Senior_Design_Sailboat / Mbed 2 deprecated ECE4012_Sailboat

GPS and IMU reading works

Dependencies:   mbed Servo SDFileSystem

/media/uploads/taoqiuyang/img_2352.jpg

main.cpp@16:0ea992d9a390, 2015-08-26 (annotated)

Committer:
dem123456789
Date:
Wed Aug 26 22:53:31 2015 +0000
Revision:
16:0ea992d9a390
Parent:
15:dbf20c1209ae
Child:
17:0b89c374f2f7
PC Set started

Who changed what in which revision?

UserRevisionLine numberNew contents of line
taoqiuyang 0:f4d390c06705 1 #include "mbed.h"
taoqiuyang 3:ab9f94d112c0 2 #include <string>
dem123456789 9:bf5939466e86 3 #include <sstream>
dem123456789 9:bf5939466e86 4 #include <vector>
dem123456789 14:92bacb5af01b 5 #include "Get.h"
dem123456789 11:1caacb994236 6 using namespace std;
dem123456789 11:1caacb994236 7
dem123456789 11:1caacb994236 8 #define MAX_IMU_SIZE 29
taoqiuyang 3:ab9f94d112c0 9
taoqiuyang 2:afb333543af5 10 DigitalOut led1(LED1);
taoqiuyang 2:afb333543af5 11 DigitalOut led2(LED2);
taoqiuyang 5:451b8203ef99 12 DigitalOut led3(LED3);
dem123456789 8:1f5a44bade4d 13 DigitalOut led4(LED4);
taoqiuyang 2:afb333543af5 14
taoqiuyang 2:afb333543af5 15 Serial pc(USBTX, USBRX);
taoqiuyang 2:afb333543af5 16 Serial IMU(p28, p27); // tx, rx
taoqiuyang 5:451b8203ef99 17 Serial GPS(p13, p14); // tx, rx
taoqiuyang 2:afb333543af5 18
taoqiuyang 2:afb333543af5 19 char IMU_message[256];
taoqiuyang 3:ab9f94d112c0 20 int IMU_message_counter=0;
taoqiuyang 5:451b8203ef99 21 char GPS_message[256];
taoqiuyang 5:451b8203ef99 22 int GPS_message_counter=0;
dem123456789 14:92bacb5af01b 23 char PC_message[256];
dem123456789 14:92bacb5af01b 24 int PC_message_counter=0;
dem123456789 11:1caacb994236 25
dem123456789 11:1caacb994236 26 string IMU_Y="N/A";
dem123456789 11:1caacb994236 27 string IMU_P="N/A";
dem123456789 11:1caacb994236 28 string IMU_R="N/A";
dem123456789 14:92bacb5af01b 29 string GPS_Quality="N/A";
dem123456789 11:1caacb994236 30 string GPS_UTC="N/A";
dem123456789 11:1caacb994236 31 string GPS_Latitude="N/A";
dem123456789 11:1caacb994236 32 string GPS_Longtitude="N/A";
dem123456789 11:1caacb994236 33 string GPS_Altitude="N/A";
dem123456789 11:1caacb994236 34 string GPS_Num_Satellite="N/A";
dem123456789 11:1caacb994236 35 string GPS_HDOP="N/A";
dem123456789 12:8644abfa86da 36 string GPS_VDOP="N/A";
dem123456789 12:8644abfa86da 37 string GPS_PDOP="N/A";
dem123456789 14:92bacb5af01b 38 string GPS_Date="N/A";
dem123456789 14:92bacb5af01b 39 string GPS_VelocityKnot="N/A";
dem123456789 14:92bacb5af01b 40 string GPS_VelocityKph="N/A";
dem123456789 14:92bacb5af01b 41
dem123456789 12:8644abfa86da 42 int asterisk_idx;
dem123456789 9:bf5939466e86 43
dem123456789 9:bf5939466e86 44 vector<string> split(const string &s, char delim) {
dem123456789 9:bf5939466e86 45 stringstream ss(s);
dem123456789 9:bf5939466e86 46 string item;
dem123456789 9:bf5939466e86 47 vector<string> tokens;
dem123456789 9:bf5939466e86 48 while (getline(ss, item, delim)) {
dem123456789 15:dbf20c1209ae 49 if (item.empty()) {
dem123456789 15:dbf20c1209ae 50 item == "N/A";
dem123456789 15:dbf20c1209ae 51 }
dem123456789 9:bf5939466e86 52 tokens.push_back(item);
dem123456789 9:bf5939466e86 53 }
