Atsumi Toda / Mbed 2 deprecated INS_GNSS_logger_1

imu/gnss logger ver1.1

Dependencies:   mbed MPU9250_SPI MG354PDH0 SDFileSystem

main.cpp@1:8757d12d193b, 2021-04-28 (annotated)

Committer:
Joeatsumi
Date:
Wed Apr 28 06:59:04 2021 +0000
Revision:
1:8757d12d193b
Parent:
0:91d5f51f73e2
Child:
2:9216162a9e17
5Hz GNSS logger with ublox NEO 7M

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Joeatsumi 0:91d5f51f73e2 1 //=========================================================
Joeatsumi 0:91d5f51f73e2 2 //GNSS logger with ublox-NEO7M
Joeatsumi 0:91d5f51f73e2 3 //MPU board: mbed LPC1768
Joeatsumi 0:91d5f51f73e2 4 //GNSS module: ublox-NEO7M
Joeatsumi 0:91d5f51f73e2 5 //2021/04/26 A.Toda
Joeatsumi 0:91d5f51f73e2 6 //========================================================
Joeatsumi 0:91d5f51f73e2 7 #include "mbed.h"
Joeatsumi 1:8757d12d193b 8 #include "SDFileSystem.h"
Joeatsumi 0:91d5f51f73e2 9 //=========================================================
Joeatsumi 0:91d5f51f73e2 10 //Port Setting
Joeatsumi 0:91d5f51f73e2 11 Serial pc(USBTX, USBRX); // tx, rx
Joeatsumi 0:91d5f51f73e2 12 SPI spi(p11, p12, p13); // mosi, miso, sclk
Joeatsumi 0:91d5f51f73e2 13 DigitalOut CS(p15); // NEO-7MのCSピン
Joeatsumi 1:8757d12d193b 14 DigitalIn log_switch(p16); //
Joeatsumi 1:8757d12d193b 15
Joeatsumi 1:8757d12d193b 16 //SDFileSystem sd(PA_7, PA_6, PA_5, PA_4, "sd");
Joeatsumi 1:8757d12d193b 17 SDFileSystem sd(p5, p6, p7, p8, "sd"); // mosi, miso, sclk, cs
Joeatsumi 1:8757d12d193b 18
Joeatsumi 1:8757d12d193b 19 //ファイルポインタ
Joeatsumi 1:8757d12d193b 20 FILE *fp;
Joeatsumi 1:8757d12d193b 21 FILE *im;
Joeatsumi 0:91d5f51f73e2 22
Joeatsumi 0:91d5f51f73e2 23 //=========================================================
Joeatsumi 0:91d5f51f73e2 24 //受信したメッセージから抽出したい情報
Joeatsumi 0:91d5f51f73e2 25 float latitude,longitude,height_float; //緯度、経度、高度
Joeatsumi 0:91d5f51f73e2 26 int gps_Fix; // GPSの測位状態この値が3ならば3D Fix状態である
Joeatsumi 0:91d5f51f73e2 27 float velN_float,velE_float,velD_float; // NED座標系に置ける速度
Joeatsumi 0:91d5f51f73e2 28
Joeatsumi 0:91d5f51f73e2 29 //=========================================================
Joeatsumi 0:91d5f51f73e2 30 //UBXデータを処理したかどうかのフラグ
Joeatsumi 0:91d5f51f73e2 31 int flag_posllh,flag_velned;
Joeatsumi 0:91d5f51f73e2 32
Joeatsumi 0:91d5f51f73e2 33 //=========================================================
Joeatsumi 0:91d5f51f73e2 34 //処理時間計測の為のタイマー
Joeatsumi 0:91d5f51f73e2 35 Timer processing_timer;
Joeatsumi 0:91d5f51f73e2 36
Joeatsumi 0:91d5f51f73e2 37 //=========================================================
Joeatsumi 0:91d5f51f73e2 38 //処理時間
Joeatsumi 1:8757d12d193b 39 int processed_time,processed_time_before,processed_time_after,measurement_time_g;
Joeatsumi 0:91d5f51f73e2 40
Joeatsumi 0:91d5f51f73e2 41 //=========================================================
