tugboat project
Dependencies: TinyGPS HMC5883L MMA8451Q mbed PwmIn
main.cpp@5:ce6688d37d12, 2013-09-05 (annotated)
- Committer:
- bclaus
- Date:
- Thu Sep 05 18:04:18 2013 +0000
- Revision:
- 5:ce6688d37d12
- Parent:
- 4:7fb44cbc97a3
- Child:
- 6:2d7e4561625c
temp commit;
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
bclaus | 0:ee158c8007b4 | 1 | #include "mbed.h" |
bclaus | 0:ee158c8007b4 | 2 | #include "MMA8451Q.h" |
bclaus | 2:db76adcdf799 | 3 | #include "TinyGPS.h" |
bclaus | 0:ee158c8007b4 | 4 | #include "HMC5883L.h" |
bclaus | 4:7fb44cbc97a3 | 5 | #include "PwmIn.h" |
bclaus | 0:ee158c8007b4 | 6 | |
bclaus | 0:ee158c8007b4 | 7 | #define MMA8451_I2C_ADDRESS (0x1d<<1) |
bclaus | 0:ee158c8007b4 | 8 | |
bclaus | 0:ee158c8007b4 | 9 | I2C i2c_bus(PTE0, PTE1); |
bclaus | 0:ee158c8007b4 | 10 | MMA8451Q acc(PTE25, PTE24, MMA8451_I2C_ADDRESS); |
bclaus | 0:ee158c8007b4 | 11 | HMC5883L compass(i2c_bus); |
bclaus | 0:ee158c8007b4 | 12 | Serial pc(USBTX, USBRX); |
bclaus | 0:ee158c8007b4 | 13 | Serial radio(PTC4, PTC3); |
bclaus | 0:ee158c8007b4 | 14 | Timer t; |
bclaus | 2:db76adcdf799 | 15 | TinyGPS gps; |
bclaus | 2:db76adcdf799 | 16 | Serial gpsSerial(PTD3,PTD2); |
bclaus | 4:7fb44cbc97a3 | 17 | PwmIn rudderIn(PTD0); |
bclaus | 4:7fb44cbc97a3 | 18 | PwmIn thrusterIn(PTD5); |
bclaus | 4:7fb44cbc97a3 | 19 | PwmOut rudderOut(PTA4); |
bclaus | 4:7fb44cbc97a3 | 20 | PwmOut thrusterOut(PTA5); |
bclaus | 2:db76adcdf799 | 21 | |
bclaus | 2:db76adcdf799 | 22 | void gpsSerialRecvInterrupt (void); |
bclaus | 4:7fb44cbc97a3 | 23 | void radioSerialRecvInterrupt (void); |
bclaus | 4:7fb44cbc97a3 | 24 | void radioFlush(void); |
bclaus | 4:7fb44cbc97a3 | 25 | |
bclaus | 4:7fb44cbc97a3 | 26 | bool manual = true; |
bclaus | 4:7fb44cbc97a3 | 27 | int commandLength = 2; |
bclaus | 4:7fb44cbc97a3 | 28 | //radio commands |
bclaus | 4:7fb44cbc97a3 | 29 | enum{ thruster='a', |
bclaus | 4:7fb44cbc97a3 | 30 | rudder, |
bclaus | 4:7fb44cbc97a3 | 31 | combo, |
bclaus | 4:7fb44cbc97a3 | 32 | control}; |
bclaus | 4:7fb44cbc97a3 | 33 | |
bclaus | 4:7fb44cbc97a3 | 34 | float rudderC = 0.0015, thrusterC = 0.0015; |
bclaus | 0:ee158c8007b4 | 35 | |
bclaus | 0:ee158c8007b4 | 36 | int main(void) { |
bclaus | 0:ee158c8007b4 | 37 | |
bclaus | 0:ee158c8007b4 | 38 | |
bclaus | 0:ee158c8007b4 | 39 | pc.baud(115200); |
bclaus | 2:db76adcdf799 | 40 | radio.baud(57600); |
bclaus | 5:ce6688d37d12 | 41 | |
bclaus | 5:ce6688d37d12 | 42 | pc.printf("pre - inited\r\n"); |
bclaus | 5:ce6688d37d12 | 43 | radio.printf("pre - inited\r\n"); |
bclaus | 0:ee158c8007b4 | 44 | int16_t dCompass[3]; |
bclaus | 0:ee158c8007b4 | 45 | float dAcc[3]; |
bclaus | 0:ee158c8007b4 | 46 | compass.init(); |
bclaus | 2:db76adcdf799 | 47 | pc.printf("inited\r\n"); |
