![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
GPS and IMU reading works
Dependencies: mbed Servo SDFileSystem
main.cpp@17:0b89c374f2f7, 2015-08-28 (annotated)
- Committer:
- taoqiuyang
- Date:
- Fri Aug 28 07:23:00 2015 +0000
- Revision:
- 17:0b89c374f2f7
- Parent:
- 16:0ea992d9a390
- Child:
- 18:9a30764847d2
Added Servo
Who changed what in which revision?
User | Revision | Line number | New 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 | 14:92bacb5af01b | 5 | #include "Get.h" |
taoqiuyang | 17:0b89c374f2f7 | 6 | #include "Servo.h" |
dem123456789 | 11:1caacb994236 | 7 | using namespace std; |
dem123456789 | 11:1caacb994236 | 8 | |
dem123456789 | 11:1caacb994236 | 9 | #define MAX_IMU_SIZE 29 |
taoqiuyang | 3:ab9f94d112c0 | 10 | |
taoqiuyang | 17:0b89c374f2f7 | 11 | //Indicator LEDs |
taoqiuyang | 2:afb333543af5 | 12 | DigitalOut led1(LED1); |
taoqiuyang | 2:afb333543af5 | 13 | DigitalOut led2(LED2); |
taoqiuyang | 5:451b8203ef99 | 14 | DigitalOut led3(LED3); |
dem123456789 | 8:1f5a44bade4d | 15 | DigitalOut led4(LED4); |
taoqiuyang | 17:0b89c374f2f7 | 16 | |
taoqiuyang | 17:0b89c374f2f7 | 17 | //Hardware connections |
taoqiuyang | 2:afb333543af5 | 18 | Serial pc(USBTX, USBRX); |
taoqiuyang | 2:afb333543af5 | 19 | Serial IMU(p28, p27); // tx, rx |
taoqiuyang | 5:451b8203ef99 | 20 | Serial GPS(p13, p14); // tx, rx |
taoqiuyang | 17:0b89c374f2f7 | 21 | Servo rudderServo(p25); |
taoqiuyang | 17:0b89c374f2f7 | 22 | Servo wingServo(p26); |
taoqiuyang | 17:0b89c374f2f7 | 23 | //rudderservo = 0.5; |
taoqiuyang | 2:afb333543af5 | 24 | |
taoqiuyang | 2:afb333543af5 | 25 | char IMU_message[256]; |
taoqiuyang | 3:ab9f94d112c0 | 26 | int IMU_message_counter=0; |
taoqiuyang | 5:451b8203ef99 | 27 | char GPS_message[256]; |
taoqiuyang | 5:451b8203ef99 | 28 | int GPS_message_counter=0; |
dem123456789 | 14:92bacb5af01b | 29 | char PC_message[256]; |
dem123456789 | 14:92bacb5af01b | 30 | int PC_message_counter=0; |
dem123456789 | 11:1caacb994236 | 31 | |
dem123456789 | 11:1caacb994236 | 32 | string IMU_Y="N/A"; |
dem123456789 | 11:1caacb994236 | 33 | string IMU_P="N/A"; |
dem123456789 | 11:1caacb994236 | 34 | string IMU_R="N/A"; |
dem123456789 | 14:92bacb5af01b | 35 | string GPS_Quality="N/A"; |
dem123456789 | 11:1caacb994236 | 36 | string GPS_UTC="N/A"; |
dem123456789 | 11:1caacb994236 | 37 | string GPS_Latitude="N/A"; |
dem123456789 | 11:1caacb994236 | 38 | string GPS_Longtitude="N/A"; |
dem123456789 | 11:1caacb994236 | 39 | string GPS_Altitude="N/A"; |
dem123456789 | 11:1caacb994236 | 40 | string GPS_Num_Satellite="N/A"; |
dem123456789 | 11:1caacb994236 | 41 | string GPS_HDOP="N/A"; |
dem123456789 | 12:8644abfa86da | 42 | string GPS_VDOP="N/A"; |
dem123456789 | 12:8644abfa86da | 43 | string GPS_PDOP="N/A"; |
dem123456789 | 14:92bacb5af01b | 44 | string GPS_Date="N/A"; |
