Atsumi Toda / Mbed 2 deprecated INS_GNSS_logger_1

imu/gnss logger ver1.1

Dependencies:   mbed MPU9250_SPI MG354PDH0 SDFileSystem

main.cpp@0:91d5f51f73e2, 2021-04-26 (annotated)

Committer:
Joeatsumi
Date:
Mon Apr 26 16:15:02 2021 +0000
Revision:
0:91d5f51f73e2
Child:
1:8757d12d193b
GNSS logging program with ublox neo7M.; This utilizes ticker and timer.

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 0:91d5f51f73e2 8
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 0:91d5f51f73e2 14
Joeatsumi 0:91d5f51f73e2 15 //=========================================================
Joeatsumi 0:91d5f51f73e2 16 //受信したメッセージから抽出したい情報
Joeatsumi 0:91d5f51f73e2 17 float latitude,longitude,height_float; //緯度、経度、高度
Joeatsumi 0:91d5f51f73e2 18 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 19 float velN_float,velE_float,velD_float; // NED座標系に置ける速度
Joeatsumi 0:91d5f51f73e2 20
Joeatsumi 0:91d5f51f73e2 21 //=========================================================
Joeatsumi 0:91d5f51f73e2 22 //UBXデータを処理したかどうかのフラグ
Joeatsumi 0:91d5f51f73e2 23 int flag_posllh,flag_velned;
Joeatsumi 0:91d5f51f73e2 24
Joeatsumi 0:91d5f51f73e2 25 //=========================================================
Joeatsumi 0:91d5f51f73e2 26 //処理時間計測の為のタイマー
Joeatsumi 0:91d5f51f73e2 27 Timer processing_timer;
Joeatsumi 0:91d5f51f73e2 28
Joeatsumi 0:91d5f51f73e2 29 //=========================================================
Joeatsumi 0:91d5f51f73e2 30 //処理時間
Joeatsumi 0:91d5f51f73e2 31 int processed_time,processed_time_before,processed_time_after;
Joeatsumi 0:91d5f51f73e2 32
Joeatsumi 0:91d5f51f73e2 33 //=========================================================
Joeatsumi 0:91d5f51f73e2 34 //Ticker
Joeatsumi 0:91d5f51f73e2 35 Ticker timer1; //
Joeatsumi 0:91d5f51f73e2 36 Ticker timer2; //
Joeatsumi 0:91d5f51f73e2 37
Joeatsumi 0:91d5f51f73e2 38 //=========================================================
Joeatsumi 0:91d5f51f73e2 39 //Logging variables
Joeatsumi 0:91d5f51f73e2 40 float imu_mesurement_freq = 400; //Hz
Joeatsumi 0:91d5f51f73e2 41 float gnss_mesurement_freq = 5; //theta_update_freq;
Joeatsumi 0:91d5f51f73e2 42
Joeatsumi 0:91d5f51f73e2 43 float imu_interval = 1.0f/imu_mesurement_freq; //sec
Joeatsumi 0:91d5f51f73e2 44 float gnss_interval = 1.0f/gnss_mesurement_freq; //sec
Joeatsumi 0:91d5f51f73e2 45
Joeatsumi 0:91d5f51f73e2 46 //=========================================================
Joeatsumi 0:91d5f51f73e2 47 //Header char
Joeatsumi 0:91d5f51f73e2 48 const unsigned char UBX_HEADER[] = { 0xB5, 0x62 };
Joeatsumi 0:91d5f51f73e2 49 const unsigned char NAV_POSLLH_HEADER[] = { 0x01, 0x02 };
Joeatsumi 0:91d5f51f73e2 50 const unsigned char NAV_STATUS_HEADER[] = { 0x01, 0x03 };
Joeatsumi 0:91d5f51f73e2 51
Joeatsumi 0:91d5f51f73e2 52 const unsigned char NAV_VELNED_HEADER[] = { 0x01, 0x12 };
Joeatsumi 0:91d5f51f73e2 53
Joeatsumi 0:91d5f51f73e2 54 enum _ubxMsgType {