Joeatsumi 0:91d5f51f73e2 42 //Ticker
Joeatsumi 0:91d5f51f73e2 43 Ticker timer1; //
Joeatsumi 0:91d5f51f73e2 44 Ticker timer2; //
Joeatsumi 0:91d5f51f73e2 45
Joeatsumi 0:91d5f51f73e2 46 //=========================================================
Joeatsumi 0:91d5f51f73e2 47 //Logging variables
Joeatsumi 1:8757d12d193b 48 float imu_mesurement_freq = 200.0; //Hz
Joeatsumi 1:8757d12d193b 49 float gnss_mesurement_freq = 5.0; //theta_update_freq;
Joeatsumi 0:91d5f51f73e2 50
Joeatsumi 0:91d5f51f73e2 51 float imu_interval = 1.0f/imu_mesurement_freq; //sec
Joeatsumi 0:91d5f51f73e2 52 float gnss_interval = 1.0f/gnss_mesurement_freq; //sec
Joeatsumi 0:91d5f51f73e2 53
Joeatsumi 1:8757d12d193b 54 int logging_status;
Joeatsumi 0:91d5f51f73e2 55 //=========================================================
Joeatsumi 0:91d5f51f73e2 56 //Header char
Joeatsumi 0:91d5f51f73e2 57 const unsigned char UBX_HEADER[] = { 0xB5, 0x62 };
Joeatsumi 0:91d5f51f73e2 58 const unsigned char NAV_POSLLH_HEADER[] = { 0x01, 0x02 };
Joeatsumi 0:91d5f51f73e2 59 const unsigned char NAV_STATUS_HEADER[] = { 0x01, 0x03 };
Joeatsumi 0:91d5f51f73e2 60
Joeatsumi 0:91d5f51f73e2 61 const unsigned char NAV_VELNED_HEADER[] = { 0x01, 0x12 };
Joeatsumi 0:91d5f51f73e2 62
Joeatsumi 0:91d5f51f73e2 63 enum _ubxMsgType {
Joeatsumi 0:91d5f51f73e2 64 MT_NONE,
Joeatsumi 0:91d5f51f73e2 65 MT_NAV_POSLLH,
Joeatsumi 0:91d5f51f73e2 66 MT_NAV_STATUS,
Joeatsumi 0:91d5f51f73e2 67 MT_NAV_VELNED
Joeatsumi 0:91d5f51f73e2 68 };
Joeatsumi 0:91d5f51f73e2 69
Joeatsumi 0:91d5f51f73e2 70 //=========================================================
Joeatsumi 0:91d5f51f73e2 71 //メッセージの構造体
Joeatsumi 0:91d5f51f73e2 72 struct NAV_POSLLH {
Joeatsumi 0:91d5f51f73e2 73 unsigned char cls;
Joeatsumi 0:91d5f51f73e2 74 unsigned char id;
Joeatsumi 0:91d5f51f73e2 75 unsigned short len;
Joeatsumi 0:91d5f51f73e2 76 unsigned long iTOW;
Joeatsumi 0:91d5f51f73e2 77 long lon;
Joeatsumi 0:91d5f51f73e2 78 long lat;
Joeatsumi 0:91d5f51f73e2 79 long height;
Joeatsumi 0:91d5f51f73e2 80 long hMSL;
Joeatsumi 0:91d5f51f73e2 81 unsigned long hAcc;
Joeatsumi 0:91d5f51f73e2 82 unsigned long vAcc;
Joeatsumi 0:91d5f51f73e2 83 };
Joeatsumi 0:91d5f51f73e2 84
Joeatsumi 0:91d5f51f73e2 85 struct NAV_STATUS {
Joeatsumi 0:91d5f51f73e2 86 unsigned char cls;
Joeatsumi 0:91d5f51f73e2 87 unsigned char id;
Joeatsumi 0:91d5f51f73e2 88 unsigned short len;
Joeatsumi 0:91d5f51f73e2 89 unsigned long iTOW;
Joeatsumi 0:91d5f51f73e2 90 unsigned char gpsFix;
Joeatsumi 0:91d5f51f73e2 91 char flags;
Joeatsumi 0:91d5f51f73e2 92 char fixStat;
Joeatsumi 0:91d5f51f73e2 93 char flags2;
Joeatsumi 0:91d5f51f73e2 94 unsigned long ttff;
Joeatsumi 0:91d5f51f73e2 95 unsigned long msss;
Joeatsumi 0:91d5f51f73e2 96 };
Joeatsumi 0:91d5f51f73e2 97
Joeatsumi 0:91d5f51f73e2 98 struct NAV_VELNED {