dem123456789 9:bf5939466e86 54 return tokens;
dem123456789 9:bf5939466e86 55 }
dem123456789 9:bf5939466e86 56
dem123456789 9:bf5939466e86 57 void updateIMU(string IMU_data) {
dem123456789 9:bf5939466e86 58 string IMU_data_string(IMU_data);
dem123456789 9:bf5939466e86 59 if (IMU_data_string.substr(0,4) == "#YPR" and IMU_data_string.size() <= MAX_IMU_SIZE) {
dem123456789 9:bf5939466e86 60 IMU_data_string = IMU_data_string.substr(5);
dem123456789 9:bf5939466e86 61 vector<string> result = split(IMU_data_string, ',');
dem123456789 9:bf5939466e86 62 IMU_Y = result.at(0);
dem123456789 9:bf5939466e86 63 IMU_P = result.at(1);
dem123456789 15:dbf20c1209ae 64 IMU_R = result.at(2).substr(0, result.at(2).size()-1);
dem123456789 9:bf5939466e86 65 }
dem123456789 9:bf5939466e86 66 }
dem123456789 9:bf5939466e86 67
dem123456789 10:12ba6ed2d6f0 68 void updateGPS(string GPS_data) {
dem123456789 10:12ba6ed2d6f0 69 string GPS_data_string(GPS_data);
dem123456789 11:1caacb994236 70 if (GPS_data_string.substr(0,6) == "$GPGGA") {
dem123456789 11:1caacb994236 71 GPS_data_string = GPS_data_string.substr(7);
dem123456789 10:12ba6ed2d6f0 72 vector<string> result = split(GPS_data_string, ',');
dem123456789 14:92bacb5af01b 73 GPS_Quality = result.at(5);
dem123456789 14:92bacb5af01b 74 if(GPS_Quality != "0" and GPS_Quality != "6") {
dem123456789 11:1caacb994236 75 GPS_UTC = result.at(0);
dem123456789 11:1caacb994236 76 GPS_Latitude = result.at(2) + result.at(1);
dem123456789 11:1caacb994236 77 GPS_Longtitude = result.at(4) + result.at(3);
dem123456789 11:1caacb994236 78 GPS_Num_Satellite = result.at(6);
dem123456789 11:1caacb994236 79 GPS_HDOP = result.at(7);
dem123456789 11:1caacb994236 80 GPS_Altitude = result.at(8) + result.at(9);
dem123456789 11:1caacb994236 81 }
dem123456789 14:92bacb5af01b 82 } else if (GPS_data_string.substr(0,6) == "$GPGSA" and GPS_Quality != "0" and GPS_Quality != "6") {
dem123456789 12:8644abfa86da 83 GPS_data_string = GPS_data_string.substr(7);
dem123456789 12:8644abfa86da 84 vector<string> result = split(GPS_data_string, ',');
dem123456789 12:8644abfa86da 85 GPS_PDOP = result.at(14);
dem123456789 12:8644abfa86da 86 asterisk_idx = result.at(16).find('*');
dem123456789 12:8644abfa86da 87 GPS_VDOP = result.at(16).substr(0, asterisk_idx);
dem123456789 14:92bacb5af01b 88 } else if (GPS_data_string.substr(0,6) == "$GPRMC" and GPS_Quality != "0" and GPS_Quality != "6") {
dem123456789 12:8644abfa86da 89 GPS_data_string = GPS_data_string.substr(7);
dem123456789 12:8644abfa86da 90 vector<string> result = split(GPS_data_string, ',');
dem123456789 14:92bacb5af01b 91 GPS_Date = result.at(8);
dem123456789 14:92bacb5af01b 92 } else if (GPS_data_string.substr(0,6) == "$GPVTG" and GPS_Quality != "0" and GPS_Quality != "6") {
dem123456789 12:8644abfa86da 93 GPS_data_string = GPS_data_string.substr(7);
dem123456789 12:8644abfa86da 94 vector<string> result = split(GPS_data_string, ',');
dem123456789 14:92bacb5af01b 95 GPS_VelocityKnot = result.at(4) + result.at(5);
dem123456789 12:8644abfa86da 96 asterisk_idx = result.at(7).find('*');
dem123456789 14:92bacb5af01b 97 GPS_VelocityKph = result.at(6) + result.at(7).substr(0, asterisk_idx);
