File content as of revision 34:c2bc9f9be7ff:

#include "mbed.h"
#include "PinDetect.h"
#include "Point.h"
#include <vector>
#include "Line.h"
#include "stringUtils.h"
#include "base.h"
#include "Config.h"
#include "imu_functions.h"
#include "atoh.h"
#include "checksum.h"
#include <string.h>
//#include "autosteer.h"
//#include "conversion.h"

#define dot(u,v)   ((u).GetX() * (v).GetX()+ (u).GetY() * (v).GetY())
#define norm(v)     sqrt(dot(v,v))     // norm = length of  vector
#define d(u,v)      norm(point_sub(u,v))          // distance = norm of difference
 
char *version="FreePilot V2.11 Jtan 20, 2015\r\n";
long lastsend_version=0;
Timer vTimer; //this timer is int based! Max is 30 minutes
 
int checksumm;
double distance_from_line;
double cm_per_deg_lon;
double cm_per_deg_lat;
//all timing objects
Timer gps_connecting;
Timer autosteer_time;
Timeout autosteer_timeout; //timeout work near as timer, but they don't give timing. they just trigger an interrupt once the time we assigned it is passed.
Ticker accelerometerTicker;
Ticker gyroscopeTicker;
Ticker filterTicker;
Ticker  angle_print;
 
//Motor
PinDetect  motor_switch(p16); //pinDetect is close to digitalIn, althought, it can detect holds and detect the debounce.
DigitalOut enable_motor(p7);
 
PwmOut pwm1(p22);
PwmOut pwm2(p21);
 
//equipment switches
PinDetect  boom1(p20,PullUp); //pinDetect is close to digitalIn, althought, it can detect holds and detect the debounce.
PinDetect  boom2(p19); //pinDetect is close to digitalIn, althought, it can detect holds and detect the debounce.
PinDetect  boom3(p18); //pinDetect is close to digitalIn, althought, it can detect holds and detect the debounce.
PinDetect  boom4(p17); //pinDetect is close to digitalIn, althought, it can detect holds and detect the debounce.
 
char boom18; //1 byte
char lastboom18; //1 byte
char boomstate[8]={'$','F','B','S',0,13,10,0 };
 
 double filterg = 100;
Point position;
Point looked_ahead;
Point line_start;
Point line_end;
Point tilt_compensated_position;
Point yaw_compensated_position;
 
extern int gyro_pos;
 
double distance_to_line;
 
//FreePilot variables
int timer_enabled;
double motorspeed;
int enable_time;
char* motor_enable_state = 0;
int motor_enable = 0;
int lastmotor_enable = 1;
double pwm1_speed;
double pwm2_speed;
long lastsend_motorstate=0;
Timer motTimer; //this timer is int based! Max is 30 minutes
Timer btTimer; //measure time for Bluetooth communication
long lastgetBT=0;
 
int msg2_changed = 1;
char* buffer;
double meter_lat = 0;
double meter_lon = 0;
 
char msg[256]; //GPS line buffer
char msg2[256];//PC line buffer
int printing;
int num_of_gps_sats;
 
double decimal_lon;
float longitude;
float latitude;
char ns, ew;
int lock;
int flag_gga;
int reading;
double decimal_latitude;
int  gps_satellite_quality;
int  day;
int  hour;
int  minute;
int  second;
int  tenths;
int  hundreths;
char status;
double track;    // track made good . angle
char magvar_dir;
double magvar;
int  year;
int  month;
double speed_km;
double speed_m_s = 0;
double velocity; // speed in knot
int connect_time = 10000; //variable to change the time that the serial output all the strings in order to verify if the command was right.
int connecting = 0; //are we still in phase of connecting? based on the connect_time value.
 
int angle_send = 0;
int correct_rmc = 1;
double m_lat = 0;
double m_lon = 0;
char* degminsec;
double m_per_deg_lon;
double m_per_deg_lat;
double look_ahead_lon;
double look_ahead_lat;
int active_AB = 0;
double compensation_vector;
char output[256];
 
double yaw;
double pitch;
double roll;
 
double a_x;
double a_y;
double a_z;
double w_x;
double w_y;
double w_z;
 
int readings[3];
 
double Freepilot_lat;
double Freepilot_lon;
double Freepilot_lat1;
double Freepilot_lon1;
double Freepilot_bearing;
 
volatile bool newline_detected = false;
 
Point point_add(Point a, Point b)
{
    return Point(a.GetX() + b.GetX(), a.GetY() + b.GetY());
}
 
