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@8:c285a6043b98, 2015-07-14 (annotated)

Committer:
stefanodudine
Date:
Tue Jul 14 08:24:15 2015 +0000
Revision:
8:c285a6043b98
Parent:
7:ffc4ef2442fa 
Stefanone

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);
den90 5:244867f8fc75 19 static Serial pc(USBTX, USBRX);
embeddedartists 0:828a0c36c3e2 20
den90 1:80d31bcee0e5 21 const double PI = 3.141592654; // Pi greco
den90 1:80d31bcee0e5 22 const double R = 6371000.0; // Raggio della Terra in metri
stefanodudine 7:ffc4ef2442fa 23 const int N = 100;
embeddedartists 0:828a0c36c3e2 24
den90 1:80d31bcee0e5 25 double initPos[2] = {.0, .0};
den90 1:80d31bcee0e5 26 double thrs = 3.0; // Soglia di allarme in metri
den90 1:80d31bcee0e5 27 bool set = false;
den90 1:80d31bcee0e5 28
den90 1:80d31bcee0e5 29 static void dataAvailable()
den90 1:80d31bcee0e5 30 {
embeddedartists 0:828a0c36c3e2 31 waitData |= gps.getAvailableDataType();
embeddedartists 0:828a0c36c3e2 32 }
embeddedartists 0:828a0c36c3e2 33
stefanodudine 7:ffc4ef2442fa 34 static void setRGBColor(double r, double g, double b)
stefanodudine 7:ffc4ef2442fa 35 {
stefanodudine 7:ffc4ef2442fa 36 r_led = 1 - r; g_led = 1 - g; b_led = 1 - b;
stefanodudine 7:ffc4ef2442fa 37 }
stefanodudine 7:ffc4ef2442fa 38
den90 1:80d31bcee0e5 39 // Trasforma un angolo da gradi in radianti
den90 1:80d31bcee0e5 40 static double toRadians(double deg)
den90 1:80d31bcee0e5 41 {
den90 1:80d31bcee0e5 42 return deg * PI / 180.0;
den90 1:80d31bcee0e5 43 }
den90 1:80d31bcee0e5 44
den90 1:80d31bcee0e5 45 // Calcola la distanza tra 2 punti in metri
den90 1:80d31bcee0e5 46 static double dist(double lat1, double lon1, double lat2, double lon2)
den90 1:80d31bcee0e5 47 {
den90 1:80d31bcee0e5 48 double dPhi, dLam, a, c;
den90 1:80d31bcee0e5 49
den90 1:80d31bcee0e5 50 dPhi = toRadians(lat2 - lat1);
den90 1:80d31bcee0e5 51 dLam = toRadians(lon2 - lon1);
den90 1:80d31bcee0e5 52 a = sin(dPhi/2) * sin(dPhi/2) +
den90 1:80d31bcee0e5 53 cos(toRadians(lat1)) * cos(toRadians(lat2)) * sin(dLam/2) * sin(dLam/2);
den90 1:80d31bcee0e5 54 c = 2 * atan2(sqrt(a), sqrt(1-a));
stefanodudine 7:ffc4ef2442fa 55 return R * c;
stefanodudine 7:ffc4ef2442fa 56 }
stefanodudine 7:ffc4ef2442fa 57
stefanodudine 7:ffc4ef2442fa 58 // Calcola la distanza tra punto iniziale e attuale in metri
stefanodudine 7:ffc4ef2442fa 59 static double distFromInit(double lat, double lon)
stefanodudine 7:ffc4ef2442fa 60 {
stefanodudine 7:ffc4ef2442fa 61 return dist(initPos[LAT], initPos[LON], lat, lon);
den90 1:80d31bcee0e5 62 }
den90 1:80d31bcee0e5 63
den90 5:244867f8fc75 64 static double distThomas(double lat1, double lon1, double lat2, double lon2)
