void GPSListener::triggerGpsFailure()
{
// arret du watchdog
timerGpsCommunicationFailure->stop();
if ( initOK == 1 )
{
std::cout << "\nInit etait Ok, nettoyage complet\n";
cleanCloseEverything(); // Init etait OK,
}
else // Init pas OK, juste le watchdog a nettoyer, le reste n'a pas ete cree
{
std::cout << "\nDefaillance Init, nettoyage watchdog\n";
close(gpsDev);
disconnect(timerGpsCommunicationFailure);
free(timerGpsCommunicationFailure);
}
std::cout << "TIMER TRIGGER, GPS FAILURE !, Retrying in " << FIRST_RETRY_DELAY << " seconds...\n";
sleep(FIRST_RETRY_DELAY); // Tous les Timers sont arretes grace aux lignes ci-dessus, on met ce que l'on veut en delai
std::cout << "Reinit " << gps_device << "\n";
int status = initGPS(gps_device);
while ( status < 0 )
{
std::cout << "(loop) TIMER TRIGGER, GPS FAILURE !, Retrying in " << RETRY_DELAY << " seconds...\n";
sleep(RETRY_DELAY);
std::cout << "Reinit " << gps_device << "\n";
status = initGPS(gps_device);
}
//exit(-1);
}
GPSListener::GPSListener(const char *device)
{
// !!! Reglages ttyUSBx !!!
// stty -F /dev/ttyUSBx speed 4800 cs8 -cstopb -parenb
// verifier avec cat < /dev/ttyUSBx
int initStatus = initGPS(device);
while (initStatus == -1 )
{
std::cout << "INIT GPS DEVICE FAILED, RETRYING IN " << FIRST_RETRY_DELAY << " SEC.\n";
sleep(FIRST_RETRY_DELAY);
initStatus = initGPS(device);
}
}
void initSensors()
{
initBarometer();
initSonar();
initVoltage();
initGPS();
}
void systemInit(void)
{
// Init cycle counter
cycleCounterInit();
// SysTick
SysTick_Config(SystemCoreClock / 1000);
///////////////////////////////////
checkFirstTime(false);
readEEPROM();
if (eepromConfig.receiverType == SPEKTRUM)
checkSpektrumBind();
checkResetType();
NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2); // 2 bits for pre-emption priority, 2 bits for subpriority
initMixer();
ledInit();
cliInit();
BLUE_LED_ON;
delay(20000); // 20 sec total delay for sensor stabilization - probably not long enough.....
adcInit();
batteryInit();
gpsInit();
i2cInit(I2C1);
i2cInit(I2C2);
pwmEscInit(eepromConfig.escPwmRate);
pwmServoInit(eepromConfig.servoPwmRate);
rxInit();
spiInit(SPI2);
spiInit(SPI3);
telemetryInit();
timingFunctionsInit();
initFirstOrderFilter();
initGPS();
initMax7456();
initPID();
GREEN_LED_ON;
initMPU6000();
initMag(HMC5883L_I2C);
initPressure(MS5611_I2C);
}
void initTruck(){
//Setup Debugging Connection
initUART1();
//Check for any errors
checkErrorCodes();
//Setup GPS
initGPS();
initTimer4();
//Setup Input and Output
initPWM(0b11,0b11);
PWMOutputCalibration(1,HUNTER_TRUCK_STEERING_SCALE_FACTOR, HUNTER_TRUCK_STEERING_OFFSET);
PWMOutputCalibration(2,HUNTER_TRUCK_THROTTLE_SCALE_FACTOR, HUNTER_TRUCK_THROTTLE_OFFSET);
setThrottle(0);
setSteering(0);
//Setup Datalink
// initDataLink();
}
int main(){
int i = 0;
int mapCount = 0, clearMapCount = 0, dumpCount=0;
int revFrameCount = 0;
#ifdef USE_NORTH
targetsGPS[maxTargets].lat = ADVANCED5LAT;
targetsGPS[maxTargets].lon = ADVANCED5LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED6LAT;
targetsGPS[maxTargets].lon = ADVANCED6LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED7LAT;
targetsGPS[maxTargets].lon = ADVANCED7LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED8LAT;
targetsGPS[maxTargets].lon = ADVANCED8LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED2LAT;
targetsGPS[maxTargets].lon = ADVANCED2LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED1LAT;
targetsGPS[maxTargets].lon = ADVANCED1LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED3LAT;
targetsGPS[maxTargets].lon = ADVANCED3LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED12LAT;
targetsGPS[maxTargets].lon = ADVANCED12LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED4LAT;
targetsGPS[maxTargets].lon = ADVANCED4LON;
maxTargets++;
#else
targetsGPS[maxTargets].lat = ADVANCED4LAT;
targetsGPS[maxTargets].lon = ADVANCED4LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED1LAT;
targetsGPS[maxTargets].lon = ADVANCED1LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED2LAT;
targetsGPS[maxTargets].lon = ADVANCED2LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED3LAT;
targetsGPS[maxTargets].lon = ADVANCED3LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED11LAT;
targetsGPS[maxTargets].lon = ADVANCED11LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED8LAT;
targetsGPS[maxTargets].lon = ADVANCED8LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED7LAT;
targetsGPS[maxTargets].lon = ADVANCED7LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED6LAT;
targetsGPS[maxTargets].lon = ADVANCED6LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED11LAT;
targetsGPS[maxTargets].lon = ADVANCED11LON;
maxTargets++;
targetsGPS[maxTargets].lat = ADVANCED5LAT;
targetsGPS[maxTargets].lon = ADVANCED5LON;
maxTargets++;
#endif
maxTargetIndex=maxTargets-1;
for(i=0;i<maxTargets;i++){// this is converting all GPS point data to XY data.
targetListXY[i].x = GPSX(targetsGPS[i].lon, startLongitude);
targetListXY[i].y = GPSY(targetsGPS[i].lat, startLatitude);
}
currentXY.x = GPSX(gpsvar.longitude,startLongitude);// converts current robot X location compared to start longitude
currentXY.y = GPSY(gpsvar.latitude,startLatitude);// converts current robot Y location compared to start latitude
targetXY = targetListXY[currentTargetIndex];//sets first target GPS point
nextTargetIndex = (currentTargetIndex + 1)%maxTargets;//sets next target GPS point
nextXY = targetListXY[nextTargetIndex];// ??
previousXY.x = GPSX(startLongitude, startLongitude);// why?
previousXY.y = GPSY(startLatitude, startLatitude);//Why?
initRoboteq(); /* Initialize roboteq */
initGuide();//what is guide?
