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change kalman
Dependencies: ADXL345 AigamozuControlPackets HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST agz_common mbed
Fork of Aigamozu_Base_ver3 by
main.cpp@14:3aa6d735a2fa, 2015-05-25 (annotated)
- Committer:
- s1200058
- Date:
- Mon May 25 11:38:09 2015 +0000
- Revision:
- 14:3aa6d735a2fa
- Parent:
- 13:82f4f00f11f6
- Child:
- 15:35e3917fcbf5
change kalman
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
kityann | 0:eee5e3d906ce | 1 | /**********************************************/ |
kityann | 0:eee5e3d906ce | 2 | // |
kityann | 0:eee5e3d906ce | 3 | // |
kityann | 0:eee5e3d906ce | 4 | // |
kityann | 0:eee5e3d906ce | 5 | // Program name: Aigamozu BASE |
kityann | 0:eee5e3d906ce | 6 | // Author: Mineta Kizuku |
kityann | 0:eee5e3d906ce | 7 | // |
kityann | 0:eee5e3d906ce | 8 | // |
kityann | 0:eee5e3d906ce | 9 | /**********************************************/ |
kityann | 0:eee5e3d906ce | 10 | |
kityann | 0:eee5e3d906ce | 11 | /**********************************************/ |
kityann | 0:eee5e3d906ce | 12 | //更新情報 |
kityann | 0:eee5e3d906ce | 13 | //2015/05/11 |
kityann | 0:eee5e3d906ce | 14 | //ベースプログラムの作成 |
kityann | 0:eee5e3d906ce | 15 | // |
kityann | 2:d97700414618 | 16 | //2015/05/13 |
kityann | 2:d97700414618 | 17 | //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 |
kityann | 2:d97700414618 | 18 | //共分散の値を10進数に変換するようにした |
s1200058 | 12:83be8a3c212d | 19 | // |
s1200058 | 12:83be8a3c212d | 20 | //2015/05/17 |
s1200058 | 12:83be8a3c212d | 21 | //Get_GPS()の中身longitudeの範囲138〜140に変更 |
s1200058 | 12:83be8a3c212d | 22 | // |
s1200058 | 13:82f4f00f11f6 | 23 | //2015/05/24 |
s1200058 | 13:82f4f00f11f6 | 24 | //Kalmanフィルターを十進数で計算するようにした。 |
s1200058 | 13:82f4f00f11f6 | 25 | //Kalmanフィルターの計算式を変更した。 |
s1200058 | 13:82f4f00f11f6 | 26 | //set_kalmanを追加した。 |
kityann | 0:eee5e3d906ce | 27 | /**********************************************/ |
kityann | 0:eee5e3d906ce | 28 | |
kityann | 0:eee5e3d906ce | 29 | #include "mbed.h" |
kityann | 0:eee5e3d906ce | 30 | #include "XBee.h" |
kityann | 0:eee5e3d906ce | 31 | #include "MBed_Adafruit_GPS.h" |
kityann | 0:eee5e3d906ce | 32 | #include "AigamozuControlPackets.h" |
kityann | 0:eee5e3d906ce | 33 | #include "agzIDLIST.h" |
kityann | 0:eee5e3d906ce | 34 | #include "aigamozuSetting.h" |
kityann | 0:eee5e3d906ce | 35 | #include "agz_common.h" |
kityann | 0:eee5e3d906ce | 36 | #include "Kalman.h" |
kityann | 0:eee5e3d906ce | 37 | |
kityann | 2:d97700414618 | 38 | |
kityann | 2:d97700414618 | 39 | #define SIGMA_MIN 0.0001 |
kityann | 2:d97700414618 | 40 | |
