aigamozu / Mbed 2 deprecated Aigamozu_Base_ver3_2

2015/06/09

Dependencies:   ADXL345 AigamozuControlPackets HMC5843 ITG3200 MBed_Adafruit-GPS-Library XBee agzIDLIST agz_common mbed

Fork of Aigamozu_Base_ver3_1 by aigamozu

main.cpp@1:ee2713435312, 2015-05-12 (annotated)

Committer:
kityann
Date:
Tue May 12 11:36:34 2015 +0000
Revision:
1:ee2713435312
Parent:
0:eee5e3d906ce
Child:
2:d97700414618
2015/05/12

Who changed what in which revision?

UserRevisionLine numberNew 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 0:eee5e3d906ce 16 //
kityann 0:eee5e3d906ce 17 //
kityann 0:eee5e3d906ce 18 /**********************************************/
kityann 0:eee5e3d906ce 19
kityann 0:eee5e3d906ce 20 #include "mbed.h"
kityann 0:eee5e3d906ce 21 #include "XBee.h"
kityann 0:eee5e3d906ce 22 #include "MBed_Adafruit_GPS.h"
kityann 0:eee5e3d906ce 23 #include "AigamozuControlPackets.h"
kityann 0:eee5e3d906ce 24 #include "agzIDLIST.h"
kityann 0:eee5e3d906ce 25 #include "aigamozuSetting.h"
kityann 0:eee5e3d906ce 26 #include "agz_common.h"
kityann 0:eee5e3d906ce 27 #include "Kalman.h"
kityann 0:eee5e3d906ce 28
kityann 0:eee5e3d906ce 29 //************ID Number*****************
kityann 0:eee5e3d906ce 30 const char MyID = 'D';
kityann 0:eee5e3d906ce 31 //************ID Number*****************
kityann 0:eee5e3d906ce 32
kityann 0:eee5e3d906ce 33 /////////////////////////////////////////
kityann 0:eee5e3d906ce 34 //
kityann 0:eee5e3d906ce 35 //Pin Setting
kityann 0:eee5e3d906ce 36 //
kityann 0:eee5e3d906ce 37 /////////////////////////////////////////
kityann 0:eee5e3d906ce 38 VNH5019 agz_motorShield(p21,p22,p23,p24,p25,p26);
kityann 0:eee5e3d906ce 39
kityann 0:eee5e3d906ce 40
kityann 0:eee5e3d906ce 41 /////////////////////////////////////////
kityann 0:eee5e3d906ce 42 //
kityann 0:eee5e3d906ce 43 //Connection Setting
kityann 0:eee5e3d906ce 44 //
kityann 0:eee5e3d906ce 45 /////////////////////////////////////////
kityann 0:eee5e3d906ce 46
kityann 0:eee5e3d906ce 47 //Serial Connect Setting: PC <--> mbed
kityann 0:eee5e3d906ce 48 Serial pc(USBTX, USBRX);
kityann 0:eee5e3d906ce 49
kityann 0:eee5e3d906ce 50 //Serial Connect Setting: GPS <--> mbed
kityann 0:eee5e3d906ce 51 Serial * gps_Serial;
kityann 0:eee5e3d906ce 52
kityann 0:eee5e3d906ce 53 //Serial Connect Setting: XBEE <--> mbed
kityann 0:eee5e3d906ce 54 XBee xbee(p13,p14);
kityann 0:eee5e3d906ce 55 ZBRxResponse zbRx = ZBRxResponse();
kityann 0:eee5e3d906ce 56
kityann 0:eee5e3d906ce 57 //set up GPS module
kityann 0:eee5e3d906ce 58
kityann 0:eee5e3d906ce 59 //set up AigamozuControlPackets library