#ifdef USE_VISION // if USE_vision is defined, then initialize vision.
initVision();
#endif //USE_VISION
#ifdef USE_GPS// if USE_GPS is defined, then initialize GPS.
initGPS();
initParser();
#endif //USE_GPS
#ifdef USE_LIDAR// if USE_LIDAR is defined, then initialize LIDAR.
initObjects();
initSICK();
#endif //USE_LIDAR
#ifdef DEBUG_VISUALIZER// if defined, then use visualizer.
initVisualizer();
#endif //DEBUG_VISUALIZER
#ifdef USE_MAP//////>>>>>>>>>>>????
initMap(0,0,0);
#endif //USE_MAP
#ifdef DUMP_GPS// dump GPS data into file
FILE *fp;
fp = fopen("gpsdump.txt", "w");
#endif // DUMP_GPS
while(1){
double dir = 1.0;
double speed = 0.0, turn = 0.0;
static double turnBoost = 0.750;//Multiplier for turn. Adjust to smooth jerky motions. Usually < 1.0
static int lSpeed = 0, rSpeed = 0;//Wheel Speed Variables
if (joystick() != 0) {// is joystick is connected
if (joy0.buttons & LB_BTN) {// deadman switch, but what does joy0.buttons do?????????????????????????????????
speed = -joy0.axis[1]; //Up is negative on joystick negate so positive when going forward
turn = joy0.axis[0];
lSpeed = (int)((speed + turnBoost*turn)*maxSpeed);//send left motor speed
rSpeed = (int)((speed - turnBoost*turn)*maxSpeed);//send right motor speed
}else{ //stop the robot
rSpeed=lSpeed=0;
}
if(((joy0.buttons & B_BTN)||autoOn)&& (saveImage==0)){//what is the single & ???????????????????
saveImage =DEBOUNCE_FOR_SAVE_IMAGE;//save each image the camera takes, save image is an int declared in vision_nav.h
}else{
if (saveImage) saveImage--; // turn off if button wasn't pressed?
}
if(joy0.buttons & RB_BTN){//turn on autonmous mode if start??? button is pressed
autoOn = 1;
mode=1;
}
if(joy0.buttons & Y_BTN){ // turn off autonomous mode
autoOn = 0;
mode =0;
}
lastButtons = joy0.buttons;//is this just updating buttons?
} else{
// printf("No Joystick Found!\n");
rSpeed=lSpeed=0;
}
//
// printf("3: %f %f\n",BASIC3LAT,BASIC3LON);
// printf("4: %f %f\n",BASIC4LAT,BASIC4LON);
// printf("5: %f %f\n",BASIC5LAT,BASIC5LON);
// getchar();
#ifdef AUTO_SWAP//what is this
if((currentTargetIndex>1&&targetIndexMem!=currentTargetIndex)||!autoOn||!mode==3){
startTime=currentTime=(float)(clock()/CLOCKS_PER_SEC);
targetIndexMem = currentTargetIndex;
}else{
currentTime=(float)(clock()/CLOCKS_PER_SEC);
}
totalTime = currentTime-startTime;
if(totalTime>=SWAPTIME&&autoOn){
swap();
targetIndexMem = 0;
}
#endif //AUTO_SWAP
#ifdef USE_GPS
readGPS();
currentXY.x = GPSX(gpsvar.longitude,startLongitude);
currentXY.y = GPSY(gpsvar.latitude,startLatitude);
robotTheta = ADJUST_RADIANS(DEG2RAD(gpsvar.course));
#else
currentXY.x = 0.0;
currentXY.y = 0.0;
robotTheta = 0.0;
#endif //USE_GPS
if(autoOn&&!flagPointSet){//this whole thing?????
flagXY.x=currentXY.x+FLAG_X_ADJUST;
flagXY.y=currentXY.y;
flagPointSet=1;
startAutoTime=currentAutoTime=(float)(clock()/CLOCKS_PER_SEC);
}
if(autoOn){
currentAutoTime=(float)(clock()/CLOCKS_PER_SEC);
totalAutoTime = currentAutoTime-startAutoTime;
if(totalAutoTime>=MODE2DELAY){
mode1TimeUp=1;//what is mode1 time up?
}
printf("TIMEING\n");
}
// if(currentTargetIndex <= OPEN_FIELD_INDEX || currentTargetIndex >= maxTargetIndex){
if(currentTargetIndex <= OPEN_FIELD_INDEX){//if you are on your last target, then set approaching thresh, and dest thresh to larger values?
//OPEN_FIELD_INDEX is set to 0 above...?
approachingThresh=4.0;
destinationThresh=3.0;
}else{//otherwise set your thresholds to a bit closer.
// destinationThresh=1.0;
destinationThresh=0.75;
approachingThresh=2.5;
}
//mode1 = lane tracking and obstacle avoidance. mode 2 = vision, lane tracking, but guide to gps. its not primary focus.
//mode3= gps mode in open field, but vision is toned down to not get distracted by random grass.
//mode 4= flag tracking
if(guide(currentXY, targetXY, previousXY, nextXY, robotTheta, robotWidth, 1)&& !allTargetsReached){//If target reached and and not all targets reached
printf("REACHED TARGET\n");
initGuide();// reset PID control stuff. problably resets all control variables.
previousXY = targetXY;//update last target
if(currentTargetIndex == maxTargetIndex){ //seeing if you are done with all targets.
allTargetsReached = 1;
}else{//otherwise update all the target information
currentTargetIndex = (currentTargetIndex + 1);
nextTargetIndex = (currentTargetIndex + 1)% maxTargets;
targetXY = targetListXY[currentTargetIndex];
nextXY = targetListXY[nextTargetIndex];
}
}
if((autoOn&&(currentTargetIndex == 0&&!approachingTarget&&!mode1TimeUp))||allTargetsReached){
//if autonomous, and on first target, and not not approaching target, and not mode 1 time up, or reached last target.
mode =1;//wtf is mode
distanceMultiplier = 50;//wthis is how heavily to rely on vision
} else if((autoOn&¤tTargetIndex == 0&&mode1TimeUp)||(autoOn&&approachingTarget&&(currentTargetIndex<=OPEN_FIELD_INDEX||currentTargetIndex>=maxTargetIndex-END_LANE_INDEX))){
mode =2;
distanceMultiplier = 50;
} else if((autoOn&¤tTargetIndex!=0)){
mode =3;
distanceMultiplier = 12;
}
flagPointDistance = D((currentXY.x-flagXY.x),(currentXY.y-flagXY.y));// basically the distance formula, but to what? what flags GPS point?
if(allTargetsReached&&flagPointDistance<FLAG_DIST_THRESH){
mode =4;// what is mode
}
#ifdef FLAG_TESTING
/*FLAG TESTING*/
mode=4;
#endif //FLAG_TESTING
/*Current Target Heading PID Control Adjustment*/
cvar.lookAhead = 0.00;//?
cvar.kP = 0.20; cvar.kI = 0.000; cvar.kD = 0.15;
turn = cvar.turn;
int bestVisGpsMask = 99;
int h = 0;
double minVisGpsTurn = 9999;
for(h=0;h<11;h++){
if(fabs((cvar.turn-turn_angle[h]))<minVisGpsTurn){
minVisGpsTurn=fabs((cvar.turn-turn_angle[h]));
bestVisGpsMask = h;
}
}
bestGpsMask = bestVisGpsMask;
// printf("bvg: %d \n", bestVisGpsMask);
// printf("vgt: %f cv3: %f\n", minVisGpsTurn,cvar3.turn);
#ifdef USE_VISION
// double visTurnBoost = 0.50;
double visTurnBoost = 1.0;
if(imageProc(mode) == -1) break;
if(mode==1||mode==2){
turn = turn_angle[bestmask];
turn *= visTurnBoost;
}else if(mode==3 && fabs(turn_angle[bestmask])>0.70){
turn = turn_angle[bestmask];
turn *= visTurnBoost;
}
#endif //USE_VISION
#ifdef USE_LIDAR
updateSick();
// findObjects();
#endif //USE_LIDAR
#ifdef USE_COMBINED_BUFFER//??????????