dem123456789 | 14:92bacb5af01b | 45 | string GPS_VelocityKnot="N/A"; |
dem123456789 | 14:92bacb5af01b | 46 | string GPS_VelocityKph="N/A"; |
dem123456789 | 14:92bacb5af01b | 47 | |
dem123456789 | 12:8644abfa86da | 48 | int asterisk_idx; |
dem123456789 | 9:bf5939466e86 | 49 | |
dem123456789 | 9:bf5939466e86 | 50 | vector<string> split(const string &s, char delim) { |
dem123456789 | 9:bf5939466e86 | 51 | stringstream ss(s); |
dem123456789 | 9:bf5939466e86 | 52 | string item; |
dem123456789 | 9:bf5939466e86 | 53 | vector<string> tokens; |
dem123456789 | 9:bf5939466e86 | 54 | while (getline(ss, item, delim)) { |
dem123456789 | 15:dbf20c1209ae | 55 | if (item.empty()) { |
dem123456789 | 15:dbf20c1209ae | 56 | item == "N/A"; |
dem123456789 | 15:dbf20c1209ae | 57 | } |
dem123456789 | 9:bf5939466e86 | 58 | tokens.push_back(item); |
dem123456789 | 9:bf5939466e86 | 59 | } |
dem123456789 | 9:bf5939466e86 | 60 | return tokens; |
dem123456789 | 9:bf5939466e86 | 61 | } |
dem123456789 | 9:bf5939466e86 | 62 | |
dem123456789 | 9:bf5939466e86 | 63 | void updateIMU(string IMU_data) { |
dem123456789 | 9:bf5939466e86 | 64 | string IMU_data_string(IMU_data); |
dem123456789 | 9:bf5939466e86 | 65 | if (IMU_data_string.substr(0,4) == "#YPR" and IMU_data_string.size() <= MAX_IMU_SIZE) { |
dem123456789 | 9:bf5939466e86 | 66 | IMU_data_string = IMU_data_string.substr(5); |
dem123456789 | 9:bf5939466e86 | 67 | vector<string> result = split(IMU_data_string, ','); |
dem123456789 | 9:bf5939466e86 | 68 | IMU_Y = result.at(0); |
dem123456789 | 9:bf5939466e86 | 69 | IMU_P = result.at(1); |
dem123456789 | 15:dbf20c1209ae | 70 | IMU_R = result.at(2).substr(0, result.at(2).size()-1); |
dem123456789 | 9:bf5939466e86 | 71 | } |
dem123456789 | 9:bf5939466e86 | 72 | } |
dem123456789 | 9:bf5939466e86 | 73 | |
dem123456789 | 10:12ba6ed2d6f0 | 74 | void updateGPS(string GPS_data) { |
dem123456789 | 10:12ba6ed2d6f0 | 75 | string GPS_data_string(GPS_data); |
dem123456789 | 11:1caacb994236 | 76 | if (GPS_data_string.substr(0,6) == "$GPGGA") { |
dem123456789 | 11:1caacb994236 | 77 | GPS_data_string = GPS_data_string.substr(7); |
dem123456789 | 10:12ba6ed2d6f0 | 78 | vector<string> result = split(GPS_data_string, ','); |
dem123456789 | 14:92bacb5af01b | 79 | GPS_Quality = result.at(5); |
dem123456789 | 14:92bacb5af01b | 80 | if(GPS_Quality != "0" and GPS_Quality != "6") { |
dem123456789 | 11:1caacb994236 | 81 | GPS_UTC = result.at(0); |
dem123456789 | 11:1caacb994236 | 82 | GPS_Latitude = result.at(2) + result.at(1); |
dem123456789 | 11:1caacb994236 | 83 | GPS_Longtitude = result.at(4) + result.at(3); |
dem123456789 | 11:1caacb994236 | 84 | GPS_Num_Satellite = result.at(6); |
dem123456789 | 11:1caacb994236 | 85 | GPS_HDOP = result.at(7); |
dem123456789 | 11:1caacb994236 | 86 | GPS_Altitude = result.at(8) + result.at(9); |
dem123456789 | 11:1caacb994236 | 87 | } |
