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@44:4d90645d15ec, 2015-11-03 (annotated)

Committer:
dem123456789
Date:
Tue Nov 03 16:30:44 2015 +0000
Revision:
44:4d90645d15ec
Parent:
43:a430d5e4f33d
Child:
46:305112d73c69
Verify

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 39:ef1a8055d744 7
taoqiuyang 42:e1a2a6daf70b 8 Serial pc(p9, p10);
taoqiuyang 42:e1a2a6daf70b 9 //Serial pc(USBTX, USBRX);
taoqiuyang 2:afb333543af5 10 Serial IMU(p28, p27); // tx, rx
taoqiuyang 5:451b8203ef99 11 Serial GPS(p13, p14); // tx, rx
dem123456789 21:99be83550601 12 Servo rudderServo(p25);
dem123456789 21:99be83550601 13 Servo wingServo(p26);
dem123456789 21:99be83550601 14 SDFileSystem sd(p5, p6, p7, p8, "sd");// mosi, miso, sck, cs
taoqiuyang 26:353a80179346 15 Ticker ctrl_updt_timer; //timer to refresh controller
taoqiuyang 2:afb333543af5 16
taoqiuyang 2:afb333543af5 17 char IMU_message[256];
taoqiuyang 3:ab9f94d112c0 18 int IMU_message_counter=0;
taoqiuyang 5:451b8203ef99 19 char GPS_message[256];
taoqiuyang 5:451b8203ef99 20 int GPS_message_counter=0;
dem123456789 14:92bacb5af01b 21 char PC_message[256];
dem123456789 14:92bacb5af01b 22 int PC_message_counter=0;
dem123456789 11:1caacb994236 23
dem123456789 11:1caacb994236 24 string IMU_Y="N/A";
dem123456789 11:1caacb994236 25 string IMU_P="N/A";
dem123456789 11:1caacb994236 26 string IMU_R="N/A";
dem123456789 14:92bacb5af01b 27 string GPS_Quality="N/A";
dem123456789 11:1caacb994236 28 string GPS_UTC="N/A";
dem123456789 11:1caacb994236 29 string GPS_Latitude="N/A";
dem123456789 27:1be1f25be449 30 string GPS_Longitude="N/A";
dem123456789 11:1caacb994236 31 string GPS_Altitude="N/A";
dem123456789 22:faba67585854 32 string GPS_Altitude_Unit="N/A";
dem123456789 11:1caacb994236 33 string GPS_Num_Satellite="N/A";
dem123456789 11:1caacb994236 34 string GPS_HDOP="N/A";
dem123456789 12:8644abfa86da 35 string GPS_VDOP="N/A";
dem123456789 12:8644abfa86da 36 string GPS_PDOP="N/A";
dem123456789 14:92bacb5af01b 37 string GPS_Date="N/A";
dem123456789 14:92bacb5af01b 38 string GPS_VelocityKnot="N/A";
dem123456789 22:faba67585854 39 string GPS_VelocityKnot_Unit="N/A";
dem123456789 14:92bacb5af01b 40 string GPS_VelocityKph="N/A";
dem123456789 22:faba67585854 41 string GPS_VelocityKph_Unit="N/A";
dem123456789 23:cc06a8226f72 42 string temp = "";
dem123456789 22:faba67585854 43
dem123456789 22:faba67585854 44 double D_IMU_Y=0;
dem123456789 22:faba67585854 45 double D_IMU_P=0;
dem123456789 22:faba67585854 46 double D_IMU_R=0;
dem123456789 22:faba67585854 47 double D_GPS_Quality=0;
dem123456789 22:faba67585854 48 double D_GPS_UTC=0;
dem123456789 22:faba67585854 49 double D_GPS_Latitude=0;
dem123456789 22:faba67585854 50 double D_GPS_Latitude_Direction=0;
dem123456789 27:1be1f25be449 51 double D_GPS_Longitude=0;
dem123456789 27:1be1f25be449 52 double D_GPS_Longitude_Direction=0;
dem123456789 22:faba67585854 53 double D_GPS_Altitude=0;
dem123456789 22:faba67585854 54 double D_GPS_Num_Satellite=0;
dem123456789 22:faba67585854 55 double D_GPS_HDOP=0;
dem123456789 22:faba67585854 56 double D_GPS_VDOP=0;
dem123456789 22:faba67585854 57 double D_GPS_PDOP=0;
dem123456789 22:faba67585854 58 double D_GPS_Date=0;
dem123456789 22:faba67585854 59 double D_GPS_VelocityKnot=0;
dem123456789 22:faba67585854 60 double D_GPS_VelocityKph=0;
dem123456789 27:1be1f25be449 61 double D_temp=0;
dem123456789 12:8644abfa86da 62 int asterisk_idx;
dem123456789 9:bf5939466e86 63
dem123456789 27:1be1f25be449 64 double Longitude_Path[MAX_TASK_SIZE];
dem123456789 20:a820531c78bc 65 double Latitude_Path[MAX_TASK_SIZE];
dem123456789 33:37345814fad0 66 double dis[MAX_TASK_SIZE];
dem123456789 33:37345814fad0 67 double ang[MAX_TASK_SIZE];
dem123456789 20:a820531c78bc 68
taoqiuyang 40:9537722d185e 69 int autonomous_mode=0;
taoqiuyang 43:a430d5e4f33d 70 int arrived_destination=0;