Point point_sub(Point a , Point b)
{
    return Point(a.GetX() - b.GetX(),  a.GetY() - b.GetY());
}
 
double get_yaw()
{
    double yaw_angle = imuFilter.getYaw() * -1 ; // *-1 to reverse polarity as gyro is up-side-down 
    return yaw_angle;
}
 
void update_motor()
{
    
}
 
double get_roll()
{
    double roll_angle = 0;
    if ( gyro_pos == 0 ) 
    {
        roll_angle = imuFilter.getRoll();
    } 
    else if ( gyro_pos == 1 ) 
    {
        roll_angle = imuFilter.getRoll() * -1;
    } 
    else if( gyro_pos == 2 ) 
    {
        roll_angle = imuFilter.getPitch() * -1;
    } 
    else if ( gyro_pos == 3 ) 
    {
        roll_angle = imuFilter.getPitch();
    }
    return roll_angle;
}
 
double get_pitch()
{
    double pitch_angle = 0;
    if ( gyro_pos == 0 )
     {
         pitch_angle = imuFilter.getPitch();
     }
     else if ( gyro_pos == 1 )
     {
        pitch_angle = imuFilter.getPitch() * -1;
     }
     else if( gyro_pos == 2 )
     {
        pitch_angle = imuFilter.getRoll();
     }
     else if ( gyro_pos == 3 )
     {
            pitch_angle = imuFilter.getRoll() * -1;
     }
    return pitch_angle;
}
 
double dist_Point_to_Line( Point P, Point line_start, Point line_end)
{
     Point v = point_sub(line_end,line_start);
     Point w = point_sub(P,line_start);
 
     double c1 = dot(w,v);
     double c2 = dot(v,v);
     double b = c1 / c2;
 
     Point resulting(b * v.GetX(),b*v.GetY());
     Point Pb = point_add(line_start, resulting);
     return d(P, Pb);
}
 
double lat_to_deg(char *s, char north_south)
{
    int deg, min, sec;
    double fsec, val;
 
    deg  = ( (s[0] - '0') * 10) + s[1] - '0';
    min  = ( (s[2] - '0') * 10) + s[3] - '0';
    sec  = ( ((s[5] - '0') * 1000) + ((s[6] - '0') * 100) + ((s[7] - '0') * 10) + (s[8] - '0'));
    fsec = (double)((double)sec /10000.0);
    val  = (double)deg + ((double)((double)min/60.0)) + (fsec/60.0);
    if (north_south == 'S') 
    {
        val *= -1.0;
    }
    return val;
}
 
// isLeft(): test if a point is Left|On|Right of an infinite 2D line.
//    Input:  three points P0, P1, and P2
//    Return: >0 for P2 left of the line through P0 to P1
//          =0 for P2 on the line
//          <0 for P2 right of the line
double isLeft( Point P0, Point P1, Point P2 )
{
    return ( (P1.GetY() - P0.GetY()) * (P2.GetX() - P0.GetX())
           - (P2.GetY() - P0.GetY()) * (P1.GetX() - P0.GetX()));
}
 
double lon_to_deg(char *s, char east_west)
{
    int deg, min, sec;
    double fsec, val;
    deg  = ( (s[0] - '0') * 100) + ((s[1] - '0') * 10) + (s[2] - '0');
    min  = ( (s[3] - '0') * 10) + s[4] - '0';
    sec  = ( ((s[6] - '0') * 1000) + ((s[7] - '0') * 100) + ((s[8] - '0') * 10) + (s[9] - '0'));
    fsec = (double)((double)sec /10000.0);
    val  = (double)deg + ((double)((double)min/60.0)) + (fsec/60.0);
    if (east_west == 'W') 
    {
        val *= -1.0;
    }
    return val;
}
 
void nmea_gga(char *s)
{
    char *token;
    int  token_counter = 0;
    char *latitude  = (char *)NULL;
    char *longitude = (char *)NULL;
    char *lat_dir   = (char *)NULL;
    char *lon_dir   = (char *)NULL;
    char *qual      = (char *)NULL;
    char *altitude  = (char *)NULL;
    char *sats      = (char *)NULL;
 
    token = strtok(s, ",");
    while (token) 
    {
        switch (token_counter) 
        {
            case 2:
                latitude  = token;
                break;
            case 4:
                longitude = token;
                break;
            case 3:
                lat_dir   = token;
                break;
            case 5:
                lon_dir   = token;
                break;
            case 6:
                qual      = token;
                break;
            case 7:
                sats      = token;
                break;
            case 9:
                altitude  = token;
                break;
        }
        token = strtok((char *)NULL, ",");
        token_counter++;
    }
 
    if (latitude && longitude && altitude && sats) 
    {
        decimal_latitude = lat_to_deg(latitude,  lat_dir[0]);
        decimal_lon = lon_to_deg(longitude, lon_dir[0]);
        num_of_gps_sats = atoi(sats);
        gps_satellite_quality = atoi(qual);
    } 
    else 
    {
        gps_satellite_quality = 0;
    }
}
 
