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@41:d207b407c8bc, 2015-11-01 (annotated)

Committer:
taoqiuyang
Date:
Sun Nov 01 01:43:23 2015 +0000
Revision:
41:d207b407c8bc
Parent:
40:9537722d185e
Child:
42:e1a2a6daf70b
Enmao, please put your code in main() function

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 41:d207b407c8bc 8 //Serial pc(p9, p10);
taoqiuyang 41:d207b407c8bc 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 41:d207b407c8bc 70 double angle_to_path_point,distance_to_path_point,desired_speed,distance_to_route;
taoqiuyang 26:353a80179346 71 double rudder_ctrl_parameters[3];
taoqiuyang 26:353a80179346 72 double rudder_variables[5];//,,,prev,out
taoqiuyang 41:d207b407c8bc 73 double T=0.5; //controller update period=0.5sec, 2Hz
taoqiuyang 26:353a80179346 74
taoqiuyang 26:353a80179346 75
dem123456789 9:bf5939466e86 76 vector<string> split(const string &s, char delim) {
dem123456789 9:bf5939466e86 77 stringstream ss(s);
dem123456789 9:bf5939466e86 78 string item;
dem123456789 9:bf5939466e86 79 vector<string> tokens;
dem123456789 9:bf5939466e86 80 while (getline(ss, item, delim)) {
dem123456789 15:dbf20c1209ae 81 if (item.empty()) {
dem123456789 20:a820531c78bc 82 item = "N/A";
dem123456789 15:dbf20c1209ae 83 }
dem123456789 9:bf5939466e86 84 tokens.push_back(item);
dem123456789 9:bf5939466e86 85 }
dem123456789 9:bf5939466e86 86 return tokens;
dem123456789 9:bf5939466e86 87 }
dem123456789 9:bf5939466e86 88
dem123456789 27:1be1f25be449 89 double GPSdecimal(double coordinate) {
dem123456789 27:1be1f25be449 90 //Convert a NMEA decimal-decimal value into decimal degree value
dem123456789 35:009cc4509a90 91 //5144.3855 (ddmm.mmmm) = 51 44.3855 = 51 + 0.443855/0.60 = 51.7397583 degrees
dem123456789 35:009cc4509a90 92 if(coordinate > 1000 or coordinate < -1000) {
dem123456789 35:009cc4509a90 93 coordinate = coordinate/100;
dem123456789 35:009cc4509a90 94 }
dem123456789 35:009cc4509a90 95 return ((int) coordinate) + ((coordinate-((int) coordinate))/0.60);
dem123456789 27:1be1f25be449 96 }
dem123456789 27:1be1f25be449 97
dem123456789 33:37345814fad0 98 void initialize() {
dem123456789 29:95b0320bf779 99 fill(Longitude_Path, Longitude_Path+MAX_TASK_SIZE, 181);
dem123456789 29:95b0320bf779 100 fill(Latitude_Path, Latitude_Path+MAX_TASK_SIZE, 181);
dem123456789 33:37345814fad0 101 fill(dis, dis+MAX_TASK_SIZE, -1);
dem123456789 33:37345814fad0 102 fill(ang, ang+MAX_TASK_SIZE, -361);
dem123456789 29:95b0320bf779 103 }
dem123456789 29:95b0320bf779 104
dem123456789 9:bf5939466e86 105 void updateIMU(string IMU_data) {
dem123456789 9:bf5939466e86 106 string IMU_data_string(IMU_data);
dem123456789 9:bf5939466e86 107 if (IMU_data_string.substr(0,4) == "#YPR" and IMU_data_string.size() <= MAX_IMU_SIZE) {
dem123456789 9:bf5939466e86 108 IMU_data_string = IMU_data_string.substr(5);
dem123456789 9:bf5939466e86 109 vector<string> result = split(IMU_data_string, ',');
dem123456789 9:bf5939466e86 110 IMU_Y = result.at(0);
dem123456789 23:cc06a8226f72 111 D_IMU_Y = strtod(IMU_Y.c_str(), NULL);
