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@27:1be1f25be449, 2015-09-11 (annotated)

Committer:
dem123456789
Date:
Fri Sep 11 00:11:31 2015 +0000
Revision:
27:1be1f25be449
Parent:
26:353a80179346
Child:
28:ae857c247fbd
Distance part done (not tested)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dem123456789 20:a820531c78bc 1 #include "Config.h"
dem123456789 11:1caacb994236 2
taoqiuyang 2:afb333543af5 3 DigitalOut led1(LED1);
taoqiuyang 2:afb333543af5 4 DigitalOut led2(LED2);
taoqiuyang 5:451b8203ef99 5 DigitalOut led3(LED3);
dem123456789 8:1f5a44bade4d 6 DigitalOut led4(LED4);
dem123456789 20:a820531c78bc 7
taoqiuyang 2:afb333543af5 8 Serial pc(USBTX, USBRX);
taoqiuyang 2:afb333543af5 9 Serial IMU(p28, p27); // tx, rx
taoqiuyang 5:451b8203ef99 10 Serial GPS(p13, p14); // tx, rx
dem123456789 21:99be83550601 11 Servo rudderServo(p25);
dem123456789 21:99be83550601 12 Servo wingServo(p26);
dem123456789 21:99be83550601 13 SDFileSystem sd(p5, p6, p7, p8, "sd");// mosi, miso, sck, cs
taoqiuyang 26:353a80179346 14 Ticker ctrl_updt_timer; //timer to refresh controller
taoqiuyang 2:afb333543af5 15
taoqiuyang 2:afb333543af5 16 char IMU_message[256];
taoqiuyang 3:ab9f94d112c0 17 int IMU_message_counter=0;
taoqiuyang 5:451b8203ef99 18 char GPS_message[256];
taoqiuyang 5:451b8203ef99 19 int GPS_message_counter=0;
dem123456789 14:92bacb5af01b 20 char PC_message[256];
dem123456789 14:92bacb5af01b 21 int PC_message_counter=0;
dem123456789 11:1caacb994236 22
dem123456789 11:1caacb994236 23 string IMU_Y="N/A";
dem123456789 11:1caacb994236 24 string IMU_P="N/A";
dem123456789 11:1caacb994236 25 string IMU_R="N/A";
dem123456789 14:92bacb5af01b 26 string GPS_Quality="N/A";
dem123456789 11:1caacb994236 27 string GPS_UTC="N/A";
dem123456789 11:1caacb994236 28 string GPS_Latitude="N/A";
dem123456789 27:1be1f25be449 29 string GPS_Longitude="N/A";
dem123456789 11:1caacb994236 30 string GPS_Altitude="N/A";
dem123456789 22:faba67585854 31 string GPS_Altitude_Unit="N/A";
dem123456789 11:1caacb994236 32 string GPS_Num_Satellite="N/A";
dem123456789 11:1caacb994236 33 string GPS_HDOP="N/A";
dem123456789 12:8644abfa86da 34 string GPS_VDOP="N/A";
dem123456789 12:8644abfa86da 35 string GPS_PDOP="N/A";
dem123456789 14:92bacb5af01b 36 string GPS_Date="N/A";
dem123456789 14:92bacb5af01b 37 string GPS_VelocityKnot="N/A";
dem123456789 22:faba67585854 38 string GPS_VelocityKnot_Unit="N/A";
dem123456789 14:92bacb5af01b 39 string GPS_VelocityKph="N/A";
dem123456789 22:faba67585854 40 string GPS_VelocityKph_Unit="N/A";
dem123456789 23:cc06a8226f72 41 string temp = "";
dem123456789 22:faba67585854 42
dem123456789 22:faba67585854 43 double D_IMU_Y=0;
dem123456789 22:faba67585854 44 double D_IMU_P=0;
dem123456789 22:faba67585854 45 double D_IMU_R=0;
dem123456789 22:faba67585854 46 double D_GPS_Quality=0;
dem123456789 22:faba67585854 47 double D_GPS_UTC=0;
dem123456789 22:faba67585854 48 double D_GPS_Latitude=0;
dem123456789 22:faba67585854 49 double D_GPS_Latitude_Direction=0;
