Dan Matthews / Mbed 2 deprecated GPS_Incremental-V1_0

Changes to allow hardware camera trigger

Dependencies:   mbed

Fork of GPS_Incremental by james kain

OEM615.h@10:078891935385, 2013-04-18 (annotated)

Committer:
dannyman939
Date:
Thu Apr 18 00:59:49 2013 +0000
Revision:
10:078891935385
Parent:
6:2a8486283198 
Hardware trigger camera using the DigitalOut of Pin 2

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dannyman939 0:c746ee34feae 1
dannyman939 0:c746ee34feae 2 #pragma pack(1) //this forces the structure to be packed on byte boundaries (with no byte filler)
dannyman939 0:c746ee34feae 3 //set up the GPS message header in a structure to enable easy reading -- see the OEM615 manual (Table 4, page 24)
dannyman939 0:c746ee34feae 4 struct MESSAGEHEADER
dannyman939 0:c746ee34feae 5 {
dannyman939 0:c746ee34feae 6 char synchAA; //1st synch word
dannyman939 0:c746ee34feae 7 char synch44; //2nd synch word
dannyman939 0:c746ee34feae 8 char synch12; //3rd synch word
dannyman939 0:c746ee34feae 9 unsigned char headerLength; //always 28
jekain314 4:68268737ff89 10 unsigned short messageID; //42 (BESTPOS) , 43 (RANGE) , or 99 (BESTVEL),
dannyman939 0:c746ee34feae 11 char messageType; //always = 0 for binary
dannyman939 0:c746ee34feae 12 unsigned char portAddress; //0x20 for COM1
dannyman939 0:c746ee34feae 13 unsigned short messageLength; //not including header or CRC
dannyman939 0:c746ee34feae 14 unsigned short sequence; //typically 0
dannyman939 0:c746ee34feae 15 unsigned char idleTime; //Time the processor is idle, in the last second
dannyman939 0:c746ee34feae 16 unsigned char timeStatus; //Enum Indicating quality of the GPS reference time
dannyman939 0:c746ee34feae 17 unsigned short GPSweek; //GPS reference week
dannyman939 0:c746ee34feae 18 unsigned long GPSTime_msecs; //from beginning of week
dannyman939 0:c746ee34feae 19 unsigned long receiverStatus; //32-bits representing the status of hardware and software
dannyman939 0:c746ee34feae 20 unsigned short reserved;
dannyman939 0:c746ee34feae 21 unsigned short receiverSWversion; //receiver software build number
dannyman939 0:c746ee34feae 22 };
dannyman939 0:c746ee34feae 23 MESSAGEHEADER *msgHeader[4];
dannyman939 0:c746ee34feae 24
dannyman939 0:c746ee34feae 25 #pragma pack(1)
dannyman939 0:c746ee34feae 26 //structure for OEM615 BESTVEL log message (page 314)
dannyman939 0:c746ee34feae 27 struct OEM615BESTVEL
dannyman939 0:c746ee34feae 28 {
dannyman939 0:c746ee34feae 29 MESSAGEHEADER msgHeader;
dannyman939 0:c746ee34feae 30 int solStatus; //solution status
dannyman939 0:c746ee34feae 31 //solutionStatusOEMStar solStatus; //solution status
dannyman939 0:c746ee34feae 32 int velType; //position or velocity type
dannyman939 0:c746ee34feae 33 //velTypeOEMStar posType; //position or velocity type
dannyman939 0:c746ee34feae 34 float latency;
dannyman939 0:c746ee34feae 35 float age;
dannyman939 0:c746ee34feae 36 double horizontalSpeed; //horizontal velocity vector magnitude (m/s)
dannyman939 0:c746ee34feae 37 double heading; //deg from North called TRK GND in specification
dannyman939 0:c746ee34feae 38 double verticalSpeed; //vertical velocity magnitude (m/s)
dannyman939 0:c746ee34feae 39 float reserved;
dannyman939 0:c746ee34feae 40 unsigned long CRC;
dannyman939 0:c746ee34feae 41 };
dannyman939 0:c746ee34feae 42
jekain314 6:2a8486283198 43 /* Solution Status descritpion from OEMV manual
jekain314 6:2a8486283198 44 0 SOL_COMPUTED Solution computed
