerjw | 13:db6af0620264 | 88 | |
tylerjw | 13:db6af0620264 | 89 | mpool_sensor_line.free(message); |
tylerjw | 13:db6af0620264 | 90 | } |
tylerjw | 14:dce4d8c29b17 | 91 | log_led = 0; |
tylerjw | 13:db6af0620264 | 92 | } |
tylerjw | 13:db6af0620264 | 93 | } |
tylerjw | 13:db6af0620264 | 94 | |
tylerjw | 13:db6af0620264 | 95 | void sensor_thread(const void* args) |
tylerjw | 13:db6af0620264 | 96 | { |
tylerjw | 14:dce4d8c29b17 | 97 | DigitalOut sensor_led(LED2); |
tylerjw | 14:dce4d8c29b17 | 98 | |
tylerjw | 14:dce4d8c29b17 | 99 | sensor_line *message = mpool_sensor_line.alloc(); |
tylerjw | 15:ceac642f6b75 | 100 | strcpy(message->line, "GPS Battery,BMP085 Temperature,BMP085 Pressure,BMP085 Altitude(ft)\r\n"); |
tylerjw | 14:dce4d8c29b17 | 101 | queue_sensor_line.put(message); |
tylerjw | 14:dce4d8c29b17 | 102 | |
tylerjw | 13:db6af0620264 | 103 | while(true) |
tylerjw | 13:db6af0620264 | 104 | { |
tylerjw | 13:db6af0620264 | 105 | //get sensor line memory |
tylerjw | 14:dce4d8c29b17 | 106 | sensor_led = 1; |
tylerjw | 13:db6af0620264 | 107 | sensor_line *message = mpool_sensor_line.alloc(); |
tylerjw | 13:db6af0620264 | 108 | |
tylerjw | 13:db6af0620264 | 109 | //gps battery |
tylerjw | 13:db6af0620264 | 110 | float sample = gps_battery.read(); |
tylerjw | 14:dce4d8c29b17 | 111 | float gps_battery_voltage = sample*BAT_MUL*3.3; |
tylerjw | 13:db6af0620264 | 112 | |
tylerjw | 15:ceac642f6b75 | 113 | //BMP085 |
tylerjw | 15:ceac642f6b75 | 114 | int bmp_temperature = alt_sensor.get_temperature(); |
tylerjw | 15:ceac642f6b75 | 115 | int bmp_pressure = alt_sensor.get_pressure(); |
tylerjw | 15:ceac642f6b75 | 116 | float bmp_altitude = alt_sensor.get_altitude_ft(); |
tylerjw | 15:ceac642f6b75 | 117 | |
tylerjw | 13:db6af0620264 | 118 | // more sensors |
tylerjw | 13:db6af0620264 | 119 | |
tylerjw | 15:ceac642f6b75 | 120 | sprintf(message->line, "%f,%d,%d,%f\r\n", gps_battery_voltage,bmp_temperature,bmp_pressure,bmp_altitude); |
tylerjw | 14:dce4d8c29b17 | 121 | queue_sensor_line.put(message); |
tylerjw | 14:dce4d8c29b17 | 122 | sensor_led = 0; |
tylerjw | 15:ceac642f6b75 | 123 | Thread::wait(100); |
tylerjw | 0:ce5f06c3895f | 124 | } |
tylerjw | 7:d8ecabe16c9e | 125 | } |
tylerjw | 7:d8ecabe16c9e | 126 | |
tylerjw | 7:d8ecabe16c9e | 127 | int main() |
tylerjw | 7:d8ecabe16c9e | 128 | { |
tylerjw | 10:b13416bbb4cd | 129 | pc.baud(9600); |
tylerjw | 9:4debfbc1fb3e | 130 | Thread thread(gps_thread, NULL, osPriorityHigh); |
tylerjw | 13:db6af0620264 | 131 | Thread thread2(log_thread, NULL, osPriorityNormal); |
tylerjw | 14:dce4d8c29b17 | 132 | Thread thread3(sensor_thread, NULL, osPriorityNormal); |
tylerjw | 13:db6af0620264 | 133 | |
tylerjw | 10:b13416bbb4cd | 134 | while(true) { |
tylerjw | 10:b13416bbb4cd | 135 | } |
tylerjw | 0:ce5f06c3895f | 136 | } |