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Dependencies:   mbed

Fork of dgps by Colin Stearns

main.cpp@14:6be57da62283, 2014-04-10 (annotated)

Committer:
dylanembed123
Date:
Thu Apr 10 02:19:07 2014 +0000
Revision:
14:6be57da62283
Parent:
13:a6d3cf2b018e
Child:
15:e3e03a9df89e
Update GPS;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
stearnsc 0:9c001c4e7bf4 1 #include "mbed.h"
stearnsc 0:9c001c4e7bf4 2 #include <string>
stearnsc 0:9c001c4e7bf4 3 #include <sstream>
dylanembed123 7:c75d5e5e6bfc 4 #include "adapt/usb.h"
dylanembed123 9:da906eeac51e 5 #include "handle/handleCamera.h"
dylanembed123 9:da906eeac51e 6 #include "handle/handleGPS.h"
stearnsc 8:28b866df62cf 7
stearnsc 0:9c001c4e7bf4 8 Serial pc(USBTX,USBRX);
stearnsc 0:9c001c4e7bf4 9 Serial xbee(p9,p10);//tx, rx
stearnsc 0:9c001c4e7bf4 10 Serial gps(p28,p27);
dylanembed123 6:434d20e99e49 11 Serial camera(p13,p14);
stearnsc 0:9c001c4e7bf4 12
stearnsc 0:9c001c4e7bf4 13 typedef struct {
stearnsc 0:9c001c4e7bf4 14 int latitude; //in .0001 minutes
stearnsc 0:9c001c4e7bf4 15 int longitude; //in .0001 minutes
stearnsc 0:9c001c4e7bf4 16 int altitude; //in decimeters
stearnsc 0:9c001c4e7bf4 17 int time; //in milliseconds
stearnsc 0:9c001c4e7bf4 18 } GpsData;
stearnsc 0:9c001c4e7bf4 19
stearnsc 8:28b866df62cf 20 void readSerial(Serial &s, char str[], int size)
stearnsc 8:28b866df62cf 21 {
stearnsc 8:28b866df62cf 22 for (int i = 0; i < size; i++) {
stearnsc 8:28b866df62cf 23 str[i] = s.getc();
stearnsc 0:9c001c4e7bf4 24 }
stearnsc 0:9c001c4e7bf4 25 }
stearnsc 0:9c001c4e7bf4 26
stearnsc 0:9c001c4e7bf4 27 //sends: "$<command>*<checksum>\r\l"
stearnsc 8:28b866df62cf 28 void sendGpsCommand(string command)
stearnsc 8:28b866df62cf 29 {
stearnsc 0:9c001c4e7bf4 30 uint8_t checksum = 0;
stearnsc 0:9c001c4e7bf4 31 pc.printf("Sending command to gps: ");
stearnsc 0:9c001c4e7bf4 32 gps.putc('$');
stearnsc 0:9c001c4e7bf4 33 pc.putc('$');
stearnsc 0:9c001c4e7bf4 34 char c;
stearnsc 8:28b866df62cf 35 for (int i = 0; i < command.length(); i++) {
stearnsc 0:9c001c4e7bf4 36 c = command[i];
stearnsc 0:9c001c4e7bf4 37 checksum ^= c;
stearnsc 0:9c001c4e7bf4 38 gps.putc(c);
stearnsc 0:9c001c4e7bf4 39 pc.putc(c);
stearnsc 0:9c001c4e7bf4 40 }
stearnsc 0:9c001c4e7bf4 41 gps.putc('*');
stearnsc 0:9c001c4e7bf4 42 pc.putc('*');
stearnsc 0:9c001c4e7bf4 43 string checkSumString;
stearnsc 8:28b866df62cf 44 while (checksum > 0) {
stearnsc 0:9c001c4e7bf4 45 uint8_t checksumChar = checksum & 0x0F;
stearnsc 8:28b866df62cf 46 if (checksumChar >= 10) {
stearnsc 0:9c001c4e7bf4 47 checksumChar -= 10;
stearnsc 8:28b866df62cf 48 checksumChar += 'A';
stearnsc 0:9c001c4e7bf4 49 } else {
stearnsc 8:28b866df62cf 50 checksumChar += '0';
stearnsc 0:9c001c4e7bf4 51 }
stearnsc 0:9c001c4e7bf4 52 checkSumString.push_back((char) checksumChar);
stearnsc 8:28b866df62cf 53 checksum = checksum >> 4;