taoqiuyang 41:d207b407c8bc 71 double angle_to_path_point,distance_to_path_point,desired_speed,distance_to_route;
taoqiuyang 26:353a80179346 72 double rudder_ctrl_parameters[3];
taoqiuyang 26:353a80179346 73 double rudder_variables[5];//,,,prev,out
taoqiuyang 41:d207b407c8bc 74 double T=0.5; //controller update period=0.5sec, 2Hz
taoqiuyang 26:353a80179346 75
taoqiuyang 26:353a80179346 76
dem123456789 9:bf5939466e86 77 vector<string> split(const string &s, char delim) {
dem123456789 9:bf5939466e86 78 stringstream ss(s);
dem123456789 9:bf5939466e86 79 string item;
dem123456789 9:bf5939466e86 80 vector<string> tokens;
dem123456789 9:bf5939466e86 81 while (getline(ss, item, delim)) {
dem123456789 15:dbf20c1209ae 82 if (item.empty()) {
dem123456789 20:a820531c78bc 83 item = "N/A";
dem123456789 15:dbf20c1209ae 84 }
dem123456789 9:bf5939466e86 85 tokens.push_back(item);
dem123456789 9:bf5939466e86 86 }
dem123456789 9:bf5939466e86 87 return tokens;
dem123456789 9:bf5939466e86 88 }
dem123456789 9:bf5939466e86 89
dem123456789 27:1be1f25be449 90 double GPSdecimal(double coordinate) {
dem123456789 27:1be1f25be449 91 //Convert a NMEA decimal-decimal value into decimal degree value
dem123456789 35:009cc4509a90 92 //5144.3855 (ddmm.mmmm) = 51 44.3855 = 51 + 0.443855/0.60 = 51.7397583 degrees
dem123456789 35:009cc4509a90 93 if(coordinate > 1000 or coordinate < -1000) {
dem123456789 35:009cc4509a90 94 coordinate = coordinate/100;
dem123456789 35:009cc4509a90 95 }
dem123456789 35:009cc4509a90 96 return ((int) coordinate) + ((coordinate-((int) coordinate))/0.60);
dem123456789 27:1be1f25be449 97 }
dem123456789 27:1be1f25be449 98
dem123456789 33:37345814fad0 99 void initialize() {
dem123456789 29:95b0320bf779 100 fill(Longitude_Path, Longitude_Path+MAX_TASK_SIZE, 181);
dem123456789 29:95b0320bf779 101 fill(Latitude_Path, Latitude_Path+MAX_TASK_SIZE, 181);
dem123456789 33:37345814fad0 102 fill(dis, dis+MAX_TASK_SIZE, -1);
dem123456789 33:37345814fad0 103 fill(ang, ang+MAX_TASK_SIZE, -361);
dem123456789 29:95b0320bf779 104 }
dem123456789 29:95b0320bf779 105
dem123456789 9:bf5939466e86 106 void updateIMU(string IMU_data) {
dem123456789 9:bf5939466e86 107 string IMU_data_string(IMU_data);
dem123456789 9:bf5939466e86 108 if (IMU_data_string.substr(0,4) == "#YPR" and IMU_data_string.size() <= MAX_IMU_SIZE) {
dem123456789 9:bf5939466e86 109 IMU_data_string = IMU_data_string.substr(5);
dem123456789 9:bf5939466e86 110 vector<string> result = split(IMU_data_string, ',');
dem123456789 9:bf5939466e86 111 IMU_Y = result.at(0);
dem123456789 23:cc06a8226f72 112 D_IMU_Y = strtod(IMU_Y.c_str(), NULL);
dem123456789 9:bf5939466e86 113 IMU_P = result.at(1);
dem123456789 23:cc06a8226f72 114 D_IMU_P = strtod(IMU_P.c_str(), NULL);
dem123456789 15:dbf20c1209ae 115 IMU_R = result.at(2).substr(0, result.at(2).size()-1);
dem123456789 23:cc06a8226f72 116 D_IMU_R = strtod(IMU_R.c_str(), NULL);
dem123456789 9:bf5939466e86 117 }
dem123456789 9:bf5939466e86 118 }
dem123456789 9:bf5939466e86 119
dem123456789 37:7a136279daf3 120 string stringify(double x)
dem123456789 37:7a136279daf3 121 {
dem123456789 37:7a136279daf3 122 ostringstream o;
dem123456789 37:7a136279daf3 123 if (o << x) {
dem123456789 37:7a136279daf3 124 return o.str();
dem123456789 37:7a136279daf3 125 }
dem123456789 37:7a136279daf3 126 return NULL;
dem123456789 37:7a136279daf3 127 }
dem123456789 37:7a136279daf3 128
dem123456789 10:12ba6ed2d6f0 129 void updateGPS(string GPS_data) {
dem123456789 10:12ba6ed2d6f0 130 string GPS_data_string(GPS_data);
dem123456789 11:1caacb994236 131 if (GPS_data_string.substr(0,6) == "$GPGGA") {
dem123456789 11:1caacb994236 132 GPS_data_string = GPS_data_string.substr(7);
dem123456789 10:12ba6ed2d6f0 133 vector<string> result = split(GPS_data_string, ',');
dem123456789 14:92bacb5af01b 134 GPS_Quality = result.at(5);