dem123456789 9:bf5939466e86 112 IMU_P = result.at(1);
dem123456789 23:cc06a8226f72 113 D_IMU_P = strtod(IMU_P.c_str(), NULL);
dem123456789 15:dbf20c1209ae 114 IMU_R = result.at(2).substr(0, result.at(2).size()-1);
dem123456789 23:cc06a8226f72 115 D_IMU_R = strtod(IMU_R.c_str(), NULL);
dem123456789 9:bf5939466e86 116 }
dem123456789 9:bf5939466e86 117 }
dem123456789 9:bf5939466e86 118
dem123456789 37:7a136279daf3 119 string stringify(double x)
dem123456789 37:7a136279daf3 120 {
dem123456789 37:7a136279daf3 121 ostringstream o;
dem123456789 37:7a136279daf3 122 if (o << x) {
dem123456789 37:7a136279daf3 123 return o.str();
dem123456789 37:7a136279daf3 124 }
dem123456789 37:7a136279daf3 125 return NULL;
dem123456789 37:7a136279daf3 126 }
dem123456789 37:7a136279daf3 127
dem123456789 10:12ba6ed2d6f0 128 void updateGPS(string GPS_data) {
dem123456789 10:12ba6ed2d6f0 129 string GPS_data_string(GPS_data);
dem123456789 11:1caacb994236 130 if (GPS_data_string.substr(0,6) == "$GPGGA") {
dem123456789 11:1caacb994236 131 GPS_data_string = GPS_data_string.substr(7);
dem123456789 10:12ba6ed2d6f0 132 vector<string> result = split(GPS_data_string, ',');
dem123456789 14:92bacb5af01b 133 GPS_Quality = result.at(5);
dem123456789 22:faba67585854 134 D_GPS_Quality = strtod(result.at(5).c_str(), NULL);
dem123456789 14:92bacb5af01b 135 if(GPS_Quality != "0" and GPS_Quality != "6") {
dem123456789 11:1caacb994236 136 GPS_UTC = result.at(0);
dem123456789 23:cc06a8226f72 137 D_GPS_UTC = strtod(GPS_UTC.c_str(), NULL);
dem123456789 35:009cc4509a90 138 //
dem123456789 23:cc06a8226f72 139 if (result.at(2) == "N") { // 0 means North
dem123456789 22:faba67585854 140 D_GPS_Latitude_Direction = 0;
dem123456789 35:009cc4509a90 141 temp = result.at(1);
dem123456789 23:cc06a8226f72 142 } else if (result.at(2) == "S") { // 1 means South
dem123456789 27:1be1f25be449 143 D_GPS_Latitude_Direction = 1;
dem123456789 27:1be1f25be449 144 temp = "-" + result.at(1);
dem123456789 22:faba67585854 145 }
dem123456789 27:1be1f25be449 146 D_temp = strtod(temp.c_str(), NULL);
dem123456789 27:1be1f25be449 147 D_GPS_Latitude = GPSdecimal(D_temp);
dem123456789 37:7a136279daf3 148 GPS_Latitude=stringify(D_GPS_Latitude);
dem123456789 35:009cc4509a90 149 //
dem123456789 23:cc06a8226f72 150 if (result.at(4) == "E") { // 0 means East
dem123456789 27:1be1f25be449 151 D_GPS_Longitude_Direction = 0;
dem123456789 35:009cc4509a90 152 temp = result.at(3);
dem123456789 23:cc06a8226f72 153 } else if (result.at(4) == "W") { // 1 means West
dem123456789 27:1be1f25be449 154 D_GPS_Longitude_Direction = 1;
dem123456789 27:1be1f25be449 155 temp = "-" + result.at(3);
dem123456789 22:faba67585854 156 }
dem123456789 27:1be1f25be449 157 D_temp = strtod(temp.c_str(), NULL);
dem123456789 27:1be1f25be449 158 D_GPS_Longitude = GPSdecimal(D_temp);
dem123456789 37:7a136279daf3 159 GPS_Longitude=stringify(D_GPS_Longitude);
dem123456789 35:009cc4509a90 160 //
dem123456789 11:1caacb994236 161 GPS_Num_Satellite = result.at(6);