den90 5:244867f8fc75 65 {
den90 5:244867f8fc75 66 double x = toRadians(lon2 - lon1) * cos(toRadians(lat1 + lat2)/2);
den90 5:244867f8fc75 67 double y = toRadians(lat2 - lat1);
den90 5:244867f8fc75 68 return sqrt(x*x + y*y) * R;
den90 5:244867f8fc75 69 }
den90 5:244867f8fc75 70
den90 5:244867f8fc75 71 static double distThomasFromInit(double lat, double lon)
den90 5:244867f8fc75 72 {
den90 5:244867f8fc75 73 return distThomas(initPos[LAT], initPos[LON], lat, lon);
den90 5:244867f8fc75 74 }
den90 5:244867f8fc75 75
den90 1:80d31bcee0e5 76 static double mean(double* x, int n)
den90 1:80d31bcee0e5 77 {
den90 1:80d31bcee0e5 78 double sum = 0;
den90 1:80d31bcee0e5 79 for (int i=0; i<n; i++) {
den90 1:80d31bcee0e5 80 sum += x[i];
den90 1:80d31bcee0e5 81 }
den90 1:80d31bcee0e5 82 return sum / n;
den90 1:80d31bcee0e5 83 }
den90 1:80d31bcee0e5 84
den90 1:80d31bcee0e5 85 static double var(double* x, int n)
den90 1:80d31bcee0e5 86 {
den90 1:80d31bcee0e5 87 double x1[n];
den90 1:80d31bcee0e5 88 for (int i=0; i<n; i++) {
den90 1:80d31bcee0e5 89 x1[i] = x[i]*x[i];
den90 1:80d31bcee0e5 90 }
den90 1:80d31bcee0e5 91 return mean(x1,n) - (mean(x,n)*mean(x,n));
den90 1:80d31bcee0e5 92 }
den90 1:80d31bcee0e5 93
den90 2:3a9cacc54417 94 static double stdev(double* x, int n)
den90 1:80d31bcee0e5 95 {
den90 2:3a9cacc54417 96 return sqrt(var(x,n));
den90 1:80d31bcee0e5 97 }
embeddedartists 0:828a0c36c3e2 98
den90 1:80d31bcee0e5 99 static void setInitPos()
den90 1:80d31bcee0e5 100 {
den90 1:80d31bcee0e5 101 double coords[2][N];
den90 1:80d31bcee0e5 102 int i = 0;
den90 1:80d31bcee0e5 103 double meanLat, meanLon, stdevLat, stdevLon;
den90 2:3a9cacc54417 104
den90 1:80d31bcee0e5 105 while (!set && gps.gga.satellites>=4) {
den90 1:80d31bcee0e5 106 coords[LAT][i%N] = gps.getLatitudeAsDegrees();
den90 1:80d31bcee0e5 107 coords[LON][i%N] = gps.getLongitudeAsDegrees();
den90 1:80d31bcee0e5 108 wait(1);
embeddedartists 0:828a0c36c3e2 109
stefanodudine 8:c285a6043b98 110 if (i >= 2*N) {
den90 1:80d31bcee0e5 111 meanLat = mean(coords[LAT], N);
den90 1:80d31bcee0e5 112 meanLon = mean(coords[LON], N);
den90 1:80d31bcee0e5 113 stdevLat = stdev(coords[LAT], N);
den90 1:80d31bcee0e5 114 stdevLon = stdev(coords[LON], N);
den90 1:80d31bcee0e5 115
den90 6:c8efb299b0f0 116 lcd.cls();
stefanodudine 8:c285a6043b98 117 lcd.printf("ACCURACY (%d)\n%f m", i, distThomas(0, 0, 3*stdevLat, 3*stdevLon));
den90 6:c8efb299b0f0 118
stefanodudine 8:c285a6043b98 119 if (distThomas(0, 0, 3*stdevLat, 3*stdevLon) < 3) {
den90 1:80d31bcee0e5 120 initPos[LAT] = coords[LAT][i%N];
den90 1:80d31bcee0e5 121 initPos[LON] = coords[LON][i%N];
den90 1:80d31bcee0e5 122 set = true;
