skule.sormo.no

{jcomments on}FreeRTOS-versjon av grunnversjonen av CanSat.
GPS, temperatur og trykk sendes via telemetri (RF)  og lagres på SD.

Tre multitask-rutiner:
 1. Leser GPS og sender til kø
 2. Leser temperatur, trykk og høyde og sender til kø
 3. Tar inn køen og sender til RF og SD. i csv-format, komma (,) er skilletegn

Programmet er laget for Mega2560.

Programmet kan lastes ned her

/* * FreerTOS versjon av basic CanSat * Denne programskissen fungerer kun på Mega2560. * Leser GPS, temperatur, høyde og trykk og sender til RF * csv-fil til SD og RF * RF: baudrate 57600; * GPS:baudrate 38400; * Serial (Console) baudrate 115200 * (C) Skule Sørmo 8.april 2015 * ** *************************/ #define RF_port Serial1 #define GPS_port Serial2 #include <FreeRTOS_AVR.h> #include <SPI.h> //#include <SD.h> #include <SdFat.h> #include <Wire.h> #include <Adafruit_BMP085.h> Adafruit_BMP085 bmp; struct AMessage { int MessageID; String buf; float flytvar; uint16_t Int16; uint32_t Int32; }; AMessage Message1,Message2,Message3; char buf[12] = "logg001.csv"; const int chipSelect = 4; String GPS_buffer = "", st = "";; String filename = ""; File Datafile; char c; portBASE_TYPE s1, s2, s3, s4; xQueueHandle Queue, SDQueue; //String buf1[100] = ""; //String buf2 = ""; SdFat SD; void setup() { RF_port.begin(57600); GPS_port.begin(38400); Serial.begin(115200); Message1.buf.reserve(100); Message2.buf.reserve(100); Message3.buf.reserve(100); GPS_buffer.reserve(100); RF_port.println(__FILE__); RF_port.print("Kompilert den "); RF_port.println("08.04.2015"); RF_port.println("(C) Skule Sormo"); Serial.println(__FILE__); Serial.print("Kompilert den "); Serial.println("08.04.2015"); Serial.println("(C) Skule Sormo"); if (!bmp.begin()) { Serial.println("Could not find a valid BMP085 sensor, check wiring!"); while (1) {} } Serial.print("Initializing SD card..."); // On the Ethernet Shield, CS is pin 4. It's set as an output by default. // Note that even if it's not used as the CS pin, the hardware SS pin // (10 on most Arduino boards, 53 on the Mega) must be left as an output // or the SD library functions will not work. pinMode(10, OUTPUT); if (!SD.begin(4)) { Serial.println("initialization failed!"); return; } Serial.println("initialization done."); // open the file. note that only one file can be open at a time, // so you have to close this one before opening another. int n = 1; while ((SD.exists(buf))) // finner neste filnavn: { st = String(n++); if (st.length() == 1) st = "00" + st; else if (st.length() == 2) st = "0" + st; st = "logg" + st + ".csv"; st.toCharArray(buf, 12) ; // Serial.println(buf); } filename = st; Serial.print("Filnavn: "); Serial.println(filename); /* // Serial.print("SD: "); // Serial.println(buf); buf2 = "test"; Datafile = SD.open(buf, FILE_WRITE); if (Datafile) { Datafile.println(__TIMESTAMP__); Datafile.println(buf2); Datafile.close(); } else Serial.println("Feilet SD"); */ if (!bmp.begin()) // initierer temp/trykk Serial.println("Could not find a valid BMP085 sensor, check wiring!"); Queue = xQueueCreate( 10, sizeof( AMessage) ); s1 = xTaskCreate(Thread1, NULL, configMINIMAL_STACK_SIZE + 300, NULL, 2, NULL); // GPS s2 = xTaskCreate(Thread2, NULL, configMINIMAL_STACK_SIZE+400, NULL,2, NULL); // RF send buffer s3 = xTaskCreate(Thread3, NULL, configMINIMAL_STACK_SIZE+400, NULL,2, NULL); // Buffer receive Serial.println("Data sendes til RF (Serial1) og lagres pa SD"); vTaskStartScheduler(); } void loop(){} // nothing to do static void Thread1(void*rg) // GPS { Serial.println("GPS startet..."); while (1) { while (GPS_port.available()) { c = GPS_port.read(); if (int(c) == 13) { // bruker bare $GPRMC-tag: if ((GPS_buffer[0]=='$')&&(GPS_buffer[1]=='G')&&(GPS_buffer[2]=='P')&&(GPS_buffer[3]=='R')&&(GPS_buffer[4]=='M')&&(GPS_buffer[5]=='C')) { Message2.buf=GPS_buffer; Message2.MessageID=1; xQueueSendToBack(Queue, &Message2, 50); } GPS_buffer = ""; } else if (int(c) != 10) GPS_buffer += c; } vTaskDelay(10); } } static void Thread2(void*rg) // IMU { Serial.println("Variabellesning startet.."); while (1) { Message1.MessageID=2; Message1.flytvar=bmp.readTemperature(); xQueueSendToBack(Queue, &Message1, 50); Message1.MessageID=3; Message1.Int32=bmp.readPressure(); xQueueSendToBack(Queue, &Message1, 50); // Calculate altitude assuming 'standard' barometric // pressure of 1013.25 millibar = 101325 Pascal Message1.MessageID=4; Message1.flytvar=bmp.readAltitude(101500); xQueueSendToBack(Queue, &Message1, 50); Message1.MessageID=5; Message1.Int32=bmp.readSealevelPressure(); xQueueSendToBack(Queue, &Message1, 50); // you can get a more precise measurement of altitude // if you know the current sea level pressure which will // vary with weather and such. If it is 1015 millibars // that is equal to 101500 Pascals. Message1.MessageID=6; Message1.flytvar=bmp.readAltitude(101500); xQueueSendToBack(Queue, &Message1, 50); vTaskDelay(200); } } static void Thread3(void*rg) // Queue { Serial.println("Kolesning og transfer startet..."); while (1) { if ( xQueueReceive( Queue, &Message3, 50) ) { Datafile = SD.open(buf, FILE_WRITE); Datafile.println(__TIMESTAMP__); switch (Message3.MessageID) { case 1: RF_port.print("GPS, ");RF_port.println(Message3.buf); Datafile.print("GPS, ");Datafile.println(Message3.buf); break; case 2: RF_port.print("Temperature, ");RF_port.println(Message3.flytvar,2); Datafile.print("Temperature, ");Datafile.println(Message3.flytvar,2); break; case 3: RF_port.print("Pressure, ");RF_port.println(Message3.Int32); Datafile.print("Pressure, ");Datafile.println(Message3.Int32); break; case 4: RF_port.print("Altitude, ");RF_port.println(Message3.flytvar,2); Datafile.print("Altitude, ");Datafile.println(Message3.flytvar,2); break; case 5: RF_port.print("Pressure sealevel, ");RF_port.println(Message3.Int32); Datafile.print("Pressure sealevel, ");Datafile.println(Message3.Int32); break; case 6: RF_port.print("Real altitude, ");RF_port.println(Message3.flytvar,2); Datafile.print("Real altitude, ");Datafile.println(Message3.flytvar,2); break; }; Datafile.close(); } vTaskDelay(10); } }