jekain314 6:2a8486283198 45 1 INSUFFICIENT_OBS Insufficient observations
jekain314 6:2a8486283198 46 2 NO_CONVERGENCE No convergence
jekain314 6:2a8486283198 47 3 SINGULARITY Singularity at parameters matrix
jekain314 6:2a8486283198 48 4 COV_TRACE Covariance trace exceeds maximum (trace > 1000 m)
jekain314 6:2a8486283198 49 5 TEST_DIST Test distance exceeded (maximum of 3 rejections if distance >10 km)
jekain314 6:2a8486283198 50 6 COLD_START Not yet converged from cold start
jekain314 6:2a8486283198 51 7 V_H_LIMIT Height or velocity limits exceeded
jekain314 6:2a8486283198 52 8 VARIANCE Variance exceeds limits
jekain314 6:2a8486283198 53 9 RESIDUALS Residuals are too large
jekain314 6:2a8486283198 54 10 DELTA_POS Delta position is too large
jekain314 6:2a8486283198 55 11 NEGATIVE_VAR Negative variance
jekain314 6:2a8486283198 56 12 Reserved
jekain314 6:2a8486283198 57 13 INTEGRITY_WARNING Large residuals make position unreliable
jekain314 6:2a8486283198 58 18 PENDING
jekain314 6:2a8486283198 59 19 INVALID_FIX The fixed position, entered using the FIX POSITION command, is not valid
jekain314 6:2a8486283198 60 20 UNAUTHORIZED Position type is unauthorized - HP or XP
jekain314 6:2a8486283198 61 */
jekain314 6:2a8486283198 62
dannyman939 0:c746ee34feae 63 #pragma pack(1)
dannyman939 0:c746ee34feae 64 //structure for BESTPOS message
dannyman939 0:c746ee34feae 65 struct OEM615BESTPOS
dannyman939 0:c746ee34feae 66 {
dannyman939 0:c746ee34feae 67 MESSAGEHEADER msgHeader;
dannyman939 0:c746ee34feae 68 int solStatus; //solution status
dannyman939 0:c746ee34feae 69 //solutionStatusOEMStar solStatus; //solution status
dannyman939 0:c746ee34feae 70 int posType; //position or velocity type
dannyman939 0:c746ee34feae 71 //posTypeOEMStar posType; //position or velocity type
dannyman939 0:c746ee34feae 72 double latitude; //latitude
dannyman939 0:c746ee34feae 73 double longitude; //longitude
dannyman939 0:c746ee34feae 74 double height; //height above mean sea level
dannyman939 0:c746ee34feae 75 float undulation; //the realtionship between the geoid and the
dannyman939 0:c746ee34feae 76 //ellipsoid of the chosen datum (m)
dannyman939 0:c746ee34feae 77 char datumID[4]; //datum ID is actually an enum that is not implemented
dannyman939 0:c746ee34feae 78 float latitudeSTD; //latitude standard deviation
dannyman939 0:c746ee34feae 79 float longitudeSTD; //longitude standard deviation
dannyman939 0:c746ee34feae 80 float heightSTD; //height standard deviation
dannyman939 0:c746ee34feae 81 char baseStationID[4]; //base station ID
dannyman939 0:c746ee34feae 82 float diffAge; //differential age (s)
dannyman939 0:c746ee34feae 83 float solutionAge; //solution age (s)
dannyman939 0:c746ee34feae 84 unsigned char numSV; //number of satellite vehicles tracked
dannyman939 0:c746ee34feae 85 unsigned char numSolSV; //number of satellite vehicles used in solution
dannyman939 0:c746ee34feae 86 unsigned char numGGL1; //number of GPS plus Glonass L1
dannyman939 0:c746ee34feae 87 unsigned char res1;
dannyman939 0:c746ee34feae 88 unsigned char res2;
dannyman939 0:c746ee34feae 89 unsigned char extSolStatus; //extended solution status
dannyman939 0:c746ee34feae 90 unsigned char res3;
dannyman939 0:c746ee34feae 91 unsigned char sigMask; //signals used mask
dannyman939 0:c746ee34feae 92 unsigned long CRC;
dannyman939 0:c746ee34feae 93 };
dannyman939 0:c746ee34feae 94