dem123456789 27:1be1f25be449 50 double D_GPS_Longitude=0;
dem123456789 27:1be1f25be449 51 double D_GPS_Longitude_Direction=0;
dem123456789 22:faba67585854 52 double D_GPS_Altitude=0;
dem123456789 22:faba67585854 53 double D_GPS_Num_Satellite=0;
dem123456789 22:faba67585854 54 double D_GPS_HDOP=0;
dem123456789 22:faba67585854 55 double D_GPS_VDOP=0;
dem123456789 22:faba67585854 56 double D_GPS_PDOP=0;
dem123456789 22:faba67585854 57 double D_GPS_Date=0;
dem123456789 22:faba67585854 58 double D_GPS_VelocityKnot=0;
dem123456789 22:faba67585854 59 double D_GPS_VelocityKph=0;
dem123456789 27:1be1f25be449 60 double D_temp=0;
dem123456789 12:8644abfa86da 61 int asterisk_idx;
dem123456789 9:bf5939466e86 62
dem123456789 27:1be1f25be449 63 double Longitude_Path[MAX_TASK_SIZE];
dem123456789 20:a820531c78bc 64 double Latitude_Path[MAX_TASK_SIZE];
dem123456789 20:a820531c78bc 65
taoqiuyang 26:353a80179346 66 double angle_to_path_point,distance_to_path_point,desired_speed;
taoqiuyang 26:353a80179346 67 double rudder_ctrl_parameters[3];
taoqiuyang 26:353a80179346 68 double rudder_variables[5];//,,,prev,out
taoqiuyang 26:353a80179346 69 double T=0.2; //controller update period=0.2sec, 5Hz
taoqiuyang 26:353a80179346 70
taoqiuyang 26:353a80179346 71
dem123456789 9:bf5939466e86 72 vector<string> split(const string &s, char delim) {
dem123456789 9:bf5939466e86 73 stringstream ss(s);
dem123456789 9:bf5939466e86 74 string item;
dem123456789 9:bf5939466e86 75 vector<string> tokens;
dem123456789 9:bf5939466e86 76 while (getline(ss, item, delim)) {
dem123456789 15:dbf20c1209ae 77 if (item.empty()) {
dem123456789 20:a820531c78bc 78 item = "N/A";
dem123456789 15:dbf20c1209ae 79 }
dem123456789 9:bf5939466e86 80 tokens.push_back(item);
dem123456789 9:bf5939466e86 81 }
dem123456789 9:bf5939466e86 82 return tokens;
dem123456789 9:bf5939466e86 83 }
dem123456789 9:bf5939466e86 84
dem123456789 27:1be1f25be449 85 double GPSdecimal(double coordinate) {
dem123456789 27:1be1f25be449 86 //Convert a NMEA decimal-decimal value into decimal degree value
dem123456789 27:1be1f25be449 87 //5144.3855 (ddmm.mmmm) = 51 44.3855 = 51 + 44.3855/60 = 51.7397583 degrees
dem123456789 27:1be1f25be449 88 coordinate = coordinate/100;
dem123456789 27:1be1f25be449 89 return ((int) coordinate) + ((coordinate-((int) coordinate))/60);
dem123456789 27:1be1f25be449 90 }
dem123456789 27:1be1f25be449 91
dem123456789 27:1be1f25be449 92 double Deg2Rad(double degree) {
dem123456789 27:1be1f25be449 93 return degree*DEG2RAD_RATIO;
dem123456789 27:1be1f25be449 94 }
dem123456789 27:1be1f25be449 95
dem123456789 9:bf5939466e86 96 void updateIMU(string IMU_data) {
dem123456789 9:bf5939466e86 97 string IMU_data_string(IMU_data);
dem123456789 9:bf5939466e86 98 if (IMU_data_string.substr(0,4) == "#YPR" and IMU_data_string.size() <= MAX_IMU_SIZE) {
dem123456789 9:bf5939466e86 99 IMU_data_string = IMU_data_string.substr(5);
dem123456789 9:bf5939466e86 100 vector<string> result = split(IMU_data_string, ',');
