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@12:8644abfa86da, 2015-08-26 (annotated)

Committer:
dem123456789
Date:
Wed Aug 26 03:42:34 2015 +0000
Revision:
12:8644abfa86da
Parent:
11:1caacb994236
Child:
14:92bacb5af01b
IMU and GPS done, need to pack string and computer command not done

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 11:1caacb994236 5 using namespace std;
dem123456789 11:1caacb994236 6
dem123456789 11:1caacb994236 7 #define MAX_IMU_SIZE 29
taoqiuyang 3:ab9f94d112c0 8
taoqiuyang 2:afb333543af5 9 DigitalOut led1(LED1);
taoqiuyang 2:afb333543af5 10 DigitalOut led2(LED2);
taoqiuyang 5:451b8203ef99 11 DigitalOut led3(LED3);
dem123456789 8:1f5a44bade4d 12 DigitalOut led4(LED4);
taoqiuyang 2:afb333543af5 13
taoqiuyang 2:afb333543af5 14 Serial pc(USBTX, USBRX);
taoqiuyang 2:afb333543af5 15 Serial IMU(p28, p27); // tx, rx
taoqiuyang 5:451b8203ef99 16 Serial GPS(p13, p14); // tx, rx
taoqiuyang 2:afb333543af5 17
taoqiuyang 2:afb333543af5 18 char IMU_message[256];
taoqiuyang 3:ab9f94d112c0 19 int IMU_message_counter=0;
taoqiuyang 5:451b8203ef99 20 char GPS_message[256];
taoqiuyang 5:451b8203ef99 21 int GPS_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 11:1caacb994236 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 11:1caacb994236 29 string GPS_Longtitude="N/A";
dem123456789 11:1caacb994236 30 string GPS_Altitude="N/A";
dem123456789 11:1caacb994236 31 string GPS_Num_Satellite="N/A";
dem123456789 11:1caacb994236 32 string GPS_HDOP="N/A";
dem123456789 12:8644abfa86da 33 string GPS_VDOP="N/A";
dem123456789 12:8644abfa86da 34 string GPS_PDOP="N/A";
dem123456789 12:8644abfa86da 35 string GPS_date="N/A";
dem123456789 12:8644abfa86da 36 string GPS_velocityKnot="N/A";
dem123456789 12:8644abfa86da 37 string GPS_velocityKph="N/A";
dem123456789 12:8644abfa86da 38 int asterisk_idx;
dem123456789 9:bf5939466e86 39
dem123456789 9:bf5939466e86 40 vector<string> split(const string &s, char delim) {
dem123456789 9:bf5939466e86 41 stringstream ss(s);
dem123456789 9:bf5939466e86 42 string item;
dem123456789 9:bf5939466e86 43 vector<string> tokens;
dem123456789 9:bf5939466e86 44 while (getline(ss, item, delim)) {
dem123456789 9:bf5939466e86 45 tokens.push_back(item);
dem123456789 9:bf5939466e86 46 }
dem123456789 9:bf5939466e86 47 return tokens;
dem123456789 9:bf5939466e86 48 }
dem123456789 9:bf5939466e86 49
dem123456789 9:bf5939466e86 50 void updateIMU(string IMU_data) {
dem123456789 9:bf5939466e86 51 string IMU_data_string(IMU_data);
dem123456789 9:bf5939466e86 52 if (IMU_data_string.substr(0,4) == "#YPR" and IMU_data_string.size() <= MAX_IMU_SIZE) {
dem123456789 9:bf5939466e86 53 IMU_data_string = IMU_data_string.substr(5);
dem123456789 9:bf5939466e86 54 vector<string> result = split(IMU_data_string, ',');
dem123456789 9:bf5939466e86 55 IMU_Y = result.at(0);
dem123456789 9:bf5939466e86 56 IMU_P = result.at(1);
dem123456789 9:bf5939466e86 57 IMU_R = result.at(2).substr(0, result.at(2).size()-1);;
dem123456789 9:bf5939466e86 58 }
dem123456789 9:bf5939466e86 59 }
dem123456789 9:bf5939466e86 60
dem123456789 10:12ba6ed2d6f0 61 void updateGPS(string GPS_data) {
dem123456789 10:12ba6ed2d6f0 62 string GPS_data_string(GPS_data);