jekain314 6:2a8486283198 95 //GPS-specific pins
jekain314 6:2a8486283198 96 DigitalOut GPS_Reset(p18); //GPS RESET line
jekain314 6:2a8486283198 97 InterruptIn PPSInt(p15); // GPS 1PPS (timemark) from the OEM615
jekain314 6:2a8486283198 98 InterruptIn IMUClock(p17);
jekain314 6:2a8486283198 99
jekain314 6:2a8486283198 100 Timer timeFromPPS;
jekain314 6:2a8486283198 101 unsigned long GPSTimemsecs = 0;
jekain314 6:2a8486283198 102 double GPSTime = 0;
jekain314 6:2a8486283198 103 int PPSTimeOffset = 0;
jekain314 6:2a8486283198 104
jekain314 6:2a8486283198 105 //mbed tx/rx interface to the GPS COM1 port
jekain314 6:2a8486283198 106 MODSERIAL GPS_COM1(p9,p10); //this serial port communicates with the GPS receiver serial port (COM1)
jekain314 6:2a8486283198 107
jekain314 6:2a8486283198 108 int test = 0;
jekain314 6:2a8486283198 109 unsigned short messageCounter = 0;
jekain314 6:2a8486283198 110 unsigned short savedMessageCounter = 0;
jekain314 6:2a8486283198 111 const unsigned short maxGPSbytesPerSec = 1536;
jekain314 6:2a8486283198 112 unsigned char msgBuffer[maxGPSbytesPerSec]; //array to contain one full second of GPS bytes
jekain314 6:2a8486283198 113 const unsigned char maxGPSMessagesPerSec = 12;
jekain314 6:2a8486283198 114 unsigned short messageLocation[maxGPSMessagesPerSec] = {0}; //stores the message location start within the message buffer
dannyman939 0:c746ee34feae 115
dannyman939 0:c746ee34feae 116 //this code was taken from the Novatel Firmware document page 35
dannyman939 0:c746ee34feae 117 #define CRC32_POLYNOMIAL 0xEDB88320L
dannyman939 0:c746ee34feae 118 /* --------------------------------------------------------------------------
dannyman939 0:c746ee34feae 119 Calculate a CRC value to be used by CRC calculation functions.
dannyman939 0:c746ee34feae 120 -------------------------------------------------------------------------- */
dannyman939 0:c746ee34feae 121 unsigned long CRC32Value(int i)
dannyman939 0:c746ee34feae 122 {
dannyman939 0:c746ee34feae 123 int j;
dannyman939 0:c746ee34feae 124 unsigned long ulCRC;
dannyman939 0:c746ee34feae 125 ulCRC = i;
dannyman939 0:c746ee34feae 126 for ( j = 8 ; j > 0; j-- )
dannyman939 0:c746ee34feae 127 {
dannyman939 0:c746ee34feae 128 if ( ulCRC & 1 )
dannyman939 0:c746ee34feae 129 ulCRC = ( ulCRC >> 1 ) ^ CRC32_POLYNOMIAL;
dannyman939 0:c746ee34feae 130 else
dannyman939 0:c746ee34feae 131 ulCRC >>= 1;
dannyman939 0:c746ee34feae 132 }
dannyman939 0:c746ee34feae 133 return ulCRC;
dannyman939 0:c746ee34feae 134 }
dannyman939 0:c746ee34feae 135
dannyman939 0:c746ee34feae 136 /* --------------------------------------------------------------------------
dannyman939 0:c746ee34feae 137 Calculates the CRC-32 of a block of data all at once
dannyman939 0:c746ee34feae 138 //the CRC is c from the complete message (header plus data) but excluding (of course) the CRC at the end
dannyman939 0:c746ee34feae 139 -------------------------------------------------------------------------- */
dannyman939 0:c746ee34feae 140 unsigned long CalculateBlockCRC32(
dannyman939 0:c746ee34feae 141 unsigned long ulCount, /* Number of bytes in the data block */
dannyman939 0:c746ee34feae 142 unsigned char *ucBuffer ) /* Data block */
dannyman939 0:c746ee34feae 143 {
dannyman939 0:c746ee34feae 144 unsigned long ulTemp1;
dannyman939 0:c746ee34feae 145 unsigned long ulTemp2;
dannyman939 0:c746ee34feae 146 unsigned long ulCRC = 0;
dannyman939 0:c746ee34feae 147 while ( ulCount-- != 0 )
