Revision 1:2f8deb2a7fe1, committed 2019-02-28

Comitter:

etiene32

Date:

Thu Feb 28 18:41:10 2019 +0000

Parent:

0:4e088cbb2dbf

Commit message:

polytech grenoble etienne

Changed in this revision

diff -r 4e088cbb2dbf -r 2f8deb2a7fe1 Teseo-LIV3F/Teseo-LIV3F.cpp
--- a/Teseo-LIV3F/Teseo-LIV3F.cpp	Mon Oct 23 07:11:35 2017 +0000
+++ b/Teseo-LIV3F/Teseo-LIV3F.cpp	Thu Feb 28 18:41:10 2019 +0000
@@ -159,6 +159,7 @@
         while (!_uart.writeable());
         _uart.putc(buf[i]);
         }
+    
 }
 
 struct ImageOptions
@@ -651,4 +652,3 @@
         return;
     serialStreamThread.terminate();
 }
-

diff -r 4e088cbb2dbf -r 2f8deb2a7fe1 X_NUCLEO_IKS01A2.lib
--- a/X_NUCLEO_IKS01A2.lib	Mon Oct 23 07:11:35 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-https://developer.mbed.org/teams/ST/code/X_NUCLEO_IKS01A2/#138a7a28bd21

diff -r 4e088cbb2dbf -r 2f8deb2a7fe1 main.cpp
--- a/main.cpp	Mon Oct 23 07:11:35 2017 +0000
+++ b/main.cpp	Thu Feb 28 18:41:10 2019 +0000
@@ -3,7 +3,24 @@
 #include "Teseo-LIV3F.h"
 #include <cstdlib>
 #include <vector>
-#include "XNucleoIKS01A2.h"
+#include <sstream>
+#include <stdio.h> 
+
+int time_between=3000; //Temps entre 2 mesures
+int unite=2; // 1 = DM ; 2 = DMS ; 3 = Décimal
+float sensibilite=0.00001; //Valeur en dessous de laquelle on considere aucun changement de position 
+int nbre_iteration = 2; //nombre de meme position avant stoppage du gps car certain de la position
+
+//Def fonction
+void Start_GPS();
+void f1 ();
+void f2 ();
+void conversion_decimal(float coord, int indice);
+void decimal_to_DM(float latitude, float longitude);
+void decimal_to_DMS(float latitude, float longitude);
+
+char buffer[20];
+char buffer1[20];
 
 /*cose per gps*/
 static Thread t1;
@@ -12,11 +29,11 @@
 static Mutex data_access;
 
 static Timer system_timer;
-static Serial usb_serial(USBTX, USBRX, 9600);
+static Serial usb_serial(USBTX, USBRX, 115200);
 static Serial *serial_debug= &usb_serial;
 
 
-static Teseo_LIV3F Teseo(D8,       D13,        D6,      PE_7,          PE_8,          &usb_serial);
+static Teseo_LIV3F Teseo(D7,D13,D6,D2,D8,&usb_serial);
 
 
 struct gps_coordinate{
@@ -24,107 +41,92 @@
     char lat_cardinal;
     float longitud;
     char long_cardinal;
-    bool valid;
-    
-    
-    
+    bool valid;   
     };
-    
-    gps_coordinate myPosition;
 
-
-
-/*cose per sensori*/
+struct gps_DM_coordinate{
+   int degres_lat;
+   float minute_lat;
+   char lat_card;
+   int degres_lon;
+   float minute_lon;
+   char lon_card;
+};
 
-static Thread t3;
-
-static XNucleoIKS01A2 *mems_expansion_board = XNucleoIKS01A2::instance(D14, D15, D4, D5);
-
+struct gps_DMS_coordinate{
+   int degres_lat;
+   int minute_lat;
+   float seconde_lat;
+   char lat_card;
+   int degres_lon;
+   int minute_lon;
+   float seconde_lon;
+   char lon_card;
+};
 
-/* Retrieve the composing elements of the expansion board */
-static LSM303AGRMagSensor *magnetometer = mems_expansion_board->magnetometer;
-static HTS221Sensor *hum_temp = mems_expansion_board->ht_sensor;
-static LPS22HBSensor *press_temp = mems_expansion_board->pt_sensor;
-static LSM6DSLSensor *acc_gyro = mems_expansion_board->acc_gyro;
-static LSM303AGRAccSensor *accelerometer = mems_expansion_board->accelerometer;
+struct gps_DD_coordinate{
+   float latitude;
+   float longitude;
+};
+
+struct last_coordinate{
+   float latitude;
+   float longitude;
+};
+   
+gps_coordinate myPosition;
+
+gps_DM_coordinate myPosition_DM;
+gps_DMS_coordinate myPosition_DMS;
+gps_DD_coordinate myPosition_DD;
+last_coordinate last_position;
+last_coordinate last_iteration_position;
 
