GPS and IMU reading works
Dependencies: mbed Servo SDFileSystem
main.cpp@34:610d315c1bab, 2015-10-02 (annotated)
- Committer:
- dem123456789
- Date:
- Fri Oct 02 21:09:02 2015 +0000
- Revision:
- 34:610d315c1bab
- Parent:
- 33:37345814fad0
- Child:
- 35:009cc4509a90
CTE added;
Who changed what in which revision?
User | Revision | Line number | New 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 | 33:37345814fad0 | 65 | double dis[MAX_TASK_SIZE]; |
dem123456789 | 33:37345814fad0 | 66 | double ang[MAX_TASK_SIZE]; |
dem123456789 | 20:a820531c78bc | 67 | |
taoqiuyang | 26:353a80179346 | 68 | double angle_to_path_point,distance_to_path_point,desired_speed; |
taoqiuyang | 26:353a80179346 | 69 | double rudder_ctrl_parameters[3]; |
taoqiuyang | 26:353a80179346 | 70 | double rudder_variables[5];//,,,prev,out |
taoqiuyang | 30:faf6e0f81a0c | 71 | double distance_to_route; |
taoqiuyang | 26:353a80179346 | 72 | double T=0.2; //controller update period=0.2sec, 5Hz |
taoqiuyang | 26:353a80179346 | 73 | |
taoqiuyang | 26:353a80179346 | 74 | |
dem123456789 | 9:bf5939466e86 | 75 | vector<string> split(const string &s, char delim) { |
dem123456789 | 9:bf5939466e86 | 76 | stringstream ss(s); |
dem123456789 | 9:bf5939466e86 | 77 | string item; |
dem123456789 | 9:bf5939466e86 | 78 | vector<string> tokens; |
dem123456789 | 9:bf5939466e86 | 79 | while (getline(ss, item, delim)) { |
dem123456789 | 15:dbf20c1209ae | 80 | if (item.empty()) { |
dem123456789 | 20:a820531c78bc | 81 | item = "N/A"; |
dem123456789 | 15:dbf20c1209ae | 82 | } |
dem123456789 | 9:bf5939466e86 | 83 | tokens.push_back(item); |
dem123456789 | 9:bf5939466e86 | 84 | } |
dem123456789 | 9:bf5939466e86 | 85 | return tokens; |
dem123456789 | 9:bf5939466e86 | 86 | } |
dem123456789 | 9:bf5939466e86 | 87 | |
dem123456789 | 27:1be1f25be449 | 88 | double GPSdecimal(double coordinate) { |
dem123456789 | 27:1be1f25be449 | 89 | //Convert a NMEA decimal-decimal value into decimal degree value |
dem123456789 | 27:1be1f25be449 | 90 | //5144.3855 (ddmm.mmmm) = 51 44.3855 = 51 + 44.3855/60 = 51.7397583 degrees |
dem123456789 | 27:1be1f25be449 | 91 | coordinate = coordinate/100; |
dem123456789 | 27:1be1f25be449 | 92 | return ((int) coordinate) + ((coordinate-((int) coordinate))/60); |
dem123456789 | 27:1be1f25be449 | 93 | } |
dem123456789 | 27:1be1f25be449 | 94 | |
dem123456789 | 33:37345814fad0 | 95 | void initialize() { |
dem123456789 | 29:95b0320bf779 | 96 | fill(Longitude_Path, Longitude_Path+MAX_TASK_SIZE, 181); |
dem123456789 | 29:95b0320bf779 | 97 | fill(Latitude_Path, Latitude_Path+MAX_TASK_SIZE, 181); |
dem123456789 | 33:37345814fad0 | 98 | fill(dis, dis+MAX_TASK_SIZE, -1); |
dem123456789 | 33:37345814fad0 | 99 | fill(ang, ang+MAX_TASK_SIZE, -361); |
dem123456789 | 29:95b0320bf779 | 100 | } |
dem123456789 | 29:95b0320bf779 | 101 | |
dem123456789 | 9:bf5939466e86 | 102 | void updateIMU(string IMU_data) { |
dem123456789 | 9:bf5939466e86 | 103 | string IMU_data_string(IMU_data); |
dem123456789 | 9:bf5939466e86 | 104 | if (IMU_data_string.substr(0,4) == "#YPR" and IMU_data_string.size() <= MAX_IMU_SIZE) { |
dem123456789 | 9:bf5939466e86 | 105 | IMU_data_string = IMU_data_string.substr(5); |
