Project 2 - Integrate following sensors to the Dev Board

Integrate following sensors to the Dev Board:

• GPS
• IMU Sensor

Achieve the following task with the help of these sensors:

1. The microcontroller should automatically detect sensor’s (GPS + IMU) connection and disconnection and print suitable string over the terminal (Serial to USB used)
2. You should use buffer for receiving GPS data over UART, and should enable UART Reception Interrupt.
3. IMU data to come over I2C, you should carry this data in Separate Queue according to Sensor (Accelerometer + Gyro) to a particular task.
4. Main Objective is to identify the GPS location and whenever there is a change in distance greater than 100m, the system should print out the Co-ordinates along with IMU sensor values.
5. Printing of the values can be done by transferring values over UART and then Serial to USB can be used to view at Terminal Window.

To achieve the given task with GPS and IMU sensors integrated into the Dev Board, you'll need to set up communication interfaces such as UART and I2C, configure interrupts, manage data buffering, and implement logic for detecting sensor connections and disconnections and handling data processing. Below is a high-level overview of how you can accomplish this task:

1. Hardware Setup:

Connect the GPS module to the microcontroller via UART.

Connect the IMU sensor to the microcontroller via I2C.

2. Software Implementation:

Initialize UART and I2C interfaces.

Configure a UART reception interrupt for receiving GPS data.

Set up a separate task for processing IMU data.

Implement logic for detecting sensor connection/disconnection.

Implement logic for calculating distance using GPS coordinates.

queue management for IMU data.

Implement logic for printing coordinates and IMU sensor values when there's a significant change in distance.

3. **Pseudocode Implementation**:

```c

// Define necessary constants

#define DISTANCE_THRESHOLD 100 // Threshold for distance change (in meters)

// Initialize GPS and IMU modules

void initialize_sensors() {

// Initialize UART for GPS

// Configure UART reception interrupt

// Initialize I2C for IMU

// Set up IMU sensor (configure settings, enable specific sensors like accelerometer and gyro)

}

// Task to process IMU data

void imu_data_task(void *pvParameters) {

while (1) {

// Read IMU sensor data (accelerometer and gyro)

// Queue data into separate queues for accelerometer and gyro

// Delay for appropriate time interval

vTaskDelay(pdMS_TO_TICKS(100)); // Adjust delay as needed

}

}

The Main task for GPS data processing

void gps_data_task(void *pvParameters) {

// Initialize necessary variables

float last_latitude = 0.0, last_longitude = 0.0;

while (1) {

// Wait until GPS data is received (handled by UART reception interrupt)

Process GPS data (parse latitude and longitude)

float latitude = /* parse latitude from GPS data */;

float longitude = /* parse longitude from GPS data */;

// Calculate distance change

float distance = /* calculate distance between current and last coordinates */;

if (distance > DISTANCE_THRESHOLD) {

// Get IMU data (from queues)

// Print coordinates and IMU sensor values over UART

printf("New GPS coordinates: Latitude: %f, Longitude: %f\n", latitude, longitude);

// Print IMU sensor values

// Example: printf("Accelerometer: X: %f, Y: %f, Z: %f\n", accel_x, accel_y, accel_z);

// printf("Gyroscope: X: %f, Y: %f, Z: %f\n", gyro_x, gyro_y, gyro_z);

}

// Update last coordinates

last_latitude = latitude;

last_longitude = longitude;

// Delay for appropriate time interval before checking GPS data again

vTaskDelay(pdMS_TO_TICKS(500)); // Adjust delay as needed

}

}

// Main function

int main() {

// Initialize UART and I2C interfaces

// Initialize sensors

initialize_sensors();

Create tasks for GPS and IMU data processing

xTaskCreate(gps_data_task, "GPS_Task", configMINIMAL_STACK_SIZE, NULL, 1, NULL);

xTaskCreate(imu_data_task, "IMU_Task", configMINIMAL_STACK_SIZE, NULL, 1, NULL);

// Start scheduler

vTaskStartScheduler();

The Code should never reach here

return 0;

}

```

4. **Notes**:

Implement appropriate functions to initialize UART and I2C, read sensor data, and calculate distance.

handle UART reception interrupts to receive GPS data.

Ensure proper synchronization and data integrity when accessing shared resources, such as queues.

Adjust delays and task priorities according to your system requirements.

Use suitable libraries and functions provided by your microcontroller's SDK or external libraries for UART and I2C communication, task management, and queue operations.