 void f1 (){
-    
     enum nmea_msg_id id;
-    
-    
-  
-
-
+    last_position.latitude=0;
+    last_position.longitude=0;
     Teseo.Reset(serial_debug);
     Teseo.startListener(serial_debug);
-
     while(1) {
         osEvent evt = Teseo.queue.get();
         if (evt.status == osEventMessage) {
             struct teseo_msg *message = (struct teseo_msg *)evt.value.p;
             if (message->len){
-                id = Teseo.MsgDetect(message->buf, message->len, serial_debug);
-                
+                id = Teseo.MsgDetect(message->buf, message->len, serial_debug); 
            }
-           
            if (id==1){
-               
-               
-               
-               
                //da qui converto il messaggio in coordinate//
                data_access.lock();
-               
                vector<char> pos;
-              
-               
                //latitudine
-             // printf ("latitudine=");
-               
+               //printf ("latitudine=");
                int cursor;
                for (int i=7;;i++){
                    cursor=i;
                    if (message->buf[i] == ',')
                         break;
-                   pos.push_back(message->buf[i]);
-                  
-                  
-                }
-            
-       
-                //ma quanto è cool? conversione da vector ad array e poi a float
-                myPosition.lat=  atof (&pos[0]);
-            //    printf ("%f",myPosition.lat);
-             //   printf ("  ");
-                
-                myPosition.lat_cardinal= message->buf[cursor+1];
-              //  printf ("%c   ",myPosition.lat_cardinal);
-                
-                pos.clear();
-                
-                
-              //  printf ("longitudine=");
-               
-               
+                   pos.push_back(message->buf[i]);  
+               }
+               //ma quanto è cool? conversione da vector ad array e poi a float
+               myPosition.lat=  atof (&pos[0]);
+               //printf ("%f",myPosition.lat);
+               //printf ("  ");
+               myPosition.lat_cardinal= message->buf[cursor+1];
+               //printf ("%c   ",myPosition.lat_cardinal);
+               pos.clear();
+               //printf ("longitudine=");
                for (int i=cursor+3;;i++){
                    cursor=i;
                    if (message->buf[i] == ',')
                         break;
-                   pos.push_back(message->buf[i]);
-                  
-                  
+                   pos.push_back(message->buf[i]); 
                 }
-            
-       
-                
                 myPosition.longitud=  atof (&pos[0]);
-              //  printf ("%f",myPosition.longitud);
-              //  printf ("  ");
-                
+                //printf ("%f",myPosition.longitud);
+                //printf ("  ");              
                 myPosition.long_cardinal= message->buf[cursor+1];
-               // printf ("%c   ",myPosition.long_cardinal);
-                
+                // printf ("%c   ",myPosition.long_cardinal);            
                 for (int i=cursor+3;;i++){
                    cursor=i;
                    if (message->buf[i] == 'A' ){
@@ -132,106 +134,139 @@
                         break;
                     }else if (message->buf[i] == 'V' ) {
                         myPosition.valid=false;
-                        break;
-                                                
-                    }
-                   
-                  
-                  
+                        break;                                      
+                    }          
                 }
-                
                 if (myPosition.valid==true){
-                  // printf ("Valid");
-                   }
-                   
-                   
+                   //printf ("Valid");
+                   }   
                 if (myPosition.valid==false){
                    //printf ("Not Valid");
                    }
-               
-               
                data_access.unlock();
-               
               // printf ("\n\r");
-               
                }
-           
-
             Teseo.mpool.free(message);
         }
-
     }
-    
 }
 
-
+void decimal_to_DM(float latitude, float longitude){
+    int degres;
+    float minutes;
+    //Latitude
+    degres = latitude;
+    minutes = (latitude - degres)*60;
+    myPosition_DM.degres_lat = degres;
+    myPosition_DM.minute_lat = minutes;
+    myPosition_DM.lat_card = myPosition.lat_cardinal;
+    //Longitude
+    degres = longitude;
+    minutes = (longitude - degres)*60;
+    myPosition_DM.degres_lon = degres;
+    myPosition_DM.minute_lon = minutes;
+    myPosition_DM.lon_card = myPosition.long_cardinal;
+}
 
-void f2 (){
-   Thread::wait (1000);
- 
-   Thread::wait (2000);
-   while (true){ 
-   Thread::wait (3000);
-        data_access.lock();
-    
-        printf ("lat:%f %c, lon:%f %c, %d\n\r",myPosition.lat,myPosition.lat_cardinal, myPosition.longitud, myPosition.long_cardinal, myPosition.valid );
-    
-    
-    
-        data_access.unlock();
-    }
-    
+void decimal_to_DMS(float latitude, float longitude){
+    int degres, minutes;
+    float seconde, minutes_float;
+    //Latitude
+    degres = latitude;
+    minutes_float = (latitude - degres)*60;
+    minutes = minutes_float;
+    seconde = (minutes_float - minutes) * 60;
+    myPosition_DMS.degres_lat = degres;
+    myPosition_DMS.minute_lat = minutes;
+    myPosition_DMS.seconde_lat = seconde;
+    myPosition_DMS.lat_card = myPosition.lat_cardinal;
+    //Longitude
+    degres = longitude;
+    minutes_float = (longitude - degres)*60;
+    minutes = minutes_float;
+    seconde = (minutes_float - minutes) * 60;
+    myPosition_DMS.degres_lon = degres;
+    myPosition_DMS.minute_lon = minutes;
+    myPosition_DMS.seconde_lon = seconde;
+    myPosition_DMS.lon_card = myPosition.long_cardinal;
 }
 
