Diff: main.cpp

Revision:

4:62aec4ae9f67

Parent:

3:880d00d555c1

--- a/main.cpp	Mon Aug 01 02:23:11 2016 +0000
+++ b/main.cpp	Mon Aug 01 09:29:24 2016 +0000
@@ -8,13 +8,23 @@
 Timer end;
 int stat=1;
 
+volatile unsigned char tmp;
+void pc_isr(){
+    __disable_irq();
+    while(pc.readable()){
+        tmp = pc.getc();        
+    }
+    __enable_irq(); 
+}
+
+
 ////////////////////////////////////
 //         GPS         5V p27(RX) //  
 //      Bluetooth    3.3V p28(TX) //
 ////////////////////////////////////
 Serial Blue_GPS(p28, p27);
 
-char GPS_msg[2000], ns, ew;
+char GPS_msg[150], ns, ew;
 int i = 0, j=0, k=0, gps_ok=0, GPS_flag;
 volatile unsigned char GPS_buffer[2];
 float fix,sat,x,longitude=0.0f,latitude=0.0f, alt_GPS=0,lock, Kor_time;
@@ -30,12 +40,12 @@
             if (GPS_flag == 1){GPS_flag = 0; gps_ok = 1; j=0;}
         }
         if ((i==5)&(GPS_buffer[0] == 'G')){GPS_flag=1;}
-        if (GPS_flag==1){GPS_msg[j]=GPS_buffer[0]; j++; pc.printf("%d \r\n", j);}
+        if (GPS_flag==1){GPS_msg[j]=GPS_buffer[0]; j++; }
+//    pc.putc(GPS_buffer[0]);
+//    Blue_GPS.putc(GPS_buffer[0]);
     }
-
-    //Blue_GPS.printf("");
+    return;
 }
-
 float trunc(float v) {
     if(v < 0.0) {
         v*= -1.0;
@@ -95,7 +105,7 @@
     else {
         if (count<=19){alt_sum = alt_sum + alt; count++;}
         else {
-            Blue_GPS.printf("calibration\r\n");
+//            Blue_GPS.printf("calibration\r\n");
             alt_zero = alt_sum / (float)count;
             count++;
         }
@@ -122,6 +132,7 @@
 float roll_buffer[2], pitch_buffer[2], yaw_buffer[2], w_attitude=0.8;
 
 void AHRS_isr(){                      //inturupt 
+    __disable_irq();
     while(AHRS.readable()){
         AHRS_buffer[1] = AHRS_buffer[0];
         AHRS_buffer[0] = AHRS.getc();
@@ -129,6 +140,7 @@
         if (AHRS_buffer[0] == '*'){AHRS_flag=1;}
         if (AHRS_flag==1){AHRS_msg[m] = AHRS_buffer[0]; m++;}
     }
+    __enable_irq(); 
 } 
 
 void get_AHRS(float*roll, float*pitch, float*yaw, float*accx, float*accy, float*accz)
@@ -203,10 +215,25 @@
     fprintf(fp, "%i,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f,%f\r\n",stat,Kor_time,latitude,longitude,alt,alt_GPS,roll,pitch,yaw,accx,accy,accz,unf_value,gf_value,linear_value);
 }
 