dem123456789 22:faba67585854 162 D_GPS_Num_Satellite = strtod(result.at(6).c_str(), NULL);
dem123456789 11:1caacb994236 163 GPS_HDOP = result.at(7);
dem123456789 22:faba67585854 164 D_GPS_HDOP = strtod(result.at(7).c_str(), NULL);
dem123456789 11:1caacb994236 165 GPS_Altitude = result.at(8) + result.at(9);
dem123456789 22:faba67585854 166 D_GPS_Altitude = strtod(result.at(8).c_str(), NULL);
dem123456789 22:faba67585854 167 GPS_Altitude_Unit = result.at(9);
dem123456789 11:1caacb994236 168 }
dem123456789 14:92bacb5af01b 169 } else if (GPS_data_string.substr(0,6) == "$GPGSA" and GPS_Quality != "0" and GPS_Quality != "6") {
dem123456789 12:8644abfa86da 170 GPS_data_string = GPS_data_string.substr(7);
dem123456789 12:8644abfa86da 171 vector<string> result = split(GPS_data_string, ',');
dem123456789 12:8644abfa86da 172 GPS_PDOP = result.at(14);
dem123456789 22:faba67585854 173 D_GPS_PDOP = strtod(result.at(14).c_str(), NULL);
dem123456789 12:8644abfa86da 174 asterisk_idx = result.at(16).find('*');
dem123456789 12:8644abfa86da 175 GPS_VDOP = result.at(16).substr(0, asterisk_idx);
dem123456789 22:faba67585854 176 D_GPS_VDOP = strtod(result.at(16).substr(0, asterisk_idx).c_str(), NULL);
dem123456789 14:92bacb5af01b 177 } else if (GPS_data_string.substr(0,6) == "$GPRMC" and GPS_Quality != "0" and GPS_Quality != "6") {
dem123456789 12:8644abfa86da 178 GPS_data_string = GPS_data_string.substr(7);
dem123456789 12:8644abfa86da 179 vector<string> result = split(GPS_data_string, ',');
dem123456789 14:92bacb5af01b 180 GPS_Date = result.at(8);
dem123456789 22:faba67585854 181 D_GPS_Date = strtod(result.at(8).c_str(), NULL);
dem123456789 14:92bacb5af01b 182 } else if (GPS_data_string.substr(0,6) == "$GPVTG" and GPS_Quality != "0" and GPS_Quality != "6") {
dem123456789 12:8644abfa86da 183 GPS_data_string = GPS_data_string.substr(7);
dem123456789 12:8644abfa86da 184 vector<string> result = split(GPS_data_string, ',');
dem123456789 14:92bacb5af01b 185 GPS_VelocityKnot = result.at(4) + result.at(5);
dem123456789 22:faba67585854 186 D_GPS_VelocityKnot = strtod(result.at(4).c_str(), NULL);
dem123456789 22:faba67585854 187 GPS_VelocityKnot_Unit = result.at(5);
dem123456789 12:8644abfa86da 188 asterisk_idx = result.at(7).find('*');
dem123456789 14:92bacb5af01b 189 GPS_VelocityKph = result.at(6) + result.at(7).substr(0, asterisk_idx);
dem123456789 22:faba67585854 190 D_GPS_VelocityKph = strtod(result.at(6).c_str(), NULL);
dem123456789 22:faba67585854 191 GPS_VelocityKph_Unit = result.at(7).substr(0, asterisk_idx);
dem123456789 10:12ba6ed2d6f0 192 }
dem123456789 12:8644abfa86da 193
dem123456789 10:12ba6ed2d6f0 194 }
dem123456789 16:0ea992d9a390 195 /* Get data from SailBoat
dem123456789 16:0ea992d9a390 196 @GET=parameter
dem123456789 16:0ea992d9a390 197 Ex: @GET=GPS_Quality
dem123456789 27:1be1f25be449 198 Supported parameter: GPS_Quality, GPS_UTC, GPS_Latitude, GPS_Longitude, GPS_Altitude,
dem123456789 16:0ea992d9a390 199 GPS_Num_Satellite, GPS_HDOP, GPS_VDOP, GPS_PDOP, GPS_Date, GPS_VelocityKnot, GPS_VelocityKph