stearnsc 0:9c001c4e7bf4 54 }
stearnsc 0:9c001c4e7bf4 55
stearnsc 8:28b866df62cf 56 for (int i = checkSumString.length() - 1; i >= 0; i--) {
stearnsc 0:9c001c4e7bf4 57 gps.putc(checkSumString[i]);
stearnsc 8:28b866df62cf 58 pc.putc(checkSumString[i]);
stearnsc 8:28b866df62cf 59 }
stearnsc 0:9c001c4e7bf4 60 gps.putc('\r');
stearnsc 0:9c001c4e7bf4 61 pc.putc('\r');
stearnsc 0:9c001c4e7bf4 62 gps.putc('\n');
stearnsc 0:9c001c4e7bf4 63 pc.putc('\n');
stearnsc 0:9c001c4e7bf4 64 }
stearnsc 8:28b866df62cf 65 //
stearnsc 8:28b866df62cf 66 ////cs: little endian parsing
stearnsc 8:28b866df62cf 67 //int nextInt(char *data, int i)
stearnsc 8:28b866df62cf 68 //{
stearnsc 8:28b866df62cf 69 // i |= data[i];
stearnsc 8:28b866df62cf 70 // i |= (data[i + 1] << 8);
stearnsc 8:28b866df62cf 71 // i |= (data[i + 2] << 16);
stearnsc 8:28b866df62cf 72 // i |= (data[i + 3] << 24);
stearnsc 8:28b866df62cf 73 // return i;
stearnsc 8:28b866df62cf 74 //}
stearnsc 0:9c001c4e7bf4 75
stearnsc 8:28b866df62cf 76 //void handleXbeeGps()
stearnsc 8:28b866df62cf 77 //{
stearnsc 8:28b866df62cf 78 // static bool reading = false;
stearnsc 8:28b866df62cf 79 // static char packet[16];
stearnsc 8:28b866df62cf 80 // static int i = 0;
stearnsc 8:28b866df62cf 81 //
stearnsc 8:28b866df62cf 82 // char c = xbee.getc();
stearnsc 8:28b866df62cf 83 // if (reading) {
stearnsc 8:28b866df62cf 84 // packet[i] = c;
stearnsc 8:28b866df62cf 85 // i++;
stearnsc 8:28b866df62cf 86 // if (i == 16) {
stearnsc 8:28b866df62cf 87 // i = 0;
stearnsc 8:28b866df62cf 88 // otherGps.latitude = nextInt(packet, 0);
stearnsc 8:28b866df62cf 89 // otherGps.longitude = nextInt(packet, 4);
stearnsc 8:28b866df62cf 90 // otherGps.altitude = nextInt(packet, 8);
stearnsc 8:28b866df62cf 91 // otherGps.time = nextInt(packet, 12);
stearnsc 8:28b866df62cf 92 //
stearnsc 8:28b866df62cf 93 // pc.printf("His GPS data: Lat: %d, Lon: %d, Alt: %d, Time:%d\r\n",
stearnsc 8:28b866df62cf 94 // otherGps.latitude, otherGps.longitude, otherGps.altitude, otherGps.time
stearnsc 8:28b866df62cf 95 // );
stearnsc 8:28b866df62cf 96 // reading = false;
stearnsc 8:28b866df62cf 97 // }
stearnsc 8:28b866df62cf 98 // } else if (c == 'X') {
stearnsc 8:28b866df62cf 99 // reading = true;
stearnsc 8:28b866df62cf 100 // }
stearnsc 8:28b866df62cf 101 //}
dylanembed123 7:c75d5e5e6bfc 102
dylanembed123 7:c75d5e5e6bfc 103
stearnsc 8:28b866df62cf 104 int main()
stearnsc 8:28b866df62cf 105 {
dylanembed123 14:6be57da62283 106 //getPS().sendPacket(0,NULL,0,PT_EMPTY);getPS().sendPacket(55,NULL,0,PT_IMAGE);
dylanembed123 14:6be57da62283 107 /*
dylanembed123 14:6be57da62283 108 char output[256];for(int i=0;i<256;i++){output[i]=i;}getPS().sendPacket(0,NULL,0,PT_IMAGE);getPS().sendPacket(55,output,256);getPS().sendPacket(55,output,5);getPS().sendPacket(55,NULL,0,PT_END);
dylanembed123 14:6be57da62283 109 PacketStruct* packs[4];