dem123456789 9:bf5939466e86 101 IMU_Y = result.at(0);
dem123456789 23:cc06a8226f72 102 D_IMU_Y = strtod(IMU_Y.c_str(), NULL);
dem123456789 9:bf5939466e86 103 IMU_P = result.at(1);
dem123456789 23:cc06a8226f72 104 D_IMU_P = strtod(IMU_P.c_str(), NULL);
dem123456789 15:dbf20c1209ae 105 IMU_R = result.at(2).substr(0, result.at(2).size()-1);
dem123456789 23:cc06a8226f72 106 D_IMU_R = strtod(IMU_R.c_str(), NULL);
dem123456789 9:bf5939466e86 107 }
dem123456789 9:bf5939466e86 108 }
dem123456789 9:bf5939466e86 109
dem123456789 10:12ba6ed2d6f0 110 void updateGPS(string GPS_data) {
dem123456789 10:12ba6ed2d6f0 111 string GPS_data_string(GPS_data);
dem123456789 11:1caacb994236 112 if (GPS_data_string.substr(0,6) == "$GPGGA") {
dem123456789 11:1caacb994236 113 GPS_data_string = GPS_data_string.substr(7);
dem123456789 10:12ba6ed2d6f0 114 vector<string> result = split(GPS_data_string, ',');
dem123456789 14:92bacb5af01b 115 GPS_Quality = result.at(5);
dem123456789 22:faba67585854 116 D_GPS_Quality = strtod(result.at(5).c_str(), NULL);
dem123456789 14:92bacb5af01b 117 if(GPS_Quality != "0" and GPS_Quality != "6") {
dem123456789 11:1caacb994236 118 GPS_UTC = result.at(0);
dem123456789 23:cc06a8226f72 119 D_GPS_UTC = strtod(GPS_UTC.c_str(), NULL);
dem123456789 23:cc06a8226f72 120 GPS_Latitude = result.at(1) + result.at(2);
dem123456789 23:cc06a8226f72 121 if (result.at(2) == "N") { // 0 means North
dem123456789 22:faba67585854 122 D_GPS_Latitude_Direction = 0;
dem123456789 23:cc06a8226f72 123 } else if (result.at(2) == "S") { // 1 means South
dem123456789 27:1be1f25be449 124 D_GPS_Latitude_Direction = 1;
dem123456789 27:1be1f25be449 125 temp = "-" + result.at(1);
dem123456789 22:faba67585854 126 }
dem123456789 27:1be1f25be449 127 D_temp = strtod(temp.c_str(), NULL);
dem123456789 27:1be1f25be449 128 D_GPS_Latitude = GPSdecimal(D_temp);
dem123456789 27:1be1f25be449 129 GPS_Longitude = result.at(3) + result.at(4);
dem123456789 23:cc06a8226f72 130 if (result.at(4) == "E") { // 0 means East
dem123456789 27:1be1f25be449 131 D_GPS_Longitude_Direction = 0;
dem123456789 23:cc06a8226f72 132 } else if (result.at(4) == "W") { // 1 means West
dem123456789 27:1be1f25be449 133 D_GPS_Longitude_Direction = 1;
dem123456789 27:1be1f25be449 134 temp = "-" + result.at(3);
dem123456789 22:faba67585854 135 }
dem123456789 27:1be1f25be449 136 D_temp = strtod(temp.c_str(), NULL);
dem123456789 27:1be1f25be449 137 D_GPS_Longitude = GPSdecimal(D_temp);
dem123456789 11:1caacb994236 138 GPS_Num_Satellite = result.at(6);
dem123456789 22:faba67585854 139 D_GPS_Num_Satellite = strtod(result.at(6).c_str(), NULL);
dem123456789 11:1caacb994236 140 GPS_HDOP = result.at(7);
dem123456789 22:faba67585854 141 D_GPS_HDOP = strtod(result.at(7).c_str(), NULL);
dem123456789 11:1caacb994236 142 GPS_Altitude = result.at(8) + result.at(9);
dem123456789 22:faba67585854 143 D_GPS_Altitude = strtod(result.at(8).c_str(), NULL);
dem123456789 22:faba67585854 144 GPS_Altitude_Unit = result.at(9);