dem123456789 16:0ea992d9a390 200 Set path to SailBoat
dem123456789 27:1be1f25be449 201 @SET=PATH, Latitude, Longitude, Task id
dem123456789 20:a820531c78bc 202 @SET=PATH, 33.776318, -84.407590, 3
dem123456789 16:0ea992d9a390 203 */
dem123456789 15:dbf20c1209ae 204 void decodePC(string PC_data) {
dem123456789 15:dbf20c1209ae 205 string PC_data_string(PC_data);
dem123456789 15:dbf20c1209ae 206 if (PC_data_string.substr(0,4) == "@GET") {
dem123456789 15:dbf20c1209ae 207 pc.printf("%s", PC_data_string.c_str());
dem123456789 15:dbf20c1209ae 208 PC_data_string = PC_data_string.substr(5, PC_data_string.size()-6);
dem123456789 20:a820531c78bc 209 pc.printf("%s\n", decodeCommandGET(PC_data_string).c_str());
dem123456789 16:0ea992d9a390 210 } else if (PC_data_string.substr(0,4) == "@SET") {
dem123456789 20:a820531c78bc 211 pc.printf("%s", PC_data_string.c_str());
dem123456789 20:a820531c78bc 212 PC_data_string = PC_data_string.substr(5, PC_data_string.size()-6);
dem123456789 20:a820531c78bc 213 string claim = decodeCommandSET(PC_data_string);
dem123456789 20:a820531c78bc 214 if (claim == "DONE") {
dem123456789 27:1be1f25be449 215 pc.printf("Current Path: Longitude, Latitude\n");
dem123456789 20:a820531c78bc 216 for (int i=0;i<MAX_TASK_SIZE;++i) {
dem123456789 27:1be1f25be449 217 pc.printf(" %f, %f\n", Longitude_Path[i], Latitude_Path[i]);
dem123456789 20:a820531c78bc 218 }
dem123456789 20:a820531c78bc 219 }
dem123456789 20:a820531c78bc 220 pc.printf("%s\n", claim.c_str());
dem123456789 38:528e410f2f7d 221 } else if(PC_data_string.substr(0,6) == "@Hello") {
dem123456789 38:528e410f2f7d 222 pc.printf("Successfully connected to mbed\n");
dem123456789 37:7a136279daf3 223 } else {
dem123456789 38:528e410f2f7d 224 pc.printf("Not supported command\n");
dem123456789 16:0ea992d9a390 225 }
dem123456789 15:dbf20c1209ae 226 }
dem123456789 15:dbf20c1209ae 227
dem123456789 15:dbf20c1209ae 228
taoqiuyang 24:8e38cc14150c 229
dem123456789 11:1caacb994236 230 void printStateIMU() {
dem123456789 23:cc06a8226f72 231 //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 232 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 233 }
dem123456789 11:1caacb994236 234
dem123456789 12:8644abfa86da 235 void printStateGPS() {
dem123456789 23:cc06a8226f72 236 /*
dem123456789 27:1be1f25be449 237 pc.printf("GPS_Quality: %s, GPS_UTC: %s, GPS_Latitude: %s, GPS_Longitude: %s, GPS_Altitude: %s, "
dem123456789 14:92bacb5af01b 238 "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 239 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 240 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 241 */
dem123456789 23:cc06a8226f72 242
dem123456789 27:1be1f25be449 243 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 244 "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 245 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 246 D_GPS_HDOP, D_GPS_VDOP, D_GPS_PDOP, D_GPS_Date, D_GPS_VelocityKnot, D_GPS_VelocityKph);
dem123456789 23:cc06a8226f72 247
dem123456789 12:8644abfa86da 248 }
