/**
* Uart Constructor, takes a string to the path of the serial
* interface that is needed.
*
* @param uart the index of the uart set to use
*/
Uart(std::string path)
{
m_uart = mraa_uart_init_raw(path.c_str());
if (m_uart == NULL) {
throw std::invalid_argument("Error initialising UART");
}
}
int main(){
load_device_tree("ADAFRUIT-UART4");
mraa_uart_context bbb;
bbb = mraa_uart_init_raw("/dev/ttyO4");
mraa_uart_set_baudrate(bbb, 38400);
mraa_uart_set_mode(bbb, 8,MRAA_UART_PARITY_NONE , 1);
char buf[31] = "~4121|p123.324321|n053.989876$";
buf[30] = '\0';
while (1) {
mraa_uart_write(bbb, buf, 30);
usleep(10000);
}
return 0;
}
// uart tty init
rn2903_context rn2903_init_tty(const char *uart_tty, unsigned int baudrate)
{
rn2903_context dev;
if (!(dev = _rn2903_preinit()))
return NULL;
// initialize the MRAA context
// uart, default should be 8N1
if (!(dev->uart = mraa_uart_init_raw(uart_tty)))
{
printf("%s: mraa_uart_init_raw() failed.\n", __FUNCTION__);
rn2903_close(dev);
return NULL;
}
return _rn2903_postinit(dev, baudrate);
}
mraa_uart_context
mraa_uart_init(int index)
{
if (plat == NULL) {
syslog(LOG_ERR, "uart: platform not initialised");
return NULL;
}
if (mraa_is_sub_platform_id(index)) {
syslog(LOG_NOTICE, "uart: Using sub platform is not supported");
return NULL;
}
if (plat->adv_func->uart_init_pre != NULL) {
if (plat->adv_func->uart_init_pre(index) != MRAA_SUCCESS) {
syslog(LOG_ERR, "uart: failure in pre-init platform hook");
return NULL;
}
}
if (plat->uart_dev_count == 0) {
syslog(LOG_ERR, "uart: platform has no UARTs defined");
return NULL;
}
if (plat->uart_dev_count <= index) {
syslog(LOG_ERR, "uart: platform has only %i", plat->uart_dev_count);
return NULL;
}
if (!plat->no_bus_mux) {
int pos = plat->uart_dev[index].rx;
if (pos >= 0) {
if (plat->pins[pos].uart.mux_total > 0) {
if (mraa_setup_mux_mapped(plat->pins[pos].uart) != MRAA_SUCCESS) {
syslog(LOG_ERR, "uart: failed to setup muxes for RX pin");
return NULL;
}
}
}
pos = plat->uart_dev[index].tx;
if (pos >= 0) {
if (plat->pins[pos].uart.mux_total > 0) {
if (mraa_setup_mux_mapped(plat->pins[pos].uart) != MRAA_SUCCESS) {
syslog(LOG_ERR, "uart: failed to setup muxes for TX pin");
return NULL;
}
}
}
}
mraa_uart_context dev = mraa_uart_init_raw((char*)plat->uart_dev[index].device_path);
if (dev == NULL) {
return NULL;
}
dev->index = index; //Set the board Index.
if (IS_FUNC_DEFINED(dev, uart_init_post)) {
mraa_result_t ret = dev->advance_func->uart_init_post(dev);
if (ret != MRAA_SUCCESS) {
free(dev);
return NULL;
}
}
return dev;
}
/**
* n_direction_flag: 0 from edison to beaglebone
* 1 from beaglebone to edison
* check https://github.com/peidong/drone/blob/master/Edison/main/edison-bbb-communication-code.md for commands
*/
int communication_with_beaglebone_uart(int nflag_direction, struct T_drone *pT_drone, int nflag_receive_success){
/**
* check if uart available
*/
while (pT_drone->nflag_enable_uart != 1){
usleep(1300);
}
pT_drone->nflag_enable_uart = 0;
mraa_uart_context beaglebone_uart;
if (nflag_direction == 1){
/**
* From beaglebone to edison
*/
beaglebone_uart = mraa_uart_init_raw("/dev/ttyO4");
mraa_uart_set_baudrate(beaglebone_uart, 38400);
mraa_uart_set_mode(beaglebone_uart, 8, MRAA_UART_PARITY_NONE , 1);
while (mraa_uart_data_available(beaglebone_uart, 10000) != 1){
printf("data not available\n");
/*usleep(10000);*/
}
/**
* Start receive
*/
char c_flag[1];
char arrc_buffer[20];
int nflag_find_beginning = 0;
int nflag_find_end = 0;
int n_index = 0;
/**
* Read the message array
*/
