/**
* Collects data synchronously and return datapoint
*/
struct tracker_datapoint* collect_data(void)
{
/**
* ---- Analogue ----
*/
datapoint.battery = get_battery(); /* Will return zero by default */
datapoint.solar = get_solar(); /* Will return zero by default */
datapoint.radio_die_temperature = telemetry_si_temperature();
datapoint.thermistor_temperature = thermistor_voltage_to_temperature(get_thermistor());
/**
* ---- Barometer ----
*/
struct barometer* b = get_barometer();
datapoint.main_pressure = b->pressure;
datapoint.bmp180_temperature = (float)b->temperature;
/**
* ---- GPS ----
*/
if (gps_update_position_pending() || (gps_get_error_state() != GPS_NOERROR)) {
/* Error updating GPS position */
/* TODO: Hit reset on the GPS? */
/* In the meantime just wait for the watchdog */
while (1);
} else { /* GPS position updated correctly */
/* GPS Status */
struct ubx_nav_sol sol = gps_get_nav_sol();
datapoint.satillite_count = sol.payload.numSV;
/* GPS Position */
if (gps_is_locked()) {
struct ubx_nav_posllh pos = gps_get_nav_posllh();
datapoint.latitude = pos.payload.lat;
datapoint.longitude = pos.payload.lon;
datapoint.altitude = pos.payload.height;
}
/* GPS Powersave */
gps_set_powersave_auto();
}
return &datapoint;
}
/**
* Main system entry point
*/
int main (void) {
SystemInit();
/* Initialise Pins */
CUTDOWN_OFF();
HEATER_OFF();
MBED_OFF();
GREEN_OFF();
/* Update the value of SystemCoreClock */
SystemCoreClockUpdate();
/* Initialise Interfaces */
i2c_init();
spi_init(process_imu_frame); // IMU
sd_spi_init(); // SD
uart_init(); // GPS
pwrmon_init(); // ADC
/* Initialise Sensors */
init_barometer();
/* SD Card */
if (initialise_card()) { // Initialised to something
if (disk_initialize() == 0) { // Disk initialisation was successful
sd_good = 1;
}
}
GREEN_ON();
/* Configure the SysTick */
NVIC_SetPriority(SysTick_IRQn, 0); // Highest Priority Interrupt
SysTick_Config(SystemCoreClock / RTTY_BAUD);
/* Watchdog - Disabled for debugging */
#ifndef WATCHDOG_DISABLED
init_watchdog();
#endif
struct barometer* b;
struct imu_raw ir;
struct gps_data gd;
struct gps_time gt;
double alt, ext_temp;
int tx_length; // The length of the built tx string
char tx_string[TX_STRING_LENGTH];
while (1) {
/* Grab Data */
pwrmon_start(pwrmon_callback);
b = get_barometer();
get_imu_raw_data(&ir);
get_gps_data(&gd);
get_gps_time(>);
ext_temp = get_temperature();
/* Data Processing */
if (b->valid) {
alt = pressure_to_altitude(b->pressure);
} else {
alt = -1;
b->temperature = -1;
}
/* Act on the data */
control_gsm(alt);
control_cutdown(ticks_until_cutdown, alt);
control_heater(b->temperature);
/* Create a protocol string */
int cutstat;
if (ticks_until_cutdown == 0) {
cutstat = -1;
} else {
cutstat = ticks_until_cutdown / (RTTY_BAUD*60);
}
tx_length = build_communications_frame(tx_string, TX_STRING_LENGTH,
>, b, &gd, alt, ext_temp, &ir,
cutstat, cutdown_voltage);
/* Transmit - Quietly fails if another transmission is ongoing */
rtty_set_string(tx_string, tx_length);
/* Store */
if (sd_good) {
tx_length -= 2; // Remove \n\0
tx_length += communications_frame_add_extra(tx_string + tx_length,
TX_STRING_LENGTH - tx_length, &ir);
disk_write_next_block((uint8_t*)tx_string, tx_length+1); // Include null terminator
}
/* Housekeeping */
GREEN_TOGGLE();
feed_watchdog();
}
}