Joeatsumi 0:91d5f51f73e2 55 MT_NONE,
Joeatsumi 0:91d5f51f73e2 56 MT_NAV_POSLLH,
Joeatsumi 0:91d5f51f73e2 57 MT_NAV_STATUS,
Joeatsumi 0:91d5f51f73e2 58 MT_NAV_VELNED
Joeatsumi 0:91d5f51f73e2 59 };
Joeatsumi 0:91d5f51f73e2 60
Joeatsumi 0:91d5f51f73e2 61 //=========================================================
Joeatsumi 0:91d5f51f73e2 62 //メッセージの構造体
Joeatsumi 0:91d5f51f73e2 63 struct NAV_POSLLH {
Joeatsumi 0:91d5f51f73e2 64 unsigned char cls;
Joeatsumi 0:91d5f51f73e2 65 unsigned char id;
Joeatsumi 0:91d5f51f73e2 66 unsigned short len;
Joeatsumi 0:91d5f51f73e2 67 unsigned long iTOW;
Joeatsumi 0:91d5f51f73e2 68 long lon;
Joeatsumi 0:91d5f51f73e2 69 long lat;
Joeatsumi 0:91d5f51f73e2 70 long height;
Joeatsumi 0:91d5f51f73e2 71 long hMSL;
Joeatsumi 0:91d5f51f73e2 72 unsigned long hAcc;
Joeatsumi 0:91d5f51f73e2 73 unsigned long vAcc;
Joeatsumi 0:91d5f51f73e2 74 };
Joeatsumi 0:91d5f51f73e2 75
Joeatsumi 0:91d5f51f73e2 76 struct NAV_STATUS {
Joeatsumi 0:91d5f51f73e2 77 unsigned char cls;
Joeatsumi 0:91d5f51f73e2 78 unsigned char id;
Joeatsumi 0:91d5f51f73e2 79 unsigned short len;
Joeatsumi 0:91d5f51f73e2 80 unsigned long iTOW;
Joeatsumi 0:91d5f51f73e2 81 unsigned char gpsFix;
Joeatsumi 0:91d5f51f73e2 82 char flags;
Joeatsumi 0:91d5f51f73e2 83 char fixStat;
Joeatsumi 0:91d5f51f73e2 84 char flags2;
Joeatsumi 0:91d5f51f73e2 85 unsigned long ttff;
Joeatsumi 0:91d5f51f73e2 86 unsigned long msss;
Joeatsumi 0:91d5f51f73e2 87 };
Joeatsumi 0:91d5f51f73e2 88
Joeatsumi 0:91d5f51f73e2 89 struct NAV_VELNED {
Joeatsumi 0:91d5f51f73e2 90 unsigned char cls;
Joeatsumi 0:91d5f51f73e2 91 unsigned char id;
Joeatsumi 0:91d5f51f73e2 92 unsigned short len;
Joeatsumi 0:91d5f51f73e2 93 unsigned long iTOW;
Joeatsumi 0:91d5f51f73e2 94 signed long velN;
Joeatsumi 0:91d5f51f73e2 95 signed long velE;
Joeatsumi 0:91d5f51f73e2 96 signed long velD;
Joeatsumi 0:91d5f51f73e2 97 unsigned long speed;
Joeatsumi 0:91d5f51f73e2 98 unsigned long gSpeed;
Joeatsumi 0:91d5f51f73e2 99 signed long heading;
Joeatsumi 0:91d5f51f73e2 100 unsigned long sAcc;
Joeatsumi 0:91d5f51f73e2 101 unsigned long cAcc;
Joeatsumi 0:91d5f51f73e2 102
Joeatsumi 0:91d5f51f73e2 103 };
Joeatsumi 0:91d5f51f73e2 104
Joeatsumi 0:91d5f51f73e2 105 //=========================================================
Joeatsumi 0:91d5f51f73e2 106 //受信したメッセージを格納する為の共用体
Joeatsumi 0:91d5f51f73e2 107 union UBXMessage {
Joeatsumi 0:91d5f51f73e2 108 NAV_VELNED navVelned;//payload size is 36bytes
Joeatsumi 0:91d5f51f73e2 109 NAV_POSLLH navPosllh;//payload size is 28bytes
Joeatsumi 0:91d5f51f73e2 110 NAV_STATUS navStatus;//payload size is 16bytes
Joeatsumi 0:91d5f51f73e2 111 };
Joeatsumi 0:91d5f51f73e2 112
Joeatsumi 0:91d5f51f73e2 113 UBXMessage ubxMessage;
Joeatsumi 0:91d5f51f73e2 114
Joeatsumi 0:91d5f51f73e2 115 // The last two bytes of the message is a checksum value, used to confirm that the received payload is valid.
