A.P.G.E. (Altitude & Position Gauging Electronics)

Code

/*---------------------------------------------------------------
RIT Launch Initiative
A.P.G.E. Flight Computer
L1 Program
Engineer: Joseph Even
Description: Complete code for the A.P.G.E. Flight Computer
----------------------------------------------------------------*/

// GPS
#include 
#include 
static const int RXPin = 7, TXPin = 8;
static const uint32_t GPSBaud = 9600;
TinyGPSPlus gps;
SoftwareSerial ss(RXPin, TXPin);

//Altimeter
#include 
#include "MPL3115A2.h"
MPL3115A2 altimeter; //Create an instance of the object

// MicroSD
#include 
#include 


// PIN ASSIGNMENTS
//const byte XXXX = 1;
  const byte Int2 = 2;
  const byte Int1 = 3;
//const byte XXXX = 4;
//const byte XXXX = 5;
//const byte XXXX = 6;
//const byte RX3 = 7; TeensyRX3
//const byte TX3 = 8; TeensyTX3
//const byte XXXX = 9;
  const byte SDCS = 10;
//const byte MOSI = 11;
//const byte MISO = 12;
//const byte SCLK = 13;
  const byte xOut200 = 14;
  const byte yOut200 = 15; 
  const byte zOut200 = 16;
  const byte xOut16 = 17;
  const byte yOut16 = 18;
  const byte zOut16 = 19;
//const byte XXXX = 20;
//const byte XXXX = 21;
//const byte SCL = 22; //SCL
//const byte SDA = 23; //SDA

// FUNCTION CALLS
void wait();
void getGPS();
void getAlt();
void getAccel();
void writeSD();
void printData();

// VARIABLES

//Control
bool wait_var = 1;
int start_threshold = 560; // Acceleration threshold for rocket launching and beginning SD card write
unsigned long postStart_time_threshold = 10000; // Time after acceleration -- slows sampling rate

//Timers
unsigned long currentMillis = 0;
unsigned long previousMillis = 0;
unsigned long accel_start = 0; // Time of beginning of acceleration
unsigned long previous_Write = 0;
unsigned long data_acquisition_time = 300000; // 5 minutes of data acquisition after start of acceleration

//GPS
float gps_lat = 0;
float gps_long = 0;
int gps_hour = 0;
int gps_minute = 0;
int gps_second = 0;

//Altimeter
float altft = 0;
float pressure = 0;
float tempC = 0;

//200G
int x200_raw = 0;
int y200_raw = 0;
int z200_raw = 0;

//16G
int x16_raw = 0;
int y16_raw = 0;
int z16_raw = 0;

//MicroSD


void setup() {
  Serial.begin(115200);
  
  // GPS
    ss.begin(GPSBaud);

  //Altimeter
    Wire1.begin();        // Join i2c bus
    altimeter.begin(); // Get sensor online
    altimeter.setModeAltimeter(); // Measure altitude above sea level in meters
    altimeter.setModeBarometer(); // Measure pressure in Pascals from 20 to 110 kPa
    altimeter.setOversampleRate(7); // Set Oversample to the recommended 128
    altimeter.enableEventFlags(); // Enable all three pressure and temp event flags 

  // Accelerometers
    pinMode(xOut16, INPUT); //x16
    pinMode(yOut16, INPUT); //y16
    pinMode(zOut16, INPUT); //z16
    pinMode(xOut200, INPUT); //x200
    pinMode(yOut200, INPUT); //y200
    pinMode(zOut200, INPUT); //z200

  // SD
    Serial.print("Initializing SD card...");
    // see if the card is present and can be initialized:
    if (!SD.begin(SDCS)) {
      Serial.println("Card failed, or not present");
      // don't do anything more:
      return;
    }
    Serial.println("Card initialized.");

  
} // End Setup




void loop() {
  currentMillis = millis(); // Loop Time


  if ( (currentMillis - accel_start) < data_acquisition_time) { // Stops recording data when over data_acquistion_time
  
    if (wait_var == 1) {
      wait();
    }
    
    else {
      if ( (currentMillis - accel_start) < postStart_time_threshold ) { // Sample Rate 10 Hz
        if ( (currentMillis - previous_Write) > 100 ) {
          getGPS();
          //getAlt();
          getAccel();
          writeSD();
          previous_Write = millis();
        }
      }
  
      if ( (currentMillis - accel_start) >  postStart_time_threshold ) { // Sample Rate 1 Hz
        if ( (currentMillis - previous_Write) > 1000 ) {
          getGPS();
          //getAlt();
          getAccel();
          writeSD();
          previous_Write = millis();
        }
      }
  