den90 5:244867f8fc75 123 }
den90 1:80d31bcee0e5 124 }
den90 2:3a9cacc54417 125 i++;
den90 1:80d31bcee0e5 126 }
den90 1:80d31bcee0e5 127 }
den90 1:80d31bcee0e5 128
den90 1:80d31bcee0e5 129 int main(void)
den90 1:80d31bcee0e5 130 {
stefanodudine 7:ffc4ef2442fa 131 double d;
stefanodudine 7:ffc4ef2442fa 132 int c = 0;
den90 1:80d31bcee0e5 133
den90 1:80d31bcee0e5 134 gps.start(&dataAvailable, MTK3339::NmeaGga);
den90 1:80d31bcee0e5 135
den90 1:80d31bcee0e5 136 while (1) {
den90 1:80d31bcee0e5 137
den90 1:80d31bcee0e5 138 while (waitData == 0);
den90 1:80d31bcee0e5 139
den90 5:244867f8fc75 140 lcd.cls();
den90 1:80d31bcee0e5 141
embeddedartists 0:828a0c36c3e2 142 if ((waitData & MTK3339::NmeaGga) != 0) {
embeddedartists 0:828a0c36c3e2 143 waitData &= ~(MTK3339::NmeaGga);
den90 1:80d31bcee0e5 144
den90 1:80d31bcee0e5 145 if (gps.gga.satellites < 4) {
den90 1:80d31bcee0e5 146 lcd.printf("Fixing\nsatellites (%d)", gps.gga.satellites);
den90 1:80d31bcee0e5 147 setRGBColor(1, 1, 0);
den90 1:80d31bcee0e5 148 } else if (!set) {
den90 1:80d31bcee0e5 149 // La prima volta prendi la posizione iniziale
den90 1:80d31bcee0e5 150 lcd.printf("Acquiring\nposition...", gps.gga.satellites);
den90 1:80d31bcee0e5 151 setInitPos();
den90 1:80d31bcee0e5 152 } else {
den90 1:80d31bcee0e5 153 // Prendi la soglia impostata dall'utente
den90 1:80d31bcee0e5 154 if (slider.readPercentage() != 0.0) {
stefanodudine 8:c285a6043b98 155 thrs = floor(slider.readPercentage() * 7.0 + 3.0);
den90 1:80d31bcee0e5 156 }
den90 1:80d31bcee0e5 157
den90 1:80d31bcee0e5 158 // Calcola la distanza tra punto iniziale e attuale
stefanodudine 7:ffc4ef2442fa 159 d = distThomasFromInit(gps.getLatitudeAsDegrees(), gps.getLongitudeAsDegrees());
den90 1:80d31bcee0e5 160
den90 1:80d31bcee0e5 161 // Verifica che la soglia sia superata
stefanodudine 7:ffc4ef2442fa 162 if (d > thrs) {
stefanodudine 8:c285a6043b98 163 if (c >= 5 ){
stefanodudine 8:c285a6043b98 164 lcd.printf("TH=%2.0fm SATS=%d\nDIST=%2.1fm ALARM", thrs, gps.gga.satellites, d);
stefanodudine 7:ffc4ef2442fa 165 setRGBColor(1, 0, 0);
stefanodudine 8:c285a6043b98 166 } else {
stefanodudine 8:c285a6043b98 167 c++;
stefanodudine 7:ffc4ef2442fa 168 }
den90 1:80d31bcee0e5 169 } else {
stefanodudine 8:c285a6043b98 170 lcd.printf("TH=%2.0fm SATS=%d\nDIST=%2.1fm OK", thrs, gps.gga.satellites, d);
den90 1:80d31bcee0e5 171 setRGBColor(0, 1, 0);
stefanodudine 7:ffc4ef2442fa 172 c=0;
den90 1:80d31bcee0e5 173 }
den90 1:80d31bcee0e5 174 }
den90 1:80d31bcee0e5 175
embeddedartists 0:828a0c36c3e2 176 }
den90 1:80d31bcee0e5 177 waitData &= MTK3339::NmeaGga;
embeddedartists 0:828a0c36c3e2 178 }
den90 1:80d31bcee0e5 179 }