Diff: main.cpp

Revision:

2:a01fc505b443

Parent:

1:acd907fbcbae

--- a/main.cpp	Fri Aug 22 12:43:55 2014 +0000
+++ b/main.cpp	Mon Jun 27 19:23:10 2016 +0000
@@ -1,30 +1,42 @@
-/*
- * Author: Edoardo De Marchi
- * Date: 22-08-14
- * Notes: Firmware for GPS U-Blox NEO-6M
-*/
-
+#include "mbed.h"
+#include <math.h>
+#include "rtos.h"
+#include "MMA8452.h"
+#include <string>
 #include "main.h"
+ 
+MMA8452 acc(p28, p27, 100000);
+Serial pc(USBTX,USBRX);
+Serial BT(p9, p10);
+DigitalOut led2(LED2);
 
+Ticker BTtimer;
+Timer globalTimer;
+static float lat=0,lng=0,speed=0,accelerometer=0;
+static int panic=0;
+static double x;
+//prototypes:
+void BTsendInterval();
 
-void Init()
-{
-    gps.baud(9600);
-    pc.baud(115200);
-
-    pc.printf("Init OK\n");
+void DataReceived_ISR(){
+     char globalChar = LPC_UART1->RBR;
 }
 
 
+void BTCommands (string cmd)
+{
+   
+      
+}
 
-int main() 
-{   
-    Init();
+//GPS Thread
+void thread1(void const *args)
+{
+    
     char c;
-
-    while(true) 
-    {
-        if(gps.readable())
+    while(true) {
+       pc.printf("GPS Thread\n");
+       if(gps.readable())
         { 
             if(gps.getc() == '$');           // wait a $
             {
@@ -44,47 +56,94 @@
                 }
             }
          } 
+              
+        Thread::wait(100);
+    }
+}
+
+void thread2(void const *args) //body thread
+{
+    
+    while(true) { 
+       if(!acc.isXReady()) {
+         wait(0.01);
+         continue;
+         }
+      acc.readXGravity(&x);
+      pc.printf("ACCELERETOR Thread x:%lf \r\n",x);
+        pc.printf("ACCELERETOR Thread\n");
+        Thread::wait(100);
+    }
+    
+}
+
+
+
+void thread3(void const *args)
+{
+    
+    while(true) { 
+        BT.printf("Log %.6f,%.6f,%.1f,%.2f,%d\n",lat,lng,speed,accelerometer,panic);
+        pc.printf("MQTT Thread\n");
+        Thread::wait(100);
     }
 }
 
+void BTsendDegrees(float degree)
+{
+      BT.printf("lat:%f,lng:%f,speed:%f\n",lat,lng,speed);
+}
+
+
+
+void Init()
+{
+    gps.baud(9600);
+    pc.baud(9600);
+    BT.baud(9600);
+    //BT.attach(&DataReceived_ISR,Serial::RxIrq); //maor
+    wait(1); 
+    pc.printf("Init OK\n");
+}
+
+
+int main()
+{
+    pc.printf("Main\n");
+    Init();
+    pc.printf("ready\n");
+    Thread t1(thread1);
+    t1.set_priority(osPriorityNormal);
+    
+    Thread t2(thread2);
+    t2.set_priority(osPriorityNormal);
+    
+    Thread t3(thread3);
+    t3.set_priority(osPriorityNormal);
+    
+    
+    while(true) {       
+    
+    }
+}
 
 void parse(char *cmd, int n)
 {
     
     char ns, ew, tf, status;
     int fq, nst, fix, date;                                     // fix quality, Number of satellites being tracked, 3D fix
-    float latitude, longitude, timefix, speed, altitude;
-    
-    
-    // Global Positioning System Fix Data
-    if(strncmp(cmd,"$GPGGA", 6) == 0) 
-    {
-        sscanf(cmd, "$GPGGA,%f,%f,%c,%f,%c,%d,%d,%*f,%f", &timefix, &latitude, &ns, &longitude, &ew, &fq, &nst, &altitude);
-        pc.printf("GPGGA Fix taken at: %f, Latitude: %f %c, Longitude: %f %c, Fix quality: %d, Number of sat: %d, Altitude: %f M\n", timefix, latitude, ns, longitude, ew, fq, nst, altitude);
-    }
+    float latitude, longitude, timefix, spd, altitude;
     
-    // Satellite status
-    if(strncmp(cmd,"$GPGSA", 6) == 0) 
-    {
-        sscanf(cmd, "$GPGSA,%c,%d,%d", &tf, &fix, &nst);
-        pc.printf("GPGSA Type fix: %c, 3D fix: %d, number of sat: %d\r\n", tf, fix, nst);
-    }
-    
-    // Geographic position, Latitude and Longitude
-    if(strncmp(cmd,"$GPGLL", 6) == 0) 
-    {
-        sscanf(cmd, "$GPGLL,%f,%c,%f,%c,%f", &latitude, &ns, &longitude, &ew, &timefix);
-        pc.printf("GPGLL Latitude: %f %c, Longitude: %f %c, Fix taken at: %f\n", latitude, ns, longitude, ew, timefix);
-    }
-    
+
     // Geographic position, Latitude and Longitude
     if(strncmp(cmd,"$GPRMC", 6) == 0) 
     {
-        sscanf(cmd, "$GPRMC,%f,%c,%f,%c,%f,%c,%f,,%d", &timefix, &status, &latitude, &ns, &longitude, &ew, &speed, &date);
-        pc.printf("GPRMC Fix taken at: %f, Status: %c, Latitude: %f %c, Longitude: %f %c, Speed: %f, Date: %d\n", timefix, status, latitude, ns, longitude, ew, speed, date);
+        sscanf(cmd, "$GPRMC,%f,%c,%f,%c,%f,%c,%f,,%d", &timefix, &status, &latitude, &ns, &longitude, &ew, &spd, &date);
+        lat=latitude/100;
+        lng=longitude/100;
+        speed=spd;
+        pc.printf("GPS - Latitude: %f, Longitude: %f, Speed: %.1f\n", lat, lng, speed);
+        //pc.printf("GPRMC Fix taken at: %f, Status: %c, Latitude: %f %c, Longitude: %f %c, Speed: %f, Date: %d\n", timefix, status, latitude, ns, longitude, ew, spd, date);
+        
     }
 }
-
-
-
-