bclaus | 2:db76adcdf799 | 48 | gpsSerial.attach (&gpsSerialRecvInterrupt, gpsSerial.RxIrq); // Recv interrupt handler |
bclaus | 4:7fb44cbc97a3 | 49 | radio.attach (&radioSerialRecvInterrupt, radio.RxIrq); // Recv interrupt handler |
bclaus | 2:db76adcdf799 | 50 | gps.reset_ready(); |
bclaus | 4:7fb44cbc97a3 | 51 | rudderOut.period(0.02); |
bclaus | 4:7fb44cbc97a3 | 52 | thrusterOut.period(0.02); |
bclaus | 4:7fb44cbc97a3 | 53 | rudderOut.pulsewidth(0.0015); |
bclaus | 4:7fb44cbc97a3 | 54 | thrusterOut.pulsewidth(0.0015); |
bclaus | 0:ee158c8007b4 | 55 | |
bclaus | 0:ee158c8007b4 | 56 | |
bclaus | 0:ee158c8007b4 | 57 | |
bclaus | 0:ee158c8007b4 | 58 | while (true) { |
bclaus | 0:ee158c8007b4 | 59 | |
bclaus | 2:db76adcdf799 | 60 | if(gps.gga_ready()){ |
bclaus | 2:db76adcdf799 | 61 | |
bclaus | 2:db76adcdf799 | 62 | pc.printf("lat: %.8f, lon: %.8f\r\n", gps.f_lat(), gps.f_lon()); |
bclaus | 2:db76adcdf799 | 63 | radio.printf("lat: %.8f, lon: %.8f\r\n", gps.f_lat(), gps.f_lon()); |
bclaus | 0:ee158c8007b4 | 64 | } |
bclaus | 0:ee158c8007b4 | 65 | |
bclaus | 0:ee158c8007b4 | 66 | acc.getAccAllAxis(dAcc); |
bclaus | 0:ee158c8007b4 | 67 | pc.printf("xA: %.4f, yA: %.4f, zA: %.4f\r\n", dAcc[0], dAcc[1], dAcc[2]); |
bclaus | 0:ee158c8007b4 | 68 | radio.printf("xA: %.4f, yA: %.4f, zA: %.4f\r\n", dAcc[0], dAcc[1], dAcc[2]); |
bclaus | 0:ee158c8007b4 | 69 | compass.getXYZ(dCompass); |
bclaus | 0:ee158c8007b4 | 70 | pc.printf("xC: %4d, yC: %4d, zC: %4d\r\n", dCompass[0], dCompass[1], dCompass[2]); |
bclaus | 0:ee158c8007b4 | 71 | radio.printf("xC: %4d, yC: %4d, zC: %4d\r\n", dCompass[0], dCompass[1], dCompass[2]); |
bclaus | 4:7fb44cbc97a3 | 72 | if(manual){ |
bclaus | 4:7fb44cbc97a3 | 73 | wait(0.2); |
bclaus | 4:7fb44cbc97a3 | 74 | rudderOut.pulsewidth(rudderIn.pulsewidth()); |
bclaus | 4:7fb44cbc97a3 | 75 | thrusterOut.pulsewidth(thrusterIn.pulsewidth()); |
bclaus | 4:7fb44cbc97a3 | 76 | } |
bclaus | 4:7fb44cbc97a3 | 77 | else{ |
bclaus | 4:7fb44cbc97a3 | 78 | wait(0.2); |
bclaus | 4:7fb44cbc97a3 | 79 | //rudderC should be an angle -45 to 45 |
bclaus | 4:7fb44cbc97a3 | 80 | //map this to 0.0013 to 0.0017 |
bclaus | 4:7fb44cbc97a3 | 81 | if(rudderC > -45 && rudderC < 45){ |
bclaus | 4:7fb44cbc97a3 | 82 | rudderOut.pulsewidth(0.0013+0.004*((rudderC+45)/90)); |
bclaus | 4:7fb44cbc97a3 | 83 | } |
bclaus | 4:7fb44cbc97a3 | 84 | //thrusterC should be an percentage from 0 to 100 |
bclaus | 4:7fb44cbc97a3 | 85 | //map this to 0.0013 to 0.0017 |
bclaus | 4:7fb44cbc97a3 | 86 | thrusterOut.pulsewidth(0.0013 + 0.004*(thrusterC/100)); |
bclaus | 4:7fb44cbc97a3 | 87 | } |
bclaus | 0:ee158c8007b4 | 88 | } |
bclaus | 2:db76adcdf799 | 89 | } |
bclaus | 2:db76adcdf799 | 90 | |
bclaus | 2:db76adcdf799 | 91 | //***************************************************************************** |
