Senior_Design_Sailboat / Mbed 2 deprecated ECE4012_Sailboat

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Dependencies:   mbed Servo SDFileSystem

main.cpp@14:92bacb5af01b, 2015-08-26 (annotated)

Committer:
dem123456789
Date:
Wed Aug 26 16:33:26 2015 +0000
Revision:
14:92bacb5af01b
Parent:
12:8644abfa86da
Child:
15:dbf20c1209ae
PC part half 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 14:92bacb5af01b 5 #include "Get.h"
dem123456789 11:1caacb994236 6 using namespace std;
dem123456789 11:1caacb994236 7
dem123456789 11:1caacb994236 8 #define MAX_IMU_SIZE 29
taoqiuyang 3:ab9f94d112c0 9
taoqiuyang 2:afb333543af5 10 DigitalOut led1(LED1);
taoqiuyang 2:afb333543af5 11 DigitalOut led2(LED2);
taoqiuyang 5:451b8203ef99 12 DigitalOut led3(LED3);
dem123456789 8:1f5a44bade4d 13 DigitalOut led4(LED4);
taoqiuyang 2:afb333543af5 14
taoqiuyang 2:afb333543af5 15 Serial pc(USBTX, USBRX);
taoqiuyang 2:afb333543af5 16 Serial IMU(p28, p27); // tx, rx
taoqiuyang 5:451b8203ef99 17 Serial GPS(p13, p14); // tx, rx
taoqiuyang 2:afb333543af5 18
taoqiuyang 2:afb333543af5 19 char IMU_message[256];
taoqiuyang 3:ab9f94d112c0 20 int IMU_message_counter=0;
taoqiuyang 5:451b8203ef99 21 char GPS_message[256];
taoqiuyang 5:451b8203ef99 22 int GPS_message_counter=0;
dem123456789 14:92bacb5af01b 23 char PC_message[256];
dem123456789 14:92bacb5af01b 24 int PC_message_counter=0;
dem123456789 11:1caacb994236 25
dem123456789 11:1caacb994236 26 string IMU_Y="N/A";
dem123456789 11:1caacb994236 27 string IMU_P="N/A";
dem123456789 11:1caacb994236 28 string IMU_R="N/A";
dem123456789 14:92bacb5af01b 29 string GPS_Quality="N/A";
dem123456789 11:1caacb994236 30 string GPS_UTC="N/A";
dem123456789 11:1caacb994236 31 string GPS_Latitude="N/A";
dem123456789 11:1caacb994236 32 string GPS_Longtitude="N/A";
dem123456789 11:1caacb994236 33 string GPS_Altitude="N/A";
dem123456789 11:1caacb994236 34 string GPS_Num_Satellite="N/A";
dem123456789 11:1caacb994236 35 string GPS_HDOP="N/A";
dem123456789 12:8644abfa86da 36 string GPS_VDOP="N/A";
dem123456789 12:8644abfa86da 37 string GPS_PDOP="N/A";
dem123456789 14:92bacb5af01b 38 string GPS_Date="N/A";
dem123456789 14:92bacb5af01b 39 string GPS_VelocityKnot="N/A";
dem123456789 14:92bacb5af01b 40 string GPS_VelocityKph="N/A";
dem123456789 14:92bacb5af01b 41
dem123456789 12:8644abfa86da 42 int asterisk_idx;
dem123456789 9:bf5939466e86 43
dem123456789 9:bf5939466e86 44 vector<string> split(const string &s, char delim) {
dem123456789 9:bf5939466e86 45 stringstream ss(s);
dem123456789 9:bf5939466e86 46 string item;
dem123456789 9:bf5939466e86 47 vector<string> tokens;
dem123456789 9:bf5939466e86 48 while (getline(ss, item, delim)) {
dem123456789 9:bf5939466e86 49 tokens.push_back(item);
dem123456789 9:bf5939466e86 50 }
dem123456789 9:bf5939466e86 51 return tokens;
dem123456789 9:bf5939466e86 52 }
dem123456789 9:bf5939466e86 53
dem123456789 9:bf5939466e86 54 void updateIMU(string IMU_data) {
dem123456789 9:bf5939466e86 55 string IMU_data_string(IMU_data);
dem123456789 9:bf5939466e86 56 if (IMU_data_string.substr(0,4) == "#YPR" and IMU_data_string.size() <= MAX_IMU_SIZE) {
dem123456789 9:bf5939466e86 57 IMU_data_string = IMU_data_string.substr(5);
dem123456789 9:bf5939466e86 58 vector<string> result = split(IMU_data_string, ',');
dem123456789 9:bf5939466e86 59 IMU_Y = result.at(0);
dem123456789 9:bf5939466e86 60 IMU_P = result.at(1);
dem123456789 9:bf5939466e86 61 IMU_R = result.at(2).substr(0, result.at(2).size()-1);;
dem123456789 9:bf5939466e86 62 }
dem123456789 9:bf5939466e86 63 }