kityann 0:eee5e3d906ce 60 AigamozuControlPackets agz(agz_motorShield);
kityann 0:eee5e3d906ce 61
kityann 0:eee5e3d906ce 62
kityann 0:eee5e3d906ce 63 /////////////////////////////////////////
kityann 0:eee5e3d906ce 64 //
kityann 0:eee5e3d906ce 65 //For Kalman data
kityann 0:eee5e3d906ce 66 //
kityann 0:eee5e3d906ce 67 /////////////////////////////////////////
kityann 0:eee5e3d906ce 68 double sigmaGPS[2][2] = {{250,0},{0,250}};
kityann 0:eee5e3d906ce 69 double K[2][2][2]= {{{1,0},{0,1}},{{1,0},{0,1}}};
kityann 0:eee5e3d906ce 70 double sigma[2][2][2]= {{{250,0},{0,250}},{{250,0},{0,250}}};
kityann 0:eee5e3d906ce 71 double y[2],x[2][2]={0};
kityann 0:eee5e3d906ce 72 void Kalman(double Latitude,double Longitude,Adafruit_GPS *myGPS);
kityann 0:eee5e3d906ce 73
kityann 0:eee5e3d906ce 74 /////////////////////////////////////////
kityann 0:eee5e3d906ce 75 //
kityann 0:eee5e3d906ce 76 //Address List
kityann 0:eee5e3d906ce 77 //
kityann 0:eee5e3d906ce 78 /////////////////////////////////////////
kityann 0:eee5e3d906ce 79 XBeeAddress64 base_Address[BaseNumber] = {XBeeAddress64(BASE1_32H,BASE1_32L), XBeeAddress64(BASE2_32H,BASE2_32L),
kityann 0:eee5e3d906ce 80 XBeeAddress64(BASE3_32H,BASE3_32L), XBeeAddress64(BASE4_32H,BASE4_32L),
kityann 0:eee5e3d906ce 81 XBeeAddress64(BASE5_32H,BASE5_32L)};
kityann 0:eee5e3d906ce 82 XBeeAddress64 robot_Address[RobotNumber] = {XBeeAddress64(ROBOT1_32H,ROBOT1_32L), XBeeAddress64(ROBOT1_32H,ROBOT1_32L)};
kityann 0:eee5e3d906ce 83 XBeeAddress64 manager_Address = XBeeAddress64(BASE1_32H,BASE1_32L);
kityann 0:eee5e3d906ce 84
kityann 0:eee5e3d906ce 85
kityann 0:eee5e3d906ce 86 /////////////////////////////////////////
kityann 0:eee5e3d906ce 87 //
kityann 0:eee5e3d906ce 88 //Send_Status
kityann 0:eee5e3d906ce 89 //
kityann 0:eee5e3d906ce 90 //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 91 /////////////////////////////////////////
kityann 0:eee5e3d906ce 92 void Send_Status(char SenderIDc){
kityann 0:eee5e3d906ce 93 XBeeAddress64 send_Address;
kityann 0:eee5e3d906ce 94 if(SenderIDc == '0'){
kityann 0:eee5e3d906ce 95 send_Address = manager_Address;
kityann 0:eee5e3d906ce 96 }
kityann 0:eee5e3d906ce 97 if(SenderIDc >= 'A' && SenderIDc <= 'Z'){
kityann 0:eee5e3d906ce 98 send_Address = robot_Address[SenderIDc - 'A'];
kityann 0:eee5e3d906ce 99 }
kityann 0:eee5e3d906ce 100 if(SenderIDc >= 'a' && SenderIDc <= 'z'){
kityann 0:eee5e3d906ce 101 send_Address = base_Address[SenderIDc - 'a'];
kityann 0:eee5e3d906ce 102 }
kityann 0:eee5e3d906ce 103 //send normal data
kityann 0:eee5e3d906ce 104 //Create GPS Infomation Packet