dem123456789 | 9:bf5939466e86 | 106 | vector<string> result = split(IMU_data_string, ','); |
dem123456789 | 9:bf5939466e86 | 107 | IMU_Y = result.at(0); |
dem123456789 | 23:cc06a8226f72 | 108 | D_IMU_Y = strtod(IMU_Y.c_str(), NULL); |
dem123456789 | 9:bf5939466e86 | 109 | IMU_P = result.at(1); |
dem123456789 | 23:cc06a8226f72 | 110 | D_IMU_P = strtod(IMU_P.c_str(), NULL); |
dem123456789 | 15:dbf20c1209ae | 111 | IMU_R = result.at(2).substr(0, result.at(2).size()-1); |
dem123456789 | 23:cc06a8226f72 | 112 | D_IMU_R = strtod(IMU_R.c_str(), NULL); |
dem123456789 | 9:bf5939466e86 | 113 | } |
dem123456789 | 9:bf5939466e86 | 114 | } |
dem123456789 | 9:bf5939466e86 | 115 | |
dem123456789 | 10:12ba6ed2d6f0 | 116 | void updateGPS(string GPS_data) { |
dem123456789 | 10:12ba6ed2d6f0 | 117 | string GPS_data_string(GPS_data); |
dem123456789 | 11:1caacb994236 | 118 | if (GPS_data_string.substr(0,6) == "$GPGGA") { |
dem123456789 | 11:1caacb994236 | 119 | GPS_data_string = GPS_data_string.substr(7); |
dem123456789 | 10:12ba6ed2d6f0 | 120 | vector<string> result = split(GPS_data_string, ','); |
dem123456789 | 14:92bacb5af01b | 121 | GPS_Quality = result.at(5); |
dem123456789 | 22:faba67585854 | 122 | D_GPS_Quality = strtod(result.at(5).c_str(), NULL); |
dem123456789 | 14:92bacb5af01b | 123 | if(GPS_Quality != "0" and GPS_Quality != "6") { |
dem123456789 | 11:1caacb994236 | 124 | GPS_UTC = result.at(0); |
dem123456789 | 23:cc06a8226f72 | 125 | D_GPS_UTC = strtod(GPS_UTC.c_str(), NULL); |
dem123456789 | 23:cc06a8226f72 | 126 | GPS_Latitude = result.at(1) + result.at(2); |
dem123456789 | 23:cc06a8226f72 | 127 | if (result.at(2) == "N") { // 0 means North |
dem123456789 | 22:faba67585854 | 128 | D_GPS_Latitude_Direction = 0; |
dem123456789 | 23:cc06a8226f72 | 129 | } else if (result.at(2) == "S") { // 1 means South |
dem123456789 | 27:1be1f25be449 | 130 | D_GPS_Latitude_Direction = 1; |
dem123456789 | 27:1be1f25be449 | 131 | temp = "-" + result.at(1); |
dem123456789 | 22:faba67585854 | 132 | } |
dem123456789 | 27:1be1f25be449 | 133 | D_temp = strtod(temp.c_str(), NULL); |
dem123456789 | 27:1be1f25be449 | 134 | D_GPS_Latitude = GPSdecimal(D_temp); |
dem123456789 | 27:1be1f25be449 | 135 | GPS_Longitude = result.at(3) + result.at(4); |
dem123456789 | 23:cc06a8226f72 | 136 | if (result.at(4) == "E") { // 0 means East |
dem123456789 | 27:1be1f25be449 | 137 | D_GPS_Longitude_Direction = 0; |
dem123456789 | 23:cc06a8226f72 | 138 | } else if (result.at(4) == "W") { // 1 means West |
dem123456789 | 27:1be1f25be449 | 139 | D_GPS_Longitude_Direction = 1; |
dem123456789 | 27:1be1f25be449 | 140 | temp = "-" + result.at(3); |
dem123456789 | 22:faba67585854 | 141 | } |
dem123456789 | 27:1be1f25be449 | 142 | D_temp = strtod(temp.c_str(), NULL); |
dem123456789 | 27:1be1f25be449 | 143 | D_GPS_Longitude = GPSdecimal(D_temp); |
dem123456789 | 11:1caacb994236 | 144 | GPS_Num_Satellite = result.at(6); |
dem123456789 | 22:faba67585854 | 145 | D_GPS_Num_Satellite = strtod(result.at(6).c_str(), NULL); |
dem123456789 | 11:1caacb994236 | 146 | GPS_HDOP = result.at(7); |
dem123456789 | 22:faba67585854 | 147 | D_GPS_HDOP = strtod(result.at(7).c_str(), NULL); |
