File content as of revision 10:078891935385:

#include "mbed.h" 
#include <string>

//set up the message buffer to be filled by the GPS read process
#define MODSERIAL_DEFAULT_RX_BUFFER_SIZE 256 

#include "MODSERIAL.h"
#include "SDFileSystem.h"      //imported using the import utility    

//general digital I/O specifications for this application
//SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name);
SDFileSystem sd(p11,p12,p13,p14,"sd");
DigitalIn sd_detect(p27);
DigitalOut ppsled(LED1);        //blink an LED at the 1PPS
DigitalOut trig1led(LED2);      //blink an LED at the camera trigger detection
DigitalOut recordDataled(LED4); //set the led when the record is on
//InterruptIn camera1Int(p30);    // camera interrupt in
DigitalOut camera2Pin(p29);     // We dont use the second camera interrupt
//USB serial data stream back to the PC
Serial toPC(USBTX, USBRX);      //connect the GPS TX, RX to p9 and p10

bool detectedGPS1PPS = false;       //flag set in the ISR and reset after processing the 1PPS event
int PPSCounter = 0;                 //counts the 1PPS occurrences
int byteCounter = 0;                //byte counter -- zeroed at 1PPS
unsigned short perSecMessageCounter=0; //counts the number of messages in a sec based on the header detection
bool lookingForMessages = true;     //set in the PPS ISR and set false after the message processing in the main
bool messageDetected = false;       //have detected a message header
unsigned long IMUbytesWritten = 0;  //counts the IMU bytes written by the fwrite() to the SD card 
int savedByteCounter = 0;           //save ByteCounter at the 1PPS for display in main
int savedPerSecMessageCounter=0;    //saved PerSecMsgCounter for display in main
int IMUClockCounter = 0;            //counter for IMU samples per sec
int savedIMUClockCounter=0;         //saved at the 1PPS for later diaplay from main
bool camera1EventDetected = false;  //flag from ISR indicating a clock event occurred
double camera1Time;                 //GPS time of the camera event 
int TotalBadCRCmatches = 0;         //counter for the bad CRC matches for all GPS messages

//////////////////////////////////////////////////////////////////////
// the below should become classes
//////////////////////////////////////////////////////////////////////
#include "OEM615.h"         //OEM615 GPS activities
#include "ADIS16488.h"      //ADIS16488 activities
#include "PCMessaging.h"    //PC messaging activities

//ISR for detection of the GPS 1PPS
void detect1PPSISR(void)
{
    timeFromPPS.reset();                    //reset the 1PPS timer upon 1PPS detection
    savedIMUClockCounter = IMUClockCounter; //number of IMU clocks received since last 1PPS
    savedByteCounter = byteCounter;         //save byteCounter for display in main
    savedPerSecMessageCounter = perSecMessageCounter;   //save for display un main
    IMUClockCounter = 0;                    //counts per-sec IMU samples (between 1PPS events)
    byteCounter = 0;                        //countes bytes between 1PPS events 
    perSecMessageCounter = 0;               //counts GPS messages between 1PPS events
    
    GPS_COM1.rxBufferFlush();               //flush the GPS serial buffer
    
    detectedGPS1PPS = true;         //set false in the main when 1PPS actions are complete
    lookingForMessages = true;      //set false in main after processing messages
    PPSCounter++;                   //count number of 1PPS epoch
    
    //note -- the below accounts for time information becoming available AFTER the 1PPS event
    PPSTimeOffset++;                //counts 1PPS events between matching POS and VEL messages
    
    ppsled = !ppsled;               //blink an LED at the 1PPS
};

//ISR for detection of the hotshoe trigger 1
//void camera1ISR(void)
//{
    //GPSTime is from POS message header
    //PPSTimeOffset is an even sec to account for Time becoming known AFTER the 1PPS
    //PPSTimeOffset + timeFromPPS.read() can be as large as 1.02 secs
//    camera1Time = GPSTime + PPSTimeOffset + timeFromPPS.read();    
//    camera1EventDetected = true;  //reset to false in main after processing the image detection
//    trig1led = !trig1led;  //blink an LEWD at the camera event detection
//};

///////////////////////////////////////////////////////
//set up the USB port and the GPS COM port
/////////////////////////////////////////////////////// 
FILE *fpNav = NULL;  //file pointer to the nav file on the SD card
void setupCOM(void)
{
    //system starts with GPS in reset active
    //dis-engage the reset to get the GPS started
    GPS_Reset=1; wait_ms(1000); 
    