kityann 1:ee2713435312 105 agz.createReceiveStatusCommand(MyID,SenderIDc,
kityann 1:ee2713435312 106 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
kityann 0:eee5e3d906ce 107 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
kityann 0:eee5e3d906ce 108 agz.get_agzCov_lati(),agz.get_agzCov_longi());
kityann 1:ee2713435312 109
kityann 1:ee2713435312 110 //debug***************************************************
kityann 1:ee2713435312 111 printf("latitude:%f,longitude:%f\nlatitudeK:%f,longitudeK:%f\nCovlat:%f,Covlongi:%f\n",
kityann 1:ee2713435312 112 agz.get_agzPoint_lati(),agz.get_agzPoint_longi(),
kityann 1:ee2713435312 113 agz.get_agzPointKalman_lati(),agz.get_agzPointKalman_longi(),
kityann 1:ee2713435312 114 agz.get_agzCov_lati(),agz.get_agzCov_longi()
kityann 1:ee2713435312 115 );
kityann 1:ee2713435312 116 for(int i = 0; i < RECEIVE_STATUS_COMMNAD_LENGTH; ++i) printf("%d ",agz.packetData[i]);
kityann 1:ee2713435312 117 printf("\n");
kityann 1:ee2713435312 118 //debug end***************************************************
kityann 1:ee2713435312 119
kityann 0:eee5e3d906ce 120 //Select Destination
kityann 0:eee5e3d906ce 121 ZBTxRequest tx64request(send_Address,agz.packetData,agz.getPacketLength());
kityann 0:eee5e3d906ce 122 //Send -> Base
kityann 0:eee5e3d906ce 123 xbee.send(tx64request);
kityann 0:eee5e3d906ce 124 }
kityann 0:eee5e3d906ce 125
kityann 0:eee5e3d906ce 126 /////////////////////////////////////////
kityann 0:eee5e3d906ce 127 //
kityann 0:eee5e3d906ce 128 //Get GPS function
kityann 0:eee5e3d906ce 129 //
kityann 0:eee5e3d906ce 130 /////////////////////////////////////////
kityann 0:eee5e3d906ce 131
kityann 0:eee5e3d906ce 132 void Get_GPS(Adafruit_GPS *myGPS){
kityann 0:eee5e3d906ce 133 static bool flag = true;
kityann 0:eee5e3d906ce 134
kityann 0:eee5e3d906ce 135 if (myGPS->fix) {
kityann 0:eee5e3d906ce 136 agz.nowStatus = GPS_AVAIL;
kityann 0:eee5e3d906ce 137
kityann 0:eee5e3d906ce 138 if(flag){//初期値設定
kityann 1:ee2713435312 139 if(myGPS->latitudeH>=36 && myGPS->latitudeH<=38 && myGPS->longitudeH>=138 && myGPS->longitudeH<=141){
kityann 0:eee5e3d906ce 140 flag = false;
kityann 0:eee5e3d906ce 141 x[0][0]=(double)myGPS->latitudeL;
kityann 0:eee5e3d906ce 142 x[0][1]=(double)myGPS->longitudeL;
kityann 0:eee5e3d906ce 143 }
kityann 0:eee5e3d906ce 144 }
kityann 0:eee5e3d906ce 145
kityann 0:eee5e3d906ce 146 if(myGPS->longitudeH<138 || myGPS->longitudeH>141 || myGPS->latitudeH<36 || myGPS->latitudeH>38){
kityann 0:eee5e3d906ce 147 return;
kityann 0:eee5e3d906ce 148 }
kityann 0:eee5e3d906ce 149 //Kalman Filter