#define WORSTTHRESH 10
#define BESTTHRESH 3
if(mode==4){
#ifdef USE_NORTH
turn = (0.5*turn_angle[bestBlueMask]+0.5*turn_angle[bestRedMask]);
#else
turn = (0.65*turn_angle[bestBlueMask]+0.35*turn_angle[bestRedMask]);
#endif
turn *= 0.75;
}
combinedTargDist = cvar.targdist;
if(((approachingTarget||inLastTarget)&¤tTargetIndex>OPEN_FIELD_INDEX
&¤tTargetIndex<maxTargetIndex-END_LANE_INDEX)||(MAG(howbad[worstmask]-howbad[bestmask]))<BESTTHRESH||mode==4){
getCombinedBufferAngles(0,0);//Don't Use Vision Radar Data
}else{
getCombinedBufferAngles(0,1);//Use Vision Radar Data
}
if(combinedBufferAngles.left != 0 || combinedBufferAngles.right !=0){
if(mode == 1 || mode==2 || mode==3 || mode==4){
// if(mode == 1 || mode==2 || mode==3){
// if(mode==2 || mode==3){
// if(mode==3){
if(fabs(combinedBufferAngles.right)==fabs(combinedBufferAngles.left)){
double revTurn;
double revDistLeft, revDistRight;
int revIdx;
if(fabs(turn)<0.10) dir = -1.0;
if(fabs(combinedBufferAngles.left)>1.25) dir = -1.0;
if(dir<0){
revIdx = 540-RAD2DEG(combinedBufferAngles.left)*4;
revIdx = MIN(revIdx,1080);
revIdx = MAX(revIdx,0);
revDistLeft = LMSdata[revIdx];
revIdx = 540-RAD2DEG(combinedBufferAngles.right)*4;
revIdx = MIN(revIdx,1080);
revIdx = MAX(revIdx,0);
revDistRight = LMSdata[revIdx];
if(revDistLeft>=revDistRight){
revTurn = combinedBufferAngles.left;
}else {
revTurn = combinedBufferAngles.right;
}
turn = revTurn;
}else{
turn = turn_angle[bestmask];
}
} else if(fabs(combinedBufferAngles.right-turn)<fabs(combinedBufferAngles.left-turn)){
// } else if(turn<=0){
turn = combinedBufferAngles.right;
}else {
turn = combinedBufferAngles.left;
}
}
}
#endif //USE_COMBINED_BUFFER
if(dir<0||revFrameCount!=0){
dir = -1.0;
revFrameCount = (revFrameCount+1)%REVFRAMES;
}
// turn *= dir;
turn = SIGN(turn) * MIN(fabs(turn), 1.0);
speed = 1.0/(1.0+1.0*fabs(turn))*dir;
speed = SIGN(speed) * MIN(fabs(speed), 1.0);
if(!autoOn){
maxSpeed = 60;
targetIndexMem = 0;
}else if(dir<0){
maxSpeed = 30;
}else if(mode<=2||(mode==3 && fabs(turn_angle[bestmask])>0.25)){
maxSpeed = 60 - 25*fabs(turn);
// maxSpeed = 70 - 35*fabs(turn);
// maxSpeed = 90 - 50*fabs(turn);
// maxSpeed = 100 - 65*fabs(turn);
}else if(mode==4){
maxSpeed = 45-20*fabs(turn);
}else{
maxSpeed = 85 - 50*fabs(turn);
// maxSpeed = 100 - 65*fabs(turn);
// maxSpeed = 110 - 70*fabs(turn);
// maxSpeed = 120 - 85*fabs(turn);
}
if(autoOn){
lSpeed = (speed + turnBoost*turn) * maxSpeed;
rSpeed = (speed - turnBoost*turn) * maxSpeed;
}
#ifdef DEBUG_MAIN
printf("s:%.4f t: %.4f m: %d vt:%f dir:%f tmr: %f\n", speed, turn, mode, turn_angle[bestmask], flagPointDistance, totalAutoTime);
#endif //DEBUG_MAIN
#ifdef DUMP_GPS
if(dumpCount==0){
if (fp != NULL) {
fprintf(fp, "%f %f %f %f %f\n",gpsvar.latitude,gpsvar.longitude, gpsvar.course, gpsvar.speed, gpsvar.time);
}
}
dumpCount = dumpCount+1%DUMPGPSDELAY;
#endif //DUMP_GPS
#ifdef DEBUG_TARGET
debugTarget();
#endif //DEBUG_TARGET
#ifdef DEBUG_GUIDE
debugGuide();
#endif //DEBUG_GUIDE
#ifdef DEBUG_GPS
debugGPS();
#endif //DEBUG_GPS
#ifdef DEBUG_LIDAR
debugSICK();
#endif //DEBUG_LIDAR
#ifdef DEBUG_BUFFER
debugCombinedBufferAngles();
#endif //DEBUG_BUFFE
#ifdef DEBUG_VISUALIZER
robotX = currentXY.x;
robotY = currentXY.y;
robotTheta = robotTheta;//redundant I know....
targetX = targetXY.x;
targetY = targetXY.y;
// should probably pass the above to the function...