dem123456789 22:faba67585854 135 D_GPS_Quality = strtod(result.at(5).c_str(), NULL);
dem123456789 14:92bacb5af01b 136 if(GPS_Quality != "0" and GPS_Quality != "6") {
dem123456789 11:1caacb994236 137 GPS_UTC = result.at(0);
dem123456789 23:cc06a8226f72 138 D_GPS_UTC = strtod(GPS_UTC.c_str(), NULL);
dem123456789 35:009cc4509a90 139 //
dem123456789 23:cc06a8226f72 140 if (result.at(2) == "N") { // 0 means North
dem123456789 22:faba67585854 141 D_GPS_Latitude_Direction = 0;
dem123456789 35:009cc4509a90 142 temp = result.at(1);
dem123456789 23:cc06a8226f72 143 } else if (result.at(2) == "S") { // 1 means South
dem123456789 27:1be1f25be449 144 D_GPS_Latitude_Direction = 1;
dem123456789 27:1be1f25be449 145 temp = "-" + result.at(1);
dem123456789 22:faba67585854 146 }
dem123456789 27:1be1f25be449 147 D_temp = strtod(temp.c_str(), NULL);
dem123456789 27:1be1f25be449 148 D_GPS_Latitude = GPSdecimal(D_temp);
dem123456789 37:7a136279daf3 149 GPS_Latitude=stringify(D_GPS_Latitude);
dem123456789 35:009cc4509a90 150 //
dem123456789 23:cc06a8226f72 151 if (result.at(4) == "E") { // 0 means East
dem123456789 27:1be1f25be449 152 D_GPS_Longitude_Direction = 0;
dem123456789 35:009cc4509a90 153 temp = result.at(3);
dem123456789 23:cc06a8226f72 154 } else if (result.at(4) == "W") { // 1 means West
dem123456789 27:1be1f25be449 155 D_GPS_Longitude_Direction = 1;
dem123456789 27:1be1f25be449 156 temp = "-" + result.at(3);
dem123456789 22:faba67585854 157 }
dem123456789 27:1be1f25be449 158 D_temp = strtod(temp.c_str(), NULL);
dem123456789 27:1be1f25be449 159 D_GPS_Longitude = GPSdecimal(D_temp);
dem123456789 37:7a136279daf3 160 GPS_Longitude=stringify(D_GPS_Longitude);
dem123456789 35:009cc4509a90 161 //
dem123456789 11:1caacb994236 162 GPS_Num_Satellite = result.at(6);
dem123456789 22:faba67585854 163 D_GPS_Num_Satellite = strtod(result.at(6).c_str(), NULL);
dem123456789 11:1caacb994236 164 GPS_HDOP = result.at(7);
dem123456789 22:faba67585854 165 D_GPS_HDOP = strtod(result.at(7).c_str(), NULL);
dem123456789 11:1caacb994236 166 GPS_Altitude = result.at(8) + result.at(9);
dem123456789 22:faba67585854 167 D_GPS_Altitude = strtod(result.at(8).c_str(), NULL);
dem123456789 22:faba67585854 168 GPS_Altitude_Unit = result.at(9);
dem123456789 11:1caacb994236 169 }
dem123456789 14:92bacb5af01b 170 } else if (GPS_data_string.substr(0,6) == "$GPGSA" and GPS_Quality != "0" and GPS_Quality != "6") {
dem123456789 12:8644abfa86da 171 GPS_data_string = GPS_data_string.substr(7);
dem123456789 12:8644abfa86da 172 vector<string> result = split(GPS_data_string, ',');
dem123456789 12:8644abfa86da 173 GPS_PDOP = result.at(14);
dem123456789 22:faba67585854 174 D_GPS_PDOP = strtod(result.at(14).c_str(), NULL);
dem123456789 12:8644abfa86da 175 asterisk_idx = result.at(16).find('*');
dem123456789 12:8644abfa86da 176 GPS_VDOP = result.at(16).substr(0, asterisk_idx);
dem123456789 22:faba67585854 177 D_GPS_VDOP = strtod(result.at(16).substr(0, asterisk_idx).c_str(), NULL);
dem123456789 14:92bacb5af01b 178 } else if (GPS_data_string.substr(0,6) == "$GPRMC" and GPS_Quality != "0" and GPS_Quality != "6") {
dem123456789 12:8644abfa86da 179 GPS_data_string = GPS_data_string.substr(7);
dem123456789 12:8644abfa86da 180 vector<string> result = split(GPS_data_string, ',');
dem123456789 14:92bacb5af01b 181 GPS_Date = result.at(8);
dem123456789 22:faba67585854 182 D_GPS_Date = strtod(result.at(8).c_str(), NULL);
dem123456789 14:92bacb5af01b 183 } else if (GPS_data_string.substr(0,6) == "$GPVTG" and GPS_Quality != "0" and GPS_Quality != "6") {
dem123456789 12:8644abfa86da 184 GPS_data_string = GPS_data_string.substr(7);
dem123456789 12:8644abfa86da 185 vector<string> result = split(GPS_data_string, ',');
dem123456789 14:92bacb5af01b 186 GPS_VelocityKnot = result.at(4) + result.at(5);
dem123456789 22:faba67585854 187 D_GPS_VelocityKnot = strtod(result.at(4).c_str(), NULL);