    //establish 1PPS ISR 
    PPSInt.rise(&detect1PPSISR);
    
    //set the USB serial data rate -- rate must be matched at the PC end
    //This the serial communication back to the the PC host
    //Launch the C++ serial port read program there to catch the ASCII characters
    //toPC.baud(9600); wait_ms(100);    
    toPC.baud(8*115200); wait_ms(100);
    //toPC.baud(1*115200); wait_ms(100);
    toPC.printf("\n\n released GPS from RESET and set to high baud rate \n\n");
    
    //just wait to launch the GPS receiver
    for (int i=0; i<5; i++) { toPC.printf(" to start: %3d \n", 4-i); wait(1); }

    sd_detect.mode(PullUp);
    
    if (sd_detect == 0)
    {
        mkdir("/sd/Data", 0777);
    }
    else
    {
        toPC.printf(" SD card not present \n");
    }
    
    //NOTE:  we do not assume that the GPS receiver has been pre-set up for the WALDO_FCS functionality
    //we alwsys start with a reset and reprogram the receiver with our data out products
    // this prevents failure because of a blown NVRAM as occurred for the older camera systems
    
    //this is the COM1 port from th GPS receiuver to the mbed
    //it should be always started at 9600 baud because thats the default for the GPS receiver 
    GPS_COM1.baud(9600); wait_ms(100);
   
    // this ASCII command sets up the serial data from the GPS receiver on its COM1
    char ch7[] = "serialconfig COM1 9600 n 8 1 n off";
    // this is a software reset and has the same effect as a hardware reset (why do it?) 
    //char ch0[] = "RESET"; 
    //this command stops all communication from the GPS receiver on COM1
    //logs should still be presented on USB port so the Novatel CDU application can be used on the PC in parallel
    char ch1[] = "unlogall COM1";
    //set the final baud rate that we will use from here  
    //allowable baud rate values: 9600 115200 230400 460800 921600
    //char ch2[] = "serialconfig COM1 921600 n 8 1 n off";
    char ch2[] = "serialconfig COM1 460800 n 8 1 n off";
    
    //the below commands request the POS, VEL, RANGE, and TIME messages
    char ch3[] = "log COM1 BESTPOSB ONTIME 1";   //messageID = 42 
    char ch4[] = "log COM1 BESTVelB ONTIME 1";   //messageID = 99
    char ch5[] = "log COM1 RANGEB ONTIME 1";     //messageID = 43
    //char ch6[] = "log COM1 TIMEB ONTIME 1";      //messageID = 101
    
    //set up VARF to be 100Hz with 1X10^4 * 10^-8 = 10^-4 sec (10usec) pulse width
    //in fact, we do not use this output but it is available.
    //originally planned to use this to command the IMU data
    //char ch8[] = "FREQUENCYOUT enable 10000 1000000";
    
    toPC.printf("set serial config \n");
    sendASCII(ch7, sizeof(ch7)); wait_ms(500);
    //sendASCII(ch0, sizeof(ch0));  
    toPC.printf("unlog all messages \n");
    sendASCII(ch1, sizeof(ch1)); wait_ms(500);
    toPC.printf("log BESTPOSB on COM1 \n");
    sendASCII(ch3, sizeof(ch3)); wait_ms(500);
    toPC.printf("log BESTVELB on COM1\n");
    sendASCII(ch4, sizeof(ch4)); wait_ms(500);
    toPC.printf("log RANGEB on COM1\n");
    sendASCII(ch5, sizeof(ch5)); wait_ms(500);
    
    //toPC.printf("log TIMEB om COM1 \n");
    //sendASCII(ch6, sizeof(ch6)); wait_ms(100);
    
    //toPC.printf("Set up th VARF signal \n"); 
    //sendASCII(ch8, sizeof(ch8)); wait_ms(500);
       
    //set GPS output COM1 to the final high rate
    toPC.printf("set the COM ports to high rate\n");
    sendASCII(ch2, sizeof(ch2)); wait_ms(500);
    
    //set the mbed COM port to match the GPS transmit rate
    //the below baud rate must match the COM1 rate coming from the GPS receiver 
    GPS_COM1.baud(460800); wait_ms(500);  //without this wait -- the baud rate is not detected when using MODSERIAL     
    //GPS_COM1.baud(921600); wait_ms(500);  //without this wait -- the baud rate is not detected when using MODSERIAL     
};

void setupTriggers()
{
//    camera1Int.mode(PullUp);
    camera2Pin = 1;
    //establish Trigger ISR 
//    camera1Int.rise(&camera1ISR);
    