//from farmerGPS code
void get_latlon_byangle(double lat1, double lon1, double distance,double angle, double &lon2, double &lat2)
{
    double ydist = 0;
    double xdist = 0;
    angle = angle + 180;
    double radiant = angle * 3.14159265359 / 180;
    double sinr = sin(radiant);
    double cosr = cos(radiant);
    xdist = cosr * distance;
    ydist = sinr * distance;
    lat2 = lat1 + (ydist / (69.09 * -1609.344));
    lon2 = lon1 - (xdist / (69.09 * 1609.344 * cos(lat1/57.295779513)));
  //  return;
}
 
Point compensation;
 
void yaw_compensate()
{
    yaw = get_yaw();
}
 
 float mX[2];
float mY[2];
float mZ[2];
long _speedArr[10];
long _delSpeed[2];
//==================

//Filters===========
float BA;
float BB;
float AA;
//==================
double _dist = 0;
double m_PI = 3.14159265359;
double _lookA;
double j_scale;
double j_fGain;

bool _acq = false;

int autoGuide_A(double _gSpeed, double _distErr, int _acq,double j_phaseAdv, double j_tCenter, double lookA, double _scale, double _j_fGain)
{
    float T1T2r = (1 + sin(j_phaseAdv * m_PI / 180)) / (1 - sin(j_phaseAdv * m_PI / 180));
    float T1 = sqrt(T1T2r) * j_tCenter;
    float T2 = T1 / T1T2r;

    float K = (1 + 2 * T1 / 0.2);
    float L = (1 - 2 * T1 / 0.2);
    float M = (1 + 2 * T2 / 0.2);
    float N = (1 - 2 * T2 / 0.2);

    BA = K / M;
    BB = L / M;
    AA = N / M;

    _lookA = lookA;
    j_scale = _scale;
    j_fGain = _j_fGain;
    
    //int send = 0;
    mX[1] = mX[0];
    mX[0] = _distErr * j_fGain;
    mY[1] = mY[0];
    mY[0] = -AA * mY[1] + BA * mX[0] + BB * mX[1];
    float y = mY[0] * j_scale;
    y = y * (1 + _gSpeed / 100);
    y = 127 + y;
    if(_acq && y > 117 && y < 137) 
    {
        if(_distErr > 0 ) 
        {
            y += 10;
        } 
        else 
        {
            y -= 10;
        }
    }

    if(y > 255) 
    {
        y = 255;
    }
    if(y < 0) 
    {
        y = 0;
    }
    return y;//j_guidance = y;
}

/*int LookAhead( double _gSpeed, double _distErr, int _LR, double _headErr)
{
    double temp = _distErr;
    temp = abs(temp);
    _headErr = 90-_headErr;
   // double _headErr2 = 90 - _headErr;
    //=========================================

        double _abDist = _distErr;
         _acq = false;
         temp = abs(_abDist);
        if(temp > 0.2) 
        {
            _acq = true;
        }
    if(_acq) 
    {
        if(_abDist < 0.15 && _abDist > -0.15)// && _headErr2 > 89.2) 
        {
            _acq = false;
        }
    }
    //set_mode(_headErr,_distErr);
    double ld = 0; //xvalue of look ahead point
    double dist = 0;
    double val = 0;
    dist = _gSpeed  * _lookA; //Speed * look ahead time.
    val = (_headErr / 180) * m_PI;
    val = cos(val);
    ld = dist * val;
    if(_LR == 0) 
    {
        _distErr = _distErr - ld;
    } 
    else if(_LR == 1) 
    {
        _distErr = _distErr + ld;
    }
    return autoGuide_A(_gSpeed,_distErr,_acq);
}
*/



void SetFilter(double j_phaseAdv, double j_tCenter, double lookA, double _scale, double _j_fGain)
{
    float T1T2r = (1 + sin(j_phaseAdv * m_PI / 180)) / (1 - sin(j_phaseAdv * m_PI / 180));
    float T1 = sqrt(T1T2r) * j_tCenter;
    float T2 = T1 / T1T2r;

    float K = (1 + 2 * T1 / 0.2);
    float L = (1 - 2 * T1 / 0.2);
    float M = (1 + 2 * T2 / 0.2);
    float N = (1 - 2 * T2 / 0.2);

    BA = K / M;
    BB = L / M;
    AA = N / M;