Joeatsumi 0:91d5f51f73e2 99 unsigned char cls;
Joeatsumi 0:91d5f51f73e2 100 unsigned char id;
Joeatsumi 0:91d5f51f73e2 101 unsigned short len;
Joeatsumi 0:91d5f51f73e2 102 unsigned long iTOW;
Joeatsumi 0:91d5f51f73e2 103 signed long velN;
Joeatsumi 0:91d5f51f73e2 104 signed long velE;
Joeatsumi 0:91d5f51f73e2 105 signed long velD;
Joeatsumi 0:91d5f51f73e2 106 unsigned long speed;
Joeatsumi 0:91d5f51f73e2 107 unsigned long gSpeed;
Joeatsumi 0:91d5f51f73e2 108 signed long heading;
Joeatsumi 0:91d5f51f73e2 109 unsigned long sAcc;
Joeatsumi 0:91d5f51f73e2 110 unsigned long cAcc;
Joeatsumi 0:91d5f51f73e2 111
Joeatsumi 0:91d5f51f73e2 112 };
Joeatsumi 0:91d5f51f73e2 113
Joeatsumi 0:91d5f51f73e2 114 //=========================================================
Joeatsumi 0:91d5f51f73e2 115 //受信したメッセージを格納する為の共用体
Joeatsumi 0:91d5f51f73e2 116 union UBXMessage {
Joeatsumi 0:91d5f51f73e2 117 NAV_VELNED navVelned;//payload size is 36bytes
Joeatsumi 0:91d5f51f73e2 118 NAV_POSLLH navPosllh;//payload size is 28bytes
Joeatsumi 0:91d5f51f73e2 119 NAV_STATUS navStatus;//payload size is 16bytes
Joeatsumi 0:91d5f51f73e2 120 };
Joeatsumi 0:91d5f51f73e2 121
Joeatsumi 0:91d5f51f73e2 122 UBXMessage ubxMessage;
Joeatsumi 0:91d5f51f73e2 123
Joeatsumi 0:91d5f51f73e2 124 // The last two bytes of the message is a checksum value, used to confirm that the received payload is valid.
Joeatsumi 0:91d5f51f73e2 125 // The procedure used to calculate this is given as pseudo-code in the uBlox manual.
Joeatsumi 0:91d5f51f73e2 126 void calcChecksum(unsigned char* CK, int msgSize) {
Joeatsumi 0:91d5f51f73e2 127 memset(CK, 0, 2);
Joeatsumi 0:91d5f51f73e2 128 for (int i = 0; i < msgSize; i++) {
Joeatsumi 0:91d5f51f73e2 129 CK[0] += ((unsigned char*)(&ubxMessage))[i];
Joeatsumi 0:91d5f51f73e2 130 CK[1] += CK[0];
Joeatsumi 0:91d5f51f73e2 131 }
Joeatsumi 0:91d5f51f73e2 132 }
Joeatsumi 0:91d5f51f73e2 133
Joeatsumi 0:91d5f51f73e2 134 //=========================================================
Joeatsumi 0:91d5f51f73e2 135 // Compares the first two bytes of the ubxMessage struct with a specific message header.
Joeatsumi 0:91d5f51f73e2 136 // Returns true if the two bytes match.
Joeatsumi 0:91d5f51f73e2 137 bool compareMsgHeader(const unsigned char* msgHeader) {
Joeatsumi 0:91d5f51f73e2 138 unsigned char* ptr = (unsigned char*)(&ubxMessage);
Joeatsumi 0:91d5f51f73e2 139 return ptr[0] == msgHeader[0] && ptr[1] == msgHeader[1];
Joeatsumi 0:91d5f51f73e2 140 }
Joeatsumi 0:91d5f51f73e2 141
Joeatsumi 0:91d5f51f73e2 142 //=========================================================
Joeatsumi 0:91d5f51f73e2 143 // Reads in bytes from the GPS module and checks to see if a valid message has been constructed.
Joeatsumi 0:91d5f51f73e2 144 // Returns the type of the message found if successful, or MT_NONE if no message was found.