dem123456789 | 11:1caacb994236 | 148 | GPS_Altitude = result.at(8) + result.at(9); |
dem123456789 | 22:faba67585854 | 149 | D_GPS_Altitude = strtod(result.at(8).c_str(), NULL); |
dem123456789 | 22:faba67585854 | 150 | GPS_Altitude_Unit = result.at(9); |
dem123456789 | 11:1caacb994236 | 151 | } |
dem123456789 | 14:92bacb5af01b | 152 | } else if (GPS_data_string.substr(0,6) == "$GPGSA" and GPS_Quality != "0" and GPS_Quality != "6") { |
dem123456789 | 12:8644abfa86da | 153 | GPS_data_string = GPS_data_string.substr(7); |
dem123456789 | 12:8644abfa86da | 154 | vector<string> result = split(GPS_data_string, ','); |
dem123456789 | 12:8644abfa86da | 155 | GPS_PDOP = result.at(14); |
dem123456789 | 22:faba67585854 | 156 | D_GPS_PDOP = strtod(result.at(14).c_str(), NULL); |
dem123456789 | 12:8644abfa86da | 157 | asterisk_idx = result.at(16).find('*'); |
dem123456789 | 12:8644abfa86da | 158 | GPS_VDOP = result.at(16).substr(0, asterisk_idx); |
dem123456789 | 22:faba67585854 | 159 | D_GPS_VDOP = strtod(result.at(16).substr(0, asterisk_idx).c_str(), NULL); |
dem123456789 | 14:92bacb5af01b | 160 | } else if (GPS_data_string.substr(0,6) == "$GPRMC" and GPS_Quality != "0" and GPS_Quality != "6") { |
dem123456789 | 12:8644abfa86da | 161 | GPS_data_string = GPS_data_string.substr(7); |
dem123456789 | 12:8644abfa86da | 162 | vector<string> result = split(GPS_data_string, ','); |
dem123456789 | 14:92bacb5af01b | 163 | GPS_Date = result.at(8); |
dem123456789 | 22:faba67585854 | 164 | D_GPS_Date = strtod(result.at(8).c_str(), NULL); |
dem123456789 | 14:92bacb5af01b | 165 | } else if (GPS_data_string.substr(0,6) == "$GPVTG" and GPS_Quality != "0" and GPS_Quality != "6") { |
dem123456789 | 12:8644abfa86da | 166 | GPS_data_string = GPS_data_string.substr(7); |
dem123456789 | 12:8644abfa86da | 167 | vector<string> result = split(GPS_data_string, ','); |
dem123456789 | 14:92bacb5af01b | 168 | GPS_VelocityKnot = result.at(4) + result.at(5); |
dem123456789 | 22:faba67585854 | 169 | D_GPS_VelocityKnot = strtod(result.at(4).c_str(), NULL); |
dem123456789 | 22:faba67585854 | 170 | GPS_VelocityKnot_Unit = result.at(5); |
dem123456789 | 12:8644abfa86da | 171 | asterisk_idx = result.at(7).find('*'); |
dem123456789 | 14:92bacb5af01b | 172 | GPS_VelocityKph = result.at(6) + result.at(7).substr(0, asterisk_idx); |
dem123456789 | 22:faba67585854 | 173 | D_GPS_VelocityKph = strtod(result.at(6).c_str(), NULL); |
dem123456789 | 22:faba67585854 | 174 | GPS_VelocityKph_Unit = result.at(7).substr(0, asterisk_idx); |
dem123456789 | 10:12ba6ed2d6f0 | 175 | } |
dem123456789 | 12:8644abfa86da | 176 | |
dem123456789 | 10:12ba6ed2d6f0 | 177 | } |
dem123456789 | 16:0ea992d9a390 | 178 | /* Get data from SailBoat |
dem123456789 | 16:0ea992d9a390 | 179 | @GET=parameter |
dem123456789 | 16:0ea992d9a390 | 180 | Ex: @GET=GPS_Quality |
dem123456789 | 27:1be1f25be449 | 181 | Supported parameter: GPS_Quality, GPS_UTC, GPS_Latitude, GPS_Longitude, GPS_Altitude, |
dem123456789 | 16:0ea992d9a390 | 182 | GPS_Num_Satellite, GPS_HDOP, GPS_VDOP, GPS_PDOP, GPS_Date, GPS_VelocityKnot, GPS_VelocityKph |
dem123456789 | 16:0ea992d9a390 | 183 | Set path to SailBoat |
dem123456789 | 27:1be1f25be449 | 184 | @SET=PATH, Latitude, Longitude, Task id |
