Diff: main.cpp

Revision:

26:85cdb1031eb1

Parent:

25:81c3696ba2c9

Child:

27:24fd8e32511c

--- a/main.cpp	Fri Dec 28 17:12:27 2012 +0000
+++ b/main.cpp	Thu Jan 10 19:03:34 2013 +0000
@@ -1,28 +1,31 @@
 /**
 * HARP Version 2
+*
+* TODO: Test Servo Code
+*       Test Watchdog Timer
+*       Test Append file and f_size() macro
 */
 
 #include "mbed.h"
 #include "rtos.h"
 #include "buffered_serial.h"
 #include "ff.h"
-#include "BMP085.h"
+#include "TMP36GZ.h"
 #include "nmea_parser.h"
 #include "watchdog.h"
 #include "Servo.h"
 #include "config.h"
 
-I2C i2c(p9, p10); // sda, scl
-BMP085 alt_sensor(i2c);
-
 Serial pc(USBTX, USBRX);
 BufferedSerial gps;
 AnalogIn gps_battery(p20);
-AnalogIn mbed_battery(p19);
+AnalogIn mbed_battery(p16);
+TMP36GZ temperature(p17);
 
 NmeaParser nmea;
 
 Semaphore parachute_sem(0);
+Semaphore sd_sem(0);
 
 typedef struct {
     char    line[80];
@@ -83,10 +86,12 @@
 
     f_mount(0, &fs);
     f_open(&fp_gps, "0:gps.txt", FA_OPEN_EXISTING | FA_WRITE);
-    f_lseek(&fp_gps, f_size(&fp_gps));                                  // NOT TESTED!!!
+    f_lseek(&fp_gps, f_size(&fp_gps));
     f_open(&fp_sensor, "0:sensors.csv", FA_OPEN_EXISTING | FA_WRITE);
-    f_lseek(&fp_sensor, f_size(&fp_sensor));                            // NOT TESTED!!!
+    f_lseek(&fp_sensor, f_size(&fp_sensor));
 
+    sd_sem.release(); // sd card initialized... start sensor thread
+    
     while(1) {
         log_led = !log_led;
         osEvent evt1 = queue_gps_line.get(1);
@@ -117,8 +122,9 @@
     Timer t;
     float time;
     float gps_battery_voltage, mbed_battery_voltage;
-    float bmp_temperature, bmp_altitude;
-    int bmp_pressure;
+    float temp;
+    
+    sd_sem.wait(); // wait for the sd card to initialize and open files
 
     if(WAIT_FOR_LOCK) {
         while(!nmea.date())  Thread::wait(100); // wait for lock
@@ -127,7 +133,11 @@
     t.start(); // start timer after lock
 
     sensor_line *message = mpool_sensor_line.alloc();
-    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());
+    sprintf(message->line, "Date: %d, Time: %f\r\nGPS Time (UTC),GPS Battery(V),mbed Battery(V)", nmea.date(), nmea.utc_time());
+    queue_sensor_line.put(message);
+    
+    message = mpool_sensor_line.alloc();
+    sprintf(message->line, ",Temperature,GPS Altitude,GPS Course \r\n");
     queue_sensor_line.put(message);
 
     while(true) {
@@ -144,13 +154,13 @@
         //mbed battery
         mbed_battery_voltage = mbed_battery.read()*BAT_MBED_MUL;
 
-        //BMP085
-        bmp_temperature = (float)alt_sensor.get_temperature() / 10.0;
-        bmp_pressure = alt_sensor.get_pressure();
-        bmp_altitude = alt_sensor.get_altitude_ft();
+        //temperature
+        temp = temperature.sample_f();
 
-        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());
+        sprintf(message->line, "%f,%f,%f,%f,%f,%f\r\n", time,gps_battery_voltage,mbed_battery_voltage,temp,nmea.calc_altitude_ft(),nmea.track());
         queue_sensor_line.put(message);
+        
+        Thread::wait(100);
     }
 }