Joeatsumi 0:91d5f51f73e2 145 // After a successful return the contents of the ubxMessage union will be valid, for the
Joeatsumi 0:91d5f51f73e2 146 // message type that was found. Note that further calls to this function can invalidate the
Joeatsumi 0:91d5f51f73e2 147 // message content, so you must use the obtained values before calling this function again.
Joeatsumi 0:91d5f51f73e2 148 void processGPS() {
Joeatsumi 0:91d5f51f73e2 149
Joeatsumi 0:91d5f51f73e2 150 static int fpos = 0;
Joeatsumi 0:91d5f51f73e2 151 static unsigned char checksum[2];
Joeatsumi 0:91d5f51f73e2 152
Joeatsumi 0:91d5f51f73e2 153 static unsigned char currentMsgType = MT_NONE;
Joeatsumi 0:91d5f51f73e2 154 static int payloadSize = sizeof(UBXMessage);
Joeatsumi 0:91d5f51f73e2 155
Joeatsumi 0:91d5f51f73e2 156 CS = 0; //SPIによる読み出しを開始
Joeatsumi 0:91d5f51f73e2 157
Joeatsumi 0:91d5f51f73e2 158 processed_time_before = processing_timer.read_us();// captureing prossing time
Joeatsumi 0:91d5f51f73e2 159
Joeatsumi 0:91d5f51f73e2 160 /*
Joeatsumi 0:91d5f51f73e2 161 NEO-7Mに(0xFF)を送って、取得した情報を1byteずつ以下の
Joeatsumi 0:91d5f51f73e2 162 for文で確認する。
Joeatsumi 0:91d5f51f73e2 163
Joeatsumi 0:91d5f51f73e2 164 */
Joeatsumi 0:91d5f51f73e2 165 for(int buff_counter=1;buff_counter<50;buff_counter++){
Joeatsumi 0:91d5f51f73e2 166
Joeatsumi 0:91d5f51f73e2 167 unsigned char c = spi.write(0xFF);
Joeatsumi 0:91d5f51f73e2 168
Joeatsumi 0:91d5f51f73e2 169 if ( fpos < 2 ) {
Joeatsumi 0:91d5f51f73e2 170 // For the first two bytes we are simply looking for a match with the UBX header bytes (0xB5,0x62)
Joeatsumi 0:91d5f51f73e2 171 if ( c == UBX_HEADER[fpos] )
Joeatsumi 0:91d5f51f73e2 172 fpos++;
Joeatsumi 0:91d5f51f73e2 173 else
Joeatsumi 0:91d5f51f73e2 174 fpos = 0; // Reset to beginning state.
Joeatsumi 0:91d5f51f73e2 175 }
Joeatsumi 0:91d5f51f73e2 176 else {
Joeatsumi 0:91d5f51f73e2 177 // If we come here then fpos >= 2, which means we have found a match with the UBX_HEADER
Joeatsumi 0:91d5f51f73e2 178 // and we are now reading in the bytes that make up the payload.
Joeatsumi 0:91d5f51f73e2 179
Joeatsumi 0:91d5f51f73e2 180 // Place the incoming byte into the ubxMessage struct. The position is fpos-2 because
Joeatsumi 0:91d5f51f73e2 181 // the struct does not include the initial two-byte header (UBX_HEADER).
Joeatsumi 0:91d5f51f73e2 182 if ( (fpos-2) < payloadSize )
Joeatsumi 0:91d5f51f73e2 183 ((unsigned char*)(&ubxMessage))[fpos-2] = c;
Joeatsumi 0:91d5f51f73e2 184
Joeatsumi 0:91d5f51f73e2 185
Joeatsumi 0:91d5f51f73e2 186 fpos++;
Joeatsumi 0:91d5f51f73e2 187
Joeatsumi 0:91d5f51f73e2 188 if ( fpos == 4 ) {
Joeatsumi 0:91d5f51f73e2 189 // We have just received the second byte of the message type header,
Joeatsumi 0:91d5f51f73e2 190 // so now we can check to see what kind of message it is.