dem123456789 11:1caacb994236 145 }
dem123456789 14:92bacb5af01b 146 } else if (GPS_data_string.substr(0,6) == "$GPGSA" and GPS_Quality != "0" and GPS_Quality != "6") {
dem123456789 12:8644abfa86da 147 GPS_data_string = GPS_data_string.substr(7);
dem123456789 12:8644abfa86da 148 vector<string> result = split(GPS_data_string, ',');
dem123456789 12:8644abfa86da 149 GPS_PDOP = result.at(14);
dem123456789 22:faba67585854 150 D_GPS_PDOP = strtod(result.at(14).c_str(), NULL);
dem123456789 12:8644abfa86da 151 asterisk_idx = result.at(16).find('*');
dem123456789 12:8644abfa86da 152 GPS_VDOP = result.at(16).substr(0, asterisk_idx);
dem123456789 22:faba67585854 153 D_GPS_VDOP = strtod(result.at(16).substr(0, asterisk_idx).c_str(), NULL);
dem123456789 14:92bacb5af01b 154 } else if (GPS_data_string.substr(0,6) == "$GPRMC" and GPS_Quality != "0" and GPS_Quality != "6") {
dem123456789 12:8644abfa86da 155 GPS_data_string = GPS_data_string.substr(7);
dem123456789 12:8644abfa86da 156 vector<string> result = split(GPS_data_string, ',');
dem123456789 14:92bacb5af01b 157 GPS_Date = result.at(8);
dem123456789 22:faba67585854 158 D_GPS_Date = strtod(result.at(8).c_str(), NULL);
dem123456789 14:92bacb5af01b 159 } else if (GPS_data_string.substr(0,6) == "$GPVTG" and GPS_Quality != "0" and GPS_Quality != "6") {
dem123456789 12:8644abfa86da 160 GPS_data_string = GPS_data_string.substr(7);
dem123456789 12:8644abfa86da 161 vector<string> result = split(GPS_data_string, ',');
dem123456789 14:92bacb5af01b 162 GPS_VelocityKnot = result.at(4) + result.at(5);
dem123456789 22:faba67585854 163 D_GPS_VelocityKnot = strtod(result.at(4).c_str(), NULL);
dem123456789 22:faba67585854 164 GPS_VelocityKnot_Unit = result.at(5);
dem123456789 12:8644abfa86da 165 asterisk_idx = result.at(7).find('*');
dem123456789 14:92bacb5af01b 166 GPS_VelocityKph = result.at(6) + result.at(7).substr(0, asterisk_idx);
dem123456789 22:faba67585854 167 D_GPS_VelocityKph = strtod(result.at(6).c_str(), NULL);
dem123456789 22:faba67585854 168 GPS_VelocityKph_Unit = result.at(7).substr(0, asterisk_idx);
dem123456789 10:12ba6ed2d6f0 169 }
dem123456789 12:8644abfa86da 170
dem123456789 10:12ba6ed2d6f0 171 }
dem123456789 16:0ea992d9a390 172 /* Get data from SailBoat
dem123456789 16:0ea992d9a390 173 @GET=parameter
dem123456789 16:0ea992d9a390 174 Ex: @GET=GPS_Quality
dem123456789 27:1be1f25be449 175 Supported parameter: GPS_Quality, GPS_UTC, GPS_Latitude, GPS_Longitude, GPS_Altitude,
dem123456789 16:0ea992d9a390 176 GPS_Num_Satellite, GPS_HDOP, GPS_VDOP, GPS_PDOP, GPS_Date, GPS_VelocityKnot, GPS_VelocityKph
dem123456789 16:0ea992d9a390 177 Set path to SailBoat
dem123456789 27:1be1f25be449 178 @SET=PATH, Latitude, Longitude, Task id
dem123456789 20:a820531c78bc 179 @SET=PATH, 33.776318, -84.407590, 3
dem123456789 16:0ea992d9a390 180 */
dem123456789 15:dbf20c1209ae 181 void decodePC(string PC_data) {
dem123456789 15:dbf20c1209ae 182 string PC_data_string(PC_data);