Joeatsumi 0:91d5f51f73e2 116 // The procedure used to calculate this is given as pseudo-code in the uBlox manual.
Joeatsumi 0:91d5f51f73e2 117 void calcChecksum(unsigned char* CK, int msgSize) {
Joeatsumi 0:91d5f51f73e2 118 memset(CK, 0, 2);
Joeatsumi 0:91d5f51f73e2 119 for (int i = 0; i < msgSize; i++) {
Joeatsumi 0:91d5f51f73e2 120 CK[0] += ((unsigned char*)(&ubxMessage))[i];
Joeatsumi 0:91d5f51f73e2 121 CK[1] += CK[0];
Joeatsumi 0:91d5f51f73e2 122 }
Joeatsumi 0:91d5f51f73e2 123 }
Joeatsumi 0:91d5f51f73e2 124
Joeatsumi 0:91d5f51f73e2 125 //=========================================================
Joeatsumi 0:91d5f51f73e2 126 // Compares the first two bytes of the ubxMessage struct with a specific message header.
Joeatsumi 0:91d5f51f73e2 127 // Returns true if the two bytes match.
Joeatsumi 0:91d5f51f73e2 128 bool compareMsgHeader(const unsigned char* msgHeader) {
Joeatsumi 0:91d5f51f73e2 129 unsigned char* ptr = (unsigned char*)(&ubxMessage);
Joeatsumi 0:91d5f51f73e2 130 return ptr[0] == msgHeader[0] && ptr[1] == msgHeader[1];
Joeatsumi 0:91d5f51f73e2 131 }
Joeatsumi 0:91d5f51f73e2 132
Joeatsumi 0:91d5f51f73e2 133 //=========================================================
Joeatsumi 0:91d5f51f73e2 134 // Reads in bytes from the GPS module and checks to see if a valid message has been constructed.
Joeatsumi 0:91d5f51f73e2 135 // Returns the type of the message found if successful, or MT_NONE if no message was found.
Joeatsumi 0:91d5f51f73e2 136 // After a successful return the contents of the ubxMessage union will be valid, for the
Joeatsumi 0:91d5f51f73e2 137 // message type that was found. Note that further calls to this function can invalidate the
Joeatsumi 0:91d5f51f73e2 138 // message content, so you must use the obtained values before calling this function again.