Joeatsumi 0:91d5f51f73e2 191
Joeatsumi 0:91d5f51f73e2 192 if ( compareMsgHeader(NAV_VELNED_HEADER) ) {
Joeatsumi 0:91d5f51f73e2 193 currentMsgType = MT_NAV_VELNED;
Joeatsumi 0:91d5f51f73e2 194 payloadSize = sizeof(NAV_VELNED);
Joeatsumi 0:91d5f51f73e2 195
Joeatsumi 0:91d5f51f73e2 196 }
Joeatsumi 0:91d5f51f73e2 197 else if ( compareMsgHeader(NAV_STATUS_HEADER) ) {
Joeatsumi 0:91d5f51f73e2 198 currentMsgType = MT_NAV_STATUS;
Joeatsumi 0:91d5f51f73e2 199 payloadSize = sizeof(NAV_STATUS);
Joeatsumi 0:91d5f51f73e2 200 }
Joeatsumi 0:91d5f51f73e2 201
Joeatsumi 0:91d5f51f73e2 202 else if ( compareMsgHeader(NAV_POSLLH_HEADER) ) {
Joeatsumi 0:91d5f51f73e2 203 currentMsgType = MT_NAV_POSLLH;
Joeatsumi 0:91d5f51f73e2 204 payloadSize = sizeof(NAV_POSLLH);
Joeatsumi 0:91d5f51f73e2 205
Joeatsumi 0:91d5f51f73e2 206 }
Joeatsumi 0:91d5f51f73e2 207
Joeatsumi 0:91d5f51f73e2 208 else {
Joeatsumi 0:91d5f51f73e2 209 // unknown message type, bail
Joeatsumi 0:91d5f51f73e2 210 fpos = 0;
Joeatsumi 0:91d5f51f73e2 211 continue;
Joeatsumi 0:91d5f51f73e2 212 }
Joeatsumi 0:91d5f51f73e2 213 }
Joeatsumi 0:91d5f51f73e2 214
Joeatsumi 0:91d5f51f73e2 215 if ( fpos == (payloadSize+2) ) {
Joeatsumi 0:91d5f51f73e2 216 // All payload bytes have now been received, so we can calculate the
Joeatsumi 0:91d5f51f73e2 217 // expected checksum value to compare with the next two incoming bytes.
Joeatsumi 0:91d5f51f73e2 218 calcChecksum(checksum, payloadSize);
Joeatsumi 0:91d5f51f73e2 219 }
Joeatsumi 0:91d5f51f73e2 220 else if ( fpos == (payloadSize+3) ) {
Joeatsumi 0:91d5f51f73e2 221 // First byte after the payload, ie. first byte of the checksum.
Joeatsumi 0:91d5f51f73e2 222 // Does it match the first byte of the checksum we calculated?
Joeatsumi 0:91d5f51f73e2 223 if ( c != checksum[0] ) {
Joeatsumi 0:91d5f51f73e2 224 // Checksum doesn't match, reset to beginning state and try again.
Joeatsumi 0:91d5f51f73e2 225 fpos = 0;
Joeatsumi 0:91d5f51f73e2 226 }
Joeatsumi 0:91d5f51f73e2 227 }
Joeatsumi 0:91d5f51f73e2 228 else if ( fpos == (payloadSize+4) ) {
Joeatsumi 0:91d5f51f73e2 229 // Second byte after the payload, ie. second byte of the checksum.
Joeatsumi 0:91d5f51f73e2 230 // Does it match the second byte of the checksum we calculated?
Joeatsumi 0:91d5f51f73e2 231 fpos = 0; // We will reset the state regardless of whether the checksum matches.
Joeatsumi 0:91d5f51f73e2 232 if ( c == checksum[1] ) {
Joeatsumi 0:91d5f51f73e2 233 // Checksum matches, we have a valid message.