dem123456789 14:92bacb5af01b 249
dem123456789 32:263d39ea6d3e 250 void printPath() {
dem123456789 32:263d39ea6d3e 251 pc.printf("Current Path: Longitude, Latitude\n");
dem123456789 32:263d39ea6d3e 252 for (int i=0;i<MAX_TASK_SIZE;++i) {
dem123456789 32:263d39ea6d3e 253 pc.printf(" %f, %f\n", Longitude_Path[i], Latitude_Path[i]);
dem123456789 32:263d39ea6d3e 254 }
dem123456789 32:263d39ea6d3e 255 }
dem123456789 32:263d39ea6d3e 256
dem123456789 34:610d315c1bab 257 void printDistance() {
dem123456789 34:610d315c1bab 258 pc.printf("Current Distance: Task id, Distance\n");
dem123456789 34:610d315c1bab 259 for(int i=0;i<MAX_TASK_SIZE;++i) {
dem123456789 35:009cc4509a90 260 dis[i] = getDistance(i+1);
dem123456789 32:263d39ea6d3e 261 pc.printf("Distance Task %d: %f\n", i+1, dis[i]);
dem123456789 32:263d39ea6d3e 262 }
dem123456789 32:263d39ea6d3e 263 }
dem123456789 32:263d39ea6d3e 264
dem123456789 32:263d39ea6d3e 265 void printAngle() {
dem123456789 34:610d315c1bab 266 pc.printf("Current Angle: Task id, Angle\n");
dem123456789 32:263d39ea6d3e 267 for(int i=0;i<MAX_TASK_SIZE;++i) {
dem123456789 35:009cc4509a90 268 ang[i] = getAngle(i+1);
dem123456789 32:263d39ea6d3e 269 pc.printf("Angle Task %d: %f\n", i+1, ang[i]);
dem123456789 32:263d39ea6d3e 270 }
dem123456789 32:263d39ea6d3e 271 }
dem123456789 32:263d39ea6d3e 272
dem123456789 11:1caacb994236 273 //#YPR=-183.74,-134.27,-114.39
taoqiuyang 4:37d118f2348c 274 void IMU_serial_ISR() {
taoqiuyang 3:ab9f94d112c0 275 char buf;
taoqiuyang 3:ab9f94d112c0 276
taoqiuyang 3:ab9f94d112c0 277 while (IMU.readable()) {
taoqiuyang 3:ab9f94d112c0 278 buf = IMU.getc();
taoqiuyang 3:ab9f94d112c0 279
dem123456789 14:92bacb5af01b 280 //pc.putc(buf);
taoqiuyang 3:ab9f94d112c0 281 IMU_message[IMU_message_counter]=buf;
dem123456789 9:bf5939466e86 282 IMU_message_counter+=1;
taoqiuyang 3:ab9f94d112c0 283
taoqiuyang 3:ab9f94d112c0 284 if (buf=='\n'){
dem123456789 9:bf5939466e86 285 string IMU_copy(IMU_message, IMU_message_counter);
dem123456789 11:1caacb994236 286 //pc.printf("%s", IMU_copy.c_str());
dem123456789 9:bf5939466e86 287 updateIMU(IMU_copy);
dem123456789 9:bf5939466e86 288 IMU_message_counter=0;
dem123456789 9:bf5939466e86 289 IMU_copy[0] = '\0';
dem123456789 9:bf5939466e86 290 }
dem123456789 9:bf5939466e86 291
taoqiuyang 3:ab9f94d112c0 292 }
dem123456789 39:ef1a8055d744 293 //led2 = !led2;
taoqiuyang 2:afb333543af5 294 }
dem123456789 9:bf5939466e86 295
dem123456789 9:bf5939466e86 296
dem123456789 8:1f5a44bade4d 297
taoqiuyang 5:451b8203ef99 298 void GPS_serial_ISR() {
taoqiuyang 5:451b8203ef99 299 char buf;
taoqiuyang 5:451b8203ef99 300
taoqiuyang 5:451b8203ef99 301 while (GPS.readable()) {
taoqiuyang 5:451b8203ef99 302 buf = GPS.getc();
dem123456789 14:92bacb5af01b 303
dem123456789 14:92bacb5af01b 304 //pc.putc(buf);
dem123456789 10:12ba6ed2d6f0 305 GPS_message[GPS_message_counter]=buf;
dem123456789 10:12ba6ed2d6f0 306 GPS_message_counter+=1;
dem123456789 10:12ba6ed2d6f0 307
dem123456789 10:12ba6ed2d6f0 308 if (buf=='\n'){