    _lookA = lookA;
    j_scale = _scale;
    j_fGain = _j_fGain;
}

 void pitch_and_roll(double real_bearing)
{
    pitch = get_pitch();
    roll = get_roll();
    compensation.SetX(antennaheight * tan(roll) * sin(real_bearing/ 57.295779513)-antennaheight * tan(pitch) * cos(real_bearing/ 57.295779513));
    compensation.SetY(antennaheight * tan(roll) * cos(real_bearing/ 57.295779513)-antennaheight * tan(pitch) * sin(real_bearing/ 57.295779513));
}

void process_GPSHEIGHT(char* height_string)
{
    char *token;
    int  token_counter = 0;
    char *height  = (char *)NULL;
    token = strtok(height_string, ",");
    while (token) 
    {
 
        switch (token_counter) 
        {
            case 1:
                height = token;
                break;
        }
        token = strtok((char *)NULL, ",");
        token_counter++;
    }
    if ( height ) 
    {
        antennaheight = atof(height);
        Config_Save();
    }
}
 

char* To_DMS(double dec_deg)
{
    char dms[128];
    dec_deg = abs(dec_deg);
    int d = (int)(dec_deg);
    sprintf(dms,"%0.2i\0",d);
    double m = (double)(((double)dec_deg - (double)d) * 60.0);
    if (m < 10 ) {
        sprintf(dms,"%s0%0.9f\0",dms,m);
    } else {
        sprintf(dms,"%s%0.9f\0",dms,m);
    }
    return dms;
}

char* To_DMS_lon(double dec_deg)
{
    char dms[128];
    dec_deg = abs(dec_deg);
    int d = (int)(dec_deg);
    sprintf(dms,"%0.3i\0",d);
    double m = (double)(((double)dec_deg - (double)d) * 60.0);
    if (m < 10 ) {
        sprintf(dms,"%s0%0.9f\0",dms,m);
    } else {
        sprintf(dms,"%s%0.9f\0",dms,m);
    }
    return dms;
}

 char rmc_cpy[256];
void nmea_rmc(char *s)
{
   // strcpy(rmc_cpy, s);
    char *token;
    int  token_counter = 0;
    char *time   = (char *)NULL;
    char *date   = (char *)NULL;
    char *stat   = (char *)NULL;
    char *vel    = (char *)NULL;
    char *trk    = (char *)NULL;
    char *magv   = (char *)NULL;
    char *magd   = (char *)NULL;
    char *latitude  = (char *)NULL;
    char *longitude = (char *)NULL;
    char *lat_dir   = (char *)NULL;
    char *lon_dir   = (char *)NULL;
    char magdd = 'E';
 
    token = strtok(s, ",*");
    while (token) 
    {
             switch (token_counter) 
        {
            case 1:
                time   = token;
                break;
            case 2:
                stat   = token;
                break;
            case 3:
                latitude  = token;
                break;
            case 4:
                lat_dir   = token;
                break;
            case 5:
                longitude = token;
                break;
            case 6:
                lon_dir   = token;
                break;
            case 7:
                vel    = token;
                break;
            case 8:
                trk    = token;
                break;
            case 9:
                date   = token;
                break;
            case 10:
                magv   = token;
                break;
        }
        token = strtok((char *)NULL, ",");
        token_counter++;
    }
    if (stat && date && time) 
    {
        hour       = (char)((time[0] - '0') * 10) + (time[1] - '0');
        minute     = (char)((time[2] - '0') * 10) + (time[3] - '0');
        second     = (char)((time[4] - '0') * 10) + (time[5] - '0');
        day        = (char)((date[0] - '0') * 10) + (date[1] - '0');
        month      = (char)((date[2] - '0') * 10) + (date[3] - '0');
        year       =  (int)((date[4] - '0') * 10) + (date[5] - '0') + 2000;
        status     = stat[0];
        velocity   = atof(vel);
        speed_km = velocity * 1.852;
        speed_m_s = speed_km * 3600.0 / 1000.0;
        track      = atof(trk);
        magvar     = atof(magv);
       // magvar_dir = magd[0];
    }
       position.SetX(lat_to_deg(latitude,  lat_dir[0]));
        position.SetY(lon_to_deg(longitude, lon_dir[0]));
        cm_per_deg_lat = 11054000;
        cm_per_deg_lon = 11132000 * cos(decimal_latitude);
        
        pitch_and_roll((track-90)*-1);// as to be real ebaring
        
        compensation.SetY(compensation.GetY() / cm_per_deg_lon);
        compensation.SetX(compensation.GetX() / cm_per_deg_lat);
        
        position = point_add(position,compensation);
 
