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@28:ae857c247fbd, 2015-09-11 (annotated)

Committer:
dem123456789
Date:
Fri Sep 11 23:06:51 2015 +0000
Revision:
28:ae857c247fbd
Parent:
27:1be1f25be449
Child:
29:95b0320bf779
Bearing finished

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 9:bf5939466e86 92 void updateIMU(string IMU_data) {
dem123456789 9:bf5939466e86 93 string IMU_data_string(IMU_data);
dem123456789 9:bf5939466e86 94 if (IMU_data_string.substr(0,4) == "#YPR" and IMU_data_string.size() <= MAX_IMU_SIZE) {
dem123456789 9:bf5939466e86 95 IMU_data_string = IMU_data_string.substr(5);
dem123456789 9:bf5939466e86 96 vector<string> result = split(IMU_data_string, ',');
dem123456789 9:bf5939466e86 97 IMU_Y = result.at(0);
dem123456789 23:cc06a8226f72 98 D_IMU_Y = strtod(IMU_Y.c_str(), NULL);
dem123456789 9:bf5939466e86 99 IMU_P = result.at(1);
dem123456789 23:cc06a8226f72 100 D_IMU_P = strtod(IMU_P.c_str(), NULL);
dem123456789 15:dbf20c1209ae 101 IMU_R = result.at(2).substr(0, result.at(2).size()-1);
dem123456789 23:cc06a8226f72 102 D_IMU_R = strtod(IMU_R.c_str(), NULL);
dem123456789 9:bf5939466e86 103 }
dem123456789 9:bf5939466e86 104 }
dem123456789 9:bf5939466e86 105
dem123456789 10:12ba6ed2d6f0 106 void updateGPS(string GPS_data) {
dem123456789 10:12ba6ed2d6f0 107 string GPS_data_string(GPS_data);
dem123456789 11:1caacb994236 108 if (GPS_data_string.substr(0,6) == "$GPGGA") {
dem123456789 11:1caacb994236 109 GPS_data_string = GPS_data_string.substr(7);
dem123456789 10:12ba6ed2d6f0 110 vector<string> result = split(GPS_data_string, ',');
dem123456789 14:92bacb5af01b 111 GPS_Quality = result.at(5);
dem123456789 22:faba67585854 112 D_GPS_Quality = strtod(result.at(5).c_str(), NULL);
dem123456789 14:92bacb5af01b 113 if(GPS_Quality != "0" and GPS_Quality != "6") {
dem123456789 11:1caacb994236 114 GPS_UTC = result.at(0);
dem123456789 23:cc06a8226f72 115 D_GPS_UTC = strtod(GPS_UTC.c_str(), NULL);
dem123456789 23:cc06a8226f72 116 GPS_Latitude = result.at(1) + result.at(2);
dem123456789 23:cc06a8226f72 117 if (result.at(2) == "N") { // 0 means North
dem123456789 22:faba67585854 118 D_GPS_Latitude_Direction = 0;
dem123456789 23:cc06a8226f72 119 } else if (result.at(2) == "S") { // 1 means South
dem123456789 27:1be1f25be449 120 D_GPS_Latitude_Direction = 1;
dem123456789 27:1be1f25be449 121 temp = "-" + result.at(1);
dem123456789 22:faba67585854 122 }
dem123456789 27:1be1f25be449 123 D_temp = strtod(temp.c_str(), NULL);
dem123456789 27:1be1f25be449 124 D_GPS_Latitude = GPSdecimal(D_temp);
dem123456789 27:1be1f25be449 125 GPS_Longitude = result.at(3) + result.at(4);
dem123456789 23:cc06a8226f72 126 if (result.at(4) == "E") { // 0 means East
dem123456789 27:1be1f25be449 127 D_GPS_Longitude_Direction = 0;
dem123456789 23:cc06a8226f72 128 } else if (result.at(4) == "W") { // 1 means West
dem123456789 27:1be1f25be449 129 D_GPS_Longitude_Direction = 1;
dem123456789 27:1be1f25be449 130 temp = "-" + result.at(3);
