Stefano Dudine / app_gps

modifiche posizione iniziale e sistema d'allarme.

Dependencies:   MTK3339 TextLCD mbed tsi_sensor

Fork of app_gps by Dennis Morello

main.cpp@3:5353387b52f7, 2015-07-13 (annotated)

Committer:
den90
Date:
Mon Jul 13 12:44:39 2015 +0000
Revision:
3:5353387b52f7
Parent:
2:3a9cacc54417
Child:
5:244867f8fc75
Dennis 2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
embeddedartists 0:828a0c36c3e2 1 #include "mbed.h"
embeddedartists 0:828a0c36c3e2 2 #include "MTK3339.h"
den90 1:80d31bcee0e5 3 #include "TextLCD.h"
den90 1:80d31bcee0e5 4 #include "tsi_sensor.h"
den90 1:80d31bcee0e5 5
den90 1:80d31bcee0e5 6 #define ELEC0 9
den90 1:80d31bcee0e5 7 #define ELEC1 10
den90 1:80d31bcee0e5 8 #define LAT 0
den90 1:80d31bcee0e5 9 #define LON 1
embeddedartists 0:828a0c36c3e2 10
embeddedartists 0:828a0c36c3e2 11 static int waitData = 0;
den90 1:80d31bcee0e5 12
den90 1:80d31bcee0e5 13 static MTK3339 gps(PTE22, PTE23);
den90 1:80d31bcee0e5 14 static DigitalOut r_led(LED_RED);
den90 1:80d31bcee0e5 15 static DigitalOut g_led(LED_GREEN);
den90 1:80d31bcee0e5 16 static DigitalOut b_led(LED_BLUE);
den90 1:80d31bcee0e5 17 static TSIAnalogSlider slider(ELEC0, ELEC1, 40);
den90 1:80d31bcee0e5 18 static TextLCD lcd(PTE5, PTE3, PTE2, PTB11, PTB10, PTB9, TextLCD::LCD16x2);
embeddedartists 0:828a0c36c3e2 19
den90 1:80d31bcee0e5 20 const double PI = 3.141592654; // Pi greco
den90 1:80d31bcee0e5 21 const double R = 6371000.0; // Raggio della Terra in metri
den90 1:80d31bcee0e5 22 const int N = 60;
embeddedartists 0:828a0c36c3e2 23
den90 1:80d31bcee0e5 24 double initPos[2] = {.0, .0};
den90 1:80d31bcee0e5 25 double thrs = 3.0; // Soglia di allarme in metri
den90 1:80d31bcee0e5 26 bool set = false;
den90 1:80d31bcee0e5 27
den90 1:80d31bcee0e5 28 static void dataAvailable()
den90 1:80d31bcee0e5 29 {
embeddedartists 0:828a0c36c3e2 30 waitData |= gps.getAvailableDataType();
embeddedartists 0:828a0c36c3e2 31 }
embeddedartists 0:828a0c36c3e2 32
den90 1:80d31bcee0e5 33 // Trasforma un angolo da gradi in radianti
den90 1:80d31bcee0e5 34 static double toRadians(double deg)
den90 1:80d31bcee0e5 35 {
den90 1:80d31bcee0e5 36 return deg * PI / 180.0;
den90 1:80d31bcee0e5 37 }
den90 1:80d31bcee0e5 38
den90 1:80d31bcee0e5 39 // Calcola la distanza tra 2 punti in metri
den90 1:80d31bcee0e5 40 static double dist(double lat1, double lon1, double lat2, double lon2)
den90 1:80d31bcee0e5 41 {
den90 1:80d31bcee0e5 42 double dPhi, dLam, a, c;
den90 1:80d31bcee0e5 43
den90 1:80d31bcee0e5 44 dPhi = toRadians(lat2 - lat1);
den90 1:80d31bcee0e5 45 dLam = toRadians(lon2 - lon1);
den90 1:80d31bcee0e5 46 a = sin(dPhi/2) * sin(dPhi/2) +
den90 1:80d31bcee0e5 47 cos(toRadians(lat1)) * cos(toRadians(lat2)) * sin(dLam/2) * sin(dLam/2);
den90 1:80d31bcee0e5 48 c = 2 * atan2(sqrt(a), sqrt(1-a));
den90 1:80d31bcee0e5 49 return ceil(R * c);
den90 1:80d31bcee0e5 50 }