while (nflag_find_beginning != 1){
mraa_uart_read(beaglebone_uart, c_flag, 1);
if (c_flag[0] == '~'){
nflag_find_beginning = 1;
n_index = 0;
while (nflag_find_end != 1){
mraa_uart_read(beaglebone_uart, arrc_buffer + n_index, 1);
if (arrc_buffer[n_index] == '$'){
arrc_buffer[n_index] = '\0';
nflag_find_end = 1;
//break;
}else if (arrc_buffer[n_index] == '~'){
nflag_find_end = -1;
nflag_find_beginning = 1;
n_index = 0;
//continue;
}else{
n_index++;
}
}
}
}
/**
* Process the message
*/
int n_command_index = -1;
if (arrc_buffer[0] == '0'){
/**
* stop
*/
n_command_index = 0;
printf("stop received\n");
}else if (arrc_buffer[0] == '1'){
/**
* auto control
*/
char arrc_command_index[4];
int n_temp_index;
for (n_temp_index = 0; n_temp_index <= 2; n_temp_index++){
arrc_command_index[n_temp_index] = arrc_buffer[n_temp_index];
}
arrc_command_index[3] = '\0';
n_command_index = atoi(arrc_command_index);
printf("auto control received: %d\n", n_command_index);
}else if (arrc_buffer[0] == '2'){
/**
* manual control command
*/
char arrc_command_index[4];
int n_temp_index;
for (n_temp_index = 0; n_temp_index <= 2; n_temp_index++){
arrc_command_index[n_temp_index] = arrc_buffer[n_temp_index];
}
arrc_command_index[3] = '\0';
n_command_index = atoi(arrc_command_index);
printf("manual control received: %d\n", n_command_index);
}else if (arrc_buffer[0] == '3'){
/**
* pid tuning
*/
char arrc_command_index[4];
int n_temp_index;
for (n_temp_index = 0; n_temp_index <= 2; n_temp_index++){
arrc_command_index[n_temp_index] = arrc_buffer[n_temp_index];
}
arrc_command_index[3] = '\0';
n_command_index = atoi(arrc_command_index);
printf("pid tuning received: %d\n", n_command_index);
char arrc_pid_value[9];
for (n_temp_index = 0; n_temp_index <= 7; n_temp_index++){
arrc_pid_value[n_temp_index] = arrc_buffer[n_temp_index + 3];
}
arrc_buffer[8] = '\0';
if (n_command_index == 301){
pT_drone->d_kp_pitch = atof(arrc_pid_value);
}else if (n_command_index == 302){
pT_drone->d_ki_pitch = atof(arrc_pid_value);
}else if (n_command_index == 303){
pT_drone->d_kd_pitch = atof(arrc_pid_value);
}else if (n_command_index == 304){
pT_drone->d_kp_roll = atof(arrc_pid_value);
}else if (n_command_index == 305){
pT_drone->d_ki_roll = atof(arrc_pid_value);
}else if (n_command_index == 306){
pT_drone->d_kd_roll = atof(arrc_pid_value);
}else if (n_command_index == 307){
pT_drone->d_kp_yaw = atof(arrc_pid_value);
}else if (n_command_index == 308){
pT_drone->d_kd_yaw = atof(arrc_pid_value);
}else if (n_command_index == 309){
pT_drone->d_ki_yaw = atof(arrc_pid_value);
}else if (n_command_index == 310){
pT_drone->d_kp_second_pitch = atof(arrc_pid_value);
}else if (n_command_index == 311){
pT_drone->d_kd_second_pitch = atof(arrc_pid_value);
}else if (n_command_index == 312){
pT_drone->d_kp_second_roll = atof(arrc_pid_value);
}else if (n_command_index == 313){
pT_drone->d_kd_second_roll = atof(arrc_pid_value);
}else if (n_command_index == 314){
pT_drone->d_kp_second_yaw = atof(arrc_pid_value);
}else if (n_command_index == 315){
pT_drone->d_kd_second_yaw = atof(arrc_pid_value);
}
printf("pid tuning value: %lf\n", atof(arrc_pid_value));
}else if (arrc_buffer[0] == '4'){
/**
* feedback
*/
printf("feedback received\n");
}
}else if (nflag_direction == 0){
/**
* From edison to beaglebone
*/
}
pT_drone->nflag_enable_uart = 1;
return 0;
}
int main()
{
int sampleCount = 0;
int sampleRate = 0;
uint64_t rateTimer;
uint64_t displayTimer;
uint64_t now;
// Using RTIMULib here allows it to use the .ini file generated by RTIMULibDemo.