dem123456789 22:faba67585854 131 }
dem123456789 27:1be1f25be449 132 D_temp = strtod(temp.c_str(), NULL);
dem123456789 27:1be1f25be449 133 D_GPS_Longitude = GPSdecimal(D_temp);
dem123456789 11:1caacb994236 134 GPS_Num_Satellite = result.at(6);
dem123456789 22:faba67585854 135 D_GPS_Num_Satellite = strtod(result.at(6).c_str(), NULL);
dem123456789 11:1caacb994236 136 GPS_HDOP = result.at(7);
dem123456789 22:faba67585854 137 D_GPS_HDOP = strtod(result.at(7).c_str(), NULL);
dem123456789 11:1caacb994236 138 GPS_Altitude = result.at(8) + result.at(9);
dem123456789 22:faba67585854 139 D_GPS_Altitude = strtod(result.at(8).c_str(), NULL);
dem123456789 22:faba67585854 140 GPS_Altitude_Unit = result.at(9);
dem123456789 11:1caacb994236 141 }
dem123456789 14:92bacb5af01b 142 } else if (GPS_data_string.substr(0,6) == "$GPGSA" and GPS_Quality != "0" and GPS_Quality != "6") {
dem123456789 12:8644abfa86da 143 GPS_data_string = GPS_data_string.substr(7);
dem123456789 12:8644abfa86da 144 vector<string> result = split(GPS_data_string, ',');
dem123456789 12:8644abfa86da 145 GPS_PDOP = result.at(14);
dem123456789 22:faba67585854 146 D_GPS_PDOP = strtod(result.at(14).c_str(), NULL);
dem123456789 12:8644abfa86da 147 asterisk_idx = result.at(16).find('*');
dem123456789 12:8644abfa86da 148 GPS_VDOP = result.at(16).substr(0, asterisk_idx);
dem123456789 22:faba67585854 149 D_GPS_VDOP = strtod(result.at(16).substr(0, asterisk_idx).c_str(), NULL);
dem123456789 14:92bacb5af01b 150 } else if (GPS_data_string.substr(0,6) == "$GPRMC" and GPS_Quality != "0" and GPS_Quality != "6") {
dem123456789 12:8644abfa86da 151 GPS_data_string = GPS_data_string.substr(7);
dem123456789 12:8644abfa86da 152 vector<string> result = split(GPS_data_string, ',');
dem123456789 14:92bacb5af01b 153 GPS_Date = result.at(8);
dem123456789 22:faba67585854 154 D_GPS_Date = strtod(result.at(8).c_str(), NULL);
dem123456789 14:92bacb5af01b 155 } else if (GPS_data_string.substr(0,6) == "$GPVTG" and GPS_Quality != "0" and GPS_Quality != "6") {
dem123456789 12:8644abfa86da 156 GPS_data_string = GPS_data_string.substr(7);
dem123456789 12:8644abfa86da 157 vector<string> result = split(GPS_data_string, ',');
dem123456789 14:92bacb5af01b 158 GPS_VelocityKnot = result.at(4) + result.at(5);
dem123456789 22:faba67585854 159 D_GPS_VelocityKnot = strtod(result.at(4).c_str(), NULL);
dem123456789 22:faba67585854 160 GPS_VelocityKnot_Unit = result.at(5);
dem123456789 12:8644abfa86da 161 asterisk_idx = result.at(7).find('*');
dem123456789 14:92bacb5af01b 162 GPS_VelocityKph = result.at(6) + result.at(7).substr(0, asterisk_idx);
dem123456789 22:faba67585854 163 D_GPS_VelocityKph = strtod(result.at(6).c_str(), NULL);
dem123456789 22:faba67585854 164 GPS_VelocityKph_Unit = result.at(7).substr(0, asterisk_idx);
dem123456789 10:12ba6ed2d6f0 165 }
dem123456789 12:8644abfa86da 166
dem123456789 10:12ba6ed2d6f0 167 }
dem123456789 16:0ea992d9a390 168 /* Get data from SailBoat
dem123456789 16:0ea992d9a390 169 @GET=parameter