Joeatsumi 0:91d5f51f73e2 139 void processGPS() {
Joeatsumi 0:91d5f51f73e2 140
Joeatsumi 0:91d5f51f73e2 141 static int fpos = 0;
Joeatsumi 0:91d5f51f73e2 142 static unsigned char checksum[2];
Joeatsumi 0:91d5f51f73e2 143
Joeatsumi 0:91d5f51f73e2 144 static unsigned char currentMsgType = MT_NONE;
Joeatsumi 0:91d5f51f73e2 145 static int payloadSize = sizeof(UBXMessage);
Joeatsumi 0:91d5f51f73e2 146
Joeatsumi 0:91d5f51f73e2 147 CS = 0; //SPIによる読み出しを開始
Joeatsumi 0:91d5f51f73e2 148
Joeatsumi 0:91d5f51f73e2 149 processed_time_before = processing_timer.read_us();// captureing prossing time
Joeatsumi 0:91d5f51f73e2 150
Joeatsumi 0:91d5f51f73e2 151 /*
Joeatsumi 0:91d5f51f73e2 152 NEO-7Mに(0xFF)を送って、取得した情報を1byteずつ以下の
Joeatsumi 0:91d5f51f73e2 153 for文で確認する。
Joeatsumi 0:91d5f51f73e2 154
Joeatsumi 0:91d5f51f73e2 155 */
Joeatsumi 0:91d5f51f73e2 156 for(int buff_counter=1;buff_counter<50;buff_counter++){
Joeatsumi 0:91d5f51f73e2 157
Joeatsumi 0:91d5f51f73e2 158 unsigned char c = spi.write(0xFF);
Joeatsumi 0:91d5f51f73e2 159
Joeatsumi 0:91d5f51f73e2 160 if ( fpos < 2 ) {
Joeatsumi 0:91d5f51f73e2 161 // For the first two bytes we are simply looking for a match with the UBX header bytes (0xB5,0x62)
Joeatsumi 0:91d5f51f73e2 162 if ( c == UBX_HEADER[fpos] )
Joeatsumi 0:91d5f51f73e2 163 fpos++;
Joeatsumi 0:91d5f51f73e2 164 else
Joeatsumi 0:91d5f51f73e2 165 fpos = 0; // Reset to beginning state.
Joeatsumi 0:91d5f51f73e2 166 }
Joeatsumi 0:91d5f51f73e2 167 else {
Joeatsumi 0:91d5f51f73e2 168 // If we come here then fpos >= 2, which means we have found a match with the UBX_HEADER
Joeatsumi 0:91d5f51f73e2 169 // and we are now reading in the bytes that make up the payload.
Joeatsumi 0:91d5f51f73e2 170
Joeatsumi 0:91d5f51f73e2 171 // Place the incoming byte into the ubxMessage struct. The position is fpos-2 because
Joeatsumi 0:91d5f51f73e2 172 // the struct does not include the initial two-byte header (UBX_HEADER).
Joeatsumi 0:91d5f51f73e2 173 if ( (fpos-2) < payloadSize )
Joeatsumi 0:91d5f51f73e2 174 ((unsigned char*)(&ubxMessage))[fpos-2] = c;
Joeatsumi 0:91d5f51f73e2 175
Joeatsumi 0:91d5f51f73e2 176
Joeatsumi 0:91d5f51f73e2 177 fpos++;
Joeatsumi 0:91d5f51f73e2 178
Joeatsumi 0:91d5f51f73e2 179 if ( fpos == 4 ) {
Joeatsumi 0:91d5f51f73e2 180 // We have just received the second byte of the message type header,
Joeatsumi 0:91d5f51f73e2 181 // so now we can check to see what kind of message it is.
