![](/media/cache/group/default_image.jpg.50x50_q85.jpg)
2015/05/18
Dependencies: ADXL345 AigamozuControlPackets HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST agz_common mbed
Fork of Aigamozu_Base_ver2_2 by
main.cpp
- Committer:
- s1200058
- Date:
- 2015-05-18
- Revision:
- 11:617453352e91
- Parent:
- 10:ea620ba4117c
- Child:
- 12:83be8a3c212d
File content as of revision 11:617453352e91:
/**********************************************/ // // // // Program name: Aigamozu BASE // Author: Mineta Kizuku // // /**********************************************/ /**********************************************/ //更新情報 //2015/05/11 //ベースプログラムの作成 // //2015/05/13 //カルマンフィルタの共分散の値を0.0001以下にならないようにした //共分散の値を10進数に変換するようにした /**********************************************/ #include "mbed.h" #include "XBee.h" #include "MBed_Adafruit_GPS.h" #include "AigamozuControlPackets.h" #include "agzIDLIST.h" #include "aigamozuSetting.h" #include "agz_common.h" #include "Kalman.h" #define SIGMA_MIN 0.0001 //************ID Number***************** const char MyID = 'a'; //************ID Number***************** ///////////////////////////////////////// // //Pin Setting // ///////////////////////////////////////// VNH5019 agz_motorShield(p21,p22,p23,p24,p25,p26); ///////////////////////////////////////// // //Connection Setting // ///////////////////////////////////////// //Serial Connect Setting: PC <--> mbed Serial pc(USBTX, USBRX); //Serial Connect Setting: GPS <--> mbed Serial * gps_Serial; //Serial Connect Setting: XBEE <--> mbed XBee xbee(p13,p14); ZBRxResponse zbRx = ZBRxResponse(); //set up GPS module //set up AigamozuControlPackets library AigamozuControlPackets agz(agz_motorShield); ///////////////////////////////////////// // //For Kalman data // ///////////////////////////////////////// double sigmaGPS[2][2] = {{250,0},{0,250}}; double K[2][2][2]= {{{1,0},{0,1}},{{1,0},{0,1}}}; double sigma[2][2][2]= {{{250,0},{0,250}},{{250,0},{0,250}}}; double y[2],x[2][2]={0}; void Kalman(double Latitude,double Longitude,Adafruit_GPS *myGPS); ///////////////////////////////////////// // //Send_Status // //リクエストがきたとき、自分の位置情報などを返信する ///////////////////////////////////////// void Send_Status(char SenderIDc){ XBeeAddress64 send_Address; if(SenderIDc == '0'){ send_Address = manager_Address; } if(SenderIDc >= 'A' && SenderIDc <= 'Z'){ send_Address = robot_Address[SenderIDc - 'A']; } if(SenderIDc >= 'a' && SenderIDc <= 'z'){ send_Address = base_Address[SenderIDc - 'a']; } //send normal data //Create GPS Infomation Packet agz.createReceiveStatusCommand(MyID,SenderIDc, agz.get_agzPoint_lati(),agz.get_agzPoint_longi(), agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(), agz.get_agzCov_lati(),agz.get_agzCov_longi()); //debug*************************************************** printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\nCovlat:%f,Covlongi:%f\n", agz.get_agzPoint_lati(),agz.get_agzPoint_longi(), agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(), agz.get_agzCov_lati(),agz.get_agzCov_longi() ); for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) printf("%d ",agz.packetData[i]); printf("\n"); //debug end*************************************************** //Select Destination ZBTxRequest tx64request(send_Address,agz.packetData,agz.getPacketLength()); //Send -> Base xbee.send(tx64request); } ///////////////////////////////////////// // //Get GPS function // ///////////////////////////////////////// void Get_GPS(Adafruit_GPS *myGPS){ static bool flag = true; if (myGPS->fix) { agz.nowStatus = GPS_AVAIL; if(flag){//初期値設定 if(myGPS->latitudeH>=36 && myGPS->latitudeH<=38 && myGPS->longitudeH>=138 && myGPS->longitudeH<=140){ flag = false; x[0][0]=(double)myGPS->latitudeL; x[0][1]=(double)myGPS->longitudeL; } } if(myGPS->longitudeH<138 || myGPS->longitudeH>140 || myGPS->latitudeH<37 || myGPS->latitudeH>38){ return; } //Kalman Filter Kalman(myGPS->latitudeL,myGPS->longitudeL,myGPS); agz.reNewRobotPoint(myGPS->latitudeH,myGPS->latitudeL,myGPS->longitudeH,myGPS->longitudeL); agz.reNewRobotPointKalman(myGPS->latitudeKH,myGPS->latitudeKL,myGPS->longitudeKH,myGPS->longitudeKL); } else agz.nowStatus = GPS_UNAVAIL; } ///////////////////////////////////////// // //Kalman Processing // ///////////////////////////////////////// void get_K(){ double temp[2][2]={ {sigma[0][0][0]+sigmaGPS[0][0],sigma[0][0][1]+sigmaGPS[0][1]}, {sigma[0][1][0]+sigmaGPS[1][0],sigma[0][1][1]+sigmaGPS[1][1]} }; double ad_bc = temp[0][0]*temp[1][1]-temp[1][0]*temp[0][1]; K[1][0][0] = sigma[0][0][0]*(1/ad_bc)*(temp[1][1]); K[1][1][1] = sigma[0][1][1]*(1/ad_bc)*(temp[0][0]); } void get_x(){ x[1][0] = x[0][0]+K[1][0][0]*(y[0]-x[0][0]); x[1][1] = x[0][1]+K[1][1][1]*(y[1]-x[0][1]); } void get_sigma(){ double temp[2][2] = {0}; for(int i=0;i<2;i++) { for(int j=0;j<2;j++) { for(int k=0;k<2;k++) { temp[i][j]+=K[1][i][k]*sigma[0][k][j]; } } } for(int i = 0;i < 2;i++){ for(int j = 0;j < 2;j++){ sigma[1][i][j] = sigma[0][i][j]-temp[i][j]; } } } void Kalman(double Latitude,double Longitude,Adafruit_GPS *myGPS){ y[0] = Latitude; y[1] = Longitude; //K[t+1] = sigma[t]*Inverse[sigma[t]+sigmaGPS]; get_K(); //x[t+1] = x[t]+K[t+1]*(y[t*1]-x[t]); get_x(); //sigma[t+1] = sigma[t]-K[t+1]*sigma[t]; get_sigma(); //kousinn for(int i = 0;i < 2;i++){ for(int j = 0;j < 2;j++){ K[0][i][j]=K[1][i][j]; x[0][i]=x[1][i]; sigma[0][i][j]=sigma[1][i][j]; } } if(sigma[0][0][0] < SIGMA_MIN)sigma[0][0][0]=SIGMA_MIN; if(sigma[0][1][1] < SIGMA_MIN)sigma[0][1][1]=SIGMA_MIN; myGPS->latitudeKH=myGPS->latitudeH;//latitude after filtering myGPS->longitudeKH=myGPS->longitudeH;//longitude after filtering myGPS->latitudeKL=(long)x[1][0];//latitude after filtering myGPS->longitudeKL=(long)x[1][1];//longitude after filtering agz.set_agzCov(sigma[0][0][0],sigma[0][1][1]); } ///////////////////////////////////////// // //Main Processing // ///////////////////////////////////////// int main() { //start up time wait(3); //set pc frequency to 57600bps pc.baud(PC_BAUD_RATE); //set xbee frequency to 57600bps xbee.begin(XBEE_BAUD_RATE); //GPS setting gps_Serial = new Serial(p28,p27); Adafruit_GPS myGPS(gps_Serial); Timer refresh_Timer; const int refresh_Time = 1000; //refresh time in ms myGPS.begin(GPS_BAUD_RATE); char SenderIDc; //GPS Send Command myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY); myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ); myGPS.sendCommand(PGCMD_ANTENNA); wait(2); //interrupt start refresh_Timer.start(); printf("start\n"); while (true) { //Check Xbee Buffer Available xbee.readPacket(); if (xbee.getResponse().isAvailable()) { xbee.getResponse().getZBRxResponse(zbRx); uint8_t *buf = zbRx.getFrameData(); if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) { xbee.getResponse().getZBRxResponse(zbRx); uint8_t *buf = zbRx.getFrameData();//フレームデータを格納する uint8_t *buf1 = &buf[11];//データの部分のみを格納する SenderIDc = buf1[5];//送信元のIDを取得する char Command_type =agz.checkCommnadType(buf);//コマンドタイプを取得する //Check Command Type switch(Command_type){ //Get Request command case STATUS_REQUEST:{ Send_Status(SenderIDc); break; } default:{ break; } }//endswitch }//endifZB_RX_RESPONSE }//endifisAvailable myGPS.read(); //recive gps module //check if we recieved a new message from GPS, if so, attempt to parse it, if ( myGPS.newNMEAreceived() ) { if ( !myGPS.parse(myGPS.lastNMEA()) ) { continue; } } if (refresh_Timer.read_ms() >= refresh_Time) { refresh_Timer.reset(); Get_GPS(&myGPS); } } }