dem123456789 16:0ea992d9a390 170 Ex: @GET=GPS_Quality
dem123456789 27:1be1f25be449 171 Supported parameter: GPS_Quality, GPS_UTC, GPS_Latitude, GPS_Longitude, GPS_Altitude,
dem123456789 16:0ea992d9a390 172 GPS_Num_Satellite, GPS_HDOP, GPS_VDOP, GPS_PDOP, GPS_Date, GPS_VelocityKnot, GPS_VelocityKph
dem123456789 16:0ea992d9a390 173 Set path to SailBoat
dem123456789 27:1be1f25be449 174 @SET=PATH, Latitude, Longitude, Task id
dem123456789 20:a820531c78bc 175 @SET=PATH, 33.776318, -84.407590, 3
dem123456789 16:0ea992d9a390 176 */
dem123456789 15:dbf20c1209ae 177 void decodePC(string PC_data) {
dem123456789 15:dbf20c1209ae 178 string PC_data_string(PC_data);
dem123456789 15:dbf20c1209ae 179 if (PC_data_string.substr(0,4) == "@GET") {
dem123456789 15:dbf20c1209ae 180 pc.printf("%s", PC_data_string.c_str());
dem123456789 15:dbf20c1209ae 181 PC_data_string = PC_data_string.substr(5, PC_data_string.size()-6);
dem123456789 20:a820531c78bc 182 pc.printf("%s\n", decodeCommandGET(PC_data_string).c_str());
dem123456789 16:0ea992d9a390 183 } else if (PC_data_string.substr(0,4) == "@SET") {
dem123456789 20:a820531c78bc 184 pc.printf("%s", PC_data_string.c_str());
dem123456789 20:a820531c78bc 185 PC_data_string = PC_data_string.substr(5, PC_data_string.size()-6);
dem123456789 20:a820531c78bc 186 string claim = decodeCommandSET(PC_data_string);
dem123456789 20:a820531c78bc 187 if (claim == "DONE") {
dem123456789 27:1be1f25be449 188 pc.printf("Current Path: Longitude, Latitude\n");
dem123456789 20:a820531c78bc 189 for (int i=0;i<MAX_TASK_SIZE;++i) {
dem123456789 27:1be1f25be449 190 pc.printf(" %f, %f\n", Longitude_Path[i], Latitude_Path[i]);
dem123456789 20:a820531c78bc 191 }
dem123456789 20:a820531c78bc 192 }
dem123456789 20:a820531c78bc 193 pc.printf("%s\n", claim.c_str());
dem123456789 16:0ea992d9a390 194 }
dem123456789 15:dbf20c1209ae 195 }
dem123456789 15:dbf20c1209ae 196
dem123456789 15:dbf20c1209ae 197
taoqiuyang 24:8e38cc14150c 198
dem123456789 11:1caacb994236 199 void printStateIMU() {
dem123456789 23:cc06a8226f72 200 //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 201 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 202 }
dem123456789 11:1caacb994236 203
dem123456789 12:8644abfa86da 204 void printStateGPS() {
dem123456789 23:cc06a8226f72 205 /*
dem123456789 27:1be1f25be449 206 pc.printf("GPS_Quality: %s, GPS_UTC: %s, GPS_Latitude: %s, GPS_Longitude: %s, GPS_Altitude: %s, "
dem123456789 14:92bacb5af01b 207 "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 208 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 209 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 210 */
dem123456789 23:cc06a8226f72 211
dem123456789 27:1be1f25be449 212 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 213 "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 214 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 215 D_GPS_HDOP, D_GPS_VDOP, D_GPS_PDOP, D_GPS_Date, D_GPS_VelocityKnot, D_GPS_VelocityKph);