dem123456789 9:bf5939466e86 64
dem123456789 10:12ba6ed2d6f0 65 void updateGPS(string GPS_data) {
dem123456789 10:12ba6ed2d6f0 66 string GPS_data_string(GPS_data);
dem123456789 11:1caacb994236 67 if (GPS_data_string.substr(0,6) == "$GPGGA") {
dem123456789 11:1caacb994236 68 GPS_data_string = GPS_data_string.substr(7);
dem123456789 10:12ba6ed2d6f0 69 vector<string> result = split(GPS_data_string, ',');
dem123456789 14:92bacb5af01b 70 GPS_Quality = result.at(5);
dem123456789 14:92bacb5af01b 71 if(GPS_Quality != "0" and GPS_Quality != "6") {
dem123456789 11:1caacb994236 72 GPS_UTC = result.at(0);
dem123456789 11:1caacb994236 73 GPS_Latitude = result.at(2) + result.at(1);
dem123456789 11:1caacb994236 74 GPS_Longtitude = result.at(4) + result.at(3);
dem123456789 11:1caacb994236 75 GPS_Num_Satellite = result.at(6);
dem123456789 11:1caacb994236 76 GPS_HDOP = result.at(7);
dem123456789 11:1caacb994236 77 GPS_Altitude = result.at(8) + result.at(9);
dem123456789 11:1caacb994236 78 }
dem123456789 14:92bacb5af01b 79 } else if (GPS_data_string.substr(0,6) == "$GPGSA" and GPS_Quality != "0" and GPS_Quality != "6") {
dem123456789 12:8644abfa86da 80 GPS_data_string = GPS_data_string.substr(7);
dem123456789 12:8644abfa86da 81 vector<string> result = split(GPS_data_string, ',');
dem123456789 12:8644abfa86da 82 GPS_PDOP = result.at(14);
dem123456789 12:8644abfa86da 83 asterisk_idx = result.at(16).find('*');
dem123456789 12:8644abfa86da 84 GPS_VDOP = result.at(16).substr(0, asterisk_idx);
dem123456789 14:92bacb5af01b 85 } else if (GPS_data_string.substr(0,6) == "$GPRMC" and GPS_Quality != "0" and GPS_Quality != "6") {
dem123456789 12:8644abfa86da 86 GPS_data_string = GPS_data_string.substr(7);
dem123456789 12:8644abfa86da 87 vector<string> result = split(GPS_data_string, ',');
dem123456789 14:92bacb5af01b 88 GPS_Date = result.at(8);
dem123456789 14:92bacb5af01b 89 } else if (GPS_data_string.substr(0,6) == "$GPVTG" and GPS_Quality != "0" and GPS_Quality != "6") {
dem123456789 12:8644abfa86da 90 GPS_data_string = GPS_data_string.substr(7);
dem123456789 12:8644abfa86da 91 vector<string> result = split(GPS_data_string, ',');
dem123456789 14:92bacb5af01b 92 GPS_VelocityKnot = result.at(4) + result.at(5);
dem123456789 12:8644abfa86da 93 asterisk_idx = result.at(7).find('*');
dem123456789 14:92bacb5af01b 94 GPS_VelocityKph = result.at(6) + result.at(7).substr(0, asterisk_idx);
dem123456789 10:12ba6ed2d6f0 95 }
dem123456789 12:8644abfa86da 96
dem123456789 10:12ba6ed2d6f0 97 }
dem123456789 10:12ba6ed2d6f0 98
dem123456789 11:1caacb994236 99 void printStateIMU() {
dem123456789 11:1caacb994236 100 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 101 }
dem123456789 11:1caacb994236 102
dem123456789 12:8644abfa86da 103 void printStateGPS() {
dem123456789 14:92bacb5af01b 104 pc.printf("GPS_Quality: %s, GPS_UTC: %s, GPS_Latitude: %s, GPS_Longtitude: %s, GPS_Altitude: %s, "
dem123456789 14:92bacb5af01b 105 "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 106 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 107 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 108 }
dem123456789 14:92bacb5af01b 109
dem123456789 11:1caacb994236 110 //#YPR=-183.74,-134.27,-114.39
taoqiuyang 4:37d118f2348c 111 void IMU_serial_ISR() {
taoqiuyang 3:ab9f94d112c0 112 char buf;
taoqiuyang 3:ab9f94d112c0 113
taoqiuyang 3:ab9f94d112c0 114 while (IMU.readable()) {
taoqiuyang 3:ab9f94d112c0 115 buf = IMU.getc();
taoqiuyang 3:ab9f94d112c0 116
dem123456789 14:92bacb5af01b 117 //pc.putc(buf);