Joeatsumi 0:91d5f51f73e2 182
Joeatsumi 0:91d5f51f73e2 183 if ( compareMsgHeader(NAV_VELNED_HEADER) ) {
Joeatsumi 0:91d5f51f73e2 184 currentMsgType = MT_NAV_VELNED;
Joeatsumi 0:91d5f51f73e2 185 payloadSize = sizeof(NAV_VELNED);
Joeatsumi 0:91d5f51f73e2 186
Joeatsumi 0:91d5f51f73e2 187 }
Joeatsumi 0:91d5f51f73e2 188 else if ( compareMsgHeader(NAV_STATUS_HEADER) ) {
Joeatsumi 0:91d5f51f73e2 189 currentMsgType = MT_NAV_STATUS;
Joeatsumi 0:91d5f51f73e2 190 payloadSize = sizeof(NAV_STATUS);
Joeatsumi 0:91d5f51f73e2 191 }
Joeatsumi 0:91d5f51f73e2 192
Joeatsumi 0:91d5f51f73e2 193 else if ( compareMsgHeader(NAV_POSLLH_HEADER) ) {
Joeatsumi 0:91d5f51f73e2 194 currentMsgType = MT_NAV_POSLLH;
Joeatsumi 0:91d5f51f73e2 195 payloadSize = sizeof(NAV_POSLLH);
Joeatsumi 0:91d5f51f73e2 196
Joeatsumi 0:91d5f51f73e2 197 }
Joeatsumi 0:91d5f51f73e2 198
Joeatsumi 0:91d5f51f73e2 199 else {
Joeatsumi 0:91d5f51f73e2 200 // unknown message type, bail
Joeatsumi 0:91d5f51f73e2 201 fpos = 0;
Joeatsumi 0:91d5f51f73e2 202 continue;
Joeatsumi 0:91d5f51f73e2 203 }
Joeatsumi 0:91d5f51f73e2 204 }
Joeatsumi 0:91d5f51f73e2 205
Joeatsumi 0:91d5f51f73e2 206 if ( fpos == (payloadSize+2) ) {
Joeatsumi 0:91d5f51f73e2 207 // All payload bytes have now been received, so we can calculate the
Joeatsumi 0:91d5f51f73e2 208 // expected checksum value to compare with the next two incoming bytes.
Joeatsumi 0:91d5f51f73e2 209 calcChecksum(checksum, payloadSize);
Joeatsumi 0:91d5f51f73e2 210 }
Joeatsumi 0:91d5f51f73e2 211 else if ( fpos == (payloadSize+3) ) {
Joeatsumi 0:91d5f51f73e2 212 // First byte after the payload, ie. first byte of the checksum.
Joeatsumi 0:91d5f51f73e2 213 // Does it match the first byte of the checksum we calculated?
Joeatsumi 0:91d5f51f73e2 214 if ( c != checksum[0] ) {
Joeatsumi 0:91d5f51f73e2 215 // Checksum doesn't match, reset to beginning state and try again.
Joeatsumi 0:91d5f51f73e2 216 fpos = 0;
Joeatsumi 0:91d5f51f73e2 217 }
Joeatsumi 0:91d5f51f73e2 218 }
Joeatsumi 0:91d5f51f73e2 219 else if ( fpos == (payloadSize+4) ) {
Joeatsumi 0:91d5f51f73e2 220 // Second byte after the payload, ie. second byte of the checksum.
Joeatsumi 0:91d5f51f73e2 221 // Does it match the second byte of the checksum we calculated?
Joeatsumi 0:91d5f51f73e2 222 fpos = 0; // We will reset the state regardless of whether the checksum matches.
Joeatsumi 0:91d5f51f73e2 223 if ( c == checksum[1] ) {
Joeatsumi 0:91d5f51f73e2 224 // Checksum matches, we have a valid message.