dem123456789 11:1caacb994236 63 if (GPS_data_string.substr(0,6) == "$GPGGA") {
dem123456789 11:1caacb994236 64 GPS_data_string = GPS_data_string.substr(7);
dem123456789 10:12ba6ed2d6f0 65 vector<string> result = split(GPS_data_string, ',');
dem123456789 11:1caacb994236 66 GPS_quality = result.at(5);
dem123456789 12:8644abfa86da 67 if(GPS_quality != "0" and GPS_quality != "6") {
dem123456789 11:1caacb994236 68 GPS_UTC = result.at(0);
dem123456789 11:1caacb994236 69 GPS_Latitude = result.at(2) + result.at(1);
dem123456789 11:1caacb994236 70 GPS_Longtitude = result.at(4) + result.at(3);
dem123456789 11:1caacb994236 71 GPS_Num_Satellite = result.at(6);
dem123456789 11:1caacb994236 72 GPS_HDOP = result.at(7);
dem123456789 11:1caacb994236 73 GPS_Altitude = result.at(8) + result.at(9);
dem123456789 11:1caacb994236 74 }
dem123456789 12:8644abfa86da 75 } else if (GPS_data_string.substr(0,6) == "$GPGSA" and GPS_quality != "0" and GPS_quality != "6") {
dem123456789 12:8644abfa86da 76 GPS_data_string = GPS_data_string.substr(7);
dem123456789 12:8644abfa86da 77 vector<string> result = split(GPS_data_string, ',');
dem123456789 12:8644abfa86da 78 GPS_PDOP = result.at(14);
dem123456789 12:8644abfa86da 79 asterisk_idx = result.at(16).find('*');
dem123456789 12:8644abfa86da 80 GPS_VDOP = result.at(16).substr(0, asterisk_idx);
dem123456789 12:8644abfa86da 81 } else if (GPS_data_string.substr(0,6) == "$GPRMC" and GPS_quality != "0" and GPS_quality != "6") {
dem123456789 12:8644abfa86da 82 GPS_data_string = GPS_data_string.substr(7);
dem123456789 12:8644abfa86da 83 vector<string> result = split(GPS_data_string, ',');
dem123456789 12:8644abfa86da 84 GPS_date = result.at(8);
dem123456789 12:8644abfa86da 85 } else if (GPS_data_string.substr(0,6) == "$GPVTG" and GPS_quality != "0" and GPS_quality != "6") {
dem123456789 12:8644abfa86da 86 GPS_data_string = GPS_data_string.substr(7);
dem123456789 12:8644abfa86da 87 vector<string> result = split(GPS_data_string, ',');
dem123456789 12:8644abfa86da 88 GPS_velocityKnot = result.at(4) + result.at(5);
dem123456789 12:8644abfa86da 89 asterisk_idx = result.at(7).find('*');
dem123456789 12:8644abfa86da 90 GPS_velocityKph = result.at(6) + result.at(7).substr(0, asterisk_idx);
dem123456789 10:12ba6ed2d6f0 91 }
dem123456789 12:8644abfa86da 92
dem123456789 10:12ba6ed2d6f0 93 }
dem123456789 10:12ba6ed2d6f0 94
dem123456789 11:1caacb994236 95 void printStateIMU() {
dem123456789 11:1caacb994236 96 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 97 }
dem123456789 11:1caacb994236 98
dem123456789 12:8644abfa86da 99 void printStateGPS() {
dem123456789 12:8644abfa86da 100 pc.printf("GPS_quality: %s, GPS_UTC: %s, GPS_Latitude: %s, GPS_Longtitude: %s, GPS_Altitude: %s, "
dem123456789 12:8644abfa86da 101 "GPS_Num_Satellite: %s, GPS_HDOP: %s, GPS_VDOP: %s, GPS_PDOP: %s, GPS_date: %s, GPS_velocityKnot: %s, GPS_velocityKph: %s\n",
dem123456789 12:8644abfa86da 102 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 12:8644abfa86da 103 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 104 }
dem123456789 11:1caacb994236 105 //#YPR=-183.74,-134.27,-114.39
taoqiuyang 4:37d118f2348c 106 void IMU_serial_ISR() {