dem123456789 | 20:a820531c78bc | 185 | @SET=PATH, 33.776318, -84.407590, 3 |
dem123456789 | 16:0ea992d9a390 | 186 | */ |
dem123456789 | 15:dbf20c1209ae | 187 | void decodePC(string PC_data) { |
dem123456789 | 15:dbf20c1209ae | 188 | string PC_data_string(PC_data); |
dem123456789 | 15:dbf20c1209ae | 189 | if (PC_data_string.substr(0,4) == "@GET") { |
dem123456789 | 15:dbf20c1209ae | 190 | pc.printf("%s", PC_data_string.c_str()); |
dem123456789 | 15:dbf20c1209ae | 191 | PC_data_string = PC_data_string.substr(5, PC_data_string.size()-6); |
dem123456789 | 20:a820531c78bc | 192 | pc.printf("%s\n", decodeCommandGET(PC_data_string).c_str()); |
dem123456789 | 16:0ea992d9a390 | 193 | } else if (PC_data_string.substr(0,4) == "@SET") { |
dem123456789 | 20:a820531c78bc | 194 | pc.printf("%s", PC_data_string.c_str()); |
dem123456789 | 20:a820531c78bc | 195 | PC_data_string = PC_data_string.substr(5, PC_data_string.size()-6); |
dem123456789 | 20:a820531c78bc | 196 | string claim = decodeCommandSET(PC_data_string); |
dem123456789 | 20:a820531c78bc | 197 | if (claim == "DONE") { |
dem123456789 | 27:1be1f25be449 | 198 | pc.printf("Current Path: Longitude, Latitude\n"); |
dem123456789 | 20:a820531c78bc | 199 | for (int i=0;i<MAX_TASK_SIZE;++i) { |
dem123456789 | 27:1be1f25be449 | 200 | pc.printf(" %f, %f\n", Longitude_Path[i], Latitude_Path[i]); |
dem123456789 | 20:a820531c78bc | 201 | } |
dem123456789 | 20:a820531c78bc | 202 | } |
dem123456789 | 20:a820531c78bc | 203 | pc.printf("%s\n", claim.c_str()); |
dem123456789 | 16:0ea992d9a390 | 204 | } |
dem123456789 | 15:dbf20c1209ae | 205 | } |
dem123456789 | 15:dbf20c1209ae | 206 | |
dem123456789 | 15:dbf20c1209ae | 207 | |
taoqiuyang | 24:8e38cc14150c | 208 | |
dem123456789 | 11:1caacb994236 | 209 | void printStateIMU() { |
dem123456789 | 23:cc06a8226f72 | 210 | //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 | 211 | 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 | 212 | } |
dem123456789 | 11:1caacb994236 | 213 | |
dem123456789 | 12:8644abfa86da | 214 | void printStateGPS() { |
dem123456789 | 23:cc06a8226f72 | 215 | /* |
dem123456789 | 27:1be1f25be449 | 216 | pc.printf("GPS_Quality: %s, GPS_UTC: %s, GPS_Latitude: %s, GPS_Longitude: %s, GPS_Altitude: %s, " |
dem123456789 | 14:92bacb5af01b | 217 | "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 | 218 | 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 | 219 | 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 | 220 | */ |
dem123456789 | 23:cc06a8226f72 | 221 | |
dem123456789 | 27:1be1f25be449 | 222 | 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 | 223 | "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 | 224 | 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 | 225 | D_GPS_HDOP, D_GPS_VDOP, D_GPS_PDOP, D_GPS_Date, D_GPS_VelocityKnot, D_GPS_VelocityKph); |
dem123456789 | 23:cc06a8226f72 | 226 | |
dem123456789 | 12:8644abfa86da | 227 | } |
dem123456789 | 14:92bacb5af01b | 228 | |
dem123456789 | 32:263d39ea6d3e | 229 | void printPath() { |
dem123456789 | 32:263d39ea6d3e | 230 | pc.printf("Current Path: Longitude, Latitude\n"); |
dem123456789 | 32:263d39ea6d3e | 231 | for (int i=0;i<MAX_TASK_SIZE;++i) { |