+
+///////////////////////////New Add/////////////////
+void trans_blue_data(float in_data, int integer_point, int under_point){  // number of intefer and under_point
+        unsigned int conv_trans_data;
+        conv_trans_data = (unsigned int)abs(in_data * pow((float)10,under_point));
+        if(in_data<0) {while((LPC_UART2->LSR&0x20)==0); LPC_UART2->THR = '-';}
+        for(int cnt_num=(integer_point + under_point); cnt_num > 0; cnt_num--){
+            if(cnt_num == under_point) {while((LPC_UART2->LSR&0x20)==0); LPC_UART2->THR = '.';   }        
+            while((LPC_UART2->LSR&0x20)==0); LPC_UART2->THR = (unsigned char)(conv_trans_data%(unsigned int)(pow((float)10,cnt_num))/(pow((float)10,cnt_num-1)) + 48);       //convert to ASCII    
+        }
+}
+
+///////////////////////////////////////////////////////////////////////////////
+
 void send_Blue(){
     if (blue_ok == 1){
     blue_ok = 0;
-    Blue_GPS.printf("%i,%.0f,%.6f,%.6f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f\r\n",stat,Kor_time,latitude,longitude,alt,del_alt,roll,pitch,yaw,accz,unf_value,gf_value,linear_value);
+    trans_blue_data(latitude,2,6);
+//    Blue_GPS.printf("%i,%.0f,%.6f,%.6f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f,%.2f\r\n",stat,Kor_time,latitude,longitude,alt,del_alt,roll,pitch,yaw,accz,unf_value,gf_value,linear_value);
     }
 }
 void send_PC(){
@@ -223,6 +250,9 @@
 void timer2_isr(){
     blueFlag = 1; 
 }
+
+///////////////////////////////////////////////
+
 /////////////////////////////////
 //         Main loop           //
 /////////////////////////////////
@@ -231,27 +261,40 @@
 {   
     AHRS.baud(9600);
     Blue_GPS.baud(9600);
-    
+    pc.baud(9600);
+/*
     while(Blue_GPS.readable()){
         volatile unsigned char temp = Blue_GPS.getc();
     }
     Blue_GPS.printf("Buffer flushing\r\n");
-    
-    Blue_GPS.attach(&GPS_isr, Serial::RxIrq);
-    AHRS.attach(&AHRS_isr, Serial::RxIrq);
-    Blue_GPS.printf("Start\r\n");
+    */
+    Blue_GPS.attach(&GPS_isr);
+    pc.attach(&pc_isr);
+    AHRS.attach(&AHRS_isr);
+//    Blue_GPS.printf("Start\r\n");
     //Log_file();
     timer1.attach(&timer1_isr, 1.0);
     timer2.attach(&timer2_isr, 0.1);
     gf_value = 0.7;
     Micro_gf = gf_value;
         while(1) {
+
         switch(stat){
             case 1 : //Calibration
                 if(gpsFlag)
                 {
                     get_GPS(&Kor_time,&latitude,&ns,&longitude,&ew,&fix,&sat,&x,&alt_GPS,&lock);
-                    Blue_GPS.printf("getGPS\r\n");
+//                    Blue_GPS.printf("getGPS\r\n");
+                
+                    while((LPC_UART2->LSR&0x20)==0); LPC_UART2->THR = 'g';
+                    while((LPC_UART2->LSR&0x20)==0); LPC_UART2->THR = 'e';
+                    while((LPC_UART2->LSR&0x20)==0); LPC_UART2->THR = 't';
+                    while((LPC_UART2->LSR&0x20)==0); LPC_UART2->THR = 'G';
+                    while((LPC_UART2->LSR&0x20)==0); LPC_UART2->THR = 'P';
+                    while((LPC_UART2->LSR&0x20)==0); LPC_UART2->THR = 'S';
+                    while((LPC_UART2->LSR&0x20)==0); LPC_UART2->THR = 13;
+                    while((LPC_UART2->LSR&0x20)==0); LPC_UART2->THR = 10;                    
+                    
                     gpsFlag = 0;
                 }
                 if(blueFlag)
@@ -259,8 +302,24 @@
                     get_AHRS(&roll,&pitch,&yaw,&accx,&accy,&accz);
                     get_Baro(&t, &alt, &del_alt);
                     calb_alt();
-                    Blue_GPS.printf("%i,%.2f,%.2f,%.2f\r\n",count, alt, alt_sum, alt_zero);
+//                    Blue_GPS.printf("%i,%.2f,%.2f,%.2f\r\n",count, alt, alt_sum, alt_zero);
+                    //////Count/////////
+                    trans_blue_data((float)count,3,0);
+                    while((LPC_UART2->LSR&0x20)==0); LPC_UART2->THR = ',';
+                    /////////Alt///////
+                    
+                    ////////Data Trans to Bluetooth ///
+                    trans_blue_data(alt,3,6);
+                    while((LPC_UART2->LSR&0x20)==0); LPC_UART2->THR = ',';
+                    trans_blue_data(alt_sum,6,2);
+                    while((LPC_UART2->LSR&0x20)==0); LPC_UART2->THR = ',';
+//                    float_2_ggaji(alt_zero);
+                    trans_blue_data(alt_zero, 5, 3);
+                    //////////Line Feed//
+                    while((LPC_UART2->LSR&0x20)==0); LPC_UART2->THR = 13;
+                    while((LPC_UART2->LSR&0x20)==0); LPC_UART2->THR = 10;        
                     blueFlag = 0;
+                    
                 }
                 if (20<count) {
                     stat=2;
@@ -288,6 +347,7 @@
                     stat=3; send_Blue();
                 }
                 break;
+                
             /*case 3 :  //Drop
                 get_GPS(&Kor_time,&latitude,&ns,&longitude,&ew,&fix,&sat,&x,&alt_GPS,&lock);
                 get_AHRS(&roll,&pitch,&yaw,&accx,&accy,&accz);
@@ -317,4 +377,5 @@
                 break;
         }
     }
-}
\ No newline at end of file
+}
+