Joeatsumi 0:91d5f51f73e2 225 if(currentMsgType==MT_NAV_POSLLH){
Joeatsumi 0:91d5f51f73e2 226 latitude=ubxMessage.navPosllh.lat/10000000.0f;
Joeatsumi 0:91d5f51f73e2 227 longitude=ubxMessage.navPosllh.lon/10000000.0f;
Joeatsumi 0:91d5f51f73e2 228 height_float=float(ubxMessage.navPosllh.height);
Joeatsumi 0:91d5f51f73e2 229
Joeatsumi 0:91d5f51f73e2 230 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 0:91d5f51f73e2 231 }
Joeatsumi 0:91d5f51f73e2 232 else if(currentMsgType==MT_NAV_VELNED){
Joeatsumi 0:91d5f51f73e2 233 velN_float=float(ubxMessage.navVelned.velN);
Joeatsumi 0:91d5f51f73e2 234 velE_float=float(ubxMessage.navVelned.velE);
Joeatsumi 0:91d5f51f73e2 235 velD_float=float(ubxMessage.navVelned.velD);
Joeatsumi 0:91d5f51f73e2 236
Joeatsumi 0:91d5f51f73e2 237 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 0:91d5f51f73e2 238
Joeatsumi 0:91d5f51f73e2 239 }
Joeatsumi 0:91d5f51f73e2 240 else if(currentMsgType==MT_NAV_STATUS){
Joeatsumi 0:91d5f51f73e2 241
Joeatsumi 0:91d5f51f73e2 242 }
Joeatsumi 0:91d5f51f73e2 243
Joeatsumi 0:91d5f51f73e2 244 //return currentMsgType;
Joeatsumi 0:91d5f51f73e2 245 }
Joeatsumi 0:91d5f51f73e2 246 }
Joeatsumi 0:91d5f51f73e2 247 else if ( fpos > (payloadSize+4) ) {
Joeatsumi 0:91d5f51f73e2 248 // We have now read more bytes than both the expected payload and checksum
Joeatsumi 0:91d5f51f73e2 249 // together, so something went wrong. Reset to beginning state and try again.
Joeatsumi 0:91d5f51f73e2 250 fpos = 0;
Joeatsumi 0:91d5f51f73e2 251 }
Joeatsumi 0:91d5f51f73e2 252 }
Joeatsumi 0:91d5f51f73e2 253 }
Joeatsumi 0:91d5f51f73e2 254
Joeatsumi 0:91d5f51f73e2 255 CS = 1; //SPIによる読み出しを終了させる
Joeatsumi 0:91d5f51f73e2 256
Joeatsumi 0:91d5f51f73e2 257
Joeatsumi 0:91d5f51f73e2 258 //processGPS()の処理に必要な時間の計測
Joeatsumi 0:91d5f51f73e2 259 //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 260 //この関数の処理時間(processed_time)として保存されるのは
Joeatsumi 0:91d5f51f73e2 261 //最後に呼び出されたprocessGPSの処理時間となる。
Joeatsumi 0:91d5f51f73e2 262 processed_time_after = processing_timer.read_us();// captureing prossing time
Joeatsumi 0:91d5f51f73e2 263 processed_time=processed_time_after-processed_time_before;
Joeatsumi 0:91d5f51f73e2 264
Joeatsumi 0:91d5f51f73e2 265 }
Joeatsumi 0:91d5f51f73e2 266
Joeatsumi 0:91d5f51f73e2 267 void imu_mesurement()
Joeatsumi 0:91d5f51f73e2 268 {
Joeatsumi 0:91d5f51f73e2 269 }
Joeatsumi 0:91d5f51f73e2 270
Joeatsumi 0:91d5f51f73e2 271 void ublox_logging()
Joeatsumi 0:91d5f51f73e2 272 {
Joeatsumi 0:91d5f51f73e2 273 //detach the rotary imu mesurement
Joeatsumi 0:91d5f51f73e2 274 timer1.detach();
Joeatsumi 0:91d5f51f73e2 275
Joeatsumi 0:91d5f51f73e2 276 for(int message_number=0; message_number<3;message_number++){
Joeatsumi 0:91d5f51f73e2 277 processGPS();