dylanembed123 14:6be57da62283 110 for(int i=0;i<4;i){
dylanembed123 14:6be57da62283 111 packs[i]=getPS().getNextPacket();
dylanembed123 14:6be57da62283 112 if(packs[i]!=NULL)i++;
dylanembed123 14:6be57da62283 113 }
dylanembed123 14:6be57da62283 114 for(int i=0;i<4;i++){
dylanembed123 14:6be57da62283 115 PacketStruct* pack=packs[i];
dylanembed123 14:6be57da62283 116 if(pack!=NULL){
dylanembed123 14:6be57da62283 117 USB::getSerial().printf("Got Packet!\n");
dylanembed123 14:6be57da62283 118 USB::getSerial().printf(" > %d\n",pack->type);
dylanembed123 14:6be57da62283 119 for(int i=0;i<sizeof(PacketStruct);i++){
dylanembed123 14:6be57da62283 120 USB::getSerial().printf("%d\n",((char*)pack)[i]);
dylanembed123 14:6be57da62283 121 }
dylanembed123 14:6be57da62283 122 USB::getSerial().printf("\n",pack->type);
dylanembed123 14:6be57da62283 123 }else{
dylanembed123 14:6be57da62283 124 //USB::getSerial().printf(".");
dylanembed123 14:6be57da62283 125 }
dylanembed123 14:6be57da62283 126 }
dylanembed123 14:6be57da62283 127 while(true){}
dylanembed123 14:6be57da62283 128 */
dylanembed123 13:a6d3cf2b018e 129 //getPS().sendPacket(55,NULL,0,PT_IMAGE);char output[256];for(int i=0;i<256;i++){output[i]=i;}getPS().sendPacket(55,output,256,PT_IMAGE);getPS().sendPacket(55,output,5,PT_IMAGE);getPS().sendPacket(55,NULL,0,PT_END);while(true){}
dylanembed123 7:c75d5e5e6bfc 130 ImageHandle imageHand;
dylanembed123 9:da906eeac51e 131 GPSHandle gpsHand;
dylanembed123 11:97625c27ab90 132 /// Main Loop
dylanembed123 13:a6d3cf2b018e 133 USB::getSerial().printf("Starting %d\n",sizeof(PacketStruct));
dylanembed123 13:a6d3cf2b018e 134 //while(1){
dylanembed123 13:a6d3cf2b018e 135 //USB::getSerial().printf("Test\n");
dylanembed123 13:a6d3cf2b018e 136 //XBEE::getSerial().printf("ABC\n");
dylanembed123 13:a6d3cf2b018e 137 //}
dylanembed123 14:6be57da62283 138 USB::getSerial().printf("Check GPS\n");
dylanembed123 11:97625c27ab90 139 while(1){
dylanembed123 11:97625c27ab90 140 // Run image handler
dylanembed123 14:6be57da62283 141 //imageHand.run();
dylanembed123 11:97625c27ab90 142 // Run GPS handler
dylanembed123 14:6be57da62283 143 gpsHand.run();
dylanembed123 11:97625c27ab90 144 }
dylanembed123 7:c75d5e5e6bfc 145 /// Main Loop
stearnsc 8:28b866df62cf 146 while(true) {
stearnsc 8:28b866df62cf 147 gps.baud(57600);
stearnsc 8:28b866df62cf 148 xbee.baud(9600);
stearnsc 8:28b866df62cf 149 pc.baud(57600);
stearnsc 8:28b866df62cf 150
stearnsc 8:28b866df62cf 151 sendGpsCommand("PMTK301,1");
stearnsc 8:28b866df62cf 152 while(true) {
stearnsc 8:28b866df62cf 153 pc.putc(gps.getc());
stearnsc 8:28b866df62cf 154 }
dylanembed123 9:da906eeac51e 155 //gps.attach(&handleGpsData, Serial::RxIrq);
dylanembed123 9:da906eeac51e 156 //xbee.attach(&handleXbeeGps, Serial::RxIrq)//;
dylanembed123 6:434d20e99e49 157 }
dylanembed123 9:da906eeac51e 158 }