paintPathPlanner(robotX,robotY,robotTheta);
showPlot();
#endif //VISUALIZER
#ifdef USE_MAP
if(mapCount==0){
// mapRobot(currentXY.x,currentXY.y,robotTheta);
if(clearMapCount==0) clearMapSection(currentXY.x,currentXY.y,robotTheta);
else clearMapCount = (clearMapCount+1)%CLEARMAPDELAY;
mapVSICK(currentXY.x,currentXY.y,robotTheta);
// mapVSICK(0,0,0);
#ifdef USE_LIDAR
mapSICK(currentXY.x,currentXY.y,robotTheta);
#endif
showMap();
// printf("MAPPING\n");
}
mapCount= (mapCount+1)%MAPDELAY;
#endif //USE_MAP
sendSpeed(lSpeed,rSpeed);
Sleep(5);
}
#ifdef DUMP_GPS
fclose(fp);
#endif
return 0;
}
void setup()
{
CardReaderValue.cardStatus = MM_UNDEFINED_ERROR;
Serial.begin(115200);
Serial.println("Init");
//init Display
displayStatus = TFTInit();
switch (displayStatus)
{
case MM_SUCCESS:
DisplayMaster("Display Initialisiert\n", DebugPC);
Serial.println("Display Initialisiert");
break;
default:
DisplayError("Display Init-ERROR!", DebugPC);
Serial.println("Display Init-ERROR!");
DebugPC = false;
break;
}
//init GPS
p_myGPSData = &myGPSData;
initGPS();
//Versuche ein GPS Signal zu bekommen, damit die Logdatei das Datum als Namen bekommt
while(p_myGPSData->status != MM_SUCCESS)
{
DisplayMaster("GPS noch nicht Initialisiert\n", DebugPC);
Serial.println("GPS noch nicht Initialisiert");
delay(2500);
readGPS(p_myGPSData);
}
//init CardReader
char * FileName = "";
String sFileName = "GPS_Log" + String(myGPSData.year, DEC) + "_" + String(myGPSData.month, DEC)+ "_" + String(myGPSData.day, DEC) + ".txt";
sFileName.toCharArray(FileName, sFileName.length() + 1);
CardReaderValue = SDInit(FileName);
switch (CardReaderValue.cardStatus)
{
case MM_SUCCESS:
DisplayMaster("CardReader Initialisiert\n", DebugPC);
Serial.println("CardReader Initialisiert");
break;
default:
DisplayError("CardReader Init-ERROR!", DebugPC);
Serial.println("CardReader Init-ERROR!");
break;
}
}
void cliCom(void)
{
uint8_t i2cReadBuff; // TEMP
uint8_t index;
uint8_t numChannels = 8;
char mvlkToggleString[5] = { 0, 0, 0, 0, 0 };
if (eepromConfig.receiverType == PPM)
numChannels = eepromConfig.ppmChannels;
if ((cliPortAvailable() && !validCliCommand))
{
// Pull one character from buffer to find command
cliQuery = cliPortRead();
// Check to see if we should toggle MAVLink state (pound sign)
if (cliQuery == '#')
{
while (cliPortAvailable == false);
// Check to see if we have 4 pound signs
readStringCLI(mvlkToggleString, 5);
if ((mvlkToggleString[0] == '#') &&
(mvlkToggleString[1] == '#') &&
(mvlkToggleString[2] == '#') &&
(mvlkToggleString[3] == '#'))
{
// Toggle MAVLink
if (eepromConfig.mavlinkEnabled == false)
eepromConfig.mavlinkEnabled = true;
else
eepromConfig.mavlinkEnabled = false;
// Write EEPROM state if pounds were followed by W
if (mvlkToggleString[4] == 'W')
{
cliPortPrint("\nWriting EEPROM Parameters....\n");
writeEEPROM();
}
}
}
}
validCliCommand = false;
// If MAVLink is disabled and we aren't toggling MAVLink, assume CLI command
if ((eepromConfig.mavlinkEnabled == false) && (cliQuery != '#'))
{
switch (cliQuery)
{
///////////////////////////////
case 'a': // Rate PIDs
cliPortPrintF("\nRoll Rate PID: %8.4f, %8.4f, %8.4f, %8.4f\n", eepromConfig.PID[ROLL_RATE_PID].P,
eepromConfig.PID[ROLL_RATE_PID].I,
eepromConfig.PID[ROLL_RATE_PID].D,
eepromConfig.PID[ROLL_RATE_PID].Limit);
cliPortPrintF( "Pitch Rate PID: %8.4f, %8.4f, %8.4f, %8.4f\n", eepromConfig.PID[PITCH_RATE_PID].P,
eepromConfig.PID[PITCH_RATE_PID].I,
eepromConfig.PID[PITCH_RATE_PID].D,
eepromConfig.PID[PITCH_RATE_PID].Limit);
cliPortPrintF( "Yaw Rate PID: %8.4f, %8.4f, %8.4f, %8.4f\n", eepromConfig.PID[YAW_RATE_PID].P,
eepromConfig.PID[YAW_RATE_PID].I,
eepromConfig.PID[YAW_RATE_PID].D,
eepromConfig.PID[YAW_RATE_PID].Limit);
cliQuery = 'x';
validCliCommand = false;
break;
///////////////////////////////
case 'b': // Attitude PIDs
cliPortPrintF("\nRoll Attitude PID: %8.4f, %8.4f, %8.4f, %8.4f\n", eepromConfig.PID[ROLL_ATT_PID].P,
eepromConfig.PID[ROLL_ATT_PID].I,
eepromConfig.PID[ROLL_ATT_PID].D,
eepromConfig.PID[ROLL_ATT_PID].Limit);
cliPortPrintF( "Pitch Attitude PID: %8.4f, %8.4f, %8.4f, %8.4f\n", eepromConfig.PID[PITCH_ATT_PID].P,
eepromConfig.PID[PITCH_ATT_PID].I,
eepromConfig.PID[PITCH_ATT_PID].D,
eepromConfig.PID[PITCH_ATT_PID].Limit);
cliPortPrintF( "Heading PID: %8.4f, %8.4f, %8.4f, %8.4f\n", eepromConfig.PID[HEADING_PID].P,
eepromConfig.PID[HEADING_PID].I,
eepromConfig.PID[HEADING_PID].D,
eepromConfig.PID[HEADING_PID].Limit);
cliQuery = 'x';
validCliCommand = false;
break;
///////////////////////////////
case 'c': // Velocity PIDs
cliPortPrintF("\nnDot PID: %8.4f, %8.4f, %8.4f, %8.4f\n", eepromConfig.PID[NDOT_PID].P,
eepromConfig.PID[NDOT_PID].I,
eepromConfig.PID[NDOT_PID].D,
eepromConfig.PID[NDOT_PID].Limit);
cliPortPrintF( "eDot PID: %8.4f, %8.4f, %8.4f, %8.4f\n", eepromConfig.PID[EDOT_PID].P,
eepromConfig.PID[EDOT_PID].I,
eepromConfig.PID[EDOT_PID].D,
eepromConfig.PID[EDOT_PID].Limit);
cliPortPrintF( "hDot PID: %8.4f, %8.4f, %8.4f, %8.4f\n", eepromConfig.PID[HDOT_PID].P,
eepromConfig.PID[HDOT_PID].I,
eepromConfig.PID[HDOT_PID].D,
eepromConfig.PID[HDOT_PID].Limit);
cliQuery = 'x';
validCliCommand = false;
break;
///////////////////////////////
case 'd': // Position PIDs
cliPortPrintF("\nN PID: %8.4f, %8.4f, %8.4f, %8.4f\n", eepromConfig.PID[N_PID].P,
eepromConfig.PID[N_PID].I,