taoqiuyang 3:ab9f94d112c0 107 char buf;
taoqiuyang 3:ab9f94d112c0 108
taoqiuyang 3:ab9f94d112c0 109 while (IMU.readable()) {
taoqiuyang 3:ab9f94d112c0 110 buf = IMU.getc();
taoqiuyang 3:ab9f94d112c0 111
dem123456789 9:bf5939466e86 112
taoqiuyang 3:ab9f94d112c0 113 IMU_message[IMU_message_counter]=buf;
dem123456789 9:bf5939466e86 114 IMU_message_counter+=1;
taoqiuyang 3:ab9f94d112c0 115
taoqiuyang 3:ab9f94d112c0 116 if (buf=='\n'){
dem123456789 9:bf5939466e86 117 string IMU_copy(IMU_message, IMU_message_counter);
dem123456789 11:1caacb994236 118 //pc.printf("%s", IMU_copy.c_str());
dem123456789 9:bf5939466e86 119 updateIMU(IMU_copy);
dem123456789 9:bf5939466e86 120 IMU_message_counter=0;
dem123456789 9:bf5939466e86 121 IMU_copy[0] = '\0';
dem123456789 9:bf5939466e86 122 }
dem123456789 9:bf5939466e86 123
taoqiuyang 3:ab9f94d112c0 124 }
taoqiuyang 2:afb333543af5 125 led2 = !led2;
taoqiuyang 2:afb333543af5 126 }
dem123456789 9:bf5939466e86 127
dem123456789 9:bf5939466e86 128
dem123456789 8:1f5a44bade4d 129
taoqiuyang 5:451b8203ef99 130 void GPS_serial_ISR() {
taoqiuyang 5:451b8203ef99 131 char buf;
taoqiuyang 5:451b8203ef99 132
taoqiuyang 5:451b8203ef99 133 while (GPS.readable()) {
taoqiuyang 5:451b8203ef99 134 buf = GPS.getc();
dem123456789 10:12ba6ed2d6f0 135
dem123456789 10:12ba6ed2d6f0 136
dem123456789 10:12ba6ed2d6f0 137 GPS_message[GPS_message_counter]=buf;
dem123456789 10:12ba6ed2d6f0 138 GPS_message_counter+=1;
dem123456789 10:12ba6ed2d6f0 139
dem123456789 10:12ba6ed2d6f0 140 if (buf=='\n'){
dem123456789 10:12ba6ed2d6f0 141 string GPS_copy(GPS_message, GPS_message_counter);
dem123456789 11:1caacb994236 142 //pc.printf("%s", GPS_copy.c_str());
dem123456789 10:12ba6ed2d6f0 143 updateGPS(GPS_copy);
dem123456789 10:12ba6ed2d6f0 144 GPS_message_counter=0;
dem123456789 10:12ba6ed2d6f0 145 GPS_copy[0] = '\0';
dem123456789 10:12ba6ed2d6f0 146 }
taoqiuyang 5:451b8203ef99 147 }
taoqiuyang 5:451b8203ef99 148
taoqiuyang 5:451b8203ef99 149 led3 = !led3;
taoqiuyang 5:451b8203ef99 150 }
taoqiuyang 3:ab9f94d112c0 151
dem123456789 8:1f5a44bade4d 152 void PC_serial_ISR() {
dem123456789 8:1f5a44bade4d 153 char buf;
dem123456789 8:1f5a44bade4d 154
dem123456789 8:1f5a44bade4d 155 while (pc.readable()) {
dem123456789 8:1f5a44bade4d 156 buf = pc.getc();
dem123456789 9:bf5939466e86 157 //pc.putc(buf);
dem123456789 8:1f5a44bade4d 158 }
dem123456789 8:1f5a44bade4d 159
dem123456789 8:1f5a44bade4d 160 led4= !led4;
dem123456789 8:1f5a44bade4d 161 }
taoqiuyang 3:ab9f94d112c0 162
taoqiuyang 0:f4d390c06705 163 int main() {
taoqiuyang 2:afb333543af5 164 IMU.baud(57600);
taoqiuyang 4:37d118f2348c 165 IMU.attach(&IMU_serial_ISR);
taoqiuyang 5:451b8203ef99 166 GPS.baud(38400);
taoqiuyang 5:451b8203ef99 167 GPS.attach(&GPS_serial_ISR);
dem123456789 8:1f5a44bade4d 168 pc.baud(115200);
dem123456789 8:1f5a44bade4d 169 pc.attach(&PC_serial_ISR);
taoqiuyang 1:e7245ffb4820 170
taoqiuyang 2:afb333543af5 171 while (1) {
taoqiuyang 2:afb333543af5 172 led1 = !led1;
taoqiuyang 5:451b8203ef99 173 wait(0.2);
dem123456789 12:8644abfa86da 174 printStateIMU();
dem123456789 12:8644abfa86da 175 printStateGPS();
taoqiuyang 0:f4d390c06705 176 }
taoqiuyang 0:f4d390c06705 177 }