        double lookaheaddistance = lookaheadtime * speed_m_s;
        get_latlon_byangle(position.GetX(),position.GetY(),lookaheaddistance,(track-90)*-1,look_ahead_lon,look_ahead_lat);
        looked_ahead.SetX(look_ahead_lat);
        looked_ahead.SetY(look_ahead_lon);
        double filtering = sqrt(111111.0*111111.0 + 111111.0 * cos(decimal_latitude/57.295779513)*111111.0 * cos(decimal_latitude/57.295779513));
        distance_to_line = dist_Point_to_Line( looked_ahead,line_start,line_end);
        double sign = isLeft( line_start, line_end, looked_ahead);
if ( sign < 0 )
{
    distance_to_line =  distance_to_line;
    sign = 0;
} else if ( sign > 0 )
{
    distance_to_line = -distance_to_line;
    sign = 1;
}
 
   double ErrAngle = asin(abs(distance_to_line * filtering)/(sqrt(lookaheaddistance*lookaheaddistance + abs(distance_to_line * filtering*distance_to_line * filtering))))*57.295779513;
   
   //= acos( 1.0/((0.5 * abs(distance_to_line)/(lookaheaddistance * filtering) )))*57.295779513;
       // int LookAhead(double _gSpeed, double _distErr, int _LR, double _headErr);
             //  SetFilter(phaseadv, tcenter, lookaheadtime, scale,filterg);
      // int motor_val = LookAhead( speed_m_s, abs(distance_to_line), sign, ErrAngle);
       int motor_val = autoGuide_A(speed_m_s, abs(distance_to_line),false,phaseadv, tcenter, lookaheadtime, scale,filterg);
    //    pc.printf("$MOTORSPEED,%i   ErrAngle:%f\r\n",motor_val,ErrAngle);
        // sprintf(rebuilt_rmc,"$GPRMC,%s,%s,%f,%s,%f,%s,%s,%s,%s,%s,%s*\r\n",time,stat,position.GetX(),lat_dir,position.GetY(), lon_dir,vel,trk,date,magv,magd);
    string rmc = "";
    if(sizeof(time) > 0) {
        rmc = "$GPRMC,";
        rmc +=  string(time) + ",";
    } else {
        rmc = "$GPRMC,,";
    }
    if( sizeof(stat)>0 ) {
        rmc +=(string(stat) + ",");
    } else {
        rmc += ",";
    }
    if ( sizeof(lat_dir) > 0 ) {
        rmc +=( string(To_DMS(position.GetX())) + "," + string(lat_dir) +",");

    } else {
        rmc += ",,";
    }
    if ( sizeof(lon_dir) > 0 ) {
        rmc += (string(To_DMS_lon(position.GetY())) + "," + string(lon_dir) + ",");
    } else {
        rmc += ",";
        rmc += ",";
    }
    if (sizeof(vel) > 0 ) {
        rmc += string(vel) + ",";
    } else {
        rmc += ",";
    }
    if ( sizeof(trk) > 0 ) {
        rmc += string(trk) + ",";
    } else {
        rmc += ",";
    }
    if (sizeof(date) > 0) {
        rmc += string(date) + ",";
    } else {
        rmc += ",";
    }
    if (sizeof(magv) > 0) {
        rmc += string(magv) + ",";
    } else {
        rmc += ",";
    }

    char test[256];
    sprintf(test,"%sW*",rmc);
    sprintf(output,"%sW*%02X\r\n",rmc,getCheckSum(test));

    bluetooth.puts(output);
//pc.puts(output);
    sprintf(output,"$DIST_TO_LINE: % .12f   %i   %f\r\n",distance_to_line * filtering,motor_val,ErrAngle);
    pc.puts(output);
}
  
void process_FGPSAB(char* ab)
{
    char *token;
    int  token_counter = 0;
    char *line_lat  = (char *)NULL;
    char *line_lon  = (char *)NULL;
    char *line_lat1  = (char *)NULL;
    char *line_lon1  = (char *)NULL;
    char *bearing  = (char *)NULL;
    token = strtok(ab, ",");
    while (token) 
    {
        switch (token_counter) 
        {
            case 1:
                line_lat = token;
                break;
            case 2:
                line_lon = token;
                break;
            case 3:
                line_lat1 = token;
                break;
            case 4:
                line_lon1 = token;
                break;
            case 5:
                bearing = token;
                break;
        }
        token = strtok((char *)NULL, ",");
        token_counter++;
    }
    Freepilot_lon  = atof(line_lon);
    Freepilot_lat = atof(line_lat);
    Freepilot_lon1  = atof(line_lon1);
    Freepilot_lat1 = atof(line_lat1);
    Freepilot_bearing = atof(bearing);
    line_start.SetX(Freepilot_lat);
    line_start.SetY(Freepilot_lon);
    line_end.SetX(Freepilot_lat1);
    line_end.SetY(Freepilot_lon1);
    active_AB = 1;
 