dem123456789 10:12ba6ed2d6f0 309 string GPS_copy(GPS_message, GPS_message_counter);
dem123456789 11:1caacb994236 310 //pc.printf("%s", GPS_copy.c_str());
dem123456789 10:12ba6ed2d6f0 311 updateGPS(GPS_copy);
dem123456789 10:12ba6ed2d6f0 312 GPS_message_counter=0;
dem123456789 10:12ba6ed2d6f0 313 GPS_copy[0] = '\0';
dem123456789 10:12ba6ed2d6f0 314 }
taoqiuyang 5:451b8203ef99 315 }
taoqiuyang 5:451b8203ef99 316
dem123456789 39:ef1a8055d744 317 //led3 = !led3;
taoqiuyang 5:451b8203ef99 318 }
taoqiuyang 3:ab9f94d112c0 319
dem123456789 8:1f5a44bade4d 320 void PC_serial_ISR() {
dem123456789 8:1f5a44bade4d 321 char buf;
dem123456789 8:1f5a44bade4d 322
dem123456789 8:1f5a44bade4d 323 while (pc.readable()) {
dem123456789 8:1f5a44bade4d 324 buf = pc.getc();
dem123456789 39:ef1a8055d744 325
dem123456789 14:92bacb5af01b 326 //pc.putc(buf);
dem123456789 14:92bacb5af01b 327 PC_message[PC_message_counter]=buf;
dem123456789 14:92bacb5af01b 328 PC_message_counter+=1;
dem123456789 14:92bacb5af01b 329
dem123456789 39:ef1a8055d744 330 if (buf=='\n'or buf =='#'){
dem123456789 14:92bacb5af01b 331 string PC_copy(PC_message, PC_message_counter);
dem123456789 14:92bacb5af01b 332 //pc.printf("%s", PC_copy.c_str());
dem123456789 14:92bacb5af01b 333 decodePC(PC_copy);
dem123456789 14:92bacb5af01b 334 PC_message_counter=0;
dem123456789 14:92bacb5af01b 335 PC_copy[0] = '\0';
dem123456789 14:92bacb5af01b 336 }
dem123456789 8:1f5a44bade4d 337 }
dem123456789 8:1f5a44bade4d 338
dem123456789 39:ef1a8055d744 339 //led4= !led4;
dem123456789 8:1f5a44bade4d 340 }
dem123456789 21:99be83550601 341
taoqiuyang 24:8e38cc14150c 342
dem123456789 21:99be83550601 343 void set_servo_position(Servo targetServo, float angleDeg, float minDeg, float minNorVal, float maxDeg, float maxNorVal){
dem123456789 21:99be83550601 344 /*angleDeg: desired angle
dem123456789 21:99be83550601 345 minDeg: minimum angle in degrees
dem123456789 21:99be83550601 346 minNorVal: normalized value[0,1] when servo is at its minimum angle
dem123456789 21:99be83550601 347 maxDeg: maximum angle in degrees
dem123456789 21:99be83550601 348 maxNorVal: normalized value[0,1] when servo is at its maximum angle
dem123456789 21:99be83550601 349 */
dem123456789 21:99be83550601 350
dem123456789 21:99be83550601 351 float pos; //normalized angle, [0,1]
dem123456789 21:99be83550601 352 float scale; //scale factor for servo calibration
dem123456789 21:99be83550601 353
dem123456789 21:99be83550601 354 //extreme conditions
dem123456789 21:99be83550601 355 if (angleDeg<minDeg){
dem123456789 21:99be83550601 356 pos=minNorVal;
dem123456789 21:99be83550601 357 }
dem123456789 21:99be83550601 358 if (angleDeg>maxDeg){
dem123456789 21:99be83550601 359 pos=maxNorVal;
dem123456789 21:99be83550601 360 }
dem123456789 21:99be83550601 361
dem123456789 21:99be83550601 362 //Calculate scale factor for servo calibration
dem123456789 21:99be83550601 363 scale = (angleDeg-minDeg)/(maxDeg-minDeg);
dem123456789 21:99be83550601 364 //Calculate servo normalized value