eepromConfig.PID[N_PID].D,
eepromConfig.PID[N_PID].Limit);
cliPortPrintF( "E PID: %8.4f, %8.4f, %8.4f, %8.4f\n", eepromConfig.PID[E_PID].P,
eepromConfig.PID[E_PID].I,
eepromConfig.PID[E_PID].D,
eepromConfig.PID[E_PID].Limit);
cliPortPrintF( "h PID: %8.4f, %8.4f, %8.4f, %8.4f\n", eepromConfig.PID[H_PID].P,
eepromConfig.PID[H_PID].I,
eepromConfig.PID[H_PID].D,
eepromConfig.PID[H_PID].Limit);
cliQuery = 'x';
validCliCommand = false;
break;
///////////////////////////////
case 'e': // Loop Delta Times
cliPortPrintF("%7ld, %7ld, %7ld, %7ld, %7ld, %7ld, %7ld\n", deltaTime1000Hz,
deltaTime500Hz,
deltaTime100Hz,
deltaTime50Hz,
deltaTime10Hz,
deltaTime5Hz,
deltaTime1Hz);
validCliCommand = false;
break;
///////////////////////////////
case 'f': // Loop Execution Times
cliPortPrintF("%7ld, %7ld, %7ld, %7ld, %7ld, %7ld, %7ld\n", executionTime1000Hz,
executionTime500Hz,
executionTime100Hz,
executionTime50Hz,
executionTime10Hz,
executionTime5Hz,
executionTime1Hz);
validCliCommand = false;
break;
///////////////////////////////
case 'g': // 100 Hz Accels
cliPortPrintF("%9.4f, %9.4f, %9.4f\n", sensors.accel100Hz[XAXIS],
sensors.accel100Hz[YAXIS],
sensors.accel100Hz[ZAXIS]);
validCliCommand = false;
break;
///////////////////////////////
case 'h': // 100 hz Earth Axis Accels
cliPortPrintF("%9.4f, %9.4f, %9.4f\n", earthAxisAccels[XAXIS],
earthAxisAccels[YAXIS],
earthAxisAccels[ZAXIS]);
validCliCommand = false;
break;
///////////////////////////////
case 'i': // 500 hz Gyros
cliPortPrintF("%9.4f, %9.4f, %9.4f, %9.4f\n", sensors.gyro500Hz[ROLL ] * R2D,
sensors.gyro500Hz[PITCH] * R2D,
sensors.gyro500Hz[YAW ] * R2D,
mpu6000Temperature);
validCliCommand = false;
break;
///////////////////////////////
case 'j': // 10 Hz Mag Data
cliPortPrintF("%9.4f, %9.4f, %9.4f\n", sensors.mag10Hz[XAXIS],
sensors.mag10Hz[YAXIS],
sensors.mag10Hz[ZAXIS]);
validCliCommand = false;
break;
///////////////////////////////
case 'k': // Vertical Axis Variables
cliPortPrintF("%9.4f, %9.4f, %9.4f, %9.4f, %4ld, %9.4f\n", earthAxisAccels[ZAXIS],
sensors.pressureAlt50Hz,
hDotEstimate,
hEstimate,
ms5611Temperature,
aglRead());
validCliCommand = false;
break;
///////////////////////////////
case 'l': // Attitudes
cliPortPrintF("%9.4f, %9.4f, %9.4f\n", sensors.attitude500Hz[ROLL ] * R2D,
sensors.attitude500Hz[PITCH] * R2D,
sensors.attitude500Hz[YAW ] * R2D);
validCliCommand = false;
break;
///////////////////////////////
case 'm': // Axis PIDs
cliPortPrintF("%9.4f, %9.4f, %9.4f\n", ratePID[ROLL ],
ratePID[PITCH],
ratePID[YAW ]);
validCliCommand = false;
break;
///////////////////////////////
case 'n': // GPS Data
cliPortPrintF("ITOW:%12ld, LAT:%12ld, LONG:%12ld, HEAD:%12ld, HEIGHT:%12ld, HMSL:%12ld, FIX:%4d, NUMSAT:%4d\n",
gps.iTOW,
gps.latitude,
gps.longitude,
gps.hDop,
gps.height,
gps.hMSL,
gps.fix,
gps.numSats);
validCliCommand = false;
break;
///////////////////////////////
case 'o':
cliPortPrintF("%9.4f\n", batteryVoltage);
validCliCommand = false;
break;
///////////////////////////////
case 'p':
cameraCLI();
cliQuery = 'x';
validCliCommand = false;
break;
///////////////////////////////
case 'q':
adcCLI();
cliQuery = 'x';
validCliCommand = false;
break;
///////////////////////////////FLIGHT MODE
case 'r':
if (flightMode == RATE)
cliPortPrint("Flight Mode:RATE ");
else if (flightMode == ATTITUDE)
cliPortPrint("Flight Mode:ATTITUDE ");
else if (flightMode == GPS)
cliPortPrint("Flight Mode:GPS ");
if (headingHoldEngaged == true)
cliPortPrint("Heading Hold:ENGAGED ");
else
cliPortPrint("Heading Hold:DISENGAGED ");
switch (verticalModeState)
{
case ALT_DISENGAGED_THROTTLE_ACTIVE:
cliPortPrint("Alt:Disenaged Throttle Active ");
break;
case ALT_HOLD_FIXED_AT_ENGAGEMENT_ALT:
cliPortPrint("Alt:Hold Fixed at Engagement Alt ");
break;
case ALT_HOLD_AT_REFERENCE_ALTITUDE:
cliPortPrint("Alt:Hold at Reference Alt ");
break;
case VERTICAL_VELOCITY_HOLD_AT_REFERENCE_VELOCITY:
cliPortPrint("Alt:Velocity Hold at Reference Vel ");
break;
case ALT_DISENGAGED_THROTTLE_INACTIVE:
cliPortPrint("Alt:Disengaged Throttle Inactive ");
break;
}
if (rxCommand[AUX3] > MIDCOMMAND)
cliPortPrint("Mode:Simple ");
else
cliPortPrint("Mode:Normal ");
if (rxCommand[AUX4] > MIDCOMMAND)
cliPortPrint("Emergency Bail:Active\n");
else
cliPortPrint("Emergency Bail:Inactive\n");
validCliCommand = false;
break;
///////////////////////////////
case 's': // Raw Receiver Commands
if ((eepromConfig.receiverType == SPEKTRUM) && (maxChannelNum > 0))
{
for (index = 0; index < maxChannelNum - 1; index++)
cliPortPrintF("%4ld, ", spektrumBuf[index]);
cliPortPrintF("%4ld\n", spektrumBuf[maxChannelNum - 1]);
}
else if (eepromConfig.receiverType == SBUS)
{
for (index = 0; index < 7; index++)
cliPortPrintF("%4ld, ", sBusRead(index));
cliPortPrintF("%4ld\n", sBusRead(7));
}
else
{
for (index = 0; index < numChannels - 1; index++)
cliPortPrintF("%4i, ", Inputs[index].pulseWidth);
cliPortPrintF("%4i\n", Inputs[numChannels - 1].pulseWidth);
}
validCliCommand = false;
break;
///////////////////////////////
case 't': // Processed Receiver Commands
for (index = 0; index < numChannels - 1; index++)
cliPortPrintF("%8.2f, ", rxCommand[index]);
cliPortPrintF("%8.2f\n", rxCommand[numChannels - 1]);
validCliCommand = false;
break;
///////////////////////////////
case 'u': // Command in Detent Discretes