    sprintf(output, "$ABLINE:%f , %f, %f, %f\r\n",line_start.GetX(),line_start.GetY(),line_end.GetX(),line_end.GetY());
    pc.puts(output);
}
 
void autosteer_done()
{
    //kill the autosteer once the timeout reech
    enable_motor = 0;
}
 
void process_FGPSAUTO(char* FGPSAUTO)
{
    //pc.puts(FGPSAUTO);
    char *token;
    int  token_counter = 0;
    char *ahead  = (char *)NULL;
    char *center  = (char *)NULL;
    char *phase  = (char *)NULL;
    char *scl  = (char *)NULL;
    char *avg  = (char *)NULL;
    char *_kp = (char *)NULL;
    char *_ki  = (char *)NULL;
        char *fg  = (char *)NULL;

    char *_kd = (char *)NULL;
    token = strtok(FGPSAUTO, ",");
    while (token) 
    {
        switch (token_counter) 
        {
            case 1:
                phase = token;
                break;
            case 2:
                center = token;
                break;
            case 3:
                fg = token;
                break;
            case 4:
                scl = token;
                break;
            case 5:
                ahead = token;
                break;
            case 6:
                avg = token;
                break;
            case 7:
                _kp = token;
                break;
            case 8:
                _ki = token;
                break;
            case 9:
                _kd = token;
                break;
        }
        token = strtok((char *)NULL, ",");
        token_counter++;
    }
    if ( _kp && _ki && _kd ) 
    {
        kp = atof(_kp);
        ki = atof(_ki);
        kd = atof(_kd);
    }
    if ( phase && center && scl && avg && ahead ) 
    {
        lookaheadtime = atof(ahead);
        scale = atof(scl);
        phaseadv = atof(phase);
        avgpos = atof(avg);
        tcenter = atof(center);
        filterg = atof(fg);
    //   / sprintf(output, "$SETTINGS:%f\r\n", lookaheadtime);
       // pc.puts(output);
        SetFilter(phaseadv, tcenter, lookaheadtime, scale,filterg);
    }
}
 
//sets pwm1 and pwm2 and enable_motor
void process_ASTEER(char* asteer)
{
    char *token;
    int  token_counter = 0;
    char *asteer_speed  = (char *)NULL;
    char *asteer_time = (char *)NULL;
    token = strtok(asteer, ",");
    while (token) 
    {
        switch (token_counter) 
        {
            case 1:
                asteer_speed  = token;
                break;
            case 2:
                asteer_time = token;
                break;
        }
        token = strtok((char *)NULL, ",");
        token_counter++;
    }
    if ( asteer_speed && asteer_time ) 
    {
        motorspeed = atof(asteer_speed);
        enable_time = atof(asteer_time);
        autosteer_timeout.attach_us(autosteer_done,(double)enable_time *  (double)1000.0);
        if ( motorspeed > 127.0 ) 
        {
            pwm2_speed = 0.0;
            pwm1_speed = ((double)motorspeed - (double)127.0) / 127.0;
            enable_motor = 1;
        } 
        else if ( motorspeed < 127.0 ) 
        {
            pwm2_speed = ( ((double) 127-(double)motorspeed) / 127.0 );
            pwm1_speed = 0.0;
            enable_motor = 1;
        } 
        else 
        {
            pwm1_speed = 0;
            pwm2_speed = 0;
            enable_motor = 0;
        }
      //  if(Authenticated)
       // {
           pwm1 = pwm1_speed;
           pwm2 = pwm2_speed;
      //  }
        //else
        //{
         //   sprintf(output,"$NOT AUTHENTICATED TO STEER %f %d %f %f",motorspeed,enable_time,pwm1_speed,pwm2_speed);     
         //   pc.puts(output);
         //   bluetooth.puts(output);
       // }
    }
}
            
void pc_analyse(char* pc_string)
{
   // pc.puts(pc_string);
    if (!strncmp(pc_string, "$ASTEER", 7)) 
    {
        process_ASTEER(pc_string);
    } 
    else if (!strncmp(pc_string, "$BANY",5)) 
    {
        _ID = Config_GetID();
        Config_Save();
    }
    else if (!strncmp(pc_string, "$GPSBAUD",8)) 
    {
        process_GPSBAUD(pc_string);
        Config_Save();
        sprintf(output,"%s %d\r\n",pc_string,gps_baud);
        pc.puts(output);
    } 
        else if (!strncmp(pc_string, "$FGPSAUTO",9)) 
    {
        process_FGPSAUTO(pc_string);
        sprintf(output,"%s\r\n",pc_string);
        bluetooth.puts(output);
        Config_Save();
    } 
    else if (!strncmp(pc_string, "$FGPS,",6)) 
    {
       int i=5;
       char c=pc_string[i];
       while (c!=0)
       {
          i++;
          if (i>255) break; //protect msg buffer!
          c=pc_string[i];
          gps.putc(c); 
          pc.putc(c);   
       }
    } 
 