dem123456789 21:99be83550601 365 pos = minNorVal + scale*(maxNorVal-minNorVal);
dem123456789 21:99be83550601 366
dem123456789 21:99be83550601 367 //send signal to servo
dem123456789 21:99be83550601 368 targetServo=pos;
dem123456789 21:99be83550601 369 }
dem123456789 21:99be83550601 370
taoqiuyang 26:353a80179346 371
taoqiuyang 26:353a80179346 372 void initialize_controller(){
taoqiuyang 26:353a80179346 373 rudder_variables[0]=0;
taoqiuyang 26:353a80179346 374 rudder_variables[1]=0;
taoqiuyang 26:353a80179346 375 rudder_variables[2]=0;
taoqiuyang 26:353a80179346 376 rudder_variables[3]=0;
taoqiuyang 26:353a80179346 377 rudder_variables[4]=0;
taoqiuyang 26:353a80179346 378 rudder_ctrl_parameters[0]=1;
taoqiuyang 26:353a80179346 379 rudder_ctrl_parameters[1]=0;
taoqiuyang 26:353a80179346 380 rudder_ctrl_parameters[2]=0;
taoqiuyang 26:353a80179346 381 }
taoqiuyang 26:353a80179346 382
taoqiuyang 26:353a80179346 383 void update_controller_tmr_ISR() {
taoqiuyang 26:353a80179346 384 /*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 385 angle to path point
taoqiuyang 30:faf6e0f81a0c 386 distance_to_route(meter)
taoqiuyang 30:faf6e0f81a0c 387
taoqiuyang 30:faf6e0f81a0c 388 Global Variables: angle_to_path_point,distance_to_path_point,distance_to_route;
taoqiuyang 26:353a80179346 389
taoqiuyang 26:353a80179346 390 Function: drive two servos to navigate the sailboat to the desired path point
taoqiuyang 26:353a80179346 391 */
taoqiuyang 31:e3339036c98b 392
taoqiuyang 41:d207b407c8bc 393
taoqiuyang 41:d207b407c8bc 394
taoqiuyang 31:e3339036c98b 395 //CTE based controller for rudder
taoqiuyang 30:faf6e0f81a0c 396 if (angle_to_path_point<0){distance_to_route=-1*distance_to_route;}
taoqiuyang 30:faf6e0f81a0c 397
taoqiuyang 30:faf6e0f81a0c 398 rudder_variables[0]=rudder_ctrl_parameters[0]*distance_to_route;
taoqiuyang 30:faf6e0f81a0c 399 rudder_variables[1]=rudder_variables[1]+rudder_ctrl_parameters[1]*distance_to_route*T;
taoqiuyang 30:faf6e0f81a0c 400 rudder_variables[2]=(rudder_variables[3]-distance_to_route)/T;
taoqiuyang 30:faf6e0f81a0c 401 rudder_variables[3]=distance_to_route;
taoqiuyang 26:353a80179346 402 rudder_variables[4]=rudder_variables[0]+rudder_variables[1]+rudder_variables[2];
taoqiuyang 26:353a80179346 403
taoqiuyang 31:e3339036c98b 404 //bang-bang controller for vehicle velocity
taoqiuyang 31:e3339036c98b 405 //Our sailboat is a slow moving vehicle and GPS cannot provide
taoqiuyang 31:e3339036c98b 406 //very accurate speed reading in our application
taoqiuyang 31:e3339036c98b 407 if (distance_to_path_point>30){
taoqiuyang 40:9537722d185e 408 if (autonomous_mode){set_servo_position(wingServo,45,-45,0,45,1);}
taoqiuyang 31:e3339036c98b 409 }else{
taoqiuyang 40:9537722d185e 410 if (autonomous_mode){set_servo_position(wingServo,0,-45,0,45,1);}
taoqiuyang 31:e3339036c98b 411 }
taoqiuyang 31:e3339036c98b 412
taoqiuyang 31:e3339036c98b 413 //actuator saturation
taoqiuyang 41:d207b407c8bc 414 if (rudder_variables[4]> 45){rudder_variables[4]= 45;}
taoqiuyang 41:d207b407c8bc 415 if (rudder_variables[4]<-45){rudder_variables[4]=-45;}