dem123456789 15:dbf20c1209ae 183 if (PC_data_string.substr(0,4) == "@GET") {
dem123456789 15:dbf20c1209ae 184 pc.printf("%s", PC_data_string.c_str());
dem123456789 15:dbf20c1209ae 185 PC_data_string = PC_data_string.substr(5, PC_data_string.size()-6);
dem123456789 20:a820531c78bc 186 pc.printf("%s\n", decodeCommandGET(PC_data_string).c_str());
dem123456789 16:0ea992d9a390 187 } else if (PC_data_string.substr(0,4) == "@SET") {
dem123456789 20:a820531c78bc 188 pc.printf("%s", PC_data_string.c_str());
dem123456789 20:a820531c78bc 189 PC_data_string = PC_data_string.substr(5, PC_data_string.size()-6);
dem123456789 20:a820531c78bc 190 string claim = decodeCommandSET(PC_data_string);
dem123456789 20:a820531c78bc 191 if (claim == "DONE") {
dem123456789 27:1be1f25be449 192 pc.printf("Current Path: Longitude, Latitude\n");
dem123456789 20:a820531c78bc 193 for (int i=0;i<MAX_TASK_SIZE;++i) {
dem123456789 27:1be1f25be449 194 pc.printf(" %f, %f\n", Longitude_Path[i], Latitude_Path[i]);
dem123456789 20:a820531c78bc 195 }
dem123456789 20:a820531c78bc 196 }
dem123456789 20:a820531c78bc 197 pc.printf("%s\n", claim.c_str());
dem123456789 16:0ea992d9a390 198 }
dem123456789 15:dbf20c1209ae 199 }
dem123456789 15:dbf20c1209ae 200
dem123456789 15:dbf20c1209ae 201
taoqiuyang 24:8e38cc14150c 202
dem123456789 11:1caacb994236 203 void printStateIMU() {
dem123456789 23:cc06a8226f72 204 //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 23:cc06a8226f72 205 pc.printf("D_IMU_Y: %f, D_IMU_P: %f, D_IMU_R: %f\n",D_IMU_Y, D_IMU_P, D_IMU_R);
dem123456789 11:1caacb994236 206 }
dem123456789 11:1caacb994236 207
dem123456789 12:8644abfa86da 208 void printStateGPS() {
dem123456789 23:cc06a8226f72 209 /*
dem123456789 27:1be1f25be449 210 pc.printf("GPS_Quality: %s, GPS_UTC: %s, GPS_Latitude: %s, GPS_Longitude: %s, GPS_Altitude: %s, "
dem123456789 14:92bacb5af01b 211 "GPS_Num_Satellite: %s, GPS_HDOP: %s, GPS_VDOP: %s, GPS_PDOP: %s, GPS_Date: %s, GPS_VelocityKnot: %s, GPS_VelocityKph: %s\n",
dem123456789 27:1be1f25be449 212 GPS_Quality.c_str(), GPS_UTC.c_str(), GPS_Latitude.c_str(), GPS_Longitude.c_str(), GPS_Altitude.c_str(), GPS_Num_Satellite.c_str(),
dem123456789 23:cc06a8226f72 213 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 23:cc06a8226f72 214 */
dem123456789 23:cc06a8226f72 215
dem123456789 27:1be1f25be449 216 pc.printf("D_GPS_Quality: %f, D_GPS_UTC: %f, D_GPS_Latitude: %f, D_GPS_Latitude_Direction: %f, D_GPS_Longitude: %f, D_GPS_Longitude_Direction: %f, D_GPS_Altitude: %f,\n"
dem123456789 23:cc06a8226f72 217 "D_GPS_Num_Satellite: %f, D_GPS_HDOP: %f, D_GPS_VDOP: %f, D_GPS_PDOP: %f, D_GPS_Date: %f, D_GPS_VelocityKnot: %f, D_GPS_VelocityKph: %f\n",
dem123456789 27:1be1f25be449 218 D_GPS_Quality, D_GPS_UTC, D_GPS_Latitude, D_GPS_Latitude_Direction, D_GPS_Longitude, D_GPS_Longitude_Direction, D_GPS_Altitude, D_GPS_Num_Satellite,
dem123456789 23:cc06a8226f72 219 D_GPS_HDOP, D_GPS_VDOP, D_GPS_PDOP, D_GPS_Date, D_GPS_VelocityKnot, D_GPS_VelocityKph);