dem123456789 22:faba67585854 188 GPS_VelocityKnot_Unit = result.at(5);
dem123456789 12:8644abfa86da 189 asterisk_idx = result.at(7).find('*');
dem123456789 14:92bacb5af01b 190 GPS_VelocityKph = result.at(6) + result.at(7).substr(0, asterisk_idx);
dem123456789 22:faba67585854 191 D_GPS_VelocityKph = strtod(result.at(6).c_str(), NULL);
dem123456789 22:faba67585854 192 GPS_VelocityKph_Unit = result.at(7).substr(0, asterisk_idx);
dem123456789 10:12ba6ed2d6f0 193 }
dem123456789 12:8644abfa86da 194
dem123456789 10:12ba6ed2d6f0 195 }
dem123456789 16:0ea992d9a390 196 /* Get data from SailBoat
dem123456789 16:0ea992d9a390 197 @GET=parameter
dem123456789 16:0ea992d9a390 198 Ex: @GET=GPS_Quality
dem123456789 27:1be1f25be449 199 Supported parameter: GPS_Quality, GPS_UTC, GPS_Latitude, GPS_Longitude, GPS_Altitude,
dem123456789 16:0ea992d9a390 200 GPS_Num_Satellite, GPS_HDOP, GPS_VDOP, GPS_PDOP, GPS_Date, GPS_VelocityKnot, GPS_VelocityKph
dem123456789 16:0ea992d9a390 201 Set path to SailBoat
dem123456789 27:1be1f25be449 202 @SET=PATH, Latitude, Longitude, Task id
dem123456789 20:a820531c78bc 203 @SET=PATH, 33.776318, -84.407590, 3
dem123456789 16:0ea992d9a390 204 */
dem123456789 15:dbf20c1209ae 205 void decodePC(string PC_data) {
dem123456789 15:dbf20c1209ae 206 string PC_data_string(PC_data);
dem123456789 15:dbf20c1209ae 207 if (PC_data_string.substr(0,4) == "@GET") {
dem123456789 15:dbf20c1209ae 208 pc.printf("%s", PC_data_string.c_str());
dem123456789 15:dbf20c1209ae 209 PC_data_string = PC_data_string.substr(5, PC_data_string.size()-6);
dem123456789 20:a820531c78bc 210 pc.printf("%s\n", decodeCommandGET(PC_data_string).c_str());
dem123456789 16:0ea992d9a390 211 } else if (PC_data_string.substr(0,4) == "@SET") {
dem123456789 20:a820531c78bc 212 pc.printf("%s", PC_data_string.c_str());
dem123456789 20:a820531c78bc 213 PC_data_string = PC_data_string.substr(5, PC_data_string.size()-6);
dem123456789 20:a820531c78bc 214 string claim = decodeCommandSET(PC_data_string);
dem123456789 20:a820531c78bc 215 if (claim == "DONE") {
dem123456789 27:1be1f25be449 216 pc.printf("Current Path: Longitude, Latitude\n");
dem123456789 20:a820531c78bc 217 for (int i=0;i<MAX_TASK_SIZE;++i) {
dem123456789 27:1be1f25be449 218 pc.printf(" %f, %f\n", Longitude_Path[i], Latitude_Path[i]);
dem123456789 20:a820531c78bc 219 }
dem123456789 20:a820531c78bc 220 }
dem123456789 20:a820531c78bc 221 pc.printf("%s\n", claim.c_str());
dem123456789 38:528e410f2f7d 222 } else if(PC_data_string.substr(0,6) == "@Hello") {
dem123456789 38:528e410f2f7d 223 pc.printf("Successfully connected to mbed\n");
dem123456789 37:7a136279daf3 224 } else {
dem123456789 38:528e410f2f7d 225 pc.printf("Not supported command\n");
dem123456789 16:0ea992d9a390 226 }
dem123456789 15:dbf20c1209ae 227 }
dem123456789 15:dbf20c1209ae 228
dem123456789 15:dbf20c1209ae 229
taoqiuyang 24:8e38cc14150c 230
dem123456789 11:1caacb994236 231 void printStateIMU() {
dem123456789 23:cc06a8226f72 232 //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 233 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 234 }
dem123456789 11:1caacb994236 235
dem123456789 12:8644abfa86da 236 void printStateGPS() {
dem123456789 23:cc06a8226f72 237 /*
dem123456789 27:1be1f25be449 238 pc.printf("GPS_Quality: %s, GPS_UTC: %s, GPS_Latitude: %s, GPS_Longitude: %s, GPS_Altitude: %s, "
dem123456789 14:92bacb5af01b 239 "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 240 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 241 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 242 */
dem123456789 23:cc06a8226f72 243
dem123456789 27:1be1f25be449 244 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 245 "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 246 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 247 D_GPS_HDOP, D_GPS_VDOP, D_GPS_PDOP, D_GPS_Date, D_GPS_VelocityKnot, D_GPS_VelocityKph);