kityann | 0:eee5e3d906ce | 41 | //************ID Number***************** |
s1200058 | 14:3aa6d735a2fa | 42 | const char MyID = 'd'; |
kityann | 0:eee5e3d906ce | 43 | //************ID Number***************** |
kityann | 0:eee5e3d906ce | 44 | |
kityann | 0:eee5e3d906ce | 45 | ///////////////////////////////////////// |
kityann | 0:eee5e3d906ce | 46 | // |
kityann | 0:eee5e3d906ce | 47 | //Pin Setting |
kityann | 0:eee5e3d906ce | 48 | // |
kityann | 0:eee5e3d906ce | 49 | ///////////////////////////////////////// |
kityann | 0:eee5e3d906ce | 50 | VNH5019 agz_motorShield(p21,p22,p23,p24,p25,p26); |
kityann | 0:eee5e3d906ce | 51 | |
kityann | 0:eee5e3d906ce | 52 | |
kityann | 0:eee5e3d906ce | 53 | ///////////////////////////////////////// |
kityann | 0:eee5e3d906ce | 54 | // |
kityann | 0:eee5e3d906ce | 55 | //Connection Setting |
kityann | 0:eee5e3d906ce | 56 | // |
kityann | 0:eee5e3d906ce | 57 | ///////////////////////////////////////// |
kityann | 0:eee5e3d906ce | 58 | |
kityann | 0:eee5e3d906ce | 59 | //Serial Connect Setting: PC <--> mbed |
kityann | 0:eee5e3d906ce | 60 | Serial pc(USBTX, USBRX); |
kityann | 0:eee5e3d906ce | 61 | |
kityann | 0:eee5e3d906ce | 62 | //Serial Connect Setting: GPS <--> mbed |
kityann | 0:eee5e3d906ce | 63 | Serial * gps_Serial; |
kityann | 0:eee5e3d906ce | 64 | |
kityann | 0:eee5e3d906ce | 65 | //Serial Connect Setting: XBEE <--> mbed |
kityann | 0:eee5e3d906ce | 66 | XBee xbee(p13,p14); |
kityann | 0:eee5e3d906ce | 67 | ZBRxResponse zbRx = ZBRxResponse(); |
kityann | 0:eee5e3d906ce | 68 | |
kityann | 0:eee5e3d906ce | 69 | //set up GPS module |
kityann | 0:eee5e3d906ce | 70 | |
kityann | 0:eee5e3d906ce | 71 | //set up AigamozuControlPackets library |
kityann | 0:eee5e3d906ce | 72 | AigamozuControlPackets agz(agz_motorShield); |
kityann | 0:eee5e3d906ce | 73 | |
kityann | 0:eee5e3d906ce | 74 | |
kityann | 0:eee5e3d906ce | 75 | ///////////////////////////////////////// |
kityann | 0:eee5e3d906ce | 76 | // |
kityann | 0:eee5e3d906ce | 77 | //For Kalman data |
kityann | 0:eee5e3d906ce | 78 | // |
kityann | 0:eee5e3d906ce | 79 | ///////////////////////////////////////// |
s1200058 | 13:82f4f00f11f6 | 80 | #define FIRST_S2 0.000001 |
s1200058 | 13:82f4f00f11f6 | 81 | #define COUNTER_MAX 10000 |
s1200058 | 13:82f4f00f11f6 | 82 | double x_cur,x_prev,y_cur,y_prev;//緯度と経度の時刻tと時刻t-1での推定値 |
s1200058 | 13:82f4f00f11f6 | 83 | double s2x_cur=FIRST_S2,s2x_prev=FIRST_S2,s2y_cur=FIRST_S2,s2y_prev=FIRST_S2;//緯度経度のの時刻tと時刻t-1での共分散 |
s1200058 | 13:82f4f00f11f6 | 84 | double s2_R=FIRST_S2;//GPSセンサの分散 |
s1200058 | 13:82f4f00f11f6 | 85 | double Kx=0,Ky=0;//カルマンゲイン |