dem123456789 23:cc06a8226f72 216
dem123456789 12:8644abfa86da 217 }
dem123456789 14:92bacb5af01b 218
dem123456789 11:1caacb994236 219 //#YPR=-183.74,-134.27,-114.39
taoqiuyang 4:37d118f2348c 220 void IMU_serial_ISR() {
taoqiuyang 3:ab9f94d112c0 221 char buf;
taoqiuyang 3:ab9f94d112c0 222
taoqiuyang 3:ab9f94d112c0 223 while (IMU.readable()) {
taoqiuyang 3:ab9f94d112c0 224 buf = IMU.getc();
taoqiuyang 3:ab9f94d112c0 225
dem123456789 14:92bacb5af01b 226 //pc.putc(buf);
taoqiuyang 3:ab9f94d112c0 227 IMU_message[IMU_message_counter]=buf;
dem123456789 9:bf5939466e86 228 IMU_message_counter+=1;
taoqiuyang 3:ab9f94d112c0 229
taoqiuyang 3:ab9f94d112c0 230 if (buf=='\n'){
dem123456789 9:bf5939466e86 231 string IMU_copy(IMU_message, IMU_message_counter);
dem123456789 11:1caacb994236 232 //pc.printf("%s", IMU_copy.c_str());
dem123456789 9:bf5939466e86 233 updateIMU(IMU_copy);
dem123456789 9:bf5939466e86 234 IMU_message_counter=0;
dem123456789 9:bf5939466e86 235 IMU_copy[0] = '\0';
dem123456789 9:bf5939466e86 236 }
dem123456789 9:bf5939466e86 237
taoqiuyang 3:ab9f94d112c0 238 }
taoqiuyang 2:afb333543af5 239 led2 = !led2;
taoqiuyang 2:afb333543af5 240 }
dem123456789 9:bf5939466e86 241
dem123456789 9:bf5939466e86 242
dem123456789 8:1f5a44bade4d 243
taoqiuyang 5:451b8203ef99 244 void GPS_serial_ISR() {
taoqiuyang 5:451b8203ef99 245 char buf;
taoqiuyang 5:451b8203ef99 246
taoqiuyang 5:451b8203ef99 247 while (GPS.readable()) {
taoqiuyang 5:451b8203ef99 248 buf = GPS.getc();
dem123456789 14:92bacb5af01b 249
dem123456789 14:92bacb5af01b 250 //pc.putc(buf);
dem123456789 10:12ba6ed2d6f0 251 GPS_message[GPS_message_counter]=buf;
dem123456789 10:12ba6ed2d6f0 252 GPS_message_counter+=1;
dem123456789 10:12ba6ed2d6f0 253
dem123456789 10:12ba6ed2d6f0 254 if (buf=='\n'){
dem123456789 10:12ba6ed2d6f0 255 string GPS_copy(GPS_message, GPS_message_counter);
dem123456789 11:1caacb994236 256 //pc.printf("%s", GPS_copy.c_str());
dem123456789 10:12ba6ed2d6f0 257 updateGPS(GPS_copy);
dem123456789 10:12ba6ed2d6f0 258 GPS_message_counter=0;
dem123456789 10:12ba6ed2d6f0 259 GPS_copy[0] = '\0';
dem123456789 10:12ba6ed2d6f0 260 }
taoqiuyang 5:451b8203ef99 261 }
taoqiuyang 5:451b8203ef99 262
taoqiuyang 5:451b8203ef99 263 led3 = !led3;
taoqiuyang 5:451b8203ef99 264 }
taoqiuyang 3:ab9f94d112c0 265
dem123456789 8:1f5a44bade4d 266 void PC_serial_ISR() {
dem123456789 8:1f5a44bade4d 267 char buf;
dem123456789 8:1f5a44bade4d 268
dem123456789 8:1f5a44bade4d 269 while (pc.readable()) {
dem123456789 8:1f5a44bade4d 270 buf = pc.getc();
dem123456789 14:92bacb5af01b 271
dem123456789 14:92bacb5af01b 272 //pc.putc(buf);
dem123456789 14:92bacb5af01b 273 PC_message[PC_message_counter]=buf;
dem123456789 14:92bacb5af01b 274 PC_message_counter+=1;
dem123456789 14:92bacb5af01b 275
dem123456789 14:92bacb5af01b 276 if (buf=='\n'){
dem123456789 14:92bacb5af01b 277 string PC_copy(PC_message, PC_message_counter);
dem123456789 14:92bacb5af01b 278 //pc.printf("%s", PC_copy.c_str());
