Colin Stearns
/
qcControl
QC Control software
Fork of dgps by
main.cpp
- Committer:
- dylanembed123
- Date:
- 2014-04-05
- Revision:
- 12:e42985e3ea64
- Parent:
- 11:97625c27ab90
- Child:
- 13:a6d3cf2b018e
File content as of revision 12:e42985e3ea64:
#include "mbed.h" #include <string> #include <sstream> #include "adapt/usb.h" #include "handle/handleCamera.h" #include "handle/handleGPS.h" Serial pc(USBTX,USBRX); Serial xbee(p9,p10);//tx, rx Serial gps(p28,p27); Serial camera(p13,p14); typedef struct { int latitude; //in .0001 minutes int longitude; //in .0001 minutes int altitude; //in decimeters int time; //in milliseconds } GpsData; void readSerial(Serial &s, char str[], int size) { for (int i = 0; i < size; i++) { str[i] = s.getc(); } } //sends: "$<command>*<checksum>\r\l" void sendGpsCommand(string command) { uint8_t checksum = 0; pc.printf("Sending command to gps: "); gps.putc('$'); pc.putc('$'); char c; for (int i = 0; i < command.length(); i++) { c = command[i]; checksum ^= c; gps.putc(c); pc.putc(c); } gps.putc('*'); pc.putc('*'); string checkSumString; while (checksum > 0) { uint8_t checksumChar = checksum & 0x0F; if (checksumChar >= 10) { checksumChar -= 10; checksumChar += 'A'; } else { checksumChar += '0'; } checkSumString.push_back((char) checksumChar); checksum = checksum >> 4; } for (int i = checkSumString.length() - 1; i >= 0; i--) { gps.putc(checkSumString[i]); pc.putc(checkSumString[i]); } gps.putc('\r'); pc.putc('\r'); gps.putc('\n'); pc.putc('\n'); } // ////cs: little endian parsing //int nextInt(char *data, int i) //{ // i |= data[i]; // i |= (data[i + 1] << 8); // i |= (data[i + 2] << 16); // i |= (data[i + 3] << 24); // return i; //} //void handleXbeeGps() //{ // static bool reading = false; // static char packet[16]; // static int i = 0; // // char c = xbee.getc(); // if (reading) { // packet[i] = c; // i++; // if (i == 16) { // i = 0; // otherGps.latitude = nextInt(packet, 0); // otherGps.longitude = nextInt(packet, 4); // otherGps.altitude = nextInt(packet, 8); // otherGps.time = nextInt(packet, 12); // // pc.printf("His GPS data: Lat: %d, Lon: %d, Alt: %d, Time:%d\r\n", // otherGps.latitude, otherGps.longitude, otherGps.altitude, otherGps.time // ); // reading = false; // } // } else if (c == 'X') { // reading = true; // } //} int main() { ImageHandle imageHand; GPSHandle gpsHand; /// Main Loop USB::getSerial().printf("Starting\n"); while(1){ // Run image handler imageHand.run(); // Run GPS handler //gpsHand.run(); } /// Main Loop while(true) { gps.baud(57600); xbee.baud(9600); pc.baud(57600); sendGpsCommand("PMTK301,1"); while(true) { pc.putc(gps.getc()); } //gps.attach(&handleGpsData, Serial::RxIrq); //xbee.attach(&handleXbeeGps, Serial::RxIrq)//; } }