s1200058 | 13:82f4f00f11f6 | 86 | double zx,zy;//観測値 |
s1200058 | 13:82f4f00f11f6 | 87 | void Kalman(double Latitude,double Longitude); |
s1200058 | 14:3aa6d735a2fa | 88 | int change = 0; |
kityann | 0:eee5e3d906ce | 89 | |
s1200058 | 14:3aa6d735a2fa | 90 | /* |
s1200058 | 14:3aa6d735a2fa | 91 | LocalFileSystem local("local"); // マウントポイントを定義(ディレクトリパスになる) |
s1200058 | 14:3aa6d735a2fa | 92 | FILE *fp; |
s1200058 | 14:3aa6d735a2fa | 93 | char filename[16] = "/local/out0.txt"; |
s1200058 | 14:3aa6d735a2fa | 94 | */ |
kityann | 0:eee5e3d906ce | 95 | ///////////////////////////////////////// |
kityann | 0:eee5e3d906ce | 96 | // |
kityann | 0:eee5e3d906ce | 97 | //Send_Status |
kityann | 0:eee5e3d906ce | 98 | // |
kityann | 0:eee5e3d906ce | 99 | //リクエストがきたとき、自分の位置情報などを返信する |
kityann | 0:eee5e3d906ce | 100 | ///////////////////////////////////////// |
kityann | 0:eee5e3d906ce | 101 | void Send_Status(char SenderIDc){ |
kityann | 0:eee5e3d906ce | 102 | XBeeAddress64 send_Address; |
kityann | 0:eee5e3d906ce | 103 | if(SenderIDc == '0'){ |
kityann | 0:eee5e3d906ce | 104 | send_Address = manager_Address; |
kityann | 0:eee5e3d906ce | 105 | } |
kityann | 0:eee5e3d906ce | 106 | if(SenderIDc >= 'A' && SenderIDc <= 'Z'){ |
kityann | 0:eee5e3d906ce | 107 | send_Address = robot_Address[SenderIDc - 'A']; |
kityann | 0:eee5e3d906ce | 108 | } |
kityann | 0:eee5e3d906ce | 109 | if(SenderIDc >= 'a' && SenderIDc <= 'z'){ |
kityann | 0:eee5e3d906ce | 110 | send_Address = base_Address[SenderIDc - 'a']; |
kityann | 0:eee5e3d906ce | 111 | } |
kityann | 0:eee5e3d906ce | 112 | //send normal data |
kityann | 0:eee5e3d906ce | 113 | //Create GPS Infomation Packet |
kityann | 1:ee2713435312 | 114 | agz.createReceiveStatusCommand(MyID,SenderIDc, |
kityann | 1:ee2713435312 | 115 | agz.get_agzPoint_lati(),agz.get_agzPoint_longi(), |
kityann | 0:eee5e3d906ce | 116 | agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(), |
kityann | 0:eee5e3d906ce | 117 | agz.get_agzCov_lati(),agz.get_agzCov_longi()); |
kityann | 1:ee2713435312 | 118 | |
s1200058 | 13:82f4f00f11f6 | 119 | /* //debug*************************************************** |
kityann | 1:ee2713435312 | 120 | printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\nCovlat:%f,Covlongi:%f\n", |
kityann | 1:ee2713435312 | 121 | agz.get_agzPoint_lati(),agz.get_agzPoint_longi(), |
kityann | 1:ee2713435312 | 122 | agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(), |
kityann | 1:ee2713435312 | 123 | agz.get_agzCov_lati(),agz.get_agzCov_longi() |
kityann | 1:ee2713435312 | 124 | ); |
kityann | 1:ee2713435312 | 125 | for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) printf("%d ",agz.packetData[i]); |