taoqiuyang 26:353a80179346 416
taoqiuyang 26:353a80179346 417 //Drive servos
taoqiuyang 40:9537722d185e 418 if (autonomous_mode){set_servo_position(rudderServo,rudder_variables[4],-45,0,45,1);}
taoqiuyang 41:d207b407c8bc 419
taoqiuyang 41:d207b407c8bc 420 pc.printf("%f\n",rudder_variables[4]);
taoqiuyang 26:353a80179346 421 }
taoqiuyang 26:353a80179346 422
taoqiuyang 26:353a80179346 423
taoqiuyang 26:353a80179346 424
dem123456789 21:99be83550601 425 int log_data_SD(){
dem123456789 21:99be83550601 426 FILE *fp = fopen("/sd/dataLog/dataLog.txt", "w");
dem123456789 21:99be83550601 427 if(fp == NULL) {
dem123456789 21:99be83550601 428 return 0;
dem123456789 21:99be83550601 429 }else{
dem123456789 21:99be83550601 430 //Write all the useful data to the SD card
dem123456789 21:99be83550601 431 fprintf(fp, "Nya Pass~");
dem123456789 21:99be83550601 432 fclose(fp);
dem123456789 21:99be83550601 433 return 1;
dem123456789 21:99be83550601 434 }
dem123456789 21:99be83550601 435 }
dem123456789 21:99be83550601 436
dem123456789 21:99be83550601 437
taoqiuyang 0:f4d390c06705 438 int main() {
taoqiuyang 2:afb333543af5 439 IMU.baud(57600);
taoqiuyang 4:37d118f2348c 440 IMU.attach(&IMU_serial_ISR);
taoqiuyang 5:451b8203ef99 441 GPS.baud(38400);
taoqiuyang 5:451b8203ef99 442 GPS.attach(&GPS_serial_ISR);
dem123456789 36:f04f4ed6aabb 443 pc.baud(9600);
dem123456789 8:1f5a44bade4d 444 pc.attach(&PC_serial_ISR);
taoqiuyang 26:353a80179346 445 ctrl_updt_timer.attach(&update_controller_tmr_ISR, T); // Update controller at 1/T Hz
taoqiuyang 26:353a80179346 446 initialize_controller();
dem123456789 33:37345814fad0 447 initialize();
dem123456789 23:cc06a8226f72 448 //float angle=20;
taoqiuyang 2:afb333543af5 449 while (1) {
taoqiuyang 40:9537722d185e 450
taoqiuyang 40:9537722d185e 451 //Enmao, please put your function below:
taoqiuyang 40:9537722d185e 452
taoqiuyang 40:9537722d185e 453 angle_to_path_point=0;
taoqiuyang 40:9537722d185e 454 distance_to_path_point=0;
taoqiuyang 41:d207b407c8bc 455 distance_to_route=0;
taoqiuyang 40:9537722d185e 456
taoqiuyang 40:9537722d185e 457 autonomous_mode=0; //set 1 if in autonomous mode
taoqiuyang 40:9537722d185e 458
taoqiuyang 40:9537722d185e 459
taoqiuyang 40:9537722d185e 460
dem123456789 23:cc06a8226f72 461 // if (angle>160){angle=20;}
dem123456789 23:cc06a8226f72 462 // set_servo_position(rudderServo, angle, 0, 0, 180, 1);
dem123456789 23:cc06a8226f72 463 // set_servo_position(wingServo, angle, 0, 0, 180, 1);
dem123456789 23:cc06a8226f72 464 // angle=angle+10;
dem123456789 39:ef1a8055d744 465
taoqiuyang 40:9537722d185e 466 wait(0.2);
dem123456789 37:7a136279daf3 467 //printStateIMU();
dem123456789 32:263d39ea6d3e 468 //printStateGPS();
dem123456789 32:263d39ea6d3e 469 //printPath();
dem123456789 35:009cc4509a90 470 //printDistance();
dem123456789 36:f04f4ed6aabb 471 //printAngle();
dem123456789 39:ef1a8055d744 472 //led1 = !led1;
dem123456789 39:ef1a8055d744 473
taoqiuyang 0:f4d390c06705 474 }
taoqiuyang 0:f4d390c06705 475 }