dem123456789 | 32:263d39ea6d3e | 232 | pc.printf(" %f, %f\n", Longitude_Path[i], Latitude_Path[i]); |
dem123456789 | 32:263d39ea6d3e | 233 | } |
dem123456789 | 32:263d39ea6d3e | 234 | } |
dem123456789 | 32:263d39ea6d3e | 235 | |
dem123456789 | 34:610d315c1bab | 236 | void printDistance() { |
dem123456789 | 34:610d315c1bab | 237 | pc.printf("Current Distance: Task id, Distance\n"); |
dem123456789 | 34:610d315c1bab | 238 | for(int i=0;i<MAX_TASK_SIZE;++i) { |
dem123456789 | 32:263d39ea6d3e | 239 | dis[i] = getDistance(i); |
dem123456789 | 32:263d39ea6d3e | 240 | pc.printf("Distance Task %d: %f\n", i+1, dis[i]); |
dem123456789 | 32:263d39ea6d3e | 241 | } |
dem123456789 | 32:263d39ea6d3e | 242 | } |
dem123456789 | 32:263d39ea6d3e | 243 | |
dem123456789 | 32:263d39ea6d3e | 244 | void printAngle() { |
dem123456789 | 34:610d315c1bab | 245 | pc.printf("Current Angle: Task id, Angle\n"); |
dem123456789 | 32:263d39ea6d3e | 246 | for(int i=0;i<MAX_TASK_SIZE;++i) { |
dem123456789 | 32:263d39ea6d3e | 247 | ang[i] = getAngle(i); |
dem123456789 | 32:263d39ea6d3e | 248 | pc.printf("Angle Task %d: %f\n", i+1, ang[i]); |
dem123456789 | 32:263d39ea6d3e | 249 | } |
dem123456789 | 32:263d39ea6d3e | 250 | } |
dem123456789 | 32:263d39ea6d3e | 251 | |
dem123456789 | 11:1caacb994236 | 252 | //#YPR=-183.74,-134.27,-114.39 |
taoqiuyang | 4:37d118f2348c | 253 | void IMU_serial_ISR() { |
taoqiuyang | 3:ab9f94d112c0 | 254 | char buf; |
taoqiuyang | 3:ab9f94d112c0 | 255 | |
taoqiuyang | 3:ab9f94d112c0 | 256 | while (IMU.readable()) { |
taoqiuyang | 3:ab9f94d112c0 | 257 | buf = IMU.getc(); |
taoqiuyang | 3:ab9f94d112c0 | 258 | |
dem123456789 | 14:92bacb5af01b | 259 | //pc.putc(buf); |
taoqiuyang | 3:ab9f94d112c0 | 260 | IMU_message[IMU_message_counter]=buf; |
dem123456789 | 9:bf5939466e86 | 261 | IMU_message_counter+=1; |
taoqiuyang | 3:ab9f94d112c0 | 262 | |
taoqiuyang | 3:ab9f94d112c0 | 263 | if (buf=='\n'){ |
dem123456789 | 9:bf5939466e86 | 264 | string IMU_copy(IMU_message, IMU_message_counter); |
dem123456789 | 11:1caacb994236 | 265 | //pc.printf("%s", IMU_copy.c_str()); |
dem123456789 | 9:bf5939466e86 | 266 | updateIMU(IMU_copy); |
dem123456789 | 9:bf5939466e86 | 267 | IMU_message_counter=0; |
dem123456789 | 9:bf5939466e86 | 268 | IMU_copy[0] = '\0'; |
dem123456789 | 9:bf5939466e86 | 269 | } |
dem123456789 | 9:bf5939466e86 | 270 | |
taoqiuyang | 3:ab9f94d112c0 | 271 | } |
taoqiuyang | 2:afb333543af5 | 272 | led2 = !led2; |
taoqiuyang | 2:afb333543af5 | 273 | } |
dem123456789 | 9:bf5939466e86 | 274 | |
dem123456789 | 9:bf5939466e86 | 275 | |
dem123456789 | 8:1f5a44bade4d | 276 | |
taoqiuyang | 5:451b8203ef99 | 277 | void GPS_serial_ISR() { |
taoqiuyang | 5:451b8203ef99 | 278 | char buf; |
taoqiuyang | 5:451b8203ef99 | 279 | |
taoqiuyang | 5:451b8203ef99 | 280 | while (GPS.readable()) { |
taoqiuyang | 5:451b8203ef99 | 281 | buf = GPS.getc(); |
dem123456789 | 14:92bacb5af01b | 282 | |
dem123456789 | 14:92bacb5af01b | 283 | //pc.putc(buf); |
dem123456789 | 10:12ba6ed2d6f0 | 284 | GPS_message[GPS_message_counter]=buf; |
dem123456789 | 10:12ba6ed2d6f0 | 285 | GPS_message_counter+=1; |
dem123456789 | 10:12ba6ed2d6f0 | 286 | |