kityann | 1:ee2713435312 | 126 | printf("\n"); |
kityann | 1:ee2713435312 | 127 | //debug end*************************************************** |
s1200058 | 13:82f4f00f11f6 | 128 | */ |
kityann | 0:eee5e3d906ce | 129 | //Select Destination |
kityann | 0:eee5e3d906ce | 130 | ZBTxRequest tx64request(send_Address,agz.packetData,agz.getPacketLength()); |
kityann | 0:eee5e3d906ce | 131 | //Send -> Base |
kityann | 0:eee5e3d906ce | 132 | xbee.send(tx64request); |
kityann | 0:eee5e3d906ce | 133 | } |
kityann | 0:eee5e3d906ce | 134 | |
kityann | 0:eee5e3d906ce | 135 | ///////////////////////////////////////// |
kityann | 0:eee5e3d906ce | 136 | // |
kityann | 0:eee5e3d906ce | 137 | //Get GPS function |
kityann | 0:eee5e3d906ce | 138 | // |
kityann | 0:eee5e3d906ce | 139 | ///////////////////////////////////////// |
kityann | 0:eee5e3d906ce | 140 | |
kityann | 0:eee5e3d906ce | 141 | void Get_GPS(Adafruit_GPS *myGPS){ |
s1200058 | 14:3aa6d735a2fa | 142 | static int flag = 0; |
s1200058 | 14:3aa6d735a2fa | 143 | // static int save_counter = 0; |
kityann | 0:eee5e3d906ce | 144 | |
kityann | 0:eee5e3d906ce | 145 | if (myGPS->fix) { |
kityann | 0:eee5e3d906ce | 146 | agz.nowStatus = GPS_AVAIL; |
s1200058 | 13:82f4f00f11f6 | 147 | agz.reNewRobotPoint(myGPS->latitudeH,myGPS->latitudeL,myGPS->longitudeH,myGPS->longitudeL); |
kityann | 0:eee5e3d906ce | 148 | |
s1200058 | 13:82f4f00f11f6 | 149 | if(flag < COUNTER_MAX){ |
s1200058 | 13:82f4f00f11f6 | 150 | flag++; |
s1200058 | 13:82f4f00f11f6 | 151 | } |
s1200058 | 13:82f4f00f11f6 | 152 | if(flag == 15){ |
s1200058 | 13:82f4f00f11f6 | 153 | x_prev = agz.get_agzPoint_lati(); |
s1200058 | 13:82f4f00f11f6 | 154 | y_prev = agz.get_agzPoint_longi(); |
kityann | 0:eee5e3d906ce | 155 | } |
s1200058 | 13:82f4f00f11f6 | 156 | |
s1200058 | 13:82f4f00f11f6 | 157 | if(flag >= 16){ |
s1200058 | 14:3aa6d735a2fa | 158 | // if(abs(x_prev - agz.get_agzPoint_lati()) < 0.001 && abs(y_prev - agz.get_agzPoint_longi()) < 0.001){ |
s1200058 | 14:3aa6d735a2fa | 159 | Kalman(agz.get_agzPoint_lati(), agz.get_agzPoint_longi()); |
s1200058 | 14:3aa6d735a2fa | 160 | /* change = 1; |
s1200058 | 14:3aa6d735a2fa | 161 | } |
s1200058 | 14:3aa6d735a2fa | 162 | else{ |
s1200058 | 14:3aa6d735a2fa | 163 | change = 0; |
s1200058 | 14:3aa6d735a2fa | 164 | } |
s1200058 | 14:3aa6d735a2fa | 165 | |
s1200058 | 14:3aa6d735a2fa | 166 | if(save_counter < 10){ |
s1200058 | 14:3aa6d735a2fa | 167 | fp = fopen(filename, "a"); |
s1200058 | 14:3aa6d735a2fa | 168 | fprintf(fp, "%d %.14lf %.14lf %.14lf %.14lf %.14le %.14le \n", |