Joeatsumi 0:91d5f51f73e2 234 if(currentMsgType==MT_NAV_POSLLH){
Joeatsumi 0:91d5f51f73e2 235 latitude=ubxMessage.navPosllh.lat/10000000.0f;
Joeatsumi 0:91d5f51f73e2 236 longitude=ubxMessage.navPosllh.lon/10000000.0f;
Joeatsumi 0:91d5f51f73e2 237 height_float=float(ubxMessage.navPosllh.height);
Joeatsumi 0:91d5f51f73e2 238
Joeatsumi 1:8757d12d193b 239 //pc.printf("latitude=%f,longitude=%f,height=%f\r\n",latitude,longitude,height_float);
Joeatsumi 1:8757d12d193b 240
Joeatsumi 1:8757d12d193b 241
Joeatsumi 0:91d5f51f73e2 242 flag_posllh=1;//位置情報を読み取った合図としてフラグを立てる
Joeatsumi 1:8757d12d193b 243 //pc.printf("flag_posllh=%d\r\n",flag_posllh);
Joeatsumi 1:8757d12d193b 244
Joeatsumi 0:91d5f51f73e2 245 }
Joeatsumi 0:91d5f51f73e2 246 else if(currentMsgType==MT_NAV_VELNED){
Joeatsumi 0:91d5f51f73e2 247 velN_float=float(ubxMessage.navVelned.velN);
Joeatsumi 0:91d5f51f73e2 248 velE_float=float(ubxMessage.navVelned.velE);
Joeatsumi 0:91d5f51f73e2 249 velD_float=float(ubxMessage.navVelned.velD);
Joeatsumi 0:91d5f51f73e2 250
Joeatsumi 1:8757d12d193b 251 //pc.printf("velN=%f,velE=%f,velD=%f\r\n",velN_float,velE_float,velD_float);
Joeatsumi 0:91d5f51f73e2 252 flag_velned=1;//速度情報を読み取った合図としてフラグを立てる
Joeatsumi 1:8757d12d193b 253 //pc.printf("flag_velned=%d\r\n",flag_velned);
Joeatsumi 0:91d5f51f73e2 254
Joeatsumi 0:91d5f51f73e2 255 }
Joeatsumi 0:91d5f51f73e2 256 else if(currentMsgType==MT_NAV_STATUS){
Joeatsumi 0:91d5f51f73e2 257
Joeatsumi 0:91d5f51f73e2 258 }
Joeatsumi 1:8757d12d193b 259 else{}
Joeatsumi 0:91d5f51f73e2 260 //return currentMsgType;
Joeatsumi 0:91d5f51f73e2 261 }
Joeatsumi 0:91d5f51f73e2 262 }
Joeatsumi 0:91d5f51f73e2 263 else if ( fpos > (payloadSize+4) ) {
Joeatsumi 0:91d5f51f73e2 264 // We have now read more bytes than both the expected payload and checksum
Joeatsumi 0:91d5f51f73e2 265 // together, so something went wrong. Reset to beginning state and try again.
Joeatsumi 0:91d5f51f73e2 266 fpos = 0;
Joeatsumi 0:91d5f51f73e2 267 }
Joeatsumi 0:91d5f51f73e2 268 }
Joeatsumi 0:91d5f51f73e2 269 }
Joeatsumi 0:91d5f51f73e2 270
Joeatsumi 0:91d5f51f73e2 271 CS = 1; //SPIによる読み出しを終了させる
Joeatsumi 0:91d5f51f73e2 272
Joeatsumi 0:91d5f51f73e2 273
Joeatsumi 0:91d5f51f73e2 274 //processGPS()の処理に必要な時間の計測
Joeatsumi 0:91d5f51f73e2 275 //複数のメッセージを読み取る、つまりこの関数をメッセージの数だけwhile内で読み出すとき、
Joeatsumi 0:91d5f51f73e2 276 //この関数の処理時間(processed_time)として保存されるのは
Joeatsumi 0:91d5f51f73e2 277 //最後に呼び出されたprocessGPSの処理時間となる。
Joeatsumi 0:91d5f51f73e2 278 processed_time_after = processing_timer.read_us();// captureing prossing time
Joeatsumi 0:91d5f51f73e2 279 processed_time=processed_time_after-processed_time_before;
Joeatsumi 0:91d5f51f73e2 280
Joeatsumi 1:8757d12d193b 281 /*processGPSの処理時間の表示*/
Joeatsumi 1:8757d12d193b 282 //pc.printf("processed_time_after(us)=%d;",(processed_time_after));