kityann 0:eee5e3d906ce 150 Kalman(myGPS->latitudeL,myGPS->longitudeL,myGPS);
kityann 0:eee5e3d906ce 151
kityann 1:ee2713435312 152 agz.reNewRobotPoint(myGPS->latitudeH,myGPS->latitudeL,myGPS->longitudeH,myGPS->longitudeL);
kityann 1:ee2713435312 153 agz.reNewRobotPointKalman(myGPS->latitudeKH,myGPS->latitudeKL,myGPS->longitudeKH,myGPS->longitudeKL);
kityann 0:eee5e3d906ce 154 }
kityann 0:eee5e3d906ce 155 else agz.nowStatus = GPS_UNAVAIL;
kityann 0:eee5e3d906ce 156
kityann 0:eee5e3d906ce 157 }
kityann 0:eee5e3d906ce 158
kityann 0:eee5e3d906ce 159
kityann 0:eee5e3d906ce 160 /////////////////////////////////////////
kityann 0:eee5e3d906ce 161 //
kityann 0:eee5e3d906ce 162 //Kalman Processing
kityann 0:eee5e3d906ce 163 //
kityann 0:eee5e3d906ce 164 /////////////////////////////////////////
kityann 0:eee5e3d906ce 165
kityann 0:eee5e3d906ce 166 void get_K(){
kityann 0:eee5e3d906ce 167 double temp[2][2]={
kityann 0:eee5e3d906ce 168 {sigma[0][0][0]+sigmaGPS[0][0],sigma[0][0][1]+sigmaGPS[0][1]},
kityann 0:eee5e3d906ce 169 {sigma[0][1][0]+sigmaGPS[1][0],sigma[0][1][1]+sigmaGPS[1][1]}
kityann 0:eee5e3d906ce 170 };
kityann 0:eee5e3d906ce 171 double ad_bc = temp[0][0]*temp[1][1]-temp[1][0]*temp[0][1];
kityann 0:eee5e3d906ce 172 K[1][0][0] = sigma[0][0][0]*(1/ad_bc)*(temp[1][1]);
kityann 0:eee5e3d906ce 173 K[1][1][1] = sigma[0][1][1]*(1/ad_bc)*(temp[0][0]);
kityann 0:eee5e3d906ce 174 }
kityann 0:eee5e3d906ce 175
kityann 0:eee5e3d906ce 176
kityann 0:eee5e3d906ce 177 void get_x(){
kityann 0:eee5e3d906ce 178 x[1][0] = x[0][0]+K[1][0][0]*(y[0]-x[0][0]);
kityann 0:eee5e3d906ce 179 x[1][1] = x[0][1]+K[1][1][1]*(y[1]-x[0][1]);
kityann 0:eee5e3d906ce 180 }
kityann 0:eee5e3d906ce 181
kityann 0:eee5e3d906ce 182
kityann 0:eee5e3d906ce 183 void get_sigma(){
kityann 0:eee5e3d906ce 184 double temp[2][2];
kityann 0:eee5e3d906ce 185 for(int i=0;i<2;i++) {
kityann 0:eee5e3d906ce 186 for(int j=0;j<2;j++) {
kityann 0:eee5e3d906ce 187 for(int k=0;k<2;k++) {
kityann 0:eee5e3d906ce 188 temp[i][j]+=K[1][i][k]*sigma[0][k][j];
kityann 0:eee5e3d906ce 189 }
kityann 0:eee5e3d906ce 190 }
kityann 0:eee5e3d906ce 191 }
kityann 0:eee5e3d906ce 192 for(int i = 0;i < 2;i++){
kityann 0:eee5e3d906ce 193 for(int j = 0;j < 2;j++){
kityann 0:eee5e3d906ce 194 sigma[1][i][j] = sigma[0][i][j]-temp[i][j];
kityann 0:eee5e3d906ce 195 }
kityann 0:eee5e3d906ce 196 }
kityann 0:eee5e3d906ce 197 }
kityann 0:eee5e3d906ce 198
kityann 0:eee5e3d906ce 199 void Kalman(double Latitude,double Longitude,Adafruit_GPS *myGPS){
kityann 0:eee5e3d906ce 200 y[0] = Latitude;
kityann 0:eee5e3d906ce 201 y[1] = Longitude;
