Marcus Fisher / Mbed 2 deprecated GPS_Bike_Tracker

Real-time bike tracker using Adafruit Ultimate GPS, Huzzah wifi, and Pubnub

Dependencies:   MBed_Adafruit-GPS-Library mbed

main.cpp@1:0701bf58c9fa, 2017-04-19 (annotated)

Committer:
ECE4180
Date:
Wed Apr 19 01:00:53 2017 +0000
Revision:
1:0701bf58c9fa
Parent:
0:42cb15551bf3
Child:
2:834f8d2ebe3f
GPS String sending to Pubnub and working.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
ECE4180 0:42cb15551bf3 1 #include "mbed.h"
ECE4180 0:42cb15551bf3 2 #include "MBed_Adafruit_GPS.h"
ECE4180 0:42cb15551bf3 3 #include "math.h"
ECE4180 1:0701bf58c9fa 4 #include "PubNub.h"
ECE4180 1:0701bf58c9fa 5
ECE4180 1:0701bf58c9fa 6
ECE4180 1:0701bf58c9fa 7 string pubkey("pub-c-f9091d93-c3a8-41a6-80c2-c6e3f840504f");
ECE4180 1:0701bf58c9fa 8 string subkey("sub-c-f558e36c-130b-11e7-b59a-02ee2ddab7fe");
ECE4180 1:0701bf58c9fa 9 string channel("demo");
ECE4180 1:0701bf58c9fa 10
ECE4180 1:0701bf58c9fa 11 PubNub pnub(pubkey, subkey, channel, p28, p27); // tx, rx
ECE4180 1:0701bf58c9fa 12
ECE4180 1:0701bf58c9fa 13 int DataRX;
ECE4180 1:0701bf58c9fa 14 volatile int tx_in;
ECE4180 1:0701bf58c9fa 15 volatile int tx_out;
ECE4180 1:0701bf58c9fa 16 volatile int rx_in;
ECE4180 1:0701bf58c9fa 17 volatile int rx_out;
ECE4180 1:0701bf58c9fa 18 char tx_buffer[4096];
ECE4180 1:0701bf58c9fa 19 char rx_buffer[4096];
ECE4180 1:0701bf58c9fa 20
ECE4180 0:42cb15551bf3 21 Serial * gps_Serial;
ECE4180 0:42cb15551bf3 22 Serial pc (USBTX, USBRX); //Set-up for debugging
ECE4180 0:42cb15551bf3 23
ECE4180 0:42cb15551bf3 24 //Take degree, minute,seconds (DMS) from GPS and convert to decimal degrees (DD) for Pubnub
ECE4180 0:42cb15551bf3 25 float dms_convert(float dms)
ECE4180 0:42cb15551bf3 26 {
ECE4180 0:42cb15551bf3 27 float sec, min, deg, dd;
ECE4180 0:42cb15551bf3 28 sec = (dms*100)-(floor(dms)*100);
ECE4180 0:42cb15551bf3 29 deg = floor(dms/100);
ECE4180 0:42cb15551bf3 30 min = floor(dms)-(deg*100);
ECE4180 0:42cb15551bf3 31 dd = deg +((min+(sec/60))/60);
ECE4180 0:42cb15551bf3 32 return dd;
ECE4180 0:42cb15551bf3 33 }
ECE4180 0:42cb15551bf3 34
ECE4180 1:0701bf58c9fa 35 // Interupt Routine to read in data from serial port
ECE4180 1:0701bf58c9fa 36 void Rx_interrupt()
ECE4180 1:0701bf58c9fa 37 {
ECE4180 1:0701bf58c9fa 38 DataRX=1;
ECE4180 1:0701bf58c9fa 39 // Loop just in case more than one character is in UART's receive FIFO buffer
ECE4180 1:0701bf58c9fa 40 // Stop if buffer full
ECE4180 1:0701bf58c9fa 41 while ((pnub.huz.esp.readable()) && (((rx_in + 1) % buffer_size) != rx_out)) {
ECE4180 1:0701bf58c9fa 42 rx_buffer[rx_in] = pnub.huz.esp.getc();
ECE4180 1:0701bf58c9fa 43 // Uncomment to Echo to USB serial to watch data flow
ECE4180 1:0701bf58c9fa 44 pc.putc(rx_buffer[rx_in]);
ECE4180 1:0701bf58c9fa 45 rx_in = (rx_in + 1) % buffer_size;
ECE4180 1:0701bf58c9fa 46 }
ECE4180 1:0701bf58c9fa 47 return;
ECE4180 1:0701bf58c9fa 48 }
ECE4180 1:0701bf58c9fa 49
ECE4180 1:0701bf58c9fa 50
ECE4180 1:0701bf58c9fa 51 // Interupt Routine to write out data to serial port
ECE4180 1:0701bf58c9fa 52 void Tx_interrupt()
ECE4180 1:0701bf58c9fa 53 {
ECE4180 1:0701bf58c9fa 54 // Loop to fill more than one character in UART's transmit FIFO buffer
ECE4180 1:0701bf58c9fa 55 // Stop if buffer empty