bclaus | 2:db76adcdf799 | 92 | // serial receive interrupt handler |
bclaus | 2:db76adcdf799 | 93 | //***************************************************************************** |
bclaus | 2:db76adcdf799 | 94 | |
bclaus | 2:db76adcdf799 | 95 | void gpsSerialRecvInterrupt (void) |
bclaus | 2:db76adcdf799 | 96 | { |
bclaus | 2:db76adcdf799 | 97 | |
bclaus | 2:db76adcdf799 | 98 | |
bclaus | 2:db76adcdf799 | 99 | // while(gpsSerial.readable()){ |
bclaus | 2:db76adcdf799 | 100 | gps.encode(gpsSerial.getc()); |
bclaus | 2:db76adcdf799 | 101 | //} |
bclaus | 2:db76adcdf799 | 102 | |
bclaus | 2:db76adcdf799 | 103 | |
bclaus | 4:7fb44cbc97a3 | 104 | } |
bclaus | 4:7fb44cbc97a3 | 105 | void radioSerialRecvInterrupt (void) |
bclaus | 4:7fb44cbc97a3 | 106 | { |
bclaus | 4:7fb44cbc97a3 | 107 | |
bclaus | 4:7fb44cbc97a3 | 108 | int firstByte, secondByte; |
bclaus | 4:7fb44cbc97a3 | 109 | //get command |
bclaus | 4:7fb44cbc97a3 | 110 | firstByte = radio.getc(); |
bclaus | 4:7fb44cbc97a3 | 111 | if(firstByte == 'c'){ |
bclaus | 4:7fb44cbc97a3 | 112 | manual = false; |
bclaus | 4:7fb44cbc97a3 | 113 | secondByte = radio.getc(); |
bclaus | 4:7fb44cbc97a3 | 114 | switch(secondByte){ |
bclaus | 4:7fb44cbc97a3 | 115 | case thruster: |
bclaus | 4:7fb44cbc97a3 | 116 | //example command 'ca 50' |
bclaus | 4:7fb44cbc97a3 | 117 | radio.scanf(" %f",thrusterC); |
bclaus | 4:7fb44cbc97a3 | 118 | break; |
bclaus | 4:7fb44cbc97a3 | 119 | case rudder: |
bclaus | 4:7fb44cbc97a3 | 120 | //example command 'cb -20' |
bclaus | 4:7fb44cbc97a3 | 121 | radio.scanf(" %f",rudderC); |
bclaus | 4:7fb44cbc97a3 | 122 | break; |
bclaus | 4:7fb44cbc97a3 | 123 | case combo: |
bclaus | 4:7fb44cbc97a3 | 124 | //example command 'cc -20,50' |
bclaus | 4:7fb44cbc97a3 | 125 | radio.scanf(" %f,%f",rudderC,thrusterC); |
bclaus | 4:7fb44cbc97a3 | 126 | break; |
bclaus | 4:7fb44cbc97a3 | 127 | case control: |
bclaus | 4:7fb44cbc97a3 | 128 | //example command 'cd' |
bclaus | 4:7fb44cbc97a3 | 129 | manual = true; |
bclaus | 4:7fb44cbc97a3 | 130 | break; |
bclaus | 4:7fb44cbc97a3 | 131 | default: |
bclaus | 4:7fb44cbc97a3 | 132 | //shouldn't be here flush stream |
bclaus | 4:7fb44cbc97a3 | 133 | radioFlush(); |
bclaus | 4:7fb44cbc97a3 | 134 | } |
bclaus | 4:7fb44cbc97a3 | 135 | } |
bclaus | 5:ce6688d37d12 | 136 | else{ |
bclaus | 5:ce6688d37d12 | 137 | //we shouldnt be here do nothing |
bclaus | 5:ce6688d37d12 | 138 | |
bclaus | 5:ce6688d37d12 | 139 | } |
bclaus | 4:7fb44cbc97a3 | 140 | |
bclaus | 4:7fb44cbc97a3 | 141 | } |
bclaus | 4:7fb44cbc97a3 | 142 | |
bclaus | 4:7fb44cbc97a3 | 143 | void radioFlush(void) { |
bclaus | 4:7fb44cbc97a3 | 144 | while (radio.readable()) { |
bclaus | 4:7fb44cbc97a3 | 145 | radio.getc(); |
bclaus | 4:7fb44cbc97a3 | 146 | } |
bclaus | 4:7fb44cbc97a3 | 147 | return; |
bclaus | 4:7fb44cbc97a3 | 148 | } |