dem123456789 23:cc06a8226f72 248
dem123456789 12:8644abfa86da 249 }
dem123456789 14:92bacb5af01b 250
dem123456789 32:263d39ea6d3e 251 void printPath() {
dem123456789 32:263d39ea6d3e 252 pc.printf("Current Path: Longitude, Latitude\n");
dem123456789 32:263d39ea6d3e 253 for (int i=0;i<MAX_TASK_SIZE;++i) {
dem123456789 32:263d39ea6d3e 254 pc.printf(" %f, %f\n", Longitude_Path[i], Latitude_Path[i]);
dem123456789 32:263d39ea6d3e 255 }
dem123456789 32:263d39ea6d3e 256 }
dem123456789 32:263d39ea6d3e 257
dem123456789 34:610d315c1bab 258 void printDistance() {
dem123456789 34:610d315c1bab 259 pc.printf("Current Distance: Task id, Distance\n");
dem123456789 34:610d315c1bab 260 for(int i=0;i<MAX_TASK_SIZE;++i) {
dem123456789 35:009cc4509a90 261 dis[i] = getDistance(i+1);
dem123456789 32:263d39ea6d3e 262 pc.printf("Distance Task %d: %f\n", i+1, dis[i]);
dem123456789 32:263d39ea6d3e 263 }
dem123456789 32:263d39ea6d3e 264 }
dem123456789 32:263d39ea6d3e 265
dem123456789 32:263d39ea6d3e 266 void printAngle() {
dem123456789 34:610d315c1bab 267 pc.printf("Current Angle: Task id, Angle\n");
dem123456789 32:263d39ea6d3e 268 for(int i=0;i<MAX_TASK_SIZE;++i) {
dem123456789 35:009cc4509a90 269 ang[i] = getAngle(i+1);
dem123456789 32:263d39ea6d3e 270 pc.printf("Angle Task %d: %f\n", i+1, ang[i]);
dem123456789 32:263d39ea6d3e 271 }
dem123456789 32:263d39ea6d3e 272 }
dem123456789 32:263d39ea6d3e 273
dem123456789 11:1caacb994236 274 //#YPR=-183.74,-134.27,-114.39
taoqiuyang 4:37d118f2348c 275 void IMU_serial_ISR() {
taoqiuyang 3:ab9f94d112c0 276 char buf;
taoqiuyang 3:ab9f94d112c0 277
taoqiuyang 3:ab9f94d112c0 278 while (IMU.readable()) {
taoqiuyang 3:ab9f94d112c0 279 buf = IMU.getc();
taoqiuyang 3:ab9f94d112c0 280
dem123456789 14:92bacb5af01b 281 //pc.putc(buf);
taoqiuyang 3:ab9f94d112c0 282 IMU_message[IMU_message_counter]=buf;
dem123456789 9:bf5939466e86 283 IMU_message_counter+=1;
taoqiuyang 3:ab9f94d112c0 284
taoqiuyang 3:ab9f94d112c0 285 if (buf=='\n'){
dem123456789 9:bf5939466e86 286 string IMU_copy(IMU_message, IMU_message_counter);
dem123456789 11:1caacb994236 287 //pc.printf("%s", IMU_copy.c_str());
dem123456789 9:bf5939466e86 288 updateIMU(IMU_copy);
dem123456789 9:bf5939466e86 289 IMU_message_counter=0;
dem123456789 9:bf5939466e86 290 IMU_copy[0] = '\0';
dem123456789 9:bf5939466e86 291 }
dem123456789 9:bf5939466e86 292
taoqiuyang 3:ab9f94d112c0 293 }
dem123456789 39:ef1a8055d744 294 //led2 = !led2;
taoqiuyang 2:afb333543af5 295 }
dem123456789 9:bf5939466e86 296
dem123456789 9:bf5939466e86 297
dem123456789 8:1f5a44bade4d 298
taoqiuyang 5:451b8203ef99 299 void GPS_serial_ISR() {
taoqiuyang 5:451b8203ef99 300 char buf;
taoqiuyang 5:451b8203ef99 301
taoqiuyang 5:451b8203ef99 302 while (GPS.readable()) {
taoqiuyang 5:451b8203ef99 303 buf = GPS.getc();
dem123456789 14:92bacb5af01b 304
dem123456789 14:92bacb5af01b 305 //pc.putc(buf);
dem123456789 10:12ba6ed2d6f0 306 GPS_message[GPS_message_counter]=buf;
dem123456789 10:12ba6ed2d6f0 307 GPS_message_counter+=1;
dem123456789 10:12ba6ed2d6f0 308
dem123456789 10:12ba6ed2d6f0 309 if (buf=='\n'){
dem123456789 10:12ba6ed2d6f0 310 string GPS_copy(GPS_message, GPS_message_counter);
dem123456789 11:1caacb994236 311 //pc.printf("%s", GPS_copy.c_str());
dem123456789 10:12ba6ed2d6f0 312 updateGPS(GPS_copy);
dem123456789 10:12ba6ed2d6f0 313 GPS_message_counter=0;
dem123456789 10:12ba6ed2d6f0 314 GPS_copy[0] = '\0';
dem123456789 10:12ba6ed2d6f0 315 }
taoqiuyang 5:451b8203ef99 316 }
taoqiuyang 5:451b8203ef99 317
dem123456789 39:ef1a8055d744 318 //led3 = !led3;
taoqiuyang 5:451b8203ef99 319 }
taoqiuyang 3:ab9f94d112c0 320
dem123456789 8:1f5a44bade4d 321 void PC_serial_ISR() {
dem123456789 8:1f5a44bade4d 322 char buf;
dem123456789 8:1f5a44bade4d 323
dem123456789 8:1f5a44bade4d 324 while (pc.readable()) {
dem123456789 8:1f5a44bade4d 325 buf = pc.getc();