    else if (!strncmp(pc_string, "$GPSHEIGHT",10)) 
    {
        process_GPSHEIGHT(pc_string);
        sprintf(output,"%s\r\n",pc_string);
        bluetooth.puts(output);
        Config_Save();
    } 

    else if (!strncmp(pc_string, "$FGPSAB",7)) 
    {
        process_FGPSAB(pc_string);
    } 
    else if (!strncmp(pc_string, "$CALIBRATEACCEL",15)) 
    {
        calibrateGyroscope();
        calibrateAccelerometer();
        Config_Save();
    }
    else if (!strncmp(pc_string, "$POSITION",9)) 
    {
 
        char* pointer;
        char* Data[5];
        int index = 0;
        //Split data at commas
        pointer = strtok(pc_string, ",");
        if(pointer == NULL)
            Data[0] = pc_string;
        while(pointer != NULL) 
        {
            Data[index] = pointer;
            pointer = strtok(NULL, ",");
            index++;
        }
        //int temp_pos = 
        gyro_pos = atoi(Data[1]);
        pc.printf("POSITION=%i\r\n",gyro_pos);//("POSITION=");
        Config_Save();
    }
    else 
    {
    }
}
 
void gps_analyse(char* gps_string)
{
   // pc.puts(gps_string);
    //bluetooth.puts(gps_string);
    if (!strncmp(gps_string, "$GPRMC", 6)) 
    {
     //   pc.puts(gps_string);
        nmea_rmc(gps_string); //analyse and decompose the rmc string
    }
}
 
int i2 = 0;
bool end2 = false;
bool start2 = false;
 
bool getline2()
{
    int gotstring=false;
    while (1) 
    {
        if( !bluetooth.readable() ) 
        {
            break;
        }
        char c = bluetooth.getc();
        if (c == 36 ) 
        {
            start2=true;
            end2 = false;
            i2 = 0;
        }
        if ((start2) && (c == 10)) 
        {
            end2=true;
            start2 = false;
        }
        if (start2) 
        {
            msg2[i2]=c;
            i2++;
            if (i2>255) break; //protect msg buffer!
        }
        if (end2) 
        {
            msg2[i2]=c;
            msg2[i2+1] = 0;
            start2 = false;
            gotstring = true;
            end2=false;
            i2=0;
            break;
        }
    }
    return gotstring;
}
 
 
int i=0;
bool start=false;
bool end=false;
    
bool getline(bool forward)
{
    while (1)
    {    
        if( !gps.readable() )
        {
            break;
        }
        char c = gps.getc();
        if (forward) //simply forward all to Bluetooth
        {
           bluetooth.putc(c);    
        }
        if (c == 36 ){start=true;end = false; i = 0;}
        if ((start) && (c == 10))
        {
            end=true; 
            start = false;
        }
        if (start)
        {
            msg[i]=c;
            i++;
            if (i>255) break; //protect msg buffer!
        }
        if (end)
        { 
            msg[i]=c;   
            msg[i+1] = 0;
            i=0;
            start = false;
            end = true;
            break;
        }
    }
    return end;
}
 
void keyPressedHeld( void )
{
    motor_enable_state = "$ENABLE,1\r\n";
    motor_enable = 1;
    ledGREEN=1; //show green for being ready to steer
}
 
void keyReleasedHeld( void )
{
    /////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
    motor_enable_state = "$ENABLE,1\r\n";
    motor_enable = 0;
    ledGREEN=0; 
}
 
void boom1PressedHeld( void )
{
   // ledGREEN=1;
 boom18=boom18 & 0xFE;
}
 
void boom1ReleasedHeld( void )
{
  //ledGREEN=0;  
  boom18=boom18 | 0x01;
}
 
void boom2PressedHeld( void )
{  
   boom18=boom18 & 0xFD;
}
 
void boom2ReleasedHeld( void )
{
   boom18=boom18 | 0x02;
}
void boom3PressedHeld( void )
{
     boom18=boom18 & 0xFB;
}
 
void boom3ReleasedHeld( void )
{
  boom18=boom18 | 0x04;
}
 
void boom4PressedHeld( void )
{
    boom18=boom18 & 0xF7;
}
 
void boom4ReleasedHeld( void )
{
    boom18=boom18 | 0x08;
}
 
void toprint()
{
    angle_send = 1;
}
 
                
int main()
{
    int x=0;
    bluetooth.baud(115200);
    gps.baud(38400);
    pc.baud(38400);
 