cliPortPrintF("%s, ", commandInDetent[ROLL ] ? " true" : "false");
cliPortPrintF("%s, ", commandInDetent[PITCH] ? " true" : "false");
cliPortPrintF("%s\n", commandInDetent[YAW ] ? " true" : "false");
validCliCommand = false;
break;
///////////////////////////////
case 'v': // ESC PWM Outputs
cliPortPrintF("%4ld, ", TIM8->CCR4);
cliPortPrintF("%4ld, ", TIM8->CCR3);
cliPortPrintF("%4ld, ", TIM8->CCR2);
cliPortPrintF("%4ld, ", TIM8->CCR1);
cliPortPrintF("%4ld, ", TIM2->CCR1);
cliPortPrintF("%4ld, ", TIM2->CCR2);
cliPortPrintF("%4ld, ", TIM3->CCR1);
cliPortPrintF("%4ld\n", TIM3->CCR2);
validCliCommand = false;
break;
///////////////////////////////
case 'w': // Servo PWM Outputs
cliPortPrintF("%4ld, ", TIM5->CCR3);
cliPortPrintF("%4ld, ", TIM5->CCR2);
cliPortPrintF("%4ld\n", TIM5->CCR1);
validCliCommand = false;
break;
///////////////////////////////
case 'x':
validCliCommand = false;
break;
///////////////////////////////
case 'y': // ESC Calibration
escCalibration();
cliQuery = 'x';
break;
///////////////////////////////
case 'z': // ADC readings
cliPortPrintF("%8.4f, %8.4f, %8.4f, %8.4f, %8.4f, %8.4f, %8.4f\n", adcValue(1),
adcValue(2),
adcValue(3),
adcValue(4),
adcValue(5),
adcValue(6),
adcValue(7));
break;
///////////////////////////////
///////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////
///////////////////////////////////////////////////////////////////////
///////////////////////////////
case 'A': // Read Roll Rate PID Values
readCliPID(ROLL_RATE_PID);
cliPortPrint( "\nRoll Rate PID Received....\n" );
cliQuery = 'a';
validCliCommand = false;
break;
///////////////////////////////
case 'B': // Read Pitch Rate PID Values
readCliPID(PITCH_RATE_PID);
cliPortPrint( "\nPitch Rate PID Received....\n" );
cliQuery = 'a';
validCliCommand = false;
break;
///////////////////////////////
case 'C': // Read Yaw Rate PID Values
readCliPID(YAW_RATE_PID);
cliPortPrint( "\nYaw Rate PID Received....\n" );
cliQuery = 'a';
validCliCommand = false;
break;
///////////////////////////////
case 'D': // Read Roll Attitude PID Values
readCliPID(ROLL_ATT_PID);
cliPortPrint( "\nRoll Attitude PID Received....\n" );
cliQuery = 'b';
validCliCommand = false;
break;
///////////////////////////////
case 'E': // Read Pitch Attitude PID Values
readCliPID(PITCH_ATT_PID);
cliPortPrint( "\nPitch Attitude PID Received....\n" );
cliQuery = 'b';
validCliCommand = false;
break;
///////////////////////////////
case 'F': // Read Heading Hold PID Values
readCliPID(HEADING_PID);
cliPortPrint( "\nHeading PID Received....\n" );
cliQuery = 'b';
validCliCommand = false;
break;
///////////////////////////////
case 'G': // Read nDot PID Values
readCliPID(NDOT_PID);
cliPortPrint( "\nnDot PID Received....\n" );
cliQuery = 'c';
validCliCommand = false;
break;
///////////////////////////////
case 'H': // Read eDot PID Values
readCliPID(EDOT_PID);
cliPortPrint( "\neDot PID Received....\n" );
cliQuery = 'c';
validCliCommand = false;
break;
///////////////////////////////
case 'I': // Read hDot PID Values
readCliPID(HDOT_PID);
cliPortPrint( "\nhDot PID Received....\n" );
cliQuery = 'c';
validCliCommand = false;
break;
///////////////////////////////
case 'J': // Read n PID Values
readCliPID(N_PID);
cliPortPrint( "\nn PID Received....\n" );
cliQuery = 'd';
validCliCommand = false;
break;
///////////////////////////////
case 'K': // Read e PID Values
readCliPID(E_PID);
cliPortPrint( "\ne PID Received....\n" );
cliQuery = 'd';
validCliCommand = false;
break;
///////////////////////////////
case 'L': // Read h PID Values
readCliPID(H_PID);
cliPortPrint( "\nh PID Received....\n" );
cliQuery = 'd';
validCliCommand = false;
break;
///////////////////////////////
case 'M': // MAX7456 CLI
max7456CLI();
cliQuery = 'x';
validCliCommand = false;
break;
///////////////////////////////
case 'N': // Mixer CLI
mixerCLI();
cliQuery = 'x';
validCliCommand = false;
break;
///////////////////////////////
case 'O': // Receiver CLI
receiverCLI();
cliQuery = 'x';
validCliCommand = false;
break;
///////////////////////////////
case 'P': // Sensor CLI
sensorCLI();
cliQuery = 'x';
validCliCommand = false;
break;
///////////////////////////////
case 'Q': // GPS Type Selection
cliBusy = true;
eepromConfig.gpsType = (uint8_t)readFloatCLI();
switch(eepromConfig.gpsType) {
case NO_GPS:
cliPortPrint("GPS Module Disabled\n");
break;
case MEDIATEK_3329_BINARY:
cliPortPrint("GPS Module set to MEDIATEK3329 (Binary)\n");
break;
case MEDIATEK_3329_NMEA:
cliPortPrint("GPS Module set to MEDIATEK3329 (NMEA)\n");
break;
case UBLOX:
cliPortPrint("GPS Module set to UBLOX\n");
break;
default:
cliPortPrint("Invalid GPS module type. Use 0-3 (NONE, MEDIATEK BINARY, MEDIATEK NMEA, UBLOX\n");
break;
}
initGPS();
cliBusy = false;
cliQuery = 'x';
validCliCommand = false;
break;
///////////////////////////////
case 'R': // Reset to Bootloader
cliPortPrint("Entering Bootloader....\n\n");
delay(100);
systemReset(true);
break;
///////////////////////////////
case 'S': // Reset System
cliPortPrint("\nSystem Reseting....\n\n");
delay(100);
systemReset(false);
break;
///////////////////////////////
case 'T': // Telemetry CLI
telemetryCLI();
cliQuery = 'x';
validCliCommand = false;
break;
///////////////////////////////
case 'U': // EEPROM CLI
eepromCLI();
cliQuery = 'x';
validCliCommand = false;
break;
///////////////////////////////