s1200058 | 14:3aa6d735a2fa | 169 | change, agz.get_agzPoint_lati(),agz.get_agzPoint_longi(), |
s1200058 | 14:3aa6d735a2fa | 170 | agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(), |
s1200058 | 14:3aa6d735a2fa | 171 | agz.get_agzCov_lati(),agz.get_agzCov_longi()); |
s1200058 | 14:3aa6d735a2fa | 172 | fclose(fp); |
s1200058 | 14:3aa6d735a2fa | 173 | |
s1200058 | 14:3aa6d735a2fa | 174 | if((flag - 16) % 500 == 0){ |
s1200058 | 14:3aa6d735a2fa | 175 | filename[10]++; |
s1200058 | 14:3aa6d735a2fa | 176 | save_counter++; |
s1200058 | 14:3aa6d735a2fa | 177 | } |
s1200058 | 14:3aa6d735a2fa | 178 | } |
s1200058 | 14:3aa6d735a2fa | 179 | */ |
s1200058 | 13:82f4f00f11f6 | 180 | } |
s1200058 | 13:82f4f00f11f6 | 181 | |
s1200058 | 13:82f4f00f11f6 | 182 | printf("%.14lf %.14lf %.14lf %.14lf %.14le %.14le \n", |
s1200058 | 13:82f4f00f11f6 | 183 | agz.get_agzPoint_lati(),agz.get_agzPoint_longi(), |
s1200058 | 13:82f4f00f11f6 | 184 | agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(), |
s1200058 | 13:82f4f00f11f6 | 185 | agz.get_agzCov_lati(),agz.get_agzCov_longi()); |
kityann | 0:eee5e3d906ce | 186 | } |
kityann | 0:eee5e3d906ce | 187 | else agz.nowStatus = GPS_UNAVAIL; |
kityann | 0:eee5e3d906ce | 188 | |
kityann | 0:eee5e3d906ce | 189 | } |
kityann | 0:eee5e3d906ce | 190 | |
kityann | 0:eee5e3d906ce | 191 | |
kityann | 0:eee5e3d906ce | 192 | ///////////////////////////////////////// |
kityann | 0:eee5e3d906ce | 193 | // |
kityann | 0:eee5e3d906ce | 194 | //Kalman Processing |
kityann | 0:eee5e3d906ce | 195 | // |
kityann | 0:eee5e3d906ce | 196 | ///////////////////////////////////////// |
s1200058 | 13:82f4f00f11f6 | 197 | void calc_Kalman(){ |
s1200058 | 13:82f4f00f11f6 | 198 | //calc Kalman gain |
s1200058 | 13:82f4f00f11f6 | 199 | Kx = s2x_prev/(s2x_prev+s2_R); |
s1200058 | 13:82f4f00f11f6 | 200 | Ky = s2y_prev/(s2y_prev+s2_R); |
s1200058 | 13:82f4f00f11f6 | 201 | //estimate |
s1200058 | 13:82f4f00f11f6 | 202 | x_cur = x_prev + Kx*(zx-x_prev); |
s1200058 | 13:82f4f00f11f6 | 203 | y_cur = y_prev + Ky*(zy-y_prev); |
s1200058 | 13:82f4f00f11f6 | 204 | //calc sigma |
s1200058 | 13:82f4f00f11f6 | 205 | s2x_cur = s2x_prev-Kx*s2x_prev; |
s1200058 | 13:82f4f00f11f6 | 206 | s2y_cur = s2y_prev-Ky*s2y_prev; |
kityann | 0:eee5e3d906ce | 207 | |
kityann | 0:eee5e3d906ce | 208 | } |
kityann | 0:eee5e3d906ce | 209 | |
s1200058 | 13:82f4f00f11f6 | 210 | void Kalman(double Latitude,double Longitude){ |
kityann | 0:eee5e3d906ce | 211 | |
s1200058 | 13:82f4f00f11f6 | 212 | zx = Latitude; |
s1200058 | 13:82f4f00f11f6 | 213 | zy = Longitude; |
kityann | 0:eee5e3d906ce | 214 | |
s1200058 | 13:82f4f00f11f6 | 215 | calc_Kalman(); |