dem123456789 14:92bacb5af01b 279 decodePC(PC_copy);
dem123456789 14:92bacb5af01b 280 PC_message_counter=0;
dem123456789 14:92bacb5af01b 281 PC_copy[0] = '\0';
dem123456789 14:92bacb5af01b 282 }
dem123456789 8:1f5a44bade4d 283 }
dem123456789 8:1f5a44bade4d 284
dem123456789 8:1f5a44bade4d 285 led4= !led4;
dem123456789 8:1f5a44bade4d 286 }
dem123456789 21:99be83550601 287
taoqiuyang 24:8e38cc14150c 288
dem123456789 21:99be83550601 289 void set_servo_position(Servo targetServo, float angleDeg, float minDeg, float minNorVal, float maxDeg, float maxNorVal){
dem123456789 21:99be83550601 290 /*angleDeg: desired angle
dem123456789 21:99be83550601 291 minDeg: minimum angle in degrees
dem123456789 21:99be83550601 292 minNorVal: normalized value[0,1] when servo is at its minimum angle
dem123456789 21:99be83550601 293 maxDeg: maximum angle in degrees
dem123456789 21:99be83550601 294 maxNorVal: normalized value[0,1] when servo is at its maximum angle
dem123456789 21:99be83550601 295 */
dem123456789 21:99be83550601 296
dem123456789 21:99be83550601 297 float pos; //normalized angle, [0,1]
dem123456789 21:99be83550601 298 float scale; //scale factor for servo calibration
dem123456789 21:99be83550601 299
dem123456789 21:99be83550601 300 //extreme conditions
dem123456789 21:99be83550601 301 if (angleDeg<minDeg){
dem123456789 21:99be83550601 302 pos=minNorVal;
dem123456789 21:99be83550601 303 }
dem123456789 21:99be83550601 304 if (angleDeg>maxDeg){
dem123456789 21:99be83550601 305 pos=maxNorVal;
dem123456789 21:99be83550601 306 }
dem123456789 21:99be83550601 307
dem123456789 21:99be83550601 308 //Calculate scale factor for servo calibration
dem123456789 21:99be83550601 309 scale = (angleDeg-minDeg)/(maxDeg-minDeg);
dem123456789 21:99be83550601 310 //Calculate servo normalized value
dem123456789 21:99be83550601 311 pos = minNorVal + scale*(maxNorVal-minNorVal);
dem123456789 21:99be83550601 312
dem123456789 21:99be83550601 313 //send signal to servo
dem123456789 21:99be83550601 314 targetServo=pos;
dem123456789 21:99be83550601 315 }
dem123456789 21:99be83550601 316
taoqiuyang 26:353a80179346 317
taoqiuyang 26:353a80179346 318 void initialize_controller(){
taoqiuyang 26:353a80179346 319 rudder_variables[0]=0;
taoqiuyang 26:353a80179346 320 rudder_variables[1]=0;
taoqiuyang 26:353a80179346 321 rudder_variables[2]=0;
taoqiuyang 26:353a80179346 322 rudder_variables[3]=0;
taoqiuyang 26:353a80179346 323 rudder_variables[4]=0;
taoqiuyang 26:353a80179346 324 rudder_ctrl_parameters[0]=1;
taoqiuyang 26:353a80179346 325 rudder_ctrl_parameters[1]=0;
taoqiuyang 26:353a80179346 326 rudder_ctrl_parameters[2]=0;
taoqiuyang 26:353a80179346 327 }
taoqiuyang 26:353a80179346 328
taoqiuyang 26:353a80179346 329 void update_controller_tmr_ISR() {
taoqiuyang 26:353a80179346 330 /*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 331 distance(meter) to the next path point
taoqiuyang 26:353a80179346 332 Global Variables: angle_to_path_point,distance_to_path_point;
