Flying Sea Glider / Mbed 2 deprecated 2019_10may_firstflight_jcw_nosd

most functionality to splashdwon, find neutral and start mission. short timeouts still in code for testing, will adjust to go directly to sit_idle after splashdown

Dependencies:   mbed MODSERIAL FATFileSystem

IMU/IMU.h@11:3b241ecb75ed, 2017-10-27 (annotated)

Committer:
danstrider
Date:
Fri Oct 27 00:37:32 2017 +0000
Revision:
11:3b241ecb75ed
Parent:
10:085ab7328054 
This version has been in the pool, working with all the hardware.  Had occasional string pot problems and got stuck in RISE, letting the battery stall out against the endcap.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
mkelly10 9:d5fcdcb3c89d 1 #include "mbed.h"
mkelly10 9:d5fcdcb3c89d 2 #include "MODSERIAL.h"
mkelly10 9:d5fcdcb3c89d 3
danstrider 11:3b241ecb75ed 4 // for Microstrain's MIPS protocol, try this link, or search on microstrain.com
danstrider 11:3b241ecb75ed 5 // http://www.microstrain.com/sites/default/files/3dm-gx5-45_dcp_manual_8500-0064_0.pdf
danstrider 11:3b241ecb75ed 6
mkelly10 9:d5fcdcb3c89d 7 #define _PI ((float) 3.14159265359)
mkelly10 9:d5fcdcb3c89d 8
danstrider 10:085ab7328054 9 // state machine states
danstrider 10:085ab7328054 10 #define SYNC0 0 // first sync byte state
danstrider 10:085ab7328054 11 #define SYNC1 1 // second sync byte state
danstrider 10:085ab7328054 12 #define SET 2 // aka descriptor set
danstrider 10:085ab7328054 13 #define LEN 3 // payload length
danstrider 10:085ab7328054 14 #define PAY 4 // getting the payload data
danstrider 10:085ab7328054 15 #define CRC0 5 // crc high byte
danstrider 10:085ab7328054 16 #define CRC1 6 // crc low byte
danstrider 10:085ab7328054 17
danstrider 10:085ab7328054 18 // data set descriptors
danstrider 11:3b241ecb75ed 19 #define IMU_DATA_SET 0x80
danstrider 10:085ab7328054 20 #define GNSS_DATA_SET 0x81
danstrider 10:085ab7328054 21
danstrider 10:085ab7328054 22 // enumerations for the Euler angle packet we care about
danstrider 10:085ab7328054 23 #define EULER_CF_LENGTH 14
danstrider 10:085ab7328054 24 #define EULER_CF_DESCRIPTOR 0x0C
danstrider 10:085ab7328054 25 #define ROLL_OFFSET 0
danstrider 10:085ab7328054 26 #define PITCH_OFFSET 4
danstrider 10:085ab7328054 27 #define YAW_OFFSET 8
danstrider 10:085ab7328054 28
danstrider 10:085ab7328054 29 // enumerations for the lat-lon-alt packet we care about
danstrider 10:085ab7328054 30 #define LLH_POSITION_LENGTH 44
danstrider 10:085ab7328054 31 #define LLH_POSITION_DESCRIPTOR 0x03
danstrider 10:085ab7328054 32 #define LATITUDE_OFFSET 0
danstrider 10:085ab7328054 33 #define LONGITUDE_OFFSET 8
danstrider 10:085ab7328054 34 #define HEIGHT_MSL_OFFSET 16
danstrider 10:085ab7328054 35 #define VALID_FLAG_OFFSET 40
danstrider 10:085ab7328054 36
danstrider 10:085ab7328054 37 // enumerations for the lat-lon-alt packet we care about
danstrider 10:085ab7328054 38 #define GNSS_FIX_INFO_LENGTH 8
danstrider 10:085ab7328054 39 #define GNSS_FIX_INFO_DESCRIPTOR 0x0B
danstrider 10:085ab7328054 40 #define FIX_TYPE_OFFSET 0
danstrider 10:085ab7328054 41 #define NUM_SV_OFFSET 1
danstrider 10:085ab7328054 42 #define VALID_FLAGS_OFFSET 4
danstrider 10:085ab7328054 43
danstrider 10:085ab7328054 44 class IMU {
mkelly10 9:d5fcdcb3c89d 45 public:
danstrider 10:085ab7328054 46 IMU(PinName Tx, PinName Rx);
mkelly10 9:d5fcdcb3c89d 47 void initialize();
mkelly10 9:d5fcdcb3c89d 48 void update();
mkelly10 9:d5fcdcb3c89d 49 void start();
mkelly10 9:d5fcdcb3c89d 50 void stop();
danstrider 10:085ab7328054 51
danstrider 10:085ab7328054 52 float getRoll();
danstrider 10:085ab7328054 53 float getPitch();
danstrider 10:085ab7328054 54 float getHeading();
mkelly10 9:d5fcdcb3c89d 55
danstrider 10:085ab7328054 56 bool getIsValid2dFix();
danstrider 10:085ab7328054 57 bool getIsValid3dFix();
danstrider 10:085ab7328054 58 char getNumSV();
danstrider 10:085ab7328054 59 double getLatitude();
danstrider 10:085ab7328054 60 double getLongitude();
danstrider 10:085ab7328054 61 double getAltitudeMSL();
danstrider 11:3b241ecb75ed 62
danstrider 11:3b241ecb75ed 63 protected:
mkelly10 9:d5fcdcb3c89d 64 Ticker interval;
mkelly10 9:d5fcdcb3c89d 65 MODSERIAL _rs232;
danstrider 10:085ab7328054 66
danstrider 10:085ab7328054 67 char byte;
danstrider 11:3b241ecb75ed 68
danstrider 11:3b241ecb75ed 69 unsigned char state, len, descriptor, i, packet[256];
danstrider 11:3b241ecb75ed 70 unsigned int checksum, crc0, crc1;
danstrider 11:3b241ecb75ed 71
danstrider 11:3b241ecb75ed 72 /* unsigned char state, len, descriptor, i, crc0, crc1, payload[30];
danstrider 11:3b241ecb75ed 73 unsigned int checksum;*/
mkelly10 9:d5fcdcb3c89d 74
danstrider 10:085ab7328054 75 float euler[3];
danstrider 10:085ab7328054 76 double latLonAlt[3];
danstrider 10:085ab7328054 77 bool is2dFixValid;
danstrider 10:085ab7328054 78 bool is3dFixValid;
danstrider 10:085ab7328054 79 char numSV;
mkelly10 9:d5fcdcb3c89d 80
danstrider 11:3b241ecb75ed 81 void processPayload(char type, char length, unsigned char * payload);
danstrider 11:3b241ecb75ed 82 void processEulerCfPacket(char length, unsigned char * payload);
danstrider 11:3b241ecb75ed 83 void processLatLonAltPacket(char length, unsigned char * payload);
danstrider 11:3b241ecb75ed 84 void processGnssFixInformation(char length, unsigned char * payload);
danstrider 10:085ab7328054 85
danstrider 10:085ab7328054 86 unsigned int calcChecksum(unsigned char * mip_packet, char checksum_range);
danstrider 10:085ab7328054 87
danstrider 10:085ab7328054 88 float floatFromChar(unsigned char * value);
danstrider 10:085ab7328054 89 double doubleFromChar(unsigned char * value);
danstrider 10:085ab7328054 90 };