kityann 0:eee5e3d906ce 202 //K[t+1] = sigma[t]*Inverse[sigma[t]+sigmaGPS];
kityann 0:eee5e3d906ce 203 get_K();
kityann 0:eee5e3d906ce 204 //x[t+1] = x[t]+K[t+1]*(y[t*1]-x[t]);
kityann 0:eee5e3d906ce 205 get_x();
kityann 0:eee5e3d906ce 206 //sigma[t+1] = sigma[t]-K[t+1]*sigma[t];
kityann 0:eee5e3d906ce 207 get_sigma();
kityann 0:eee5e3d906ce 208
kityann 0:eee5e3d906ce 209
kityann 0:eee5e3d906ce 210 //kousinn
kityann 0:eee5e3d906ce 211 for(int i = 0;i < 2;i++){
kityann 0:eee5e3d906ce 212 for(int j = 0;j < 2;j++){
kityann 0:eee5e3d906ce 213 K[0][i][j]=K[1][i][j];
kityann 0:eee5e3d906ce 214 x[0][i]=x[1][i];
kityann 0:eee5e3d906ce 215 sigma[0][i][j]=sigma[1][i][j];
kityann 0:eee5e3d906ce 216 }
kityann 0:eee5e3d906ce 217 }
kityann 0:eee5e3d906ce 218
kityann 0:eee5e3d906ce 219 myGPS->latitudeKH=myGPS->latitudeH;//latitude after filtering
kityann 0:eee5e3d906ce 220 myGPS->longitudeKH=myGPS->longitudeH;//longitude after filtering
kityann 0:eee5e3d906ce 221 myGPS->latitudeKL=(long)x[1][0];//latitude after filtering
kityann 0:eee5e3d906ce 222 myGPS->longitudeKL=(long)x[1][1];//longitude after filtering
kityann 0:eee5e3d906ce 223
kityann 0:eee5e3d906ce 224 agz.set_agzCov(sigma[0][0][0],sigma[0][1][1]);
kityann 0:eee5e3d906ce 225 }
kityann 0:eee5e3d906ce 226
kityann 0:eee5e3d906ce 227
kityann 0:eee5e3d906ce 228 /////////////////////////////////////////
kityann 0:eee5e3d906ce 229 //
kityann 0:eee5e3d906ce 230 //Main Processing
kityann 0:eee5e3d906ce 231 //
kityann 0:eee5e3d906ce 232 /////////////////////////////////////////
kityann 0:eee5e3d906ce 233 int main() {
kityann 0:eee5e3d906ce 234 //start up time
kityann 0:eee5e3d906ce 235 wait(3);
kityann 0:eee5e3d906ce 236 //set pc frequency to 57600bps
kityann 0:eee5e3d906ce 237 pc.baud(PC_BAUD_RATE);
kityann 0:eee5e3d906ce 238 //set xbee frequency to 57600bps
kityann 0:eee5e3d906ce 239 xbee.begin(XBEE_BAUD_RATE);
kityann 0:eee5e3d906ce 240
kityann 0:eee5e3d906ce 241
kityann 0:eee5e3d906ce 242 //GPS setting
kityann 0:eee5e3d906ce 243 gps_Serial = new Serial(p28,p27);
kityann 0:eee5e3d906ce 244 Adafruit_GPS myGPS(gps_Serial);
kityann 0:eee5e3d906ce 245 Timer refresh_Timer;
kityann 0:eee5e3d906ce 246 const int refresh_Time = 2000; //refresh time in ms
kityann 0:eee5e3d906ce 247 myGPS.begin(GPS_BAUD_RATE);
kityann 0:eee5e3d906ce 248
kityann 0:eee5e3d906ce 249 char SenderIDc;
kityann 0:eee5e3d906ce 250 //GPS Send Command
kityann 0:eee5e3d906ce 251 myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCONLY);
kityann 0:eee5e3d906ce 252 myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