dem123456789 39:ef1a8055d744 326
dem123456789 14:92bacb5af01b 327 //pc.putc(buf);
dem123456789 14:92bacb5af01b 328 PC_message[PC_message_counter]=buf;
dem123456789 14:92bacb5af01b 329 PC_message_counter+=1;
dem123456789 14:92bacb5af01b 330
dem123456789 39:ef1a8055d744 331 if (buf=='\n'or buf =='#'){
dem123456789 14:92bacb5af01b 332 string PC_copy(PC_message, PC_message_counter);
dem123456789 14:92bacb5af01b 333 //pc.printf("%s", PC_copy.c_str());
dem123456789 14:92bacb5af01b 334 decodePC(PC_copy);
dem123456789 14:92bacb5af01b 335 PC_message_counter=0;
dem123456789 14:92bacb5af01b 336 PC_copy[0] = '\0';
dem123456789 14:92bacb5af01b 337 }
dem123456789 8:1f5a44bade4d 338 }
dem123456789 8:1f5a44bade4d 339
dem123456789 39:ef1a8055d744 340 //led4= !led4;
dem123456789 8:1f5a44bade4d 341 }
dem123456789 21:99be83550601 342
taoqiuyang 24:8e38cc14150c 343
dem123456789 21:99be83550601 344 void set_servo_position(Servo targetServo, float angleDeg, float minDeg, float minNorVal, float maxDeg, float maxNorVal){
dem123456789 21:99be83550601 345 /*angleDeg: desired angle
dem123456789 21:99be83550601 346 minDeg: minimum angle in degrees
dem123456789 21:99be83550601 347 minNorVal: normalized value[0,1] when servo is at its minimum angle
dem123456789 21:99be83550601 348 maxDeg: maximum angle in degrees
dem123456789 21:99be83550601 349 maxNorVal: normalized value[0,1] when servo is at its maximum angle
dem123456789 21:99be83550601 350 */
dem123456789 21:99be83550601 351
dem123456789 21:99be83550601 352 float pos; //normalized angle, [0,1]
dem123456789 21:99be83550601 353 float scale; //scale factor for servo calibration
dem123456789 21:99be83550601 354
dem123456789 21:99be83550601 355 //extreme conditions
dem123456789 21:99be83550601 356 if (angleDeg<minDeg){
dem123456789 21:99be83550601 357 pos=minNorVal;
dem123456789 21:99be83550601 358 }
dem123456789 21:99be83550601 359 if (angleDeg>maxDeg){
dem123456789 21:99be83550601 360 pos=maxNorVal;
dem123456789 21:99be83550601 361 }
dem123456789 21:99be83550601 362
dem123456789 21:99be83550601 363 //Calculate scale factor for servo calibration
dem123456789 21:99be83550601 364 scale = (angleDeg-minDeg)/(maxDeg-minDeg);
dem123456789 21:99be83550601 365 //Calculate servo normalized value
dem123456789 21:99be83550601 366 pos = minNorVal + scale*(maxNorVal-minNorVal);
dem123456789 21:99be83550601 367
dem123456789 21:99be83550601 368 //send signal to servo
dem123456789 21:99be83550601 369 targetServo=pos;
dem123456789 21:99be83550601 370 }
dem123456789 21:99be83550601 371
taoqiuyang 26:353a80179346 372
taoqiuyang 26:353a80179346 373 void initialize_controller(){
taoqiuyang 26:353a80179346 374 rudder_variables[0]=0;
taoqiuyang 26:353a80179346 375 rudder_variables[1]=0;
taoqiuyang 26:353a80179346 376 rudder_variables[2]=0;
taoqiuyang 26:353a80179346 377 rudder_variables[3]=0;
taoqiuyang 26:353a80179346 378 rudder_variables[4]=0;
taoqiuyang 26:353a80179346 379 rudder_ctrl_parameters[0]=1;
taoqiuyang 26:353a80179346 380 rudder_ctrl_parameters[1]=0;
taoqiuyang 26:353a80179346 381 rudder_ctrl_parameters[2]=0;
taoqiuyang 26:353a80179346 382 }
taoqiuyang 26:353a80179346 383
taoqiuyang 26:353a80179346 384 void update_controller_tmr_ISR() {
taoqiuyang 26:353a80179346 385 /*Input: angle(deg) difference between heading from IMU and path point航向与目的点之间的夹角
taoqiuyang 30:faf6e0f81a0c 386 angle to path point
taoqiuyang 30:faf6e0f81a0c 387 distance_to_route(meter)
taoqiuyang 30:faf6e0f81a0c 388
taoqiuyang 30:faf6e0f81a0c 389 Global Variables: angle_to_path_point,distance_to_path_point,distance_to_route;
taoqiuyang 26:353a80179346 390
taoqiuyang 26:353a80179346 391 Function: drive two servos to navigate the sailboat to the desired path point
taoqiuyang 26:353a80179346 392 */
taoqiuyang 31:e3339036c98b 393
taoqiuyang 41:d207b407c8bc 394
taoqiuyang 41:d207b407c8bc 395