dem123456789 | 14:92bacb5af01b | 88 | } else if (GPS_data_string.substr(0,6) == "$GPGSA" and GPS_Quality != "0" and GPS_Quality != "6") { |
dem123456789 | 12:8644abfa86da | 89 | GPS_data_string = GPS_data_string.substr(7); |
dem123456789 | 12:8644abfa86da | 90 | vector<string> result = split(GPS_data_string, ','); |
dem123456789 | 12:8644abfa86da | 91 | GPS_PDOP = result.at(14); |
dem123456789 | 12:8644abfa86da | 92 | asterisk_idx = result.at(16).find('*'); |
dem123456789 | 12:8644abfa86da | 93 | GPS_VDOP = result.at(16).substr(0, asterisk_idx); |
dem123456789 | 14:92bacb5af01b | 94 | } else if (GPS_data_string.substr(0,6) == "$GPRMC" and GPS_Quality != "0" and GPS_Quality != "6") { |
dem123456789 | 12:8644abfa86da | 95 | GPS_data_string = GPS_data_string.substr(7); |
dem123456789 | 12:8644abfa86da | 96 | vector<string> result = split(GPS_data_string, ','); |
dem123456789 | 14:92bacb5af01b | 97 | GPS_Date = result.at(8); |
dem123456789 | 14:92bacb5af01b | 98 | } else if (GPS_data_string.substr(0,6) == "$GPVTG" and GPS_Quality != "0" and GPS_Quality != "6") { |
dem123456789 | 12:8644abfa86da | 99 | GPS_data_string = GPS_data_string.substr(7); |
dem123456789 | 12:8644abfa86da | 100 | vector<string> result = split(GPS_data_string, ','); |
dem123456789 | 14:92bacb5af01b | 101 | GPS_VelocityKnot = result.at(4) + result.at(5); |
dem123456789 | 12:8644abfa86da | 102 | asterisk_idx = result.at(7).find('*'); |
dem123456789 | 14:92bacb5af01b | 103 | GPS_VelocityKph = result.at(6) + result.at(7).substr(0, asterisk_idx); |
dem123456789 | 10:12ba6ed2d6f0 | 104 | } |
dem123456789 | 12:8644abfa86da | 105 | |
dem123456789 | 10:12ba6ed2d6f0 | 106 | } |
dem123456789 | 16:0ea992d9a390 | 107 | /* Get data from SailBoat |
dem123456789 | 16:0ea992d9a390 | 108 | @GET=parameter |
dem123456789 | 16:0ea992d9a390 | 109 | Ex: @GET=GPS_Quality |
dem123456789 | 16:0ea992d9a390 | 110 | Supported parameter: GPS_Quality, GPS_UTC, GPS_Latitude, GPS_Longtitude, GPS_Altitude, |
dem123456789 | 16:0ea992d9a390 | 111 | GPS_Num_Satellite, GPS_HDOP, GPS_VDOP, GPS_PDOP, GPS_Date, GPS_VelocityKnot, GPS_VelocityKph |
dem123456789 | 16:0ea992d9a390 | 112 | Set path to SailBoat |
dem123456789 | 16:0ea992d9a390 | 113 | @SET=Latitude, Longtitude, Task index |
dem123456789 | 16:0ea992d9a390 | 114 | @SET=33.776318, -84.407590, 3 |
dem123456789 | 16:0ea992d9a390 | 115 | */ |
dem123456789 | 15:dbf20c1209ae | 116 | void decodePC(string PC_data) { |
dem123456789 | 15:dbf20c1209ae | 117 | string PC_data_string(PC_data); |
dem123456789 | 15:dbf20c1209ae | 118 | if (PC_data_string.substr(0,4) == "@GET") { |
dem123456789 | 15:dbf20c1209ae | 119 | pc.printf("%s", PC_data_string.c_str()); |
dem123456789 | 15:dbf20c1209ae | 120 | PC_data_string = PC_data_string.substr(5, PC_data_string.size()-6); |
dem123456789 | 15:dbf20c1209ae | 121 | pc.printf("%s\n", decodeCommand(PC_data_string).c_str()); |