kityann 0:eee5e3d906ce 253 myGPS.sendCommand(PGCMD_ANTENNA);
kityann 0:eee5e3d906ce 254
kityann 0:eee5e3d906ce 255 wait(2);
kityann 0:eee5e3d906ce 256
kityann 0:eee5e3d906ce 257 //interrupt start
kityann 0:eee5e3d906ce 258 refresh_Timer.start();
kityann 0:eee5e3d906ce 259
kityann 0:eee5e3d906ce 260 printf("start\n");
kityann 0:eee5e3d906ce 261
kityann 0:eee5e3d906ce 262 while (true) {
kityann 0:eee5e3d906ce 263
kityann 0:eee5e3d906ce 264 //Check Xbee Buffer Available
kityann 0:eee5e3d906ce 265 xbee.readPacket();
kityann 0:eee5e3d906ce 266
kityann 0:eee5e3d906ce 267 if (xbee.getResponse().isAvailable()) {
kityann 0:eee5e3d906ce 268 xbee.getResponse().getZBRxResponse(zbRx);
kityann 0:eee5e3d906ce 269 uint8_t *buf = zbRx.getFrameData();
kityann 0:eee5e3d906ce 270
kityann 0:eee5e3d906ce 271 if (xbee.getResponse().getApiId() == ZB_RX_RESPONSE) {
kityann 0:eee5e3d906ce 272 xbee.getResponse().getZBRxResponse(zbRx);
kityann 0:eee5e3d906ce 273 uint8_t *buf = zbRx.getFrameData();//フレームデータを格納する
kityann 0:eee5e3d906ce 274 uint8_t *buf1 = &buf[11];//データの部分のみを格納する
kityann 0:eee5e3d906ce 275 SenderIDc = buf1[5];//送信元のIDを取得する
kityann 0:eee5e3d906ce 276 char Command_type =agz.checkCommnadType(buf);//コマンドタイプを取得する
kityann 0:eee5e3d906ce 277
kityann 0:eee5e3d906ce 278 //Check Command Type
kityann 0:eee5e3d906ce 279 switch(Command_type){
kityann 0:eee5e3d906ce 280 //Get Request command
kityann 0:eee5e3d906ce 281 case STATUS_REQUEST:{
kityann 1:ee2713435312 282 Send_Status(SenderIDc);
kityann 0:eee5e3d906ce 283 break;
kityann 0:eee5e3d906ce 284 }
kityann 0:eee5e3d906ce 285 default:{
kityann 0:eee5e3d906ce 286 break;
kityann 0:eee5e3d906ce 287 }
kityann 0:eee5e3d906ce 288 }//endswitch
kityann 0:eee5e3d906ce 289 }//endifZB_RX_RESPONSE
kityann 0:eee5e3d906ce 290 }//endifisAvailable
kityann 0:eee5e3d906ce 291
kityann 0:eee5e3d906ce 292 myGPS.read();
kityann 0:eee5e3d906ce 293 //recive gps module
kityann 0:eee5e3d906ce 294 //check if we recieved a new message from GPS, if so, attempt to parse it,
kityann 0:eee5e3d906ce 295 if ( myGPS.newNMEAreceived() ) {
kityann 0:eee5e3d906ce 296 if ( !myGPS.parse(myGPS.lastNMEA()) ) {
kityann 0:eee5e3d906ce 297 continue;
kityann 0:eee5e3d906ce 298 }
kityann 0:eee5e3d906ce 299 }
kityann 0:eee5e3d906ce 300
kityann 0:eee5e3d906ce 301
kityann 0:eee5e3d906ce 302 if (refresh_Timer.read_ms() >= refresh_Time) {
kityann 0:eee5e3d906ce 303 refresh_Timer.reset();
kityann 0:eee5e3d906ce 304 Get_GPS(&myGPS);
kityann 1:ee2713435312 305
kityann 0:eee5e3d906ce 306 }
kityann 0:eee5e3d906ce 307 }
kityann 0:eee5e3d906ce 308 }