case 'V': // Reset EEPROM Parameters
cliPortPrint( "\nEEPROM Parameters Reset....\n" );
checkFirstTime(true);
cliPortPrint("\nSystem Resetting....\n\n");
delay(100);
systemReset(false);
break;
///////////////////////////////
case 'W': // Write EEPROM Parameters
cliPortPrint("\nWriting EEPROM Parameters....\n");
writeEEPROM();
cliQuery = 'x';
validCliCommand = false;
break;
///////////////////////////////
case 'X': // Environmental Sensor Bus CLI
esbCLI();
cliQuery = 'x';
validCliCommand = false;
break;
///////////////////////////////
case 'Y': // ADC CLI
adcCLI();
cliQuery = 'x';
validCliCommand = false;
break;
///////////////////////////////
case 'Z': // Not Used
computeGeoMagElements();
cliQuery = 'x';
break;
///////////////////////////////
case '?': // Command Summary
cliBusy = true;
cliPortPrint("\n");
cliPortPrint("'a' Rate PIDs 'A' Set Roll Rate PID Data AP;I;D;N\n");
cliPortPrint("'b' Attitude PIDs 'B' Set Pitch Rate PID Data BP;I;D;N\n");
cliPortPrint("'c' Velocity PIDs 'C' Set Yaw Rate PID Data CP;I;D;N\n");
cliPortPrint("'d' Position PIDs 'D' Set Roll Att PID Data DP;I;D;N\n");
cliPortPrint("'e' Loop Delta Times 'E' Set Pitch Att PID Data EP;I;D;N\n");
cliPortPrint("'f' Loop Execution Times 'F' Set Hdg Hold PID Data FP;I;D;N\n");
cliPortPrint("'g' 500 Hz Accels 'G' Set nDot PID Data GP;I;D;N\n");
cliPortPrint("'h' 100 Hz Earth Axis Accels 'H' Set eDot PID Data HP;I;D;N\n");
cliPortPrint("'i' 500 Hz Gyros 'I' Set hDot PID Data IP;I;D;N\n");
cliPortPrint("'j' 10 hz Mag Data 'J' Set n PID Data JP;I;D;N\n");
cliPortPrint("'k' Vertical Axis Variable 'K' Set e PID Data KP;I;D;N\n");
cliPortPrint("'l' Attitudes 'L' Set h PID Data LP;I;D;N\n");
cliPortPrint("'m' Axis PIDs 'M' MAX7456 CLI\n");
cliPortPrint("'n' GPS Data 'N' Mixer CLI\n");
cliPortPrint("'o' Battery Voltage 'O' Receiver CLI\n");
cliPortPrint("'p' Camera CLI 'P' Sensor CLI\n");
cliPortPrint("'q' ADC CLI 'Q' GPS Data Selection\n");
cliPortPrint("'r' Mode States 'R' Reset and Enter Bootloader\n");
cliPortPrint("'s' Raw Receiver Commands 'S' Reset\n");
cliPortPrint("'t' Processed Receiver Commands 'T' Telemetry CLI\n");
cliPortPrint("'u' Command In Detent Discretes 'U' EEPROM CLI\n");
cliPortPrint("'v' Motor PWM Outputs 'V' Reset EEPROM Parameters\n");
cliPortPrint("'w' Servo PWM Outputs 'W' Write EEPROM Parameters\n");
cliPortPrint("'x' Terminate Serial Communication 'X' ESB CLI\n");
cliPortPrint("'y' ESC Calibration/Motor Verification 'Y' ADC CLI\n");
cliPortPrint("'z' ADC Values 'Z' WMM Test\n");
cliPortPrint(" '?' Command Summary\n");
cliPortPrint("\n");
cliQuery = 'x';
cliBusy = false;
break;
///////////////////////////////
}
}
}
void gpsCLI()
{
USART_InitTypeDef USART_InitStructure;
uint8_t gpsQuery = 'x';
uint8_t validQuery = false;
cliBusy = true;
cliPrint("\nEntering GPS CLI....\n\n");
while(true)
{
cliPrint("GPS CLI -> ");
while ((cliAvailable() == false) && (validQuery == false));
if (validQuery == false)
gpsQuery = cliRead();
cliPrint("\n");
switch(gpsQuery)
{
///////////////////////////
case 'a': // GPS Installation Data
cliPrint("\n");
switch(eepromConfig.gpsType)
{
///////////////
case NO_GPS:
cliPrint("No GPS Installed....\n\n");
break;
///////////////
case MEDIATEK_3329_BINARY:
cliPrint("MediaTek 3329 GPS installed, Binary Mode....\n\n");
break;
///////////////
case MEDIATEK_3329_NMEA:
cliPrint("MediaTek 3329 GPS Installed, NMEA Mode....\n\n");
break;
///////////////
case UBLOX:
cliPrint("UBLOX GPS Installed, Binary Mode....\n\n");
break;
///////////////
}
cliPrintF("GPS Baud Rate: %6ld\n\n", eepromConfig.gpsBaudRate);
validQuery = false;
break;
///////////////////////////
case 'x':
cliPrint("\nExiting GPS CLI....\n\n");
cliBusy = false;
return;
break;
///////////////////////////
case 'A': // Set GPS Installed State to False
eepromConfig.gpsType = NO_GPS;
gpsQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'B': // Set GPS Type to MediaTek 3329 Binary
eepromConfig.gpsType = MEDIATEK_3329_BINARY;
initGPS();
gpsQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'C': // Set GPS Type to MediaTek 3329 NMEA
eepromConfig.gpsType = MEDIATEK_3329_NMEA;
initGPS();
gpsQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'D': // Set GPS Type to UBLOX Binary
eepromConfig.gpsType = UBLOX;
initGPS();
gpsQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'S': // Read GPS Baud Rate
eepromConfig.gpsBaudRate = (uint16_t)readFloatCLI();
USART_StructInit(&USART_InitStructure);
USART_InitStructure.USART_BaudRate = eepromConfig.gpsBaudRate;
USART_Init(USART2, &USART_InitStructure);
gpsQuery = 'a';
validQuery = true;
break;
///////////////////////////
case 'W': // Write EEPROM Parameters
cliPrint("\nWriting EEPROM Parameters....\n\n");
writeEEPROM();
break;
///////////////////////////
case '?':
cliPrint("\n");
cliPrint("'a' Display GPS Installation Data 'A' Set GPS Type to No GPS\n");
cliPrint(" 'B' Set GPS Type to MediaTek 3329 Binary\n");
cliPrint(" 'C' Set GPS Type to MediaTek 3329 NMEA\n");
cliPrint(" 'D' Set GPS Type to UBLOX\n");
cliPrint(" 'S' Set GPS Baud Rate\n");
cliPrint(" 'W' Write EEPROM Parameters\n");
cliPrint("'x' Exit GPS CLI '?' Command Summary\n");
cliPrint("\n");
break;
///////////////////////////
}
}
}
void pathManagerInit(void) {
initTimer4();
initLED(0);
//Communication with GPS
initGPS();
initBatterySensor();