dem123456789 | 16:0ea992d9a390 | 122 | } else if (PC_data_string.substr(0,4) == "@SET") { |
dem123456789 | 16:0ea992d9a390 | 123 | } |
dem123456789 | 15:dbf20c1209ae | 124 | } |
dem123456789 | 15:dbf20c1209ae | 125 | |
dem123456789 | 15:dbf20c1209ae | 126 | |
dem123456789 | 11:1caacb994236 | 127 | void printStateIMU() { |
dem123456789 | 11:1caacb994236 | 128 | 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 | 129 | } |
dem123456789 | 11:1caacb994236 | 130 | |
dem123456789 | 12:8644abfa86da | 131 | void printStateGPS() { |
dem123456789 | 14:92bacb5af01b | 132 | pc.printf("GPS_Quality: %s, GPS_UTC: %s, GPS_Latitude: %s, GPS_Longtitude: %s, GPS_Altitude: %s, " |
dem123456789 | 14:92bacb5af01b | 133 | "GPS_Num_Satellite: %s, GPS_HDOP: %s, GPS_VDOP: %s, GPS_PDOP: %s, GPS_Date: %s, GPS_VelocityKnot: %s, GPS_VelocityKph: %s\n", |
dem123456789 | 14:92bacb5af01b | 134 | 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 | 14:92bacb5af01b | 135 | 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 | 136 | } |
dem123456789 | 14:92bacb5af01b | 137 | |
dem123456789 | 11:1caacb994236 | 138 | //#YPR=-183.74,-134.27,-114.39 |
taoqiuyang | 4:37d118f2348c | 139 | void IMU_serial_ISR() { |
taoqiuyang | 3:ab9f94d112c0 | 140 | char buf; |
taoqiuyang | 3:ab9f94d112c0 | 141 | |
taoqiuyang | 3:ab9f94d112c0 | 142 | while (IMU.readable()) { |
taoqiuyang | 3:ab9f94d112c0 | 143 | buf = IMU.getc(); |
taoqiuyang | 3:ab9f94d112c0 | 144 | |
dem123456789 | 14:92bacb5af01b | 145 | //pc.putc(buf); |
taoqiuyang | 3:ab9f94d112c0 | 146 | IMU_message[IMU_message_counter]=buf; |
dem123456789 | 9:bf5939466e86 | 147 | IMU_message_counter+=1; |
taoqiuyang | 3:ab9f94d112c0 | 148 | |
taoqiuyang | 3:ab9f94d112c0 | 149 | if (buf=='\n'){ |
dem123456789 | 9:bf5939466e86 | 150 | string IMU_copy(IMU_message, IMU_message_counter); |
dem123456789 | 11:1caacb994236 | 151 | //pc.printf("%s", IMU_copy.c_str()); |
dem123456789 | 9:bf5939466e86 | 152 | updateIMU(IMU_copy); |
dem123456789 | 9:bf5939466e86 | 153 | IMU_message_counter=0; |
dem123456789 | 9:bf5939466e86 | 154 | IMU_copy[0] = '\0'; |
dem123456789 | 9:bf5939466e86 | 155 | } |
dem123456789 | 9:bf5939466e86 | 156 | |
taoqiuyang | 3:ab9f94d112c0 | 157 | } |
taoqiuyang | 2:afb333543af5 | 158 | led2 = !led2; |
taoqiuyang | 2:afb333543af5 | 159 | } |
dem123456789 | 9:bf5939466e86 | 160 | |
dem123456789 | 9:bf5939466e86 | 161 | |
dem123456789 | 8:1f5a44bade4d | 162 | |
taoqiuyang | 5:451b8203ef99 | 163 | void GPS_serial_ISR() { |
taoqiuyang | 5:451b8203ef99 | 164 | char buf; |
taoqiuyang | 5:451b8203ef99 | 165 | |
taoqiuyang | 5:451b8203ef99 | 166 | while (GPS.readable()) { |
taoqiuyang | 5:451b8203ef99 | 167 | buf = GPS.getc(); |
dem123456789 | 14:92bacb5af01b | 168 | |
dem123456789 | 14:92bacb5af01b | 169 | //pc.putc(buf); |