ECE4180 1:0701bf58c9fa 56 while ((pnub.huz.esp.writeable()) && (tx_in != tx_out)) {
ECE4180 1:0701bf58c9fa 57 pnub.huz.esp.putc(tx_buffer[tx_out]);
ECE4180 1:0701bf58c9fa 58 tx_out = (tx_out + 1) % buffer_size;
ECE4180 1:0701bf58c9fa 59 }
ECE4180 1:0701bf58c9fa 60 return;
ECE4180 1:0701bf58c9fa 61 }
ECE4180 1:0701bf58c9fa 62
ECE4180 0:42cb15551bf3 63 int main()
ECE4180 0:42cb15551bf3 64 {
ECE4180 0:42cb15551bf3 65 pc.baud(115200); //Set PC baud rate
ECE4180 0:42cb15551bf3 66 gps_Serial = new Serial(p9,p10);
ECE4180 0:42cb15551bf3 67 Adafruit_GPS myGPS(gps_Serial); //object of Adafruit's GPS class
ECE4180 0:42cb15551bf3 68 Timer refresh_Timer; //Timer for updated GPS information
ECE4180 0:42cb15551bf3 69 const int refresh_Time = 2000; //refresh time in ms
ECE4180 0:42cb15551bf3 70
ECE4180 0:42cb15551bf3 71
ECE4180 0:42cb15551bf3 72 //Initialization Commands for Adafruit_GPS
ECE4180 0:42cb15551bf3 73 myGPS.begin(9600); //sets baud rate for GPS communication;
ECE4180 0:42cb15551bf3 74 myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA);
ECE4180 0:42cb15551bf3 75 myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
ECE4180 0:42cb15551bf3 76 myGPS.sendCommand(PGCMD_ANTENNA);
ECE4180 0:42cb15551bf3 77 float publat;
ECE4180 0:42cb15551bf3 78 float publong;
ECE4180 0:42cb15551bf3 79
ECE4180 1:0701bf58c9fa 80
ECE4180 1:0701bf58c9fa 81 // Setup a serial interrupt function to receive data
ECE4180 1:0701bf58c9fa 82 pnub.huz.esp.attach(&Rx_interrupt, Serial::RxIrq);
ECE4180 1:0701bf58c9fa 83 // Setup a serial interrupt function to transmit data
ECE4180 1:0701bf58c9fa 84 pnub.huz.esp.attach(&Tx_interrupt, Serial::TxIrq);
ECE4180 1:0701bf58c9fa 85
ECE4180 1:0701bf58c9fa 86 char lat_buff[20];
ECE4180 1:0701bf58c9fa 87
ECE4180 0:42cb15551bf3 88 pc.printf("Connection established at 115200 baud...\r\n");
ECE4180 0:42cb15551bf3 89 wait(1);
ECE4180 0:42cb15551bf3 90 refresh_Timer.start(); //starts the clock on the timer
ECE4180 0:42cb15551bf3 91 while(true) {
ECE4180 0:42cb15551bf3 92 myGPS.read(); //queries the GPS
ECE4180 0:42cb15551bf3 93 //If GPS has data, parse it
ECE4180 0:42cb15551bf3 94 if ( myGPS.newNMEAreceived() ) {
ECE4180 0:42cb15551bf3 95 if ( !myGPS.parse(myGPS.lastNMEA()) ) {
ECE4180 0:42cb15551bf3 96 continue;
ECE4180 0:42cb15551bf3 97 }
ECE4180 0:42cb15551bf3 98 }
ECE4180 0:42cb15551bf3 99
ECE4180 0:42cb15551bf3 100 //check if enough time has passed to warrant sending new GPS data
ECE4180 0:42cb15551bf3 101 if (refresh_Timer.read_ms() >= refresh_Time) {
ECE4180 0:42cb15551bf3 102 refresh_Timer.reset();
ECE4180 0:42cb15551bf3 103 if (myGPS.fix) {
ECE4180 0:42cb15551bf3 104 publat = dms_convert(myGPS.latitude);
ECE4180 0:42cb15551bf3 105 publong = dms_convert(myGPS.longitude);
ECE4180 0:42cb15551bf3 106 pc.printf("DMS Lat: %f, DD Lat: %f\r\nDMS Long:%f, DD Long: %f\r\n", myGPS.latitude, publat, myGPS.longitude, publong);
ECE4180 1:0701bf58c9fa 107 DataRX = 0;
ECE4180 1:0701bf58c9fa 108 sprintf(lat_buff, "%f", publat);
ECE4180 1:0701bf58c9fa 109 pnub.send_message(lat_buff);
ECE4180 1:0701bf58c9fa 110 pc.printf("MESSAGE SENT\r\n");
ECE4180 1:0701bf58c9fa 111 wait(20);
ECE4180 0:42cb15551bf3 112 } else pc.printf("No Satelite Fix\r\n");
ECE4180 0:42cb15551bf3 113 }
ECE4180 0:42cb15551bf3 114 }
ECE4180 0:42cb15551bf3 115 }