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@4:e20e2500914f, 2017-04-21 (annotated)

Committer:
ECE4180
Date:
Fri Apr 21 00:37:35 2017 +0000
Revision:
4:e20e2500914f
Parent:
3:ceca81e8ac2b
Child:
5:786cb04aaecc
bootyful and we love you

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 4:e20e2500914f 5 #include "Watchdog.h"
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 4:e20e2500914f 21 Watchdog wdt;
ECE4180 4:e20e2500914f 22
ECE4180 0:42cb15551bf3 23 Serial * gps_Serial;
ECE4180 0:42cb15551bf3 24 Serial pc (USBTX, USBRX); //Set-up for debugging
ECE4180 0:42cb15551bf3 25
ECE4180 0:42cb15551bf3 26 //Take degree, minute,seconds (DMS) from GPS and convert to decimal degrees (DD) for Pubnub
ECE4180 0:42cb15551bf3 27 float dms_convert(float dms)
ECE4180 0:42cb15551bf3 28 {
ECE4180 0:42cb15551bf3 29 float sec, min, deg, dd;
ECE4180 0:42cb15551bf3 30 sec = (dms*100)-(floor(dms)*100);
ECE4180 0:42cb15551bf3 31 deg = floor(dms/100);
ECE4180 0:42cb15551bf3 32 min = floor(dms)-(deg*100);
ECE4180 0:42cb15551bf3 33 dd = deg +((min+(sec/60))/60);
ECE4180 0:42cb15551bf3 34 return dd;
ECE4180 0:42cb15551bf3 35 }
ECE4180 0:42cb15551bf3 36
ECE4180 1:0701bf58c9fa 37 // Interupt Routine to read in data from serial port
ECE4180 1:0701bf58c9fa 38 void Rx_interrupt()
ECE4180 1:0701bf58c9fa 39 {
ECE4180 1:0701bf58c9fa 40 DataRX=1;
ECE4180 1:0701bf58c9fa 41 // Loop just in case more than one character is in UART's receive FIFO buffer
ECE4180 1:0701bf58c9fa 42 // Stop if buffer full
ECE4180 1:0701bf58c9fa 43 while ((pnub.huz.esp.readable()) && (((rx_in + 1) % buffer_size) != rx_out)) {
ECE4180 1:0701bf58c9fa 44 rx_buffer[rx_in] = pnub.huz.esp.getc();
ECE4180 1:0701bf58c9fa 45 // Uncomment to Echo to USB serial to watch data flow
ECE4180 3:ceca81e8ac2b 46 pc.putc(rx_buffer[rx_in]);
ECE4180 1:0701bf58c9fa 47 rx_in = (rx_in + 1) % buffer_size;
ECE4180 1:0701bf58c9fa 48 }
ECE4180 1:0701bf58c9fa 49 return;
ECE4180 1:0701bf58c9fa 50 }
ECE4180 1:0701bf58c9fa 51
ECE4180 1:0701bf58c9fa 52
ECE4180 1:0701bf58c9fa 53 // Interupt Routine to write out data to serial port
ECE4180 1:0701bf58c9fa 54 void Tx_interrupt()
ECE4180 1:0701bf58c9fa 55 {
ECE4180 1:0701bf58c9fa 56 // Loop to fill more than one character in UART's transmit FIFO buffer
ECE4180 1:0701bf58c9fa 57 // Stop if buffer empty
ECE4180 1:0701bf58c9fa 58 while ((pnub.huz.esp.writeable()) && (tx_in != tx_out)) {
ECE4180 1:0701bf58c9fa 59 pnub.huz.esp.putc(tx_buffer[tx_out]);
ECE4180 1:0701bf58c9fa 60 tx_out = (tx_out + 1) % buffer_size;
ECE4180 1:0701bf58c9fa 61 }
ECE4180 1:0701bf58c9fa 62 return;
ECE4180 1:0701bf58c9fa 63 }
ECE4180 1:0701bf58c9fa 64
ECE4180 0:42cb15551bf3 65 int main()
ECE4180 0:42cb15551bf3 66 {
ECE4180 4:e20e2500914f 67 wdt.kick(8.0);
ECE4180 0:42cb15551bf3 68 pc.baud(115200); //Set PC baud rate
ECE4180 2:834f8d2ebe3f 69 pnub.huz.setssid("Verizon-SM-G900V-258B");
ECE4180 2:834f8d2ebe3f 70 pnub.huz.setpwd("trnd533)");
ECE4180 2:834f8d2ebe3f 71 //pnub.huz.espconfig();
ECE4180 0:42cb15551bf3 72 gps_Serial = new Serial(p9,p10);
ECE4180 0:42cb15551bf3 73 Adafruit_GPS myGPS(gps_Serial); //object of Adafruit's GPS class
ECE4180 0:42cb15551bf3 74 Timer refresh_Timer; //Timer for updated GPS information
ECE4180 0:42cb15551bf3 75 const int refresh_Time = 2000; //refresh time in ms
ECE4180 0:42cb15551bf3 76
