Revision 8:2917c5f310f7, committed 2013-09-18

Comitter:

bclaus

Date:

Wed Sep 18 20:26:20 2013 +0000

Parent:

7:e8a77af1b428

Child:

9:f56a92eb3e5c

Commit message:

upated;

Changed in this revision

--- a/TinyGPS.lib	Thu Sep 12 13:57:36 2013 +0000
+++ b/TinyGPS.lib	Wed Sep 18 20:26:20 2013 +0000
@@ -1,1 +1,1 @@
-http://mbed.org/users/bclaus/code/TinyGPS/#a3dad2769ed7
+http://mbed.org/users/bclaus/code/TinyGPS/#1b16102f7b18

--- a/main.cpp	Thu Sep 12 13:57:36 2013 +0000
+++ b/main.cpp	Wed Sep 18 20:26:20 2013 +0000
@@ -34,7 +34,7 @@
 int rudderC = 0, thrusterC = 0;
 
 int main(void) {
-    float tLoop=0,tLoopi=0;
+    float tLoop=0;
     float rTime=0.00155,tTime=0.00165;
     pc.baud(115200);
     radio.baud(57600);
@@ -43,6 +43,7 @@
     radio.printf("pre - inited\r\n");
     int16_t dCompass[3];
     float dAcc[3];
+    i2c_bus.frequency(1000000);
     compass.init();
     pc.printf("inited\r\n");
     gpsSerial.attach (&gpsSerialRecvInterrupt, gpsSerial.RxIrq);    // Recv interrupt handler
@@ -57,10 +58,11 @@
     t.start();
     while (true) {
         tLoop =t.read();
-        if(gps.gga_ready()){
+        if(gps.gga_ready() && gps.rmc_ready()){
            
             //pc.printf("lat: %.8f, lon: %.8f\r\n", gps.f_lat(), gps.f_lon());
-            radio.printf("GPS: %.4f, %.8f, %.8f, %.4f, %.4f\r\n", t.read(),gps.f_lat(), gps.f_lon(),gps.f_course(),gps.f_speed_knots());
+            radio.printf("GPS: %.4f, %.8f, %.8f, %.4f, %.4f, %ul, %ul, %ul, %ul\r\n", t.read(),gps.f_lat(), gps.f_lon(),gps.f_course(),gps.f_speed_knots(),gps.ul_time(),gps.ul_date(),gps.sat_count(),gps.hdop());
+            gps.reset_ready();
         }
 
         acc.getAccAllAxis(dAcc);
@@ -69,45 +71,43 @@
         compass.getXYZ(dCompass);
         //pc.printf("xC: %4d, yC: %4d, zC: %4d\r\n", dCompass[0], dCompass[1], dCompass[2]);
         radio.printf("MAG: %.4f, %4d, %4d, %4d\r\n", t.read(),dCompass[0], dCompass[1], dCompass[2]);
+
+        if(manual){               
+            //low pass filter the rudder time to stop the jitter
+            rTime=rTime + 0.8*(rudderIn.pulsewidth()-rTime);
+            //if outside limits center the rudder
+            if(rTime < 0.001 || rTime > 0.002)rTime=0.00155; 
+            tTime =tTime +0.2*(thrusterIn.pulsewidth()-tTime);
+            //if outside limits thruster to zero
+            if(tTime < 0.001 || tTime > 0.002)tTime=0.00165;
+            
+            rudderOut.pulsewidth(rTime);
+            thrusterOut.pulsewidth(tTime);
+            radio.printf("VEH:%.4f, %.6f, %.6f\r\n", t.read(),tTime, rTime);
+            }
+        else{
+            //rudderC should be an angle -45 to 45
+            //map this to 0.00135 to 0.00175
+            rTime=0.0014+0.003*((rudderC+45.0)/90.0);     
+            //thrusterC should be an percentage from -100 to 100
+            //map this to 0.0011 to 0.0019
+            //0.0019 is full reverse
+            //0.0011 is full ahead              
+            tTime=0.0019 - 0.008*((thrusterC+100.0)/200.0);  
+            
+            radio.printf("VEH: %.4f, %.6f, %.6f, %.2f, %.2f\r\n",t.read(),rTime,tTime,rudderC,thrusterC);         
+            if(rTime < 0.001 || rTime > 0.002)rTime=0.00155;   
+            if(tTime < 0.001 || tTime > 0.002)tTime=0.00165;
+            rudderOut.pulsewidth(rTime);
+            
+            thrusterOut.pulsewidth(tTime);            
+            radio.printf("VEH: %.4f, %.6f, %.6f, %.2f, %.2f\r\n",t.read(),rTime,tTime,rudderC,thrusterC);
+        }
+        //make sure this doesn't run too fast
+        if((t.read()-tLoop)<0.1){
+            wait(0.1-(t.read()-tLoop));
+        }
         
-        while(t.read() - tLoop < 0.5){
-            tLoopi=t.read();
-            if(manual){               
-                //low pass filter the rudder time to stop the jitter
-                rTime=rTime + 0.8*(rudderIn.pulsewidth()-rTime);
-                //if outside limits center the rudder
-                if(rTime < 0.001 || rTime > 0.002)rTime=0.00155; 
-                tTime =tTime +0.2*(thrusterIn.pulsewidth()-tTime);
-                //if outside limits thruster to zero
-                if(tTime < 0.001 || tTime > 0.002)tTime=0.00165;
-                
-                rudderOut.pulsewidth(rTime);
-                thrusterOut.pulsewidth(tTime);
-                radio.printf("VEH:%.4f, %.6f, %.6f\r\n", t.read(),tTime, rTime);
-                }
-            else{
-                //rudderC should be an angle -45 to 45
-                //map this to 0.00135 to 0.00175
-                rTime=0.0014+0.003*((rudderC+45.0)/90.0);     
-                //thrusterC should be an percentage from -100 to 100
-                //map this to 0.0011 to 0.0019
-                //0.0019 is full reverse
-                //0.0011 is full ahead              
-                tTime=0.0019 - 0.008*((thrusterC+100.0)/200.0);  
-                
-                radio.printf("VEH: %.4f, %.6f, %.6f, %.2f, %.2f\r\n",t.read(),rTime,tTime,rudderC,thrusterC);         
-                if(rTime < 0.001 || rTime > 0.002)rTime=0.00155;   
-                if(tTime < 0.001 || tTime > 0.002)tTime=0.00165;
-                rudderOut.pulsewidth(rTime);
-                
-                thrusterOut.pulsewidth(tTime);            
-                radio.printf("VEH: %.4f, %.6f, %.6f, %.2f, %.2f\r\n",t.read(),rTime,tTime,rudderC,thrusterC);
-            }
-            //make sure this doesn't run too fast
-            if((t.read()-tLoopi)<0.1){
-                wait(0.1-(t.read()-tLoopi));
-            }
-        }
     }
 }
 
@@ -169,8 +169,6 @@
         }else if(firstByte=='t'){ 
 
             command=='t';
-        }else{
-            //do nothing, this will eat all the garbage chars...
         }