Joeatsumi 1:8757d12d193b 283 //pc.printf("processed_time(us)=%d\r\n",(processed_time));
Joeatsumi 1:8757d12d193b 284 //pc.printf("%d,%d\r\n",processed_time_after,processed_time);
Joeatsumi 1:8757d12d193b 285
Joeatsumi 0:91d5f51f73e2 286 }
Joeatsumi 0:91d5f51f73e2 287
Joeatsumi 0:91d5f51f73e2 288 void imu_mesurement()
Joeatsumi 0:91d5f51f73e2 289 {
Joeatsumi 1:8757d12d193b 290
Joeatsumi 1:8757d12d193b 291 if(log_switch==1){
Joeatsumi 1:8757d12d193b 292 logging_status=1;
Joeatsumi 1:8757d12d193b 293 }else if(log_switch==0){
Joeatsumi 1:8757d12d193b 294 logging_status=0;
Joeatsumi 1:8757d12d193b 295 }else{}
Joeatsumi 1:8757d12d193b 296
Joeatsumi 0:91d5f51f73e2 297 }
Joeatsumi 0:91d5f51f73e2 298
Joeatsumi 0:91d5f51f73e2 299 void ublox_logging()
Joeatsumi 0:91d5f51f73e2 300 {
Joeatsumi 0:91d5f51f73e2 301 //detach the rotary imu mesurement
Joeatsumi 0:91d5f51f73e2 302 timer1.detach();
Joeatsumi 1:8757d12d193b 303
Joeatsumi 1:8757d12d193b 304 processGPS();
Joeatsumi 1:8757d12d193b 305 processGPS();
Joeatsumi 1:8757d12d193b 306 processGPS();
Joeatsumi 1:8757d12d193b 307
Joeatsumi 1:8757d12d193b 308 measurement_time_g = processing_timer.read_us();
Joeatsumi 1:8757d12d193b 309 //pc.printf("%d\r\n",measurement_time_g);// captureing prossing time
Joeatsumi 0:91d5f51f73e2 310
Joeatsumi 1:8757d12d193b 311 if(logging_status==1){
Joeatsumi 1:8757d12d193b 312 fprintf(fp, "%d,%f,%f,%f,%f,%f,%f\r\n",measurement_time_g,latitude,longitude,height_float,velN_float,velE_float,velD_float);
Joeatsumi 1:8757d12d193b 313 }else if(logging_status==0){}
Joeatsumi 1:8757d12d193b 314
Joeatsumi 0:91d5f51f73e2 315 //位置と速度情報を読み取った場合
Joeatsumi 0:91d5f51f73e2 316 if((flag_posllh==1)&&(flag_velned==1)){
Joeatsumi 0:91d5f51f73e2 317 /*Teratermでロギングする用の表示*/
Joeatsumi 1:8757d12d193b 318 //pc.printf("%f,%f,%f,%f,%f,%f\r\n",latitude,longitude,height_float,velN_float,velE_float,velD_float);
Joeatsumi 0:91d5f51f73e2 319 /*計測ではなくデバッグ用の表示*/
Joeatsumi 0:91d5f51f73e2 320 //pc.printf("latitude=%f,longitude=%f,height=%f\r\n",latitude,longitude,height_float);
Joeatsumi 0:91d5f51f73e2 321 //pc.printf("velN=%f,velE=%f,velD=%f\r\n",velN_float,velE_float,velD_float);
Joeatsumi 1:8757d12d193b 322
Joeatsumi 1:8757d12d193b 323
Joeatsumi 0:91d5f51f73e2 324 /*processGPSの処理時間の表示*/
Joeatsumi 0:91d5f51f73e2 325 //pc.printf("processed_time_before(us)=%d\r\n",(processed_time_before));
Joeatsumi 0:91d5f51f73e2 326 //pc.printf("processed_time_after(us)=%d\r\n",(processed_time_after));
Joeatsumi 1:8757d12d193b 327 //pc.printf("processed_time(us)=%d\r\n",processed_time);
Joeatsumi 0:91d5f51f73e2 328
Joeatsumi 0:91d5f51f73e2 329 /*フラグを0に戻す*/
Joeatsumi 0:91d5f51f73e2 330 flag_posllh=0;
Joeatsumi 0:91d5f51f73e2 331 flag_velned=0;
Joeatsumi 0:91d5f51f73e2 332
Joeatsumi 0:91d5f51f73e2 333 }else{}