taoqiuyang 26:353a80179346 333
taoqiuyang 26:353a80179346 334 Function: drive two servos to navigate the sailboat to the desired path point
taoqiuyang 26:353a80179346 335 */
taoqiuyang 26:353a80179346 336
taoqiuyang 26:353a80179346 337 rudder_variables[0]=rudder_ctrl_parameters[0]*angle_to_path_point;
taoqiuyang 26:353a80179346 338 rudder_variables[1]=rudder_variables[1]+rudder_ctrl_parameters[1]*angle_to_path_point*T;
taoqiuyang 26:353a80179346 339 rudder_variables[2]=(rudder_variables[3]-angle_to_path_point)/T;
taoqiuyang 26:353a80179346 340 rudder_variables[3]=angle_to_path_point;
taoqiuyang 26:353a80179346 341 rudder_variables[4]=rudder_variables[0]+rudder_variables[1]+rudder_variables[2];
taoqiuyang 26:353a80179346 342
taoqiuyang 26:353a80179346 343
taoqiuyang 26:353a80179346 344 //Drive servos
taoqiuyang 26:353a80179346 345 set_servo_position(rudderServo,rudder_variables[4],-45,0,45,1);
taoqiuyang 26:353a80179346 346 }
taoqiuyang 26:353a80179346 347
taoqiuyang 26:353a80179346 348
taoqiuyang 26:353a80179346 349
dem123456789 21:99be83550601 350 int log_data_SD(){
dem123456789 21:99be83550601 351 FILE *fp = fopen("/sd/dataLog/dataLog.txt", "w");
dem123456789 21:99be83550601 352 if(fp == NULL) {
dem123456789 21:99be83550601 353 return 0;
dem123456789 21:99be83550601 354 }else{
dem123456789 21:99be83550601 355 //Write all the useful data to the SD card
dem123456789 21:99be83550601 356 fprintf(fp, "Nya Pass~");
dem123456789 21:99be83550601 357 fclose(fp);
dem123456789 21:99be83550601 358 return 1;
dem123456789 21:99be83550601 359 }
dem123456789 21:99be83550601 360 }
dem123456789 21:99be83550601 361
dem123456789 21:99be83550601 362
taoqiuyang 0:f4d390c06705 363 int main() {
taoqiuyang 2:afb333543af5 364 IMU.baud(57600);
taoqiuyang 4:37d118f2348c 365 IMU.attach(&IMU_serial_ISR);
taoqiuyang 5:451b8203ef99 366 GPS.baud(38400);
taoqiuyang 5:451b8203ef99 367 GPS.attach(&GPS_serial_ISR);
dem123456789 8:1f5a44bade4d 368 pc.baud(115200);
dem123456789 8:1f5a44bade4d 369 pc.attach(&PC_serial_ISR);
taoqiuyang 26:353a80179346 370 ctrl_updt_timer.attach(&update_controller_tmr_ISR, T); // Update controller at 1/T Hz
taoqiuyang 26:353a80179346 371
taoqiuyang 26:353a80179346 372 initialize_controller();
taoqiuyang 1:e7245ffb4820 373
dem123456789 23:cc06a8226f72 374 //float angle=20;
taoqiuyang 2:afb333543af5 375 while (1) {
dem123456789 23:cc06a8226f72 376 // if (angle>160){angle=20;}
dem123456789 23:cc06a8226f72 377 // set_servo_position(rudderServo, angle, 0, 0, 180, 1);
dem123456789 23:cc06a8226f72 378 // set_servo_position(wingServo, angle, 0, 0, 180, 1);
dem123456789 23:cc06a8226f72 379 // angle=angle+10;
taoqiuyang 26:353a80179346 380
taoqiuyang 26:353a80179346 381
dem123456789 15:dbf20c1209ae 382 wait(0.4);
dem123456789 23:cc06a8226f72 383 printStateIMU();
dem123456789 23:cc06a8226f72 384 printStateGPS();
dem123456789 21:99be83550601 385 led1 = !led1;
taoqiuyang 0:f4d390c06705 386 }
taoqiuyang 0:f4d390c06705 387 }