dem123456789 | 10:12ba6ed2d6f0 | 287 | if (buf=='\n'){ |
dem123456789 | 10:12ba6ed2d6f0 | 288 | string GPS_copy(GPS_message, GPS_message_counter); |
dem123456789 | 11:1caacb994236 | 289 | //pc.printf("%s", GPS_copy.c_str()); |
dem123456789 | 10:12ba6ed2d6f0 | 290 | updateGPS(GPS_copy); |
dem123456789 | 10:12ba6ed2d6f0 | 291 | GPS_message_counter=0; |
dem123456789 | 10:12ba6ed2d6f0 | 292 | GPS_copy[0] = '\0'; |
dem123456789 | 10:12ba6ed2d6f0 | 293 | } |
taoqiuyang | 5:451b8203ef99 | 294 | } |
taoqiuyang | 5:451b8203ef99 | 295 | |
taoqiuyang | 5:451b8203ef99 | 296 | led3 = !led3; |
taoqiuyang | 5:451b8203ef99 | 297 | } |
taoqiuyang | 3:ab9f94d112c0 | 298 | |
dem123456789 | 8:1f5a44bade4d | 299 | void PC_serial_ISR() { |
dem123456789 | 8:1f5a44bade4d | 300 | char buf; |
dem123456789 | 8:1f5a44bade4d | 301 | |
dem123456789 | 8:1f5a44bade4d | 302 | while (pc.readable()) { |
dem123456789 | 8:1f5a44bade4d | 303 | buf = pc.getc(); |
dem123456789 | 14:92bacb5af01b | 304 | |
dem123456789 | 14:92bacb5af01b | 305 | //pc.putc(buf); |
dem123456789 | 14:92bacb5af01b | 306 | PC_message[PC_message_counter]=buf; |
dem123456789 | 14:92bacb5af01b | 307 | PC_message_counter+=1; |
dem123456789 | 14:92bacb5af01b | 308 | |
dem123456789 | 14:92bacb5af01b | 309 | if (buf=='\n'){ |
dem123456789 | 14:92bacb5af01b | 310 | string PC_copy(PC_message, PC_message_counter); |
dem123456789 | 14:92bacb5af01b | 311 | //pc.printf("%s", PC_copy.c_str()); |
dem123456789 | 14:92bacb5af01b | 312 | decodePC(PC_copy); |
dem123456789 | 14:92bacb5af01b | 313 | PC_message_counter=0; |
dem123456789 | 14:92bacb5af01b | 314 | PC_copy[0] = '\0'; |
dem123456789 | 14:92bacb5af01b | 315 | } |
dem123456789 | 8:1f5a44bade4d | 316 | } |
dem123456789 | 8:1f5a44bade4d | 317 | |
dem123456789 | 8:1f5a44bade4d | 318 | led4= !led4; |
dem123456789 | 8:1f5a44bade4d | 319 | } |
dem123456789 | 21:99be83550601 | 320 | |
taoqiuyang | 24:8e38cc14150c | 321 | |
dem123456789 | 21:99be83550601 | 322 | void set_servo_position(Servo targetServo, float angleDeg, float minDeg, float minNorVal, float maxDeg, float maxNorVal){ |
dem123456789 | 21:99be83550601 | 323 | /*angleDeg: desired angle |
dem123456789 | 21:99be83550601 | 324 | minDeg: minimum angle in degrees |
dem123456789 | 21:99be83550601 | 325 | minNorVal: normalized value[0,1] when servo is at its minimum angle |
dem123456789 | 21:99be83550601 | 326 | maxDeg: maximum angle in degrees |
dem123456789 | 21:99be83550601 | 327 | maxNorVal: normalized value[0,1] when servo is at its maximum angle |
dem123456789 | 21:99be83550601 | 328 | */ |
dem123456789 | 21:99be83550601 | 329 | |
dem123456789 | 21:99be83550601 | 330 | float pos; //normalized angle, [0,1] |
dem123456789 | 21:99be83550601 | 331 | float scale; //scale factor for servo calibration |
dem123456789 | 21:99be83550601 | 332 | |
dem123456789 | 21:99be83550601 | 333 | //extreme conditions |
dem123456789 | 21:99be83550601 | 334 | if (angleDeg<minDeg){ |
dem123456789 | 21:99be83550601 | 335 | pos=minNorVal; |
dem123456789 | 21:99be83550601 | 336 | } |
dem123456789 | 21:99be83550601 | 337 | if (angleDeg>maxDeg){ |
dem123456789 | 21:99be83550601 | 338 | pos=maxNorVal; |
dem123456789 | 21:99be83550601 | 339 | } |