Joeatsumi 1:8757d12d193b 334
Joeatsumi 0:91d5f51f73e2 335 //attach a timer for imu mesurement (400 Hz)
Joeatsumi 0:91d5f51f73e2 336 timer1.attach(&imu_mesurement, imu_interval);
Joeatsumi 0:91d5f51f73e2 337 }
Joeatsumi 0:91d5f51f73e2 338
Joeatsumi 0:91d5f51f73e2 339
Joeatsumi 0:91d5f51f73e2 340 /*--------------------------------------------*/
Joeatsumi 0:91d5f51f73e2 341 int main() {
Joeatsumi 0:91d5f51f73e2 342
Joeatsumi 0:91d5f51f73e2 343 //UART initialization
Joeatsumi 0:91d5f51f73e2 344 pc.baud(460800); //115.2 kbps
Joeatsumi 0:91d5f51f73e2 345
Joeatsumi 1:8757d12d193b 346 spi.frequency(5500000);
Joeatsumi 1:8757d12d193b 347
Joeatsumi 1:8757d12d193b 348 mkdir("/sd/mydir",0777);//SDファイル作成
Joeatsumi 1:8757d12d193b 349 fp = fopen("/sd/mydir/gps.txt", "a");//最初のSDopen時間かかるのでwhile外で行う
Joeatsumi 1:8757d12d193b 350 //im = fopen("/sd/mydir/imu.txt", "a");
Joeatsumi 1:8757d12d193b 351
Joeatsumi 1:8757d12d193b 352 if(fp == NULL) {
Joeatsumi 1:8757d12d193b 353 error("Could not open file for write\n");
Joeatsumi 1:8757d12d193b 354 }else{}
Joeatsumi 1:8757d12d193b 355
Joeatsumi 1:8757d12d193b 356 pc.printf("FO\r\n");//file open
Joeatsumi 1:8757d12d193b 357 logging_status=1;
Joeatsumi 1:8757d12d193b 358
Joeatsumi 1:8757d12d193b 359 wait(0.1);
Joeatsumi 1:8757d12d193b 360
Joeatsumi 0:91d5f51f73e2 361 //フラグのリセット
Joeatsumi 0:91d5f51f73e2 362 flag_posllh=0;
Joeatsumi 0:91d5f51f73e2 363 flag_velned=0;
Joeatsumi 0:91d5f51f73e2 364
Joeatsumi 0:91d5f51f73e2 365 //-------------------------------------------
Joeatsumi 0:91d5f51f73e2 366 //Timer
Joeatsumi 0:91d5f51f73e2 367 //-------------------------------------------
Joeatsumi 0:91d5f51f73e2 368 //timer1: imu mesurement, 400 Hz
Joeatsumi 0:91d5f51f73e2 369 timer1.attach(&imu_mesurement, imu_interval);
Joeatsumi 0:91d5f51f73e2 370 //timer2: GNSS mesurement, 5 Hz
Joeatsumi 0:91d5f51f73e2 371 timer2.attach(&ublox_logging, gnss_interval);
Joeatsumi 0:91d5f51f73e2 372
Joeatsumi 0:91d5f51f73e2 373 processing_timer.start();//timer starts
Joeatsumi 0:91d5f51f73e2 374
Joeatsumi 0:91d5f51f73e2 375 while(1) {
Joeatsumi 1:8757d12d193b 376 pc.printf("T2D\r\n");
Joeatsumi 1:8757d12d193b 377 timer2.detach();
Joeatsumi 0:91d5f51f73e2 378
Joeatsumi 1:8757d12d193b 379 if(logging_status==0){
Joeatsumi 1:8757d12d193b 380 fclose(fp);
Joeatsumi 1:8757d12d193b 381 pc.printf("FC\r\n");
Joeatsumi 1:8757d12d193b 382 timer2.detach();
Joeatsumi 1:8757d12d193b 383 timer1.detach();
Joeatsumi 1:8757d12d193b 384 }else if(logging_status==1){}
Joeatsumi 1:8757d12d193b 385
Joeatsumi 1:8757d12d193b 386 timer2.attach(&ublox_logging, gnss_interval);
Joeatsumi 1:8757d12d193b 387 wait(0.8);
Joeatsumi 0:91d5f51f73e2 388 //
Joeatsumi 0:91d5f51f73e2 389 }//while
Joeatsumi 0:91d5f51f73e2 390
Joeatsumi 0:91d5f51f73e2 391 }