dem123456789 23:cc06a8226f72 220
dem123456789 12:8644abfa86da 221 }
dem123456789 14:92bacb5af01b 222
dem123456789 11:1caacb994236 223 //#YPR=-183.74,-134.27,-114.39
taoqiuyang 4:37d118f2348c 224 void IMU_serial_ISR() {
taoqiuyang 3:ab9f94d112c0 225 char buf;
taoqiuyang 3:ab9f94d112c0 226
taoqiuyang 3:ab9f94d112c0 227 while (IMU.readable()) {
taoqiuyang 3:ab9f94d112c0 228 buf = IMU.getc();
taoqiuyang 3:ab9f94d112c0 229
dem123456789 14:92bacb5af01b 230 //pc.putc(buf);
taoqiuyang 3:ab9f94d112c0 231 IMU_message[IMU_message_counter]=buf;
dem123456789 9:bf5939466e86 232 IMU_message_counter+=1;
taoqiuyang 3:ab9f94d112c0 233
taoqiuyang 3:ab9f94d112c0 234 if (buf=='\n'){
dem123456789 9:bf5939466e86 235 string IMU_copy(IMU_message, IMU_message_counter);
dem123456789 11:1caacb994236 236 //pc.printf("%s", IMU_copy.c_str());
dem123456789 9:bf5939466e86 237 updateIMU(IMU_copy);
dem123456789 9:bf5939466e86 238 IMU_message_counter=0;
dem123456789 9:bf5939466e86 239 IMU_copy[0] = '\0';
dem123456789 9:bf5939466e86 240 }
dem123456789 9:bf5939466e86 241
taoqiuyang 3:ab9f94d112c0 242 }
taoqiuyang 2:afb333543af5 243 led2 = !led2;
taoqiuyang 2:afb333543af5 244 }
dem123456789 9:bf5939466e86 245
dem123456789 9:bf5939466e86 246
dem123456789 8:1f5a44bade4d 247
taoqiuyang 5:451b8203ef99 248 void GPS_serial_ISR() {
taoqiuyang 5:451b8203ef99 249 char buf;
taoqiuyang 5:451b8203ef99 250
taoqiuyang 5:451b8203ef99 251 while (GPS.readable()) {
taoqiuyang 5:451b8203ef99 252 buf = GPS.getc();
dem123456789 14:92bacb5af01b 253
dem123456789 14:92bacb5af01b 254 //pc.putc(buf);
dem123456789 10:12ba6ed2d6f0 255 GPS_message[GPS_message_counter]=buf;
dem123456789 10:12ba6ed2d6f0 256 GPS_message_counter+=1;
dem123456789 10:12ba6ed2d6f0 257
dem123456789 10:12ba6ed2d6f0 258 if (buf=='\n'){
dem123456789 10:12ba6ed2d6f0 259 string GPS_copy(GPS_message, GPS_message_counter);
dem123456789 11:1caacb994236 260 //pc.printf("%s", GPS_copy.c_str());
dem123456789 10:12ba6ed2d6f0 261 updateGPS(GPS_copy);
dem123456789 10:12ba6ed2d6f0 262 GPS_message_counter=0;
dem123456789 10:12ba6ed2d6f0 263 GPS_copy[0] = '\0';
dem123456789 10:12ba6ed2d6f0 264 }
taoqiuyang 5:451b8203ef99 265 }
taoqiuyang 5:451b8203ef99 266
taoqiuyang 5:451b8203ef99 267 led3 = !led3;
taoqiuyang 5:451b8203ef99 268 }
taoqiuyang 3:ab9f94d112c0 269
dem123456789 8:1f5a44bade4d 270 void PC_serial_ISR() {
dem123456789 8:1f5a44bade4d 271 char buf;
dem123456789 8:1f5a44bade4d 272
dem123456789 8:1f5a44bade4d 273 while (pc.readable()) {
dem123456789 8:1f5a44bade4d 274 buf = pc.getc();
dem123456789 14:92bacb5af01b 275
dem123456789 14:92bacb5af01b 276 //pc.putc(buf);
dem123456789 14:92bacb5af01b 277 PC_message[PC_message_counter]=buf;
dem123456789 14:92bacb5af01b 278 PC_message_counter+=1;
dem123456789 14:92bacb5af01b 279
dem123456789 14:92bacb5af01b 280 if (buf=='\n'){
dem123456789 14:92bacb5af01b 281 string PC_copy(PC_message, PC_message_counter);
dem123456789 14:92bacb5af01b 282 //pc.printf("%s", PC_copy.c_str());
dem123456789 14:92bacb5af01b 283 decodePC(PC_copy);
