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?
User | Revision | Line number | New 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 | } |