-
-void accgyro_thread(){
-    
-    uint8_t id;
-  float value1, value2;
-  char buffer1[32], buffer2[32];
-  int32_t axes[3];
-  int32_t axesOld[3];
-  float odr =208.0f;
-  
-  
-  /* Enable all sensors */
-  
-  accelerometer->enable();
-  acc_gyro->enable_x();
-  acc_gyro->enable_g();
-  acc_gyro->set_g_odr (odr);
-  
-  while (true){
-    
-    Thread::wait (5000);
-    
-    
-    acc_gyro->get_g_axes(axes);
-    printf("LSM6DSL [gyro/mdps]:   %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
-    
-    
-    acc_gyro->get_x_axes(axes);
-   printf("LSM6DSL [acc/mg]:      %6ld, %6ld, %6ld\r\n", axes[0], axes[1], axes[2]);
-
-    
-    
+void conversion_decimal(float coord, int indice){ //indice -> 1=latitude 2=longitude
+    int degres, minute_int;
+    double minute, coord_d, seconde;
+    //Séparation degres, minute, seconde mathématiquement
+    coord_d = coord / 100.0;
+    degres = coord_d; //float vers int, on garde donc que la partie décimale donc degres ici
+    minute = coord_d - degres;
+    minute = minute * 100.0; 
+    minute_int = minute;
+    seconde = (minute-minute_int)*60;
+    //Calcul position decimal (toujours calculer pour comparaison avec last_position)
+    if(indice==1){
+        if(degres>=0){
+            myPosition_DD.latitude = (seconde/3600.0)+(minute_int/60.0)+degres*1.0;
+        }
+        else{
+            myPosition_DD.latitude = -(seconde/3600.0)-(minute_int/60.0)+degres*1.0;
+        }
     }
-    
-    
+    if(indice==2){
+        if(degres>=0){
+            myPosition_DD.longitude = (seconde/3600.0)+(minute_int/60.0)+degres*1.0;
+        }
+        else{
+            myPosition_DD.longitude = -(seconde/3600.0)-(minute_int/60.0)+degres*1.0;
+        }
+    }  
 }
 
+void f2 (){
+   int stop = 0;
+   int compteur=0;
+   Thread::wait (1000); 
+   Thread::wait (2000);
+   while (stop==0){ 
+        Thread::wait (time_between);
+        data_access.lock();
+        conversion_decimal(myPosition.lat,1);
+        conversion_decimal(myPosition.longitud,2);
+        if(fabs(last_position.latitude-myPosition_DD.latitude)<sensibilite || fabs(last_position.longitude-myPosition_DD.longitude)<sensibilite){
+            //printf("Meme position \r\n");
+            compteur++;
+        }
+        else{
+            last_position.latitude=myPosition_DD.latitude;
+            last_position.longitude=myPosition_DD.longitude;
+            compteur=0;
+        }
+        data_access.unlock();
+        if(compteur==nbre_iteration){
+            stop=1;    
+        }
+    }
+    if(fabs(last_position.latitude-last_iteration_position.latitude)>sensibilite || fabs(last_position.longitude-last_iteration_position.longitude)>sensibilite){
+        last_iteration_position.latitude = last_position.latitude;
+        last_iteration_position.longitude = last_position.longitude;
+    }
+    if(unite==1){ //DM
+        decimal_to_DM(last_iteration_position.latitude, last_iteration_position.longitude);
+        printf("Votre position est : \r\n\t latitude : %dd %fm %c\r\n\t longitude : %dd %fm %c\r\n",myPosition_DM.degres_lat,myPosition_DM.minute_lat,myPosition_DM.lat_card,myPosition_DM.degres_lon,myPosition_DM.minute_lon, myPosition_DM.lon_card);
+    }
+    if(unite==2){ //DMS
+        decimal_to_DMS(last_iteration_position.latitude, last_iteration_position.longitude);    
+        printf("Votre position est : \r\n\t latitude : %dd %dm %fs %c \r\n\t longitude : %dd %dm %fs %c \r\n",myPosition_DMS.degres_lat,myPosition_DMS.minute_lat,myPosition_DMS.seconde_lat,myPosition_DMS.lat_card,myPosition_DMS.degres_lon,myPosition_DMS.minute_lon, myPosition_DMS.seconde_lon, myPosition_DMS.lon_card);
+    }
+    if(unite==3){ //Décimal
+        printf("Votre position est : \r\n\t latitude : %f \r\n\t longitude : %f \r\n",last_iteration_position.latitude, last_iteration_position.longitude); 
+    }
+}
 
-
+void Start_GPS(){
+    printf(" Start !\r\n");
+    t1.start(f1);
+    t2.start(f2);
+}  
 
 int main() {
-    
-    t1.start(f1);
-   
-    t2.start (f2);
-    
-    t3.start (accgyro_thread);
-    
-    
-    
-    
-}
+    Start_GPS();       
+}
\ No newline at end of file