dem123456789 10:12ba6ed2d6f0 98 }
dem123456789 12:8644abfa86da 99
dem123456789 10:12ba6ed2d6f0 100 }
dem123456789 16:0ea992d9a390 101 /* Get data from SailBoat
dem123456789 16:0ea992d9a390 102 @GET=parameter
dem123456789 16:0ea992d9a390 103 Ex: @GET=GPS_Quality
dem123456789 16:0ea992d9a390 104 Supported parameter: GPS_Quality, GPS_UTC, GPS_Latitude, GPS_Longtitude, GPS_Altitude,
dem123456789 16:0ea992d9a390 105 GPS_Num_Satellite, GPS_HDOP, GPS_VDOP, GPS_PDOP, GPS_Date, GPS_VelocityKnot, GPS_VelocityKph
dem123456789 16:0ea992d9a390 106 Set path to SailBoat
dem123456789 16:0ea992d9a390 107 @SET=Latitude, Longtitude, Task index
dem123456789 16:0ea992d9a390 108 @SET=33.776318, -84.407590, 3
dem123456789 16:0ea992d9a390 109 */
dem123456789 15:dbf20c1209ae 110 void decodePC(string PC_data) {
dem123456789 15:dbf20c1209ae 111 string PC_data_string(PC_data);
dem123456789 15:dbf20c1209ae 112 if (PC_data_string.substr(0,4) == "@GET") {
dem123456789 15:dbf20c1209ae 113 pc.printf("%s", PC_data_string.c_str());
dem123456789 15:dbf20c1209ae 114 PC_data_string = PC_data_string.substr(5, PC_data_string.size()-6);
dem123456789 15:dbf20c1209ae 115 pc.printf("%s\n", decodeCommand(PC_data_string).c_str());
dem123456789 16:0ea992d9a390 116 } else if (PC_data_string.substr(0,4) == "@SET") {
dem123456789 16:0ea992d9a390 117 }
dem123456789 15:dbf20c1209ae 118 }
dem123456789 15:dbf20c1209ae 119
dem123456789 15:dbf20c1209ae 120
dem123456789 11:1caacb994236 121 void printStateIMU() {
dem123456789 11:1caacb994236 122 pc.printf("IMU_Y: %s, IMU_P: %s, IMU_R: %s\n",IMU_Y.c_str(), IMU_P.c_str(), IMU_R.c_str());
dem123456789 11:1caacb994236 123 }
dem123456789 11:1caacb994236 124
dem123456789 12:8644abfa86da 125 void printStateGPS() {
dem123456789 14:92bacb5af01b 126 pc.printf("GPS_Quality: %s, GPS_UTC: %s, GPS_Latitude: %s, GPS_Longtitude: %s, GPS_Altitude: %s, "
dem123456789 14:92bacb5af01b 127 "GPS_Num_Satellite: %s, GPS_HDOP: %s, GPS_VDOP: %s, GPS_PDOP: %s, GPS_Date: %s, GPS_VelocityKnot: %s, GPS_VelocityKph: %s\n",
dem123456789 14:92bacb5af01b 128 GPS_Quality.c_str(), GPS_UTC.c_str(), GPS_Latitude.c_str(), GPS_Longtitude.c_str(), GPS_Altitude.c_str(), GPS_Num_Satellite.c_str(),
dem123456789 14:92bacb5af01b 129 GPS_HDOP.c_str(), GPS_VDOP.c_str(), GPS_PDOP.c_str(), GPS_Date.c_str(), GPS_VelocityKnot.c_str(), GPS_VelocityKph.c_str());
dem123456789 12:8644abfa86da 130 }
dem123456789 14:92bacb5af01b 131
dem123456789 11:1caacb994236 132 //#YPR=-183.74,-134.27,-114.39
taoqiuyang 4:37d118f2348c 133 void IMU_serial_ISR() {
taoqiuyang 3:ab9f94d112c0 134 char buf;
taoqiuyang 3:ab9f94d112c0 135
taoqiuyang 3:ab9f94d112c0 136 while (IMU.readable()) {
taoqiuyang 3:ab9f94d112c0 137 buf = IMU.getc();
taoqiuyang 3:ab9f94d112c0 138
dem123456789 14:92bacb5af01b 139 //pc.putc(buf);
taoqiuyang 3:ab9f94d112c0 140 IMU_message[IMU_message_counter]=buf;
dem123456789 9:bf5939466e86 141 IMU_message_counter+=1;
taoqiuyang 3:ab9f94d112c0 142
taoqiuyang 3:ab9f94d112c0 143 if (buf=='\n'){
dem123456789 9:bf5939466e86 144 string IMU_copy(IMU_message, IMU_message_counter);
dem123456789 11:1caacb994236 145 //pc.printf("%s", IMU_copy.c_str());
dem123456789 9:bf5939466e86 146 updateIMU(IMU_copy);