dem123456789 14:92bacb5af01b 284 PC_message_counter=0;
dem123456789 14:92bacb5af01b 285 PC_copy[0] = '\0';
dem123456789 14:92bacb5af01b 286 }
dem123456789 8:1f5a44bade4d 287 }
dem123456789 8:1f5a44bade4d 288
dem123456789 8:1f5a44bade4d 289 led4= !led4;
dem123456789 8:1f5a44bade4d 290 }
dem123456789 21:99be83550601 291
taoqiuyang 24:8e38cc14150c 292
dem123456789 21:99be83550601 293 void set_servo_position(Servo targetServo, float angleDeg, float minDeg, float minNorVal, float maxDeg, float maxNorVal){
dem123456789 21:99be83550601 294 /*angleDeg: desired angle
dem123456789 21:99be83550601 295 minDeg: minimum angle in degrees
dem123456789 21:99be83550601 296 minNorVal: normalized value[0,1] when servo is at its minimum angle
dem123456789 21:99be83550601 297 maxDeg: maximum angle in degrees
dem123456789 21:99be83550601 298 maxNorVal: normalized value[0,1] when servo is at its maximum angle
dem123456789 21:99be83550601 299 */
dem123456789 21:99be83550601 300
dem123456789 21:99be83550601 301 float pos; //normalized angle, [0,1]
dem123456789 21:99be83550601 302 float scale; //scale factor for servo calibration
dem123456789 21:99be83550601 303
dem123456789 21:99be83550601 304 //extreme conditions
dem123456789 21:99be83550601 305 if (angleDeg<minDeg){
dem123456789 21:99be83550601 306 pos=minNorVal;
dem123456789 21:99be83550601 307 }
dem123456789 21:99be83550601 308 if (angleDeg>maxDeg){
dem123456789 21:99be83550601 309 pos=maxNorVal;
dem123456789 21:99be83550601 310 }
dem123456789 21:99be83550601 311
dem123456789 21:99be83550601 312 //Calculate scale factor for servo calibration
dem123456789 21:99be83550601 313 scale = (angleDeg-minDeg)/(maxDeg-minDeg);
dem123456789 21:99be83550601 314 //Calculate servo normalized value
dem123456789 21:99be83550601 315 pos = minNorVal + scale*(maxNorVal-minNorVal);
dem123456789 21:99be83550601 316
dem123456789 21:99be83550601 317 //send signal to servo
dem123456789 21:99be83550601 318 targetServo=pos;
dem123456789 21:99be83550601 319 }
dem123456789 21:99be83550601 320
taoqiuyang 26:353a80179346 321
taoqiuyang 26:353a80179346 322 void initialize_controller(){
taoqiuyang 26:353a80179346 323 rudder_variables[0]=0;
taoqiuyang 26:353a80179346 324 rudder_variables[1]=0;
taoqiuyang 26:353a80179346 325 rudder_variables[2]=0;
taoqiuyang 26:353a80179346 326 rudder_variables[3]=0;
taoqiuyang 26:353a80179346 327 rudder_variables[4]=0;
taoqiuyang 26:353a80179346 328 rudder_ctrl_parameters[0]=1;
taoqiuyang 26:353a80179346 329 rudder_ctrl_parameters[1]=0;
taoqiuyang 26:353a80179346 330 rudder_ctrl_parameters[2]=0;
taoqiuyang 26:353a80179346 331 }
taoqiuyang 26:353a80179346 332
taoqiuyang 26:353a80179346 333 void update_controller_tmr_ISR() {
taoqiuyang 26:353a80179346 334 /*Input: angle(deg) difference between heading from IMU and path point航向与目的点之间的夹角
taoqiuyang 26:353a80179346 335 distance(meter) to the next path point
taoqiuyang 26:353a80179346 336 Global Variables: angle_to_path_point,distance_to_path_point;