// Or, you can create the .ini in some other directory by using:
// RTIMUSettings *settings = new RTIMUSettings("<directory path>", "RTIMULib");
// where <directory path> is the path to where the .ini file is to be loaded/saved
RTIMUSettings *settings = new RTIMUSettings("RTIMULib");
RTIMU *imu = RTIMU::createIMU(settings);
if ((imu == NULL) || (imu->IMUType() == RTIMU_TYPE_NULL)) {
printf("No IMU found\n");
exit(1);
}
// This is an opportunity to manually override any settings before the call IMUInit
// set up IMU
imu->IMUInit();
// this is a convenient place to change fusion parameters
imu->setSlerpPower(0.02);
imu->setGyroEnable(true);
imu->setAccelEnable(true);
imu->setCompassEnable(true);
// Set up serial out UART ports
mraa_uart_context uart;
//uart = mraa_uart_init(0);
uart=mraa_uart_init_raw("/dev/ttyGS0");
mraa_uart_set_baudrate(uart, 9600);
if (uart == NULL) {
fprintf(stderr, "UART failed to setup\n");
return 0;
}
char buffer[20]={}; // To hold output
while (1) {
while (imu->IMURead()) {
RTIMU_DATA imuData = imu->getIMUData();
//sleep(1);
printf("%s\r", RTMath::displayDegrees("Gyro", imuData.fusionPose) );
//printf("\nx %f ",imuData.gyro.x()*(180.0/3.14));
//printf("\ny %f ",imuData.gyro.y()*(180.0/3.14));
//printf("\nz %f\n",imuData.gyro.z()*(180.0/3.14));
sprintf(buffer,"%4f\n",imuData.fusionPose.x()*(180.0/3.14));
mraa_uart_write(uart, buffer, sizeof(buffer));
printf("\n\n");
//imuData.
fflush(stdout);
//displayTimer = now;
}
}
mraa_uart_stop(uart);
mraa_deinit();
}
int main()
{
mraa_uart_context gps;
load_device_tree("ADAFRUIT-UART1");
gps = mraa_uart_init_raw("/dev/ttyO1");
mraa_uart_set_baudrate(gps, 9600);
char buf[1000];
char search[7];
gprmc_t readGPS;
// char *p = buf;
while(1){//gprmc_t readGPS;
int i=0;
mraa_uart_read(gps, search, 1);
if(search[0] == '$'){
for(i=1; i<7;i++){
mraa_uart_read(gps, search+i, 1);
}
if(strstr(search, "$GPRMC,")){
for(i=0; i<100;i++){
mraa_uart_read(gps, buf+i, 1);
if(buf[i] == '\n'){
buf[i]='\0';
break;
}
}
// printf("%s\n", buf);
nmea_parse_gprmc(buf, &readGPS);
gps_convert_deg_to_dec(&(readGPS.latitude), readGPS.lat, &(readGPS.longitude), readGPS.lon);
printf("%d\n", readGPS.state);
printf("%f\n", readGPS.latitude);
printf("%f\n", readGPS.longitude);
}
// mraa_uart_read(gps, buf+1, 1);
// mraa_uart_read(gps, buf+2, 1);
// mraa_uart_read(gps, buf+3, 1);
// mraa_uart_read(gps, buf+4, 1);
// mraa_uart_read(gps, buf+5, 1);
// mraa_uart_read(gps, buf+6, 1);
// mraa_uart_read(gps, buf+7, 1);
// mraa_uart_read(gps, buf+8, 1);
// mraa_uart_read(gps, buf+9, 1);
// mraa_uart_read(gps, buf+10, 1);
// mraa_uart_read(gps, buf+11, 1);
// mraa_uart_read(gps, buf+12, 1);
// mraa_uart_read(gps, buf+13, 1);
// mraa_uart_read(gps, buf+14, 1);
// mraa_uart_read(gps, buf+15, 1);
// mraa_uart_read(gps, buf+16, 1);
// printf("%s\n",buf);
// if(buf[0]=='$')
// {
// printf("%s\n", buf);
//buf = strchr(buf, ',')+1;
//printf("%s\n", buf);
// }
// if (strchr(buf, '$GPRMC')!=NULL){
// //buf = strchr(buf, ',')+1;
// //printf("%s\n", buf);
// }
//buf = strchr(buf, ',')+1;
//printf("%s\n", buf);
//mraa_uart_read(gps, buf, 1);
// mraa_uart_read(gps, buf+1, 1);
// mraa_uart_read(gps, buf+2, 1);
// mraa_uart_read(gps, buf+3, 1);
// mraa_uart_read(gps, buf+4, 1);
// mraa_uart_read(gps, buf+5, 1);
// mraa_uart_read(gps, buf+6, 1);
// mraa_uart_read(gps, buf+7, 1);
// mraa_uart_read(gps, buf+8, 1);
// mraa_uart_read(gps, buf+9, 1);
// mraa_uart_read(gps, buf+10, 1);
// mraa_uart_read(gps, buf+11, 1);
// mraa_uart_read(gps, buf+12, 1);
// mraa_uart_read(gps, buf+13, 1);
// mraa_uart_read(gps, buf+14, 1);
// mraa_uart_read(gps, buf+15, 1);
// mraa_uart_read(gps, buf+16, 1);
// mraa_uart_read(gps, buf+17, 1);
//int i=0;
//for(i = 0; i<100)
// if(nmea_get_message_type(buf)==NMEA_GPRMC){
// nmea_parse_gprmc(buf, &readGPS);
// printf("%d\n", readGPS.speed);}
// }
}
}
}