taoqiuyang 3:ab9f94d112c0 118 IMU_message[IMU_message_counter]=buf;
dem123456789 9:bf5939466e86 119 IMU_message_counter+=1;
taoqiuyang 3:ab9f94d112c0 120
taoqiuyang 3:ab9f94d112c0 121 if (buf=='\n'){
dem123456789 9:bf5939466e86 122 string IMU_copy(IMU_message, IMU_message_counter);
dem123456789 11:1caacb994236 123 //pc.printf("%s", IMU_copy.c_str());
dem123456789 9:bf5939466e86 124 updateIMU(IMU_copy);
dem123456789 9:bf5939466e86 125 IMU_message_counter=0;
dem123456789 9:bf5939466e86 126 IMU_copy[0] = '\0';
dem123456789 9:bf5939466e86 127 }
dem123456789 9:bf5939466e86 128
taoqiuyang 3:ab9f94d112c0 129 }
taoqiuyang 2:afb333543af5 130 led2 = !led2;
taoqiuyang 2:afb333543af5 131 }
dem123456789 9:bf5939466e86 132
dem123456789 9:bf5939466e86 133
dem123456789 8:1f5a44bade4d 134
taoqiuyang 5:451b8203ef99 135 void GPS_serial_ISR() {
taoqiuyang 5:451b8203ef99 136 char buf;
taoqiuyang 5:451b8203ef99 137
taoqiuyang 5:451b8203ef99 138 while (GPS.readable()) {
taoqiuyang 5:451b8203ef99 139 buf = GPS.getc();
dem123456789 14:92bacb5af01b 140
dem123456789 14:92bacb5af01b 141 //pc.putc(buf);
dem123456789 10:12ba6ed2d6f0 142 GPS_message[GPS_message_counter]=buf;
dem123456789 10:12ba6ed2d6f0 143 GPS_message_counter+=1;
dem123456789 10:12ba6ed2d6f0 144
dem123456789 10:12ba6ed2d6f0 145 if (buf=='\n'){
dem123456789 10:12ba6ed2d6f0 146 string GPS_copy(GPS_message, GPS_message_counter);
dem123456789 11:1caacb994236 147 //pc.printf("%s", GPS_copy.c_str());
dem123456789 10:12ba6ed2d6f0 148 updateGPS(GPS_copy);
dem123456789 10:12ba6ed2d6f0 149 GPS_message_counter=0;
dem123456789 10:12ba6ed2d6f0 150 GPS_copy[0] = '\0';
dem123456789 10:12ba6ed2d6f0 151 }
taoqiuyang 5:451b8203ef99 152 }
taoqiuyang 5:451b8203ef99 153
taoqiuyang 5:451b8203ef99 154 led3 = !led3;
taoqiuyang 5:451b8203ef99 155 }
taoqiuyang 3:ab9f94d112c0 156
dem123456789 8:1f5a44bade4d 157 void PC_serial_ISR() {
dem123456789 8:1f5a44bade4d 158 char buf;
dem123456789 8:1f5a44bade4d 159
dem123456789 8:1f5a44bade4d 160 while (pc.readable()) {
dem123456789 8:1f5a44bade4d 161 buf = pc.getc();
dem123456789 14:92bacb5af01b 162
dem123456789 14:92bacb5af01b 163 //pc.putc(buf);
dem123456789 14:92bacb5af01b 164 PC_message[PC_message_counter]=buf;
dem123456789 14:92bacb5af01b 165 PC_message_counter+=1;
dem123456789 14:92bacb5af01b 166
dem123456789 14:92bacb5af01b 167 if (buf=='\n'){
dem123456789 14:92bacb5af01b 168 string PC_copy(PC_message, PC_message_counter);
dem123456789 14:92bacb5af01b 169 //pc.printf("%s", PC_copy.c_str());
dem123456789 14:92bacb5af01b 170 decodePC(PC_copy);
dem123456789 14:92bacb5af01b 171 PC_message_counter=0;
dem123456789 14:92bacb5af01b 172 PC_copy[0] = '\0';
dem123456789 14:92bacb5af01b 173 }
dem123456789 8:1f5a44bade4d 174 }
dem123456789 8:1f5a44bade4d 175
dem123456789 8:1f5a44bade4d 176 led4= !led4;
dem123456789 8:1f5a44bade4d 177 }
taoqiuyang 3:ab9f94d112c0 178
taoqiuyang 0:f4d390c06705 179 int main() {
taoqiuyang 2:afb333543af5 180 IMU.baud(57600);
taoqiuyang 4:37d118f2348c 181 IMU.attach(&IMU_serial_ISR);
taoqiuyang 5:451b8203ef99 182 GPS.baud(38400);
taoqiuyang 5:451b8203ef99 183 GPS.attach(&GPS_serial_ISR);
dem123456789 8:1f5a44bade4d 184 pc.baud(115200);
dem123456789 8:1f5a44bade4d 185 pc.attach(&PC_serial_ISR);
taoqiuyang 1:e7245ffb4820 186
taoqiuyang 2:afb333543af5 187 while (1) {
taoqiuyang 2:afb333543af5 188 led1 = !led1;
taoqiuyang 5:451b8203ef99 189 wait(0.2);
dem123456789 12:8644abfa86da 190 printStateIMU();
dem123456789 12:8644abfa86da 191 printStateGPS();
taoqiuyang 0:f4d390c06705 192 }
taoqiuyang 0:f4d390c06705 193 }