taoqiuyang 31:e3339036c98b 396 //CTE based controller for rudder
taoqiuyang 30:faf6e0f81a0c 397 if (angle_to_path_point<0){distance_to_route=-1*distance_to_route;}
taoqiuyang 30:faf6e0f81a0c 398
taoqiuyang 30:faf6e0f81a0c 399 rudder_variables[0]=rudder_ctrl_parameters[0]*distance_to_route;
taoqiuyang 30:faf6e0f81a0c 400 rudder_variables[1]=rudder_variables[1]+rudder_ctrl_parameters[1]*distance_to_route*T;
taoqiuyang 30:faf6e0f81a0c 401 rudder_variables[2]=(rudder_variables[3]-distance_to_route)/T;
taoqiuyang 30:faf6e0f81a0c 402 rudder_variables[3]=distance_to_route;
taoqiuyang 26:353a80179346 403 rudder_variables[4]=rudder_variables[0]+rudder_variables[1]+rudder_variables[2];
taoqiuyang 26:353a80179346 404
taoqiuyang 31:e3339036c98b 405 //bang-bang controller for vehicle velocity
taoqiuyang 31:e3339036c98b 406 //Our sailboat is a slow moving vehicle and GPS cannot provide
taoqiuyang 31:e3339036c98b 407 //very accurate speed reading in our application
taoqiuyang 31:e3339036c98b 408 if (distance_to_path_point>30){
taoqiuyang 40:9537722d185e 409 if (autonomous_mode){set_servo_position(wingServo,45,-45,0,45,1);}
taoqiuyang 31:e3339036c98b 410 }else{
taoqiuyang 40:9537722d185e 411 if (autonomous_mode){set_servo_position(wingServo,0,-45,0,45,1);}
taoqiuyang 31:e3339036c98b 412 }
taoqiuyang 31:e3339036c98b 413
taoqiuyang 31:e3339036c98b 414 //actuator saturation
taoqiuyang 41:d207b407c8bc 415 if (rudder_variables[4]> 45){rudder_variables[4]= 45;}
taoqiuyang 41:d207b407c8bc 416 if (rudder_variables[4]<-45){rudder_variables[4]=-45;}
taoqiuyang 26:353a80179346 417
taoqiuyang 26:353a80179346 418 //Drive servos
taoqiuyang 40:9537722d185e 419 if (autonomous_mode){set_servo_position(rudderServo,rudder_variables[4],-45,0,45,1);}
taoqiuyang 41:d207b407c8bc 420
taoqiuyang 41:d207b407c8bc 421 pc.printf("%f\n",rudder_variables[4]);
taoqiuyang 26:353a80179346 422 }
taoqiuyang 26:353a80179346 423
taoqiuyang 26:353a80179346 424
taoqiuyang 26:353a80179346 425
taoqiuyang 42:e1a2a6daf70b 426
taoqiuyang 42:e1a2a6daf70b 427 void update_controller_tmr_ISR2() {
taoqiuyang 42:e1a2a6daf70b 428 /*Input: angle(deg) difference between heading from IMU and path point航向与目的点之间的夹角
taoqiuyang 42:e1a2a6daf70b 429 distance(meter) to the next path point
taoqiuyang 42:e1a2a6daf70b 430 Global Variables: angle_to_path_point,distance_to_path_point,distance_to_route;
taoqiuyang 42:e1a2a6daf70b 431
taoqiuyang 42:e1a2a6daf70b 432 Function: drive two servos to navigate the sailboat to the desired path point
taoqiuyang 42:e1a2a6daf70b 433 */
taoqiuyang 42:e1a2a6daf70b 434
taoqiuyang 42:e1a2a6daf70b 435 rudder_variables[0]=rudder_ctrl_parameters[0]*angle_to_path_point;
taoqiuyang 42:e1a2a6daf70b 436 rudder_variables[1]=rudder_variables[1]+rudder_ctrl_parameters[1]*angle_to_path_point*T;
taoqiuyang 42:e1a2a6daf70b 437 rudder_variables[2]=(rudder_variables[3]-angle_to_path_point)/T;
taoqiuyang 42:e1a2a6daf70b 438 rudder_variables[3]=angle_to_path_point;
taoqiuyang 42:e1a2a6daf70b 439 rudder_variables[4]=rudder_variables[0]+rudder_variables[1]+rudder_variables[2];
taoqiuyang 42:e1a2a6daf70b 440
taoqiuyang 42:e1a2a6daf70b 441 /*if (distance_to_route>0){
taoqiuyang 42:e1a2a6daf70b 442 rudder_variables[4]=rudder_variables[4]+10;
taoqiuyang 42:e1a2a6daf70b 443 }else{
taoqiuyang 42:e1a2a6daf70b 444 rudder_variables[4]=rudder_variables[4]-10;
taoqiuyang 42:e1a2a6daf70b 445 }*/
taoqiuyang 42:e1a2a6daf70b 446
taoqiuyang 42:e1a2a6daf70b 447
taoqiuyang 42:e1a2a6daf70b 448 //bang-bang controller for vehicle velocity
taoqiuyang 42:e1a2a6daf70b 449 //Our sailboat is a slow moving vehicle and GPS cannot provide
taoqiuyang 42:e1a2a6daf70b 450 //very accurate speed reading in our application
taoqiuyang 42:e1a2a6daf70b 451 if (distance_to_path_point>30){
taoqiuyang 42:e1a2a6daf70b 452 if (autonomous_mode){set_servo_position(wingServo,45,-45,0,45,1);}