den90 1:80d31bcee0e5 51
den90 1:80d31bcee0e5 52 // Calcola la distanza tra punto iniziale e attuale in metri
den90 1:80d31bcee0e5 53 static double distFromInit(double lat, double lon)
den90 1:80d31bcee0e5 54 {
den90 1:80d31bcee0e5 55 return dist(initPos[LAT], initPos[LON], lat, lon);
den90 1:80d31bcee0e5 56 }
den90 1:80d31bcee0e5 57
den90 1:80d31bcee0e5 58 static double mean(double* x, int n)
den90 1:80d31bcee0e5 59 {
den90 1:80d31bcee0e5 60 double sum = 0;
den90 1:80d31bcee0e5 61 for (int i=0; i<n; i++) {
den90 1:80d31bcee0e5 62 sum += x[i];
den90 1:80d31bcee0e5 63 }
den90 1:80d31bcee0e5 64 return sum / n;
den90 1:80d31bcee0e5 65 }
den90 1:80d31bcee0e5 66
den90 1:80d31bcee0e5 67 static double var(double* x, int n)
den90 1:80d31bcee0e5 68 {
den90 1:80d31bcee0e5 69 double x1[n];
den90 1:80d31bcee0e5 70 for (int i=0; i<n; i++) {
den90 1:80d31bcee0e5 71 x1[i] = x[i]*x[i];
den90 1:80d31bcee0e5 72 }
den90 1:80d31bcee0e5 73 return mean(x1,n) - (mean(x,n)*mean(x,n));
den90 1:80d31bcee0e5 74 }
den90 1:80d31bcee0e5 75
den90 2:3a9cacc54417 76 static double stdev(double* x, int n)
den90 1:80d31bcee0e5 77 {
den90 2:3a9cacc54417 78 return sqrt(var(x,n));
den90 1:80d31bcee0e5 79 }
embeddedartists 0:828a0c36c3e2 80
den90 1:80d31bcee0e5 81 static void setInitPos()
den90 1:80d31bcee0e5 82 {
den90 1:80d31bcee0e5 83 double coords[2][N];
den90 1:80d31bcee0e5 84 int i = 0;
den90 1:80d31bcee0e5 85 int c = 0;
den90 1:80d31bcee0e5 86 double meanLat, meanLon, stdevLat, stdevLon;
den90 2:3a9cacc54417 87
den90 1:80d31bcee0e5 88 while (!set && gps.gga.satellites>=4) {
den90 1:80d31bcee0e5 89 coords[LAT][i%N] = gps.getLatitudeAsDegrees();
den90 1:80d31bcee0e5 90 coords[LON][i%N] = gps.getLongitudeAsDegrees();
den90 1:80d31bcee0e5 91 wait(1);
embeddedartists 0:828a0c36c3e2 92
den90 3:5353387b52f7 93 if (i>=2*N) {
den90 1:80d31bcee0e5 94 meanLat = mean(coords[LAT], N);
den90 1:80d31bcee0e5 95 meanLon = mean(coords[LON], N);
den90 1:80d31bcee0e5 96 stdevLat = stdev(coords[LAT], N);
den90 1:80d31bcee0e5 97 stdevLon = stdev(coords[LON], N);
den90 1:80d31bcee0e5 98
den90 2:3a9cacc54417 99 lcd.cls();
den90 3:5353387b52f7 100 lcd.printf("%f\n%f %d", stdevLat, stdevLon, i);
den90 2:3a9cacc54417 101
den90 3:5353387b52f7 102 if (stdevLat <= 0.00001)
den90 3:5353387b52f7 103 set = true;
den90 3:5353387b52f7 104 /*for (int j=0; j<N; j++) {
den90 1:80d31bcee0e5 105 if (coords[LAT][j] > meanLat-stdevLat && coords[LAT][j] < meanLat+stdevLat &&
den90 1:80d31bcee0e5 106 coords[LON][j] > meanLon-stdevLon && coords[LON][j] < meanLon+stdevLon)
den90 1:80d31bcee0e5 107 c++;
den90 3:5353387b52f7 108 }*/
den90 1:80d31bcee0e5 109
den90 3:5353387b52f7 110 /*if (c>=N*.5) {
den90 1:80d31bcee0e5 111 initPos[LAT] = coords[LAT][i%N];
den90 1:80d31bcee0e5 112 initPos[LON] = coords[LON][i%N];
den90 1:80d31bcee0e5 113 set = true;
den90 3:5353387b52f7 114 }*/