kityann | 0:eee5e3d906ce | 216 | |
s1200058 | 13:82f4f00f11f6 | 217 | //更新 |
s1200058 | 13:82f4f00f11f6 | 218 | x_prev = x_cur; |
s1200058 | 13:82f4f00f11f6 | 219 | y_prev = y_cur; |
s1200058 | 13:82f4f00f11f6 | 220 | s2x_prev = s2x_cur; |
s1200058 | 13:82f4f00f11f6 | 221 | s2y_prev = s2y_cur; |
kityann | 2:d97700414618 | 222 | |
s1200058 | 13:82f4f00f11f6 | 223 | //agzPontKalmanとagzCovに格納する |
s1200058 | 13:82f4f00f11f6 | 224 | agz.set_agzPointKalman_lati(x_cur); |
s1200058 | 13:82f4f00f11f6 | 225 | agz.set_agzPointKalman_longi(y_cur); |
s1200058 | 13:82f4f00f11f6 | 226 | agz.set_agzCov(s2x_cur,s2y_cur); |
kityann | 0:eee5e3d906ce | 227 | |
kityann | 0:eee5e3d906ce | 228 | } |
kityann | 0:eee5e3d906ce | 229 | |
kityann | 0:eee5e3d906ce | 230 | |
kityann | 0:eee5e3d906ce | 231 | ///////////////////////////////////////// |
kityann | 0:eee5e3d906ce | 232 | // |
kityann | 0:eee5e3d906ce | 233 | //Main Processing |
kityann | 0:eee5e3d906ce | 234 | // |
kityann | 0:eee5e3d906ce | 235 | ///////////////////////////////////////// |
kityann | 0:eee5e3d906ce | 236 | int main() { |
kityann | 0:eee5e3d906ce | 237 | //start up time |
kityann | 0:eee5e3d906ce | 238 | wait(3); |
kityann | 0:eee5e3d906ce | 239 | //set pc frequency to 57600bps |
kityann | 0:eee5e3d906ce | 240 | pc.baud(PC_BAUD_RATE); |
kityann | 0:eee5e3d906ce | 241 | //set xbee frequency to 57600bps |
kityann | 0:eee5e3d906ce | 242 | xbee.begin(XBEE_BAUD_RATE); |
kityann | 0:eee5e3d906ce | 243 | |
kityann | 0:eee5e3d906ce | 244 | |
kityann | 0:eee5e3d906ce | 245 | //GPS setting |
kityann | 0:eee5e3d906ce | 246 | gps_Serial = new Serial(p28,p27); |
kityann | 0:eee5e3d906ce | 247 | Adafruit_GPS myGPS(gps_Serial); |
kityann | 0:eee5e3d906ce | 248 | Timer refresh_Timer; |
s1200058 | 3:60bad3679b4b | 249 | const int refresh_Time = 1000; //refresh time in ms |
kityann | 0:eee5e3d906ce | 250 | myGPS.begin(GPS_BAUD_RATE); |
kityann | 0:eee5e3d906ce | 251 | |
kityann | 0:eee5e3d906ce | 252 | char SenderIDc; |
kityann | 0:eee5e3d906ce | 253 | //GPS Send Command |
kityann | 0:eee5e3d906ce | 254 | myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY); |
kityann | 0:eee5e3d906ce | 255 | myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ); |
kityann | 0:eee5e3d906ce | 256 | myGPS.sendCommand(PGCMD_ANTENNA); |
kityann | 0:eee5e3d906ce | 257 | |
kityann | 0:eee5e3d906ce | 258 | wait(2); |
kityann | 0:eee5e3d906ce | 259 | |
kityann | 0:eee5e3d906ce | 260 | //interrupt start |
kityann | 0:eee5e3d906ce | 261 | refresh_Timer.start(); |
kityann | 0:eee5e3d906ce | 262 | |
kityann | 0:eee5e3d906ce | 263 | printf("start\n"); |