dannyman939 0:c746ee34feae 148 {
dannyman939 0:c746ee34feae 149 ulTemp1 = ( ulCRC >> 8 ) & 0x00FFFFFFL;
dannyman939 0:c746ee34feae 150 ulTemp2 = CRC32Value( ((int) ulCRC ^ *ucBuffer++ ) & 0xff );
dannyman939 0:c746ee34feae 151 ulCRC = ulTemp1 ^ ulTemp2;
dannyman939 0:c746ee34feae 152 }
dannyman939 0:c746ee34feae 153 return( ulCRC );
dannyman939 0:c746ee34feae 154 }
dannyman939 0:c746ee34feae 155
jekain314 6:2a8486283198 156
jekain314 6:2a8486283198 157 void sendASCII(char* ASCI_message, int numChars)
jekain314 6:2a8486283198 158 {
jekain314 6:2a8486283198 159 /////////////////////////////////////////////////
jekain314 6:2a8486283198 160 //send an ASCII command to the GPS receiver
jekain314 6:2a8486283198 161 /////////////////////////////////////////////////
jekain314 6:2a8486283198 162
jekain314 6:2a8486283198 163 //char ASCI_message[] = "unlogall COM1";
jekain314 6:2a8486283198 164 int as = numChars - 1;
jekain314 6:2a8486283198 165 unsigned char CR = 0x0d; //ASCII Carriage Return
jekain314 6:2a8486283198 166 unsigned char LF = 0x0a; //ASCII Line Feed
jekain314 6:2a8486283198 167
jekain314 6:2a8486283198 168 //printf("%s", ch);
jekain314 6:2a8486283198 169 //printf("\n");
jekain314 6:2a8486283198 170
jekain314 6:2a8486283198 171 for (int i=0; i<as; i++) GPS_COM1.putc(ASCI_message[i]);
jekain314 6:2a8486283198 172 GPS_COM1.putc(CR); //carriage return at end
jekain314 6:2a8486283198 173 GPS_COM1.putc(LF); //line feed at end
jekain314 6:2a8486283198 174 };
jekain314 6:2a8486283198 175
dannyman939 0:c746ee34feae 176
jekain314 6:2a8486283198 177 //see the mbed COOKBOOK for MODSERIAL
jekain314 6:2a8486283198 178 //MODSERIAL is an easy to use library that extends Serial to add fully buffered input and output.
jekain314 6:2a8486283198 179 void readSerialByte(MODSERIAL_IRQ_INFO *q)
jekain314 6:2a8486283198 180 {
jekain314 6:2a8486283198 181 MODSERIAL *serial = q->serial;
jekain314 6:2a8486283198 182 unsigned char synch0 = serial->getc();
jekain314 6:2a8486283198 183 msgBuffer[byteCounter % maxGPSbytesPerSec] = synch0;
dannyman939 0:c746ee34feae 184
jekain314 6:2a8486283198 185 //we need to trap the GPS message header byte-string 0xAA44121C
jekain314 6:2a8486283198 186 //generate a 4-byte sliding-window sequence from the input bytes
jekain314 6:2a8486283198 187 //shift last 4-byte value left 8 bits & push recently read byte (synch0) into low-order byte
jekain314 6:2a8486283198 188 test = (test<<8) | synch0; //
jekain314 6:2a8486283198 189
jekain314 6:2a8486283198 190 if (test == 0xAA44121C) //test for the Receiver message header signature
jekain314 6:2a8486283198 191 {
jekain314 6:2a8486283198 192 messageLocation[perSecMessageCounter % maxGPSMessagesPerSec] = byteCounter-3; //store the location of this message (with 4 synch words)
jekain314 6:2a8486283198 193 perSecMessageCounter++;
jekain314 6:2a8486283198 194 messageDetected = true;
jekain314 6:2a8486283198 195 }
jekain314 6:2a8486283198 196 //byteCounter reset to zero in main after the 1PPS is detected -- its NOT reset in the 1PPS ISR
jekain314 6:2a8486283198 197 byteCounter++; //total per-sec byte counter (reset to zero in main when 1PPS detected)
jekain314 6:2a8486283198 198
jekain314 6:2a8486283198 199 };
dannyman939 0:c746ee34feae 200
dannyman939 0:c746ee34feae 201
dannyman939 0:c746ee34feae 202
jekain314 6:2a8486283198 203
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jekain314 6:2a8486283198 206