dem123456789 | 10:12ba6ed2d6f0 | 170 | GPS_message[GPS_message_counter]=buf; |
dem123456789 | 10:12ba6ed2d6f0 | 171 | GPS_message_counter+=1; |
dem123456789 | 10:12ba6ed2d6f0 | 172 | |
dem123456789 | 10:12ba6ed2d6f0 | 173 | if (buf=='\n'){ |
dem123456789 | 10:12ba6ed2d6f0 | 174 | string GPS_copy(GPS_message, GPS_message_counter); |
dem123456789 | 11:1caacb994236 | 175 | //pc.printf("%s", GPS_copy.c_str()); |
dem123456789 | 10:12ba6ed2d6f0 | 176 | updateGPS(GPS_copy); |
dem123456789 | 10:12ba6ed2d6f0 | 177 | GPS_message_counter=0; |
dem123456789 | 10:12ba6ed2d6f0 | 178 | GPS_copy[0] = '\0'; |
dem123456789 | 10:12ba6ed2d6f0 | 179 | } |
taoqiuyang | 5:451b8203ef99 | 180 | } |
taoqiuyang | 5:451b8203ef99 | 181 | |
taoqiuyang | 5:451b8203ef99 | 182 | led3 = !led3; |
taoqiuyang | 5:451b8203ef99 | 183 | } |
taoqiuyang | 3:ab9f94d112c0 | 184 | |
dem123456789 | 8:1f5a44bade4d | 185 | void PC_serial_ISR() { |
dem123456789 | 8:1f5a44bade4d | 186 | char buf; |
dem123456789 | 8:1f5a44bade4d | 187 | |
dem123456789 | 8:1f5a44bade4d | 188 | while (pc.readable()) { |
dem123456789 | 8:1f5a44bade4d | 189 | buf = pc.getc(); |
dem123456789 | 14:92bacb5af01b | 190 | |
dem123456789 | 14:92bacb5af01b | 191 | //pc.putc(buf); |
dem123456789 | 14:92bacb5af01b | 192 | PC_message[PC_message_counter]=buf; |
dem123456789 | 14:92bacb5af01b | 193 | PC_message_counter+=1; |
dem123456789 | 14:92bacb5af01b | 194 | |
dem123456789 | 14:92bacb5af01b | 195 | if (buf=='\n'){ |
dem123456789 | 14:92bacb5af01b | 196 | string PC_copy(PC_message, PC_message_counter); |
dem123456789 | 14:92bacb5af01b | 197 | //pc.printf("%s", PC_copy.c_str()); |
dem123456789 | 14:92bacb5af01b | 198 | decodePC(PC_copy); |
dem123456789 | 14:92bacb5af01b | 199 | PC_message_counter=0; |
dem123456789 | 14:92bacb5af01b | 200 | PC_copy[0] = '\0'; |
dem123456789 | 14:92bacb5af01b | 201 | } |
dem123456789 | 8:1f5a44bade4d | 202 | } |
dem123456789 | 8:1f5a44bade4d | 203 | |
dem123456789 | 8:1f5a44bade4d | 204 | led4= !led4; |
dem123456789 | 8:1f5a44bade4d | 205 | } |
taoqiuyang | 3:ab9f94d112c0 | 206 | |
taoqiuyang | 0:f4d390c06705 | 207 | int main() { |
taoqiuyang | 2:afb333543af5 | 208 | IMU.baud(57600); |
taoqiuyang | 4:37d118f2348c | 209 | IMU.attach(&IMU_serial_ISR); |
taoqiuyang | 5:451b8203ef99 | 210 | GPS.baud(38400); |
taoqiuyang | 5:451b8203ef99 | 211 | GPS.attach(&GPS_serial_ISR); |
dem123456789 | 8:1f5a44bade4d | 212 | pc.baud(115200); |
dem123456789 | 8:1f5a44bade4d | 213 | pc.attach(&PC_serial_ISR); |
taoqiuyang | 1:e7245ffb4820 | 214 | |
taoqiuyang | 2:afb333543af5 | 215 | while (1) { |
taoqiuyang | 2:afb333543af5 | 216 | led1 = !led1; |
dem123456789 | 15:dbf20c1209ae | 217 | wait(0.4); |
dem123456789 | 15:dbf20c1209ae | 218 | //printStateIMU(); |
dem123456789 | 15:dbf20c1209ae | 219 | //printStateGPS(); |
taoqiuyang | 0:f4d390c06705 | 220 | } |
taoqiuyang | 0:f4d390c06705 | 221 | } |