kityann | 0:eee5e3d906ce | 264 | |
kityann | 0:eee5e3d906ce | 265 | while (true) { |
kityann | 0:eee5e3d906ce | 266 | |
kityann | 0:eee5e3d906ce | 267 | //Check Xbee Buffer Available |
kityann | 0:eee5e3d906ce | 268 | xbee.readPacket(); |
kityann | 0:eee5e3d906ce | 269 | |
kityann | 0:eee5e3d906ce | 270 | if (xbee.getResponse().isAvailable()) { |
kityann | 0:eee5e3d906ce | 271 | xbee.getResponse().getZBRxResponse(zbRx); |
kityann | 0:eee5e3d906ce | 272 | uint8_t *buf = zbRx.getFrameData(); |
kityann | 0:eee5e3d906ce | 273 | |
kityann | 0:eee5e3d906ce | 274 | if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) { |
kityann | 0:eee5e3d906ce | 275 | xbee.getResponse().getZBRxResponse(zbRx); |
kityann | 0:eee5e3d906ce | 276 | uint8_t *buf = zbRx.getFrameData();//フレームデータを格納する |
kityann | 0:eee5e3d906ce | 277 | uint8_t *buf1 = &buf[11];//データの部分のみを格納する |
kityann | 0:eee5e3d906ce | 278 | SenderIDc = buf1[5];//送信元のIDを取得する |
kityann | 0:eee5e3d906ce | 279 | char Command_type =agz.checkCommnadType(buf);//コマンドタイプを取得する |
kityann | 0:eee5e3d906ce | 280 | |
kityann | 0:eee5e3d906ce | 281 | //Check Command Type |
kityann | 0:eee5e3d906ce | 282 | switch(Command_type){ |
kityann | 0:eee5e3d906ce | 283 | //Get Request command |
kityann | 0:eee5e3d906ce | 284 | case STATUS_REQUEST:{ |
kityann | 1:ee2713435312 | 285 | Send_Status(SenderIDc); |
kityann | 0:eee5e3d906ce | 286 | break; |
kityann | 0:eee5e3d906ce | 287 | } |
kityann | 0:eee5e3d906ce | 288 | default:{ |
kityann | 0:eee5e3d906ce | 289 | break; |
kityann | 0:eee5e3d906ce | 290 | } |
kityann | 0:eee5e3d906ce | 291 | }//endswitch |
kityann | 0:eee5e3d906ce | 292 | }//endifZB_RX_RESPONSE |
kityann | 0:eee5e3d906ce | 293 | }//endifisAvailable |
kityann | 0:eee5e3d906ce | 294 | |
kityann | 0:eee5e3d906ce | 295 | myGPS.read(); |
kityann | 0:eee5e3d906ce | 296 | //recive gps module |
kityann | 0:eee5e3d906ce | 297 | //check if we recieved a new message from GPS, if so, attempt to parse it, |
kityann | 0:eee5e3d906ce | 298 | if ( myGPS.newNMEAreceived() ) { |
kityann | 0:eee5e3d906ce | 299 | if ( !myGPS.parse(myGPS.lastNMEA()) ) { |
kityann | 0:eee5e3d906ce | 300 | continue; |
kityann | 0:eee5e3d906ce | 301 | } |
kityann | 0:eee5e3d906ce | 302 | } |
kityann | 0:eee5e3d906ce | 303 | |
kityann | 0:eee5e3d906ce | 304 | |
kityann | 0:eee5e3d906ce | 305 | if (refresh_Timer.read_ms() >= refresh_Time) { |
kityann | 0:eee5e3d906ce | 306 | refresh_Timer.reset(); |
kityann | 0:eee5e3d906ce | 307 | Get_GPS(&myGPS); |
kityann | 1:ee2713435312 | 308 | |
kityann | 0:eee5e3d906ce | 309 | } |
kityann | 0:eee5e3d906ce | 310 | } |
kityann | 0:eee5e3d906ce | 311 | } |