taoqiuyang 43:a430d5e4f33d 453 arrived_destination=0;
taoqiuyang 42:e1a2a6daf70b 454 }else{
taoqiuyang 42:e1a2a6daf70b 455 if (autonomous_mode){set_servo_position(wingServo,0,-45,0,45,1);}
taoqiuyang 43:a430d5e4f33d 456 arrived_destination=1;
taoqiuyang 42:e1a2a6daf70b 457 }
taoqiuyang 42:e1a2a6daf70b 458
taoqiuyang 42:e1a2a6daf70b 459 //actuator saturation
taoqiuyang 42:e1a2a6daf70b 460 if (rudder_variables[4]> 45){rudder_variables[4]= 45;}
taoqiuyang 42:e1a2a6daf70b 461 if (rudder_variables[4]<-45){rudder_variables[4]=-45;}
taoqiuyang 42:e1a2a6daf70b 462
taoqiuyang 42:e1a2a6daf70b 463 //Drive servos
taoqiuyang 42:e1a2a6daf70b 464 if (autonomous_mode){set_servo_position(rudderServo,rudder_variables[4],-45,0,45,1);}
taoqiuyang 42:e1a2a6daf70b 465
taoqiuyang 42:e1a2a6daf70b 466 pc.printf("%f\n",rudder_variables[4]);
taoqiuyang 42:e1a2a6daf70b 467 }
taoqiuyang 42:e1a2a6daf70b 468
taoqiuyang 42:e1a2a6daf70b 469
taoqiuyang 42:e1a2a6daf70b 470
taoqiuyang 42:e1a2a6daf70b 471
taoqiuyang 42:e1a2a6daf70b 472
dem123456789 21:99be83550601 473 int log_data_SD(){
dem123456789 21:99be83550601 474 FILE *fp = fopen("/sd/dataLog/dataLog.txt", "w");
dem123456789 21:99be83550601 475 if(fp == NULL) {
dem123456789 21:99be83550601 476 return 0;
dem123456789 21:99be83550601 477 }else{
dem123456789 21:99be83550601 478 //Write all the useful data to the SD card
dem123456789 21:99be83550601 479 fprintf(fp, "Nya Pass~");
dem123456789 21:99be83550601 480 fclose(fp);
dem123456789 21:99be83550601 481 return 1;
dem123456789 21:99be83550601 482 }
dem123456789 21:99be83550601 483 }
dem123456789 21:99be83550601 484
dem123456789 21:99be83550601 485
taoqiuyang 0:f4d390c06705 486 int main() {
taoqiuyang 2:afb333543af5 487 IMU.baud(57600);
taoqiuyang 4:37d118f2348c 488 IMU.attach(&IMU_serial_ISR);
taoqiuyang 5:451b8203ef99 489 GPS.baud(38400);
taoqiuyang 5:451b8203ef99 490 GPS.attach(&GPS_serial_ISR);
dem123456789 36:f04f4ed6aabb 491 pc.baud(9600);
dem123456789 8:1f5a44bade4d 492 pc.attach(&PC_serial_ISR);
taoqiuyang 42:e1a2a6daf70b 493 //ctrl_updt_timer.attach(&update_controller_tmr_ISR, T); // Update controller at 1/T Hz
taoqiuyang 42:e1a2a6daf70b 494 ctrl_updt_timer.attach(&update_controller_tmr_ISR2, T); // Update controller at 1/T Hz
taoqiuyang 26:353a80179346 495 initialize_controller();
dem123456789 33:37345814fad0 496 initialize();
dem123456789 23:cc06a8226f72 497 //float angle=20;
taoqiuyang 2:afb333543af5 498 while (1) {
taoqiuyang 40:9537722d185e 499
taoqiuyang 43:a430d5e4f33d 500 angle_to_path_point=getAngle(1); //positive if pathpoint is on the right of the boat
taoqiuyang 43:a430d5e4f33d 501 distance_to_path_point=getCTE(1); //positive if trace is on the right of the boat
taoqiuyang 43:a430d5e4f33d 502 distance_to_route=getDistance(1); //no sign
taoqiuyang 40:9537722d185e 503
taoqiuyang 43:a430d5e4f33d 504 arrived_destination=0; //will be 1 if arrived destination
taoqiuyang 43:a430d5e4f33d 505 autonomous_mode=0; //set 1 if in autonomous mode, set 0 bypass the controller
taoqiuyang 40:9537722d185e 506
taoqiuyang 40:9537722d185e 507
taoqiuyang 40:9537722d185e 508
dem123456789 23:cc06a8226f72 509 // if (angle>160){angle=20;}
dem123456789 23:cc06a8226f72 510 // set_servo_position(rudderServo, angle, 0, 0, 180, 1);
dem123456789 23:cc06a8226f72 511 // set_servo_position(wingServo, angle, 0, 0, 180, 1);
dem123456789 23:cc06a8226f72 512 // angle=angle+10;
dem123456789 39:ef1a8055d744 513
taoqiuyang 43:a430d5e4f33d 514 wait(2);
dem123456789 37:7a136279daf3 515 //printStateIMU();
dem123456789 32:263d39ea6d3e 516 //printStateGPS();
dem123456789 32:263d39ea6d3e 517 //printPath();
dem123456789 35:009cc4509a90 518 //printDistance();
dem123456789 36:f04f4ed6aabb 519 //printAngle();
dem123456789 39:ef1a8055d744 520 //led1 = !led1;
dem123456789 39:ef1a8055d744 521
taoqiuyang 0:f4d390c06705 522 }
taoqiuyang 0:f4d390c06705 523 }