//JH prepare and send version info
    vTimer.start();
    vTimer.reset();
    motTimer.start();
    motTimer.reset();
    lastsend_motorstate=motTimer.read_ms()-6500; //should trigger in 5s
    motor_enable_state = "$ENABLE,1\r\n";
         initializeAccelerometer();
    calibrateAccelerometer();
    initializeGyroscope();
    calibrateGyroscope();
    btTimer.start();
    btTimer.reset();
    lastgetBT=  btTimer.read_ms();
    
    pc.puts(version);
    bluetooth.puts(version);
    lastsend_version=vTimer.read_ms()-18000;
    
    Config_Startup();
    _ID = Config_GetID();
    Config_Save();
  
    boom1.attach_asserted_held( &boom1PressedHeld );
    boom1.attach_deasserted_held( &boom1ReleasedHeld );
    boom1.setSampleFrequency(); //default = 20 ms
    boom1.setSamplesTillAssert(5);
    boom1.setSamplesTillHeld(5);
    boom2.attach_asserted_held( &boom2PressedHeld );
    boom2.attach_deasserted_held( &boom2ReleasedHeld );
    boom2.setSamplesTillAssert(5);
    boom2.setSamplesTillHeld(5);
    boom2.setSampleFrequency();
    boom3.attach_asserted_held( &boom3PressedHeld );
    boom3.attach_deasserted_held( &boom3ReleasedHeld );
    boom3.setSamplesTillAssert(5);
    boom3.setSamplesTillHeld(5);
    boom3.setSampleFrequency();
    boom4.attach_asserted_held( &boom4PressedHeld );
    boom4.attach_deasserted_held( &boom4ReleasedHeld );
    boom4.setSamplesTillAssert(5);
    boom4.setSamplesTillHeld(5);
    boom4.setSampleFrequency();
       
    motor_switch.setSampleFrequency(10000);
    motor_switch.attach_asserted_held( &keyPressedHeld );
    motor_switch.attach_deasserted_held( &keyReleasedHeld );
 
    accelerometerTicker.attach(&sampleAccelerometer, 0.005);
    gyroscopeTicker.attach(&sampleGyroscope, 0.005);
    filterTicker.attach(&filter, FILTER_RATE);
    angle_print.attach(&toprint,0.2);
    activate_antenna();
    
    while(1) 
    {
        //JH send version information every 10 seconds to keep Bluetooth alive
        if ((vTimer.read_ms()-lastsend_version)>25000) 
        {
            pc.puts(version);
            bluetooth.puts(version);
            vTimer.reset();
            lastsend_version=vTimer.read_ms();
        } 
        
        if ( antenna_active == 1 && gps.readable()) 
        {
            if (getline(false)) 
            {
                if ( validate_checksum(msg)) 
                {
                    if ( bluetooth.writeable())
                    {
                 //   bluetooth.puts(msg);
                    }
                    gps_analyse(msg);
                } 
                else 
                {
                    pc.puts("INVALID!!!!\r\n");
                }
            }
        }
        if ( bluetooth.readable()) 
        {
           if (getline2()) 
           {
               btTimer.reset();
               lastgetBT=  btTimer.read_ms();
             //  x++;
              //  trim(msg2," ");
             //   pc.puts(msg2);
                pc_analyse(msg2);
            }
        }
       if (  btTimer.read_ms()-lastgetBT>1000)
       {
           //we did not get any commands over BT
           ledRED=1; //turn red
       }
       else ledRED=0;
       
       if ( ((motTimer.read_ms()-lastsend_motorstate)>8000) || (motor_enable!=lastmotor_enable)) 
        {
            bluetooth.puts(motor_enable_state);
            pc.puts(motor_enable_state);
            motTimer.reset();
            lastsend_motorstate=motTimer.read_ms();
            lastmotor_enable=motor_enable;
        }
        if (boom18!=lastboom18)
        {
             boomstate[4]=boom18 | 0x80; //
             bluetooth.puts(boomstate);
             pc.puts(boomstate);
             lastboom18=boom18;
        }
        if ( print_euler == 1 && angle_send == 1 ) //&& reading == 0) 
        {
            sprintf(output,"$EULER,%f,%f,%f\r\n",toDegrees(get_roll()),toDegrees(get_pitch()),toDegrees(get_yaw()));
           // pc.puts(output);
            bluetooth.puts(output);
            angle_send = 0;
        }
    }
}