initAirspeedSensor();
initSPI(IC_DMA_PORT, DMA_CLOCK_KHZ, SPI_MODE1, SPI_BYTE, SPI_MASTER);
initInterchip(DMA_CHIP_ID_PATH_MANAGER);
//Communication with Altimeter
if (initAltimeter()){
float initialValue = 0;
while (initialValue == 0) initialValue = getAltitude();
calibrateAltimeter(initialValue);
}
//Initialize Home Location
home.altitude = 400;
home.latitude = RELATIVE_LATITUDE;
home.longitude = RELATIVE_LONGITUDE;
home.radius = 1;
home.id = -1;
//Initialize first path nodes
// PathData* node = initializePathNode();
// node->altitude = 10;
// node->latitude = 43.473662;
// node->longitude = -80.540019;
// node->radius = 5;
// appendPathNode(node);
// node = initializePathNode();
// node->altitude = 10;
// node->latitude = 43.473479;
// node->longitude = -80.540601;
// node->radius = 5;
// appendPathNode(node);
// node = initializePathNode();
// node->altitude = 10;
// node->latitude = 43.473718;
// node->longitude = -80.540837;
// node->radius = 5;
// appendPathNode(node);
// node = initializePathNode();
// node->altitude = 10;
// node->latitude = 43.473946;
// node->longitude = -80.540261;
// node->radius = 5;
// appendPathNode(node);
// node = initializePathNode();
// node->altitude = 10;
// node->latitude = 43.473685;
// node->longitude = -80.540073;
// node->radius = 5;
// appendPathNode(node);
#if DEBUG
char str[20];
sprintf(str, "PM:%d, AM:%d", sizeof(PMData),sizeof(AMData));
debug(str);
#endif
}
void main()
{
auto int chan, ang, rvalue;
auto float dist;
auto int pwm, r_head, r_head2, head;
auto long freq;
auto char tmpbuf[128], c;
char gpsString[MAX_SENTENCE];
GPSPosition testPoint, testPoint_old;
brdInit();
serPORT(BAUDGPS);
//serCopen(BAUDGPS);
serMode(0);
serCrdFlush();// main loop
initGPS();
freq = pwm_init(450ul);
printf("pick heading: ");
r_head = atoi(gets(tmpbuf));
//while(1)
// {
/*goal.lat_degrees = 43;
goal.lat_minutes = 7036;
goal.lon_degrees = 72;
goal.lon_minutes = 2811;
goal.lat_direction = 'N';
goal.lon_direction = 'W';
goal.sog = 0;
//goal.tog =
*/
if ((r_head > 90) || (r_head < -90))
{
printf("\nbad heading ");
}
else {
while (1)
{
costate GPSRead always_on
{
// wait until gps mode is engaged and a gps string has been recieved
waitfor(serCrdUsed() > 0);
//printf("gps read: ");
// read until finding the beginning of a gps string then wait
while(1)
{
//int test2;
c = serCgetc();
if (c == -1)
{
serCrdFlush();
abort;
}
else if (c == '$')
{
waitfor(DelayMs(20)); //should only take 5ms or so at 115200 baud
break;
}
}//end while(1)
// now that 20 ms have passed, read in the gps string (it must all
// be there by now, since so much time has passed
getgps(gpsString);
rvalue = gps_get_position(&testPoint,gpsString);
if( rvalue != -1)
{
printGPSPosition(&testPoint);
}
//printf("gps: %u \n",strlen(test2));
printf("gps: %s ",gpsString);
//printGPSPosition(&testPoint);
//puts(gpsString);
//puts(": end gps \n");
//dist = gps_ground_distance(&testPoint, &testPoint_old);
//head = (int)gps_bearing(&testPoint, &testPoint_old, dist);
//testPoint_old = testPoint;
head = testPoint.tog; // grab current heading
r_head2 = r_head-head;
pwm = set_angle(0, r_head2);
printf("angle: %d, head %d \n",pwm, head);
}//end costate
} // end while
} // end else
//} // end first while
} // end main
int main () {
CHIP_Init(); //Initialize Chip
initMCU();
initGPIO(); //Initialize GPIO
sdi2c_Init(); //Initialize I2C
initTimer(); //initialize timer for timer interuprt
/* Setup SysTick Timer for 10 msec interrupts */
if (SysTick_Config(CMU_ClockFreqGet(cmuClock_CORE) / 1000)) {
while (1) ;
}
/*Enable all sensors and GPS */
GPIO_PinOutSet(GPS_PORT, ENABLE); //Enable GPS Sensor board
BMP180_GetCalData(); //Enable and get calibration data from BMP180
initLSM303_LowPower(); //Enable Accel in low power mode
initL3GD20H_Normal(); //Enable Gyro in normal mode
GPIO_PinOutToggle(EXT_LED, YEL_LED);
/* Acceleromter Data */
Delay(10);
LSM303_GetAccelData();
LSM303_PowerOff();
GPIO_PinOutToggle(EXT_LED, YEL_LED);
/*Gyroscope Data */
Delay(10);
L3GD20H_GetGyroData();
L3GD20H_PowerOff();
GPIO_PinOutToggle(EXT_LED, YEL_LED);
/*Temperature/Barometric Pressure */
Delay(10);
BMP180_GetTemp();
BMP180_GetPressure();
BMP180_CalcRealTemperature();
BMP180_CalcRealPressure();
GPIO_PinOutToggle(EXT_LED, YEL_LED);
/*Power Sensor*/
INA219_GetVoltage();
GPIO_PinOutClear(EXT_LED, YEL_LED);
GPIO_PinOutToggle(EXT_LED, GRE_LED);
Delay(100);
GPIO_PinOutToggle(EXT_LED, GRE_LED);
/* GPS Information */
timeout = 0; //reset timeout
initGPS(); //Initialize GPS UART
coldrestart(); //Send cold restart command
while(fullread == 0) { //while not a full read, do the following
if(satfix == 1) { //if there is a satellite fix, then...
GPIO_PinOutSet(EXT_LED, YEL_LED); //toggle LED for debug
readdata(); //readdata
timeout = 0;
}
if(timeout > 20) {
GPIO_PinOutClear(EXT_LED, YEL_LED);
GPStimeout();
break;
}
}
GPIO_PinOutSet(EXT_LED, GRE_LED);
Delay(500);
printGPS(0); //Print GPS to screen for debug
concact();
/* Infinite loop */
while(1) {
if(GPIO_PinInGet(BUT_PORT, RIGHT_BUT) == 0) {
r = r + 1;
if(r > 2) { //wrap around to beginning
r = 0;
}
printGPS(r);
}
if(GPIO_PinInGet(BUT_PORT, LEFT_BUT) == 0) {
r = r - 1;
if(r < 0) { //wrap around to beginning
r = 2;
}
printSENSORS();
}
// if(GPIO_PinInGet(GPS_PORT, FIX) == 1) {
// GPIO_PinOutToggle(EXT_LED, RED_LED);
// }
}
}