    } // End else
    
  delay(5);
  //printData();
  } // End data_acquisition_time if
  
} // End Loop




// EXTERNAL FUNCTIONS

void wait() { 
  while ( x16_raw < start_threshold ) { // Stay in while loop until rocket begins to accelerate
    x16_raw = analogRead(xOut16);// Collect data for datalogging trigger (Vertical x-Axis)
    Serial.print("Wait--");
    //Check for GPS lock
      getGPS();
      Serial.print("Lat: ");
      Serial.print(gps_lat);
      Serial.print("  Long: ");
      Serial.println(gps_long);
     
    delay(10);
  }
  wait_var = 0;
  accel_start = millis();
  
} // End wait


void getGPS() {
  while (ss.available() > 0) {
    if (gps.encode(ss.read())) {
      // Location
        if (gps.location.isValid()) {
          gps_lat = gps.location.lat();
          gps_long = gps.location.lng();
        }
        else {
          gps_lat = 180;
          gps_long = 180;
        }
        
      // Time 
        if (gps.time.isValid()) {
          gps_hour = gps.time.hour();
          gps_minute = gps.time.minute();
          gps_second = gps.time.second();
        }
        else {
          gps_hour = 60;
          gps_minute = 60;
          gps_second = 60;
        }
        
    } // End GPS Valid
    
  } // End While
  
} // End getGPS



void getAlt() {
  //Pressure
    pressure = altimeter.readPressure();
    //Serial.print(pressure); Serial.println(" Pa");
  //Altitude
    altft = altimeter.readAltitudeFt();
    //Serial.print(altft); Serial.println(" Ft");
  //Temperature
    tempC = altimeter.readTemp();
    //Serial.print(tempC); Serial.println(" *C");
    //Serial.println();
} // End getAlt



void getAccel() {
  // 200g
    x200_raw = analogRead(xOut200);
    y200_raw = analogRead(yOut200);
    z200_raw = analogRead(zOut200);
  // 16g  
    x16_raw = analogRead(xOut16);
    y16_raw = analogRead(yOut16);
    z16_raw = analogRead(zOut16);
} // End getAccel



void writeSD() {
  File datalog = SD.open("datalog.txt", FILE_WRITE);

  if (datalog) {
    //Timer
      datalog.print(millis());  datalog.print(", "); // Milliseconds Since Startup
      
    //GPS  
      datalog.print(gps_hour);      datalog.print(", "); // Hour
      datalog.print(gps_minute);    datalog.print(", "); // Minute
      datalog.print(gps_second);    datalog.print(", "); // Second
      datalog.print(gps_lat);       datalog.print(", "); // Latitude
      datalog.print(gps_long);      datalog.print(", "); // Longitude
  
    //High G  
      datalog.print(x200_raw);      datalog.print(", "); // X200
      datalog.print(y200_raw);      datalog.print(", "); // Y200
      datalog.print(z200_raw);      datalog.print(", "); // Z200
    
    //Low G  
      datalog.print(x16_raw);       datalog.print(", "); // X16
      datalog.print(y16_raw);       datalog.print(", "); // Y16
      datalog.print(z16_raw);       datalog.print(", "); // Z16
    
    //Altimeter
      datalog.print(altft);         datalog.print(", "); // Altitude
      datalog.print(pressure);      datalog.println(""); // Pressure
     
      // println for last line
      // No comma after last data set
    datalog.close(); // Needed to write to SD
 
  } //End if
    
} // End writeSD


void printData() {
    //GPS
      Serial.print(gps_hour);      Serial.print(", "); // Hour
      Serial.print(gps_minute);    Serial.print(", "); // Minute
      Serial.print(gps_second);    Serial.print(", "); // Second
      Serial.print(gps_lat);       Serial.print(", "); // Latitude
      Serial.print(gps_long);      Serial.print(", "); // Longitude
  
    //High G  
      Serial.print(x200_raw);      Serial.print(", "); // X200
      Serial.print(y200_raw);      Serial.print(", "); // Y200
      Serial.print(z200_raw);      Serial.print(", "); // Z200
    
    //Low G  
      Serial.print(x16_raw);       Serial.print(", "); // X16
      Serial.print(y16_raw);       Serial.print(", "); // Y16
      Serial.print(z16_raw);       Serial.print(", "); // Z16
    
    //Altimeter
      Serial.print(altft);         Serial.print(", "); // Altitude
      Serial.print(pressure);      Serial.println(""); // Pressure

}