den90 1:80d31bcee0e5 115 }
den90 2:3a9cacc54417 116
den90 2:3a9cacc54417 117 i++;
den90 1:80d31bcee0e5 118 }
den90 1:80d31bcee0e5 119 }
den90 1:80d31bcee0e5 120
den90 1:80d31bcee0e5 121 static void setRGBColor(double r, double g, double b)
den90 1:80d31bcee0e5 122 {
den90 1:80d31bcee0e5 123 r_led = 1 - r;
den90 1:80d31bcee0e5 124 g_led = 1 - g;
den90 1:80d31bcee0e5 125 b_led = 1 - b;
den90 1:80d31bcee0e5 126 }
den90 1:80d31bcee0e5 127
den90 1:80d31bcee0e5 128 int main(void)
den90 1:80d31bcee0e5 129 {
den90 3:5353387b52f7 130 wait(2);
den90 3:5353387b52f7 131 printf("Ciao");
den90 1:80d31bcee0e5 132
den90 1:80d31bcee0e5 133 double d;
den90 1:80d31bcee0e5 134
den90 1:80d31bcee0e5 135 gps.start(&dataAvailable, MTK3339::NmeaGga);
den90 1:80d31bcee0e5 136
den90 1:80d31bcee0e5 137 while (1) {
den90 1:80d31bcee0e5 138
den90 1:80d31bcee0e5 139 while (waitData == 0);
den90 1:80d31bcee0e5 140
den90 2:3a9cacc54417 141 //lcd.cls();
den90 1:80d31bcee0e5 142
embeddedartists 0:828a0c36c3e2 143 if ((waitData & MTK3339::NmeaGga) != 0) {
embeddedartists 0:828a0c36c3e2 144 waitData &= ~(MTK3339::NmeaGga);
den90 1:80d31bcee0e5 145
den90 1:80d31bcee0e5 146 if (gps.gga.satellites < 4) {
den90 1:80d31bcee0e5 147 lcd.printf("Fixing\nsatellites (%d)", gps.gga.satellites);
den90 1:80d31bcee0e5 148 setRGBColor(1, 1, 0);
den90 1:80d31bcee0e5 149 } else if (!set) {
den90 1:80d31bcee0e5 150 // La prima volta prendi la posizione iniziale
den90 1:80d31bcee0e5 151 lcd.printf("Acquiring\nposition...", gps.gga.satellites);
den90 1:80d31bcee0e5 152 setInitPos();
den90 1:80d31bcee0e5 153 } else {
den90 1:80d31bcee0e5 154 // Prendi la soglia impostata dall'utente
den90 1:80d31bcee0e5 155 if (slider.readPercentage() != 0.0) {
den90 1:80d31bcee0e5 156 thrs = floor(slider.readPercentage() * 12.0 + 3.0);
den90 1:80d31bcee0e5 157 }
den90 1:80d31bcee0e5 158
den90 1:80d31bcee0e5 159 // Calcola la distanza tra punto iniziale e attuale
den90 1:80d31bcee0e5 160 d = distFromInit(gps.getLatitudeAsDegrees(), gps.getLongitudeAsDegrees());
den90 1:80d31bcee0e5 161
den90 1:80d31bcee0e5 162 // Verifica che la soglia sia superata
den90 1:80d31bcee0e5 163 if (d >= thrs) {
den90 2:3a9cacc54417 164 //lcd.printf("THRS=%2.0fm SATS=%d\nDIST=%2.0fm ALARM!", thrs, gps.gga.satellites, d);
den90 1:80d31bcee0e5 165 setRGBColor(1, 0, 0);
den90 1:80d31bcee0e5 166 } else {
den90 2:3a9cacc54417 167 //lcd.printf("THRS=%2.0fm SATS=%d\nDIST=%2.0fm OK!", thrs, gps.gga.satellites, d);
den90 1:80d31bcee0e5 168 setRGBColor(0, 1, 0);
den90 1:80d31bcee0e5 169 }
den90 1:80d31bcee0e5 170 }
den90 1:80d31bcee0e5 171
embeddedartists 0:828a0c36c3e2 172 }
den90 1:80d31bcee0e5 173
den90 1:80d31bcee0e5 174 waitData &= MTK3339::NmeaGga;
embeddedartists 0:828a0c36c3e2 175 }
embeddedartists 0:828a0c36c3e2 176
embeddedartists 0:828a0c36c3e2 177
embeddedartists 0:828a0c36c3e2 178
den90 1:80d31bcee0e5 179 }