Senior_Design_Sailboat / Mbed 2 deprecated ECE4012_Sailboat

GPS and IMU reading works

Dependencies:   mbed Servo SDFileSystem

/media/uploads/taoqiuyang/img_2352.jpg

Config.h@48:575ec42c5f58, 2015-11-27 (annotated)

Committer:
dem123456789
Date:
Fri Nov 27 02:24:42 2015 +0000
Revision:
48:575ec42c5f58
Parent:
46:305112d73c69 
update with gui

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dem123456789 20:a820531c78bc 1 #include <stdio.h>
dem123456789 20:a820531c78bc 2 #include <stdlib.h>
dem123456789 20:a820531c78bc 3 #include <string>
dem123456789 20:a820531c78bc 4 #include <vector>
dem123456789 20:a820531c78bc 5 #include <list>
dem123456789 20:a820531c78bc 6 #include <sstream>
dem123456789 27:1be1f25be449 7 #include <math.h>
dem123456789 20:a820531c78bc 8 #include "mbed.h"
dem123456789 21:99be83550601 9 #include "Servo.h"
dem123456789 21:99be83550601 10 #include "SDFileSystem.h"
dem123456789 21:99be83550601 11
dem123456789 20:a820531c78bc 12 using namespace std;
dem123456789 20:a820531c78bc 13
dem123456789 20:a820531c78bc 14 #define MAX_IMU_SIZE 29
dem123456789 20:a820531c78bc 15 #define MAX_TASK_SIZE 5
dem123456789 27:1be1f25be449 16 #define DEG2RAD_RATIO 0.0174532925199433
dem123456789 28:ae857c247fbd 17 #define RAD2DEG_RATIO 57.295779513082321
dem123456789 27:1be1f25be449 18 #define EARTH_RADIUS 6371000
dem123456789 20:a820531c78bc 19
dem123456789 20:a820531c78bc 20 extern string IMU_Y;
dem123456789 20:a820531c78bc 21 extern string IMU_P;
dem123456789 20:a820531c78bc 22 extern string IMU_R;
dem123456789 20:a820531c78bc 23 extern string GPS_Quality;
dem123456789 20:a820531c78bc 24 extern string GPS_UTC;
dem123456789 20:a820531c78bc 25 extern string GPS_Latitude;
dem123456789 27:1be1f25be449 26 extern string GPS_Longitude;
dem123456789 20:a820531c78bc 27 extern string GPS_Altitude;
dem123456789 20:a820531c78bc 28 extern string GPS_Num_Satellite;
dem123456789 20:a820531c78bc 29 extern string GPS_HDOP;
dem123456789 20:a820531c78bc 30 extern string GPS_VDOP;
dem123456789 20:a820531c78bc 31 extern string GPS_PDOP;
dem123456789 20:a820531c78bc 32 extern string GPS_Date;
dem123456789 20:a820531c78bc 33 extern string GPS_VelocityKnot;
dem123456789 20:a820531c78bc 34 extern string GPS_VelocityKph;
dem123456789 23:cc06a8226f72 35
dem123456789 23:cc06a8226f72 36 extern double D_IMU_Y;
dem123456789 29:95b0320bf779 37 extern double D_IMU_Y_north;
dem123456789 23:cc06a8226f72 38 extern double D_IMU_P;
dem123456789 23:cc06a8226f72 39 extern double D_IMU_R;
dem123456789 23:cc06a8226f72 40 extern double D_GPS_Quality;
dem123456789 23:cc06a8226f72 41 extern double D_GPS_UTC;
dem123456789 23:cc06a8226f72 42 extern double D_GPS_Latitude;
dem123456789 27:1be1f25be449 43 extern double D_GPS_Longitude;
dem123456789 23:cc06a8226f72 44 extern double D_GPS_Altitude;
dem123456789 23:cc06a8226f72 45 extern double D_GPS_Num_Satellite;
dem123456789 23:cc06a8226f72 46 extern double D_GPS_HDOP;
dem123456789 23:cc06a8226f72 47 extern double D_GPS_VDOP;
dem123456789 23:cc06a8226f72 48 extern double D_GPS_PDOP;
dem123456789 23:cc06a8226f72 49 extern double D_GPS_Date;
dem123456789 23:cc06a8226f72 50 extern double D_GPS_VelocityKnot;
dem123456789 23:cc06a8226f72 51 extern double D_GPS_VelocityKph;
dem123456789 23:cc06a8226f72 52
dem123456789 27:1be1f25be449 53 extern double Longitude_Path[MAX_TASK_SIZE];
dem123456789 20:a820531c78bc 54 extern double Latitude_Path[MAX_TASK_SIZE];
dem123456789 44:4d90645d15ec 55 extern int IF_Path_Complete[MAX_TASK_SIZE];
dem123456789 46:305112d73c69 56 extern int current_task;
dem123456789 20:a820531c78bc 57 extern Serial pc;
dem123456789 38:528e410f2f7d 58 extern Servo rudderServo;
dem123456789 38:528e410f2f7d 59 extern Servo wingServo;
dem123456789 20:a820531c78bc 60
dem123456789 39:ef1a8055d744 61 void set_servo_position(Servo targetServo, float angleDeg, float minDeg, float minNorVal, float maxDeg, float maxNorVal);
dem123456789 20:a820531c78bc 62 string decodeCommandGET(string cmd);
dem123456789 20:a820531c78bc 63 string decodeCommandSET(string cmd);
dem123456789 25:30966ed7f7e8 64 vector<string> split(const string &s, char delim);
dem123456789 46:305112d73c69 65 int get_current_task();
dem123456789 33:37345814fad0 66 double getDistance(int task_id);
dem123456789 33:37345814fad0 67 double getAngle(int task_id);
dem123456789 45:dfa689f159ce 68 double getCTE(int task_id);
dem123456789 37:7a136279daf3 69 double Deg2Rad(double degree);
dem123456789 37:7a136279daf3 70 string stringify(double x);
dem123456789 37:7a136279daf3 71 void printPath();
dem123456789 37:7a136279daf3 72 void printDistance();
dem123456789 37:7a136279daf3 73 void printAngle();