ECE4180 0:42cb15551bf3 77
ECE4180 0:42cb15551bf3 78 //Initialization Commands for Adafruit_GPS
ECE4180 0:42cb15551bf3 79 myGPS.begin(9600); //sets baud rate for GPS communication;
ECE4180 0:42cb15551bf3 80 myGPS.sendCommand(PMTK_SET_NMEA_OUTPUT_RMCGGA);
ECE4180 0:42cb15551bf3 81 myGPS.sendCommand(PMTK_SET_NMEA_UPDATE_1HZ);
ECE4180 0:42cb15551bf3 82 myGPS.sendCommand(PGCMD_ANTENNA);
ECE4180 0:42cb15551bf3 83 float publat;
ECE4180 0:42cb15551bf3 84 float publong;
ECE4180 2:834f8d2ebe3f 85 float oldlat = 0.0;
ECE4180 2:834f8d2ebe3f 86 float oldlong = 0.0;
ECE4180 3:ceca81e8ac2b 87 char c;
ECE4180 1:0701bf58c9fa 88
ECE4180 1:0701bf58c9fa 89 // Setup a serial interrupt function to receive data
ECE4180 1:0701bf58c9fa 90 pnub.huz.esp.attach(&Rx_interrupt, Serial::RxIrq);
ECE4180 1:0701bf58c9fa 91 // Setup a serial interrupt function to transmit data
ECE4180 1:0701bf58c9fa 92 pnub.huz.esp.attach(&Tx_interrupt, Serial::TxIrq);
ECE4180 1:0701bf58c9fa 93
ECE4180 2:834f8d2ebe3f 94 char lat_buff[30];
ECE4180 1:0701bf58c9fa 95
ECE4180 0:42cb15551bf3 96 pc.printf("Connection established at 115200 baud...\r\n");
ECE4180 0:42cb15551bf3 97 wait(1);
ECE4180 0:42cb15551bf3 98 refresh_Timer.start(); //starts the clock on the timer
ECE4180 0:42cb15551bf3 99 while(true) {
ECE4180 4:e20e2500914f 100 c = myGPS.read(); //queries the GPS
ECE4180 4:e20e2500914f 101
ECE4180 3:ceca81e8ac2b 102 //if (c) { pc.printf("%c", c); } //this line will echo the GPS data if not paused
ECE4180 0:42cb15551bf3 103 //If GPS has data, parse it
ECE4180 4:e20e2500914f 104
ECE4180 4:e20e2500914f 105 //check if we recieved a new message from GPS, if so, attempt to parse it,
ECE4180 0:42cb15551bf3 106 if ( myGPS.newNMEAreceived() ) {
ECE4180 0:42cb15551bf3 107 if ( !myGPS.parse(myGPS.lastNMEA()) ) {
ECE4180 4:e20e2500914f 108 continue;
ECE4180 4:e20e2500914f 109 }
ECE4180 0:42cb15551bf3 110 }
ECE4180 0:42cb15551bf3 111
ECE4180 0:42cb15551bf3 112 //check if enough time has passed to warrant sending new GPS data
ECE4180 0:42cb15551bf3 113 if (refresh_Timer.read_ms() >= refresh_Time) {
ECE4180 0:42cb15551bf3 114 refresh_Timer.reset();
ECE4180 0:42cb15551bf3 115 if (myGPS.fix) {
ECE4180 0:42cb15551bf3 116 publat = dms_convert(myGPS.latitude);
ECE4180 0:42cb15551bf3 117 publong = dms_convert(myGPS.longitude);
ECE4180 3:ceca81e8ac2b 118 pc.printf("DD Old Lat: %f, DD Old Long: %f \r\nDD New Lat %f, DD New Long %f\r\n",oldlat, oldlong, publat, publong);
ECE4180 2:834f8d2ebe3f 119 if (publat != oldlat || publong !=oldlong) {
ECE4180 3:ceca81e8ac2b 120 //pc.printf("DMS Lat: %f%c, DMS Long: %f%c\r\n",myGPS.latitude, myGPS.lat, myGPS.longitude, myGPS.lon);
ECE4180 2:834f8d2ebe3f 121 oldlat = publat;
ECE4180 2:834f8d2ebe3f 122 oldlong = publong;
ECE4180 2:834f8d2ebe3f 123 DataRX = 0;
ECE4180 2:834f8d2ebe3f 124 sprintf(lat_buff, "%f %f", publat, publong);
ECE4180 2:834f8d2ebe3f 125 pnub.send_message(lat_buff);
ECE4180 2:834f8d2ebe3f 126 pc.printf("Message Sent\r\n");
ECE4180 3:ceca81e8ac2b 127 continue;
ECE4180 3:ceca81e8ac2b 128 } else pc.printf("No New Data\r\n");
ECE4180 2:834f8d2ebe3f 129 } else {
ECE4180 2:834f8d2ebe3f 130 pc.printf("No Satelite Fix\r\n");
ECE4180 2:834f8d2ebe3f 131 }
ECE4180 0:42cb15551bf3 132 }
ECE4180 4:e20e2500914f 133 wdt.kick();
ECE4180 0:42cb15551bf3 134 }
ECE4180 0:42cb15551bf3 135 }