Joeatsumi 0:91d5f51f73e2 278 }
Joeatsumi 0:91d5f51f73e2 279
Joeatsumi 0:91d5f51f73e2 280 //位置と速度情報を読み取った場合
Joeatsumi 0:91d5f51f73e2 281 if((flag_posllh==1)&&(flag_velned==1)){
Joeatsumi 0:91d5f51f73e2 282 /*Teratermでロギングする用の表示*/
Joeatsumi 0:91d5f51f73e2 283 pc.printf("%f,%f,%f,%f,%f,%f\r\n",latitude,longitude,height_float,velN_float,velE_float,velD_float);
Joeatsumi 0:91d5f51f73e2 284 /*計測ではなくデバッグ用の表示*/
Joeatsumi 0:91d5f51f73e2 285 //pc.printf("latitude=%f,longitude=%f,height=%f\r\n",latitude,longitude,height_float);
Joeatsumi 0:91d5f51f73e2 286 //pc.printf("velN=%f,velE=%f,velD=%f\r\n",velN_float,velE_float,velD_float);
Joeatsumi 0:91d5f51f73e2 287 //pc.printf("processed_time(us)=%d\r\n",processed_time);
Joeatsumi 0:91d5f51f73e2 288
Joeatsumi 0:91d5f51f73e2 289 /*processGPSの処理時間の表示*/
Joeatsumi 0:91d5f51f73e2 290 //pc.printf("processed_time_before(us)=%d\r\n",(processed_time_before));
Joeatsumi 0:91d5f51f73e2 291 //pc.printf("processed_time_after(us)=%d\r\n",(processed_time_after));
Joeatsumi 0:91d5f51f73e2 292
Joeatsumi 0:91d5f51f73e2 293 /*フラグを0に戻す*/
Joeatsumi 0:91d5f51f73e2 294 flag_posllh=0;
Joeatsumi 0:91d5f51f73e2 295 flag_velned=0;
Joeatsumi 0:91d5f51f73e2 296
Joeatsumi 0:91d5f51f73e2 297 }else{}
Joeatsumi 0:91d5f51f73e2 298
Joeatsumi 0:91d5f51f73e2 299 //attach a timer for imu mesurement (400 Hz)
Joeatsumi 0:91d5f51f73e2 300 timer1.attach(&imu_mesurement, imu_interval);
Joeatsumi 0:91d5f51f73e2 301 }
Joeatsumi 0:91d5f51f73e2 302
Joeatsumi 0:91d5f51f73e2 303
Joeatsumi 0:91d5f51f73e2 304 /*--------------------------------------------*/
Joeatsumi 0:91d5f51f73e2 305 int main() {
Joeatsumi 0:91d5f51f73e2 306
Joeatsumi 0:91d5f51f73e2 307 //UART initialization
Joeatsumi 0:91d5f51f73e2 308 pc.baud(460800); //115.2 kbps
Joeatsumi 0:91d5f51f73e2 309
Joeatsumi 0:91d5f51f73e2 310 //フラグのリセット
Joeatsumi 0:91d5f51f73e2 311 flag_posllh=0;
Joeatsumi 0:91d5f51f73e2 312 flag_velned=0;
Joeatsumi 0:91d5f51f73e2 313
Joeatsumi 0:91d5f51f73e2 314 //-------------------------------------------
Joeatsumi 0:91d5f51f73e2 315 //Timer
Joeatsumi 0:91d5f51f73e2 316 //-------------------------------------------
Joeatsumi 0:91d5f51f73e2 317 //timer1: imu mesurement, 400 Hz
Joeatsumi 0:91d5f51f73e2 318 timer1.attach(&imu_mesurement, imu_interval);
Joeatsumi 0:91d5f51f73e2 319 //timer2: GNSS mesurement, 5 Hz
Joeatsumi 0:91d5f51f73e2 320 timer2.attach(&ublox_logging, gnss_interval);
Joeatsumi 0:91d5f51f73e2 321
Joeatsumi 0:91d5f51f73e2 322 processing_timer.start();//timer starts
Joeatsumi 0:91d5f51f73e2 323
Joeatsumi 0:91d5f51f73e2 324 while(1) {
Joeatsumi 0:91d5f51f73e2 325
Joeatsumi 0:91d5f51f73e2 326 //
Joeatsumi 0:91d5f51f73e2 327 }//while
Joeatsumi 0:91d5f51f73e2 328
Joeatsumi 0:91d5f51f73e2 329 }