taoqiuyang 26:353a80179346 337
taoqiuyang 26:353a80179346 338 Function: drive two servos to navigate the sailboat to the desired path point
taoqiuyang 26:353a80179346 339 */
taoqiuyang 26:353a80179346 340
taoqiuyang 26:353a80179346 341 rudder_variables[0]=rudder_ctrl_parameters[0]*angle_to_path_point;
taoqiuyang 26:353a80179346 342 rudder_variables[1]=rudder_variables[1]+rudder_ctrl_parameters[1]*angle_to_path_point*T;
taoqiuyang 26:353a80179346 343 rudder_variables[2]=(rudder_variables[3]-angle_to_path_point)/T;
taoqiuyang 26:353a80179346 344 rudder_variables[3]=angle_to_path_point;
taoqiuyang 26:353a80179346 345 rudder_variables[4]=rudder_variables[0]+rudder_variables[1]+rudder_variables[2];
taoqiuyang 26:353a80179346 346
taoqiuyang 26:353a80179346 347
taoqiuyang 26:353a80179346 348 //Drive servos
taoqiuyang 26:353a80179346 349 set_servo_position(rudderServo,rudder_variables[4],-45,0,45,1);
taoqiuyang 26:353a80179346 350 }
taoqiuyang 26:353a80179346 351
taoqiuyang 26:353a80179346 352
taoqiuyang 26:353a80179346 353
dem123456789 21:99be83550601 354 int log_data_SD(){
dem123456789 21:99be83550601 355 FILE *fp = fopen("/sd/dataLog/dataLog.txt", "w");
dem123456789 21:99be83550601 356 if(fp == NULL) {
dem123456789 21:99be83550601 357 return 0;
dem123456789 21:99be83550601 358 }else{
dem123456789 21:99be83550601 359 //Write all the useful data to the SD card
dem123456789 21:99be83550601 360 fprintf(fp, "Nya Pass~");
dem123456789 21:99be83550601 361 fclose(fp);
dem123456789 21:99be83550601 362 return 1;
dem123456789 21:99be83550601 363 }
dem123456789 21:99be83550601 364 }
dem123456789 21:99be83550601 365
dem123456789 21:99be83550601 366
taoqiuyang 0:f4d390c06705 367 int main() {
taoqiuyang 2:afb333543af5 368 IMU.baud(57600);
taoqiuyang 4:37d118f2348c 369 IMU.attach(&IMU_serial_ISR);
taoqiuyang 5:451b8203ef99 370 GPS.baud(38400);
taoqiuyang 5:451b8203ef99 371 GPS.attach(&GPS_serial_ISR);
dem123456789 8:1f5a44bade4d 372 pc.baud(115200);
dem123456789 8:1f5a44bade4d 373 pc.attach(&PC_serial_ISR);
taoqiuyang 26:353a80179346 374 ctrl_updt_timer.attach(&update_controller_tmr_ISR, T); // Update controller at 1/T Hz
taoqiuyang 26:353a80179346 375
taoqiuyang 26:353a80179346 376 initialize_controller();
taoqiuyang 1:e7245ffb4820 377
dem123456789 23:cc06a8226f72 378 //float angle=20;
taoqiuyang 2:afb333543af5 379 while (1) {
dem123456789 23:cc06a8226f72 380 // if (angle>160){angle=20;}
dem123456789 23:cc06a8226f72 381 // set_servo_position(rudderServo, angle, 0, 0, 180, 1);
dem123456789 23:cc06a8226f72 382 // set_servo_position(wingServo, angle, 0, 0, 180, 1);
dem123456789 23:cc06a8226f72 383 // angle=angle+10;
taoqiuyang 26:353a80179346 384
taoqiuyang 26:353a80179346 385
dem123456789 15:dbf20c1209ae 386 wait(0.4);
dem123456789 23:cc06a8226f72 387 printStateIMU();
dem123456789 23:cc06a8226f72 388 printStateGPS();
dem123456789 21:99be83550601 389 led1 = !led1;
taoqiuyang 0:f4d390c06705 390 }
taoqiuyang 0:f4d390c06705 391 }