dem123456789 | 21:99be83550601 | 340 | |
dem123456789 | 21:99be83550601 | 341 | //Calculate scale factor for servo calibration |
dem123456789 | 21:99be83550601 | 342 | scale = (angleDeg-minDeg)/(maxDeg-minDeg); |
dem123456789 | 21:99be83550601 | 343 | //Calculate servo normalized value |
dem123456789 | 21:99be83550601 | 344 | pos = minNorVal + scale*(maxNorVal-minNorVal); |
dem123456789 | 21:99be83550601 | 345 | |
dem123456789 | 21:99be83550601 | 346 | //send signal to servo |
dem123456789 | 21:99be83550601 | 347 | targetServo=pos; |
dem123456789 | 21:99be83550601 | 348 | } |
dem123456789 | 21:99be83550601 | 349 | |
taoqiuyang | 26:353a80179346 | 350 | |
taoqiuyang | 26:353a80179346 | 351 | void initialize_controller(){ |
taoqiuyang | 26:353a80179346 | 352 | rudder_variables[0]=0; |
taoqiuyang | 26:353a80179346 | 353 | rudder_variables[1]=0; |
taoqiuyang | 26:353a80179346 | 354 | rudder_variables[2]=0; |
taoqiuyang | 26:353a80179346 | 355 | rudder_variables[3]=0; |
taoqiuyang | 26:353a80179346 | 356 | rudder_variables[4]=0; |
taoqiuyang | 26:353a80179346 | 357 | rudder_ctrl_parameters[0]=1; |
taoqiuyang | 26:353a80179346 | 358 | rudder_ctrl_parameters[1]=0; |
taoqiuyang | 26:353a80179346 | 359 | rudder_ctrl_parameters[2]=0; |
taoqiuyang | 26:353a80179346 | 360 | } |
taoqiuyang | 26:353a80179346 | 361 | |
taoqiuyang | 26:353a80179346 | 362 | void update_controller_tmr_ISR() { |
taoqiuyang | 26:353a80179346 | 363 | /*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 | 364 | angle to path point |
taoqiuyang | 30:faf6e0f81a0c | 365 | distance_to_route(meter) |
taoqiuyang | 30:faf6e0f81a0c | 366 | |
taoqiuyang | 30:faf6e0f81a0c | 367 | Global Variables: angle_to_path_point,distance_to_path_point,distance_to_route; |
taoqiuyang | 26:353a80179346 | 368 | |
taoqiuyang | 26:353a80179346 | 369 | Function: drive two servos to navigate the sailboat to the desired path point |
taoqiuyang | 26:353a80179346 | 370 | */ |
taoqiuyang | 31:e3339036c98b | 371 | |
taoqiuyang | 31:e3339036c98b | 372 | //CTE based controller for rudder |
taoqiuyang | 30:faf6e0f81a0c | 373 | if (angle_to_path_point<0){distance_to_route=-1*distance_to_route;} |
taoqiuyang | 30:faf6e0f81a0c | 374 | |
taoqiuyang | 30:faf6e0f81a0c | 375 | rudder_variables[0]=rudder_ctrl_parameters[0]*distance_to_route; |
taoqiuyang | 30:faf6e0f81a0c | 376 | rudder_variables[1]=rudder_variables[1]+rudder_ctrl_parameters[1]*distance_to_route*T; |
taoqiuyang | 30:faf6e0f81a0c | 377 | rudder_variables[2]=(rudder_variables[3]-distance_to_route)/T; |
taoqiuyang | 30:faf6e0f81a0c | 378 | rudder_variables[3]=distance_to_route; |
taoqiuyang | 26:353a80179346 | 379 | rudder_variables[4]=rudder_variables[0]+rudder_variables[1]+rudder_variables[2]; |
taoqiuyang | 26:353a80179346 | 380 | |
taoqiuyang | 31:e3339036c98b | 381 | //bang-bang controller for vehicle velocity |
taoqiuyang | 31:e3339036c98b | 382 | //Our sailboat is a slow moving vehicle and GPS cannot provide |
taoqiuyang | 31:e3339036c98b | 383 | //very accurate speed reading in our application |
taoqiuyang | 31:e3339036c98b | 384 | if (distance_to_path_point>30){ |
taoqiuyang | 31:e3339036c98b | 385 | set_servo_position(wingServo,45,-45,0,45,1); |