dem123456789 9:bf5939466e86 147 IMU_message_counter=0;
dem123456789 9:bf5939466e86 148 IMU_copy[0] = '\0';
dem123456789 9:bf5939466e86 149 }
dem123456789 9:bf5939466e86 150
taoqiuyang 3:ab9f94d112c0 151 }
taoqiuyang 2:afb333543af5 152 led2 = !led2;
taoqiuyang 2:afb333543af5 153 }
dem123456789 9:bf5939466e86 154
dem123456789 9:bf5939466e86 155
dem123456789 8:1f5a44bade4d 156
taoqiuyang 5:451b8203ef99 157 void GPS_serial_ISR() {
taoqiuyang 5:451b8203ef99 158 char buf;
taoqiuyang 5:451b8203ef99 159
taoqiuyang 5:451b8203ef99 160 while (GPS.readable()) {
taoqiuyang 5:451b8203ef99 161 buf = GPS.getc();
dem123456789 14:92bacb5af01b 162
dem123456789 14:92bacb5af01b 163 //pc.putc(buf);
dem123456789 10:12ba6ed2d6f0 164 GPS_message[GPS_message_counter]=buf;
dem123456789 10:12ba6ed2d6f0 165 GPS_message_counter+=1;
dem123456789 10:12ba6ed2d6f0 166
dem123456789 10:12ba6ed2d6f0 167 if (buf=='\n'){
dem123456789 10:12ba6ed2d6f0 168 string GPS_copy(GPS_message, GPS_message_counter);
dem123456789 11:1caacb994236 169 //pc.printf("%s", GPS_copy.c_str());
dem123456789 10:12ba6ed2d6f0 170 updateGPS(GPS_copy);
dem123456789 10:12ba6ed2d6f0 171 GPS_message_counter=0;
dem123456789 10:12ba6ed2d6f0 172 GPS_copy[0] = '\0';
dem123456789 10:12ba6ed2d6f0 173 }
taoqiuyang 5:451b8203ef99 174 }
taoqiuyang 5:451b8203ef99 175
taoqiuyang 5:451b8203ef99 176 led3 = !led3;
taoqiuyang 5:451b8203ef99 177 }
taoqiuyang 3:ab9f94d112c0 178
dem123456789 8:1f5a44bade4d 179 void PC_serial_ISR() {
dem123456789 8:1f5a44bade4d 180 char buf;
dem123456789 8:1f5a44bade4d 181
dem123456789 8:1f5a44bade4d 182 while (pc.readable()) {
dem123456789 8:1f5a44bade4d 183 buf = pc.getc();
dem123456789 14:92bacb5af01b 184
dem123456789 14:92bacb5af01b 185 //pc.putc(buf);
dem123456789 14:92bacb5af01b 186 PC_message[PC_message_counter]=buf;
dem123456789 14:92bacb5af01b 187 PC_message_counter+=1;
dem123456789 14:92bacb5af01b 188
dem123456789 14:92bacb5af01b 189 if (buf=='\n'){
dem123456789 14:92bacb5af01b 190 string PC_copy(PC_message, PC_message_counter);
dem123456789 14:92bacb5af01b 191 //pc.printf("%s", PC_copy.c_str());
dem123456789 14:92bacb5af01b 192 decodePC(PC_copy);
dem123456789 14:92bacb5af01b 193 PC_message_counter=0;
dem123456789 14:92bacb5af01b 194 PC_copy[0] = '\0';
dem123456789 14:92bacb5af01b 195 }
dem123456789 8:1f5a44bade4d 196 }
dem123456789 8:1f5a44bade4d 197
dem123456789 8:1f5a44bade4d 198 led4= !led4;
dem123456789 8:1f5a44bade4d 199 }
taoqiuyang 3:ab9f94d112c0 200
taoqiuyang 0:f4d390c06705 201 int main() {
taoqiuyang 2:afb333543af5 202 IMU.baud(57600);
taoqiuyang 4:37d118f2348c 203 IMU.attach(&IMU_serial_ISR);
taoqiuyang 5:451b8203ef99 204 GPS.baud(38400);
taoqiuyang 5:451b8203ef99 205 GPS.attach(&GPS_serial_ISR);
dem123456789 8:1f5a44bade4d 206 pc.baud(115200);
dem123456789 8:1f5a44bade4d 207 pc.attach(&PC_serial_ISR);
taoqiuyang 1:e7245ffb4820 208
taoqiuyang 2:afb333543af5 209 while (1) {
taoqiuyang 2:afb333543af5 210 led1 = !led1;
dem123456789 15:dbf20c1209ae 211 wait(0.4);
dem123456789 15:dbf20c1209ae 212 //printStateIMU();
dem123456789 15:dbf20c1209ae 213 //printStateGPS();
taoqiuyang 0:f4d390c06705 214 }
taoqiuyang 0:f4d390c06705 215 }