taoqiuyang | 31:e3339036c98b | 386 | }else{ |
taoqiuyang | 31:e3339036c98b | 387 | set_servo_position(wingServo,0,-45,0,45,1); |
taoqiuyang | 31:e3339036c98b | 388 | } |
taoqiuyang | 31:e3339036c98b | 389 | |
taoqiuyang | 31:e3339036c98b | 390 | //actuator saturation |
taoqiuyang | 31:e3339036c98b | 391 | if (rudder_variables[4]> 60){rudder_variables[4]= 60;} |
taoqiuyang | 31:e3339036c98b | 392 | if (rudder_variables[4]<-60){rudder_variables[4]=-60;} |
taoqiuyang | 26:353a80179346 | 393 | |
taoqiuyang | 26:353a80179346 | 394 | //Drive servos |
taoqiuyang | 26:353a80179346 | 395 | set_servo_position(rudderServo,rudder_variables[4],-45,0,45,1); |
taoqiuyang | 26:353a80179346 | 396 | } |
taoqiuyang | 26:353a80179346 | 397 | |
taoqiuyang | 26:353a80179346 | 398 | |
taoqiuyang | 26:353a80179346 | 399 | |
dem123456789 | 21:99be83550601 | 400 | int log_data_SD(){ |
dem123456789 | 21:99be83550601 | 401 | FILE *fp = fopen("/sd/dataLog/dataLog.txt", "w"); |
dem123456789 | 21:99be83550601 | 402 | if(fp == NULL) { |
dem123456789 | 21:99be83550601 | 403 | return 0; |
dem123456789 | 21:99be83550601 | 404 | }else{ |
dem123456789 | 21:99be83550601 | 405 | //Write all the useful data to the SD card |
dem123456789 | 21:99be83550601 | 406 | fprintf(fp, "Nya Pass~"); |
dem123456789 | 21:99be83550601 | 407 | fclose(fp); |
dem123456789 | 21:99be83550601 | 408 | return 1; |
dem123456789 | 21:99be83550601 | 409 | } |
dem123456789 | 21:99be83550601 | 410 | } |
dem123456789 | 21:99be83550601 | 411 | |
dem123456789 | 21:99be83550601 | 412 | |
taoqiuyang | 0:f4d390c06705 | 413 | int main() { |
taoqiuyang | 2:afb333543af5 | 414 | IMU.baud(57600); |
taoqiuyang | 4:37d118f2348c | 415 | IMU.attach(&IMU_serial_ISR); |
taoqiuyang | 5:451b8203ef99 | 416 | GPS.baud(38400); |
taoqiuyang | 5:451b8203ef99 | 417 | GPS.attach(&GPS_serial_ISR); |
dem123456789 | 8:1f5a44bade4d | 418 | pc.baud(115200); |
dem123456789 | 8:1f5a44bade4d | 419 | pc.attach(&PC_serial_ISR); |
taoqiuyang | 26:353a80179346 | 420 | ctrl_updt_timer.attach(&update_controller_tmr_ISR, T); // Update controller at 1/T Hz |
taoqiuyang | 26:353a80179346 | 421 | initialize_controller(); |
dem123456789 | 33:37345814fad0 | 422 | initialize(); |
dem123456789 | 23:cc06a8226f72 | 423 | //float angle=20; |
taoqiuyang | 2:afb333543af5 | 424 | while (1) { |
dem123456789 | 23:cc06a8226f72 | 425 | // if (angle>160){angle=20;} |
dem123456789 | 23:cc06a8226f72 | 426 | // set_servo_position(rudderServo, angle, 0, 0, 180, 1); |
dem123456789 | 23:cc06a8226f72 | 427 | // set_servo_position(wingServo, angle, 0, 0, 180, 1); |
dem123456789 | 23:cc06a8226f72 | 428 | // angle=angle+10; |
taoqiuyang | 26:353a80179346 | 429 | |
taoqiuyang | 26:353a80179346 | 430 | |
dem123456789 | 15:dbf20c1209ae | 431 | wait(0.4); |
dem123456789 | 32:263d39ea6d3e | 432 | //printStateIMU(); |
dem123456789 | 32:263d39ea6d3e | 433 | //printStateGPS(); |
dem123456789 | 32:263d39ea6d3e | 434 | //printPath(); |
dem123456789 | 32:263d39ea6d3e | 435 | printDistance(); |
dem123456789 | 32:263d39ea6d3e | 436 | printAngle(); |
dem123456789 | 21:99be83550601 | 437 | led1 = !led1; |
taoqiuyang | 0:f4d390c06705 | 438 | } |
taoqiuyang | 0:f4d390c06705 | 439 | } |