};

/////////////////////////////////////////////////////////////////////
//  mbed main to support the Waldo_FCS
/////////////////////////////////////////////////////////////////////
int main() {
    
    //these are structures for the to GPS messages that must be parsed
    OEM615BESTPOS posMsg;   //BESTPOS structure in OEMV615.h that has matching time to a BESTVEL message
    OEM615BESTPOS curPos;   //BESTPOS structure in OEMV615.h
    OEM615BESTVEL velMsg;   //BESTVEL structure in OEMV615.h that has matching time to a BESTPOS message
    OEM615BESTVEL curVel;   //BESTVEL structure in OEMV615.h

    //set up the GPS and mbed COM ports
    setupCOM(); 
    
    //set up the ADIS16488 
    setupADIS();
    
    //setup Hotshoe
    setupTriggers();

    setUpMessages();  //set up the expected text message commands frm the PC 
    
    //set up the interrupt to catch the GPS receiver serial bytes as they are presented
    GPS_COM1.attach(&readSerialByte, MODSERIAL::RxIrq);
    
    timeFromPPS.start();  //start the time for measuring time from 1PPS events
    
    toPC.printf("\n\n top of the main loop \n\n");
    
    int totalBytesWritten = 0;
    
    //while(PPSCounter < 100)
    ///////////////////////////////////////////////////////////////////////////
    // top of the while loop
    ///////////////////////////////////////////////////////////////////////////
    while(1)
    {        
        //read the USB serial data from the PC to check for commands
        //in the primary real-time portion, there are no bytes from the PC so this has no impact
        readFromPC();
                
        processPCmessages(fpNav, posMsg, velMsg);

//
        ////////////////////////////////////////////////////////////////////////////
        //below is where we process the complete stored GPS message for the second
        //The !IMUDataReady test prevents the IMU and GPS data from being written 
        //to disk on the same pass through thi loop  
        /////////////////////////////////////////////////////////////////////////////
        if (!IMUDataReady && lookingForMessages && (timeFromPPS.read_us() > 20000))  //it takes less than 20msec to receive all messages
        {    
            //toPC.printf(" num messages = %3d time = %5d \n", perSecMessageCounter, timeFromPPS.read_us());
            
            //cycle through all the bytes stored this sec (after the 1PPS as set)
            // perSecMessageCounter is incremented whenever we detect a new message headet 0xAA44121C sequence
            for (int i=0; i<perSecMessageCounter; i++)  
            {
                msgHeader[i] = (MESSAGEHEADER*)&msgBuffer[messageLocation[i]];
                //toPC.printf("WMsg MESSAGEINFO %5d %5d \n", 
                //                                     msgHeader[i]->messageID, 
                //                                     messageLocation[i]);
               
                //calculated CRC
                unsigned long CRC1 = CalculateBlockCRC32(28+msgHeader[i]->messageLength, &msgBuffer[messageLocation[i]]);
                unsigned long CRC2 = *((unsigned long*)&msgBuffer[messageLocation[i] + 28 + msgHeader[i]->messageLength]);
                 
                if (CRC1 != CRC2)
                { 
                    TotalBadCRCmatches++;
                    toPC.printf(" bad CRC match for messageID %3d total CRC errors = %4d \n",  
                    msgHeader[i]->messageID, TotalBadCRCmatches);
                    continue;
                }                
          
                //test for a message 42 (BESTPOS)
                if (msgHeader[i]->messageID == 42)
                {
                    curPos = *((OEM615BESTPOS*)&msgBuffer[messageLocation[i]]);
                    
                    if (streamPos)
                    {
                            toPC.printf("WMsg BESTPOS %d %d %d %8.5lf %9.5lf %5.3lf %5.3f %5.3f %5.3f %5.3f %5.3f %5.3f %d %d %d %d %d\n",
                                              curPos.msgHeader.GPSTime_msecs,
                                              curPos.solStatus,
                                              curPos.posType,
                                              curPos.latitude,
                                              curPos.longitude,
                                              curPos.height,
                                              curPos.undulation,
                                              curPos.latitudeSTD,
                                              curPos.longitudeSTD,
                                              curPos.heightSTD,
                                              curPos.diffAge,
                                              curPos.solutionAge,
                                              curPos.numSV,
                                              curPos.numSolSV,
                                              curPos.numGGL1,
                                              curPos.extSolStatus,
                                              curPos.sigMask);
                    }
                }
                    
                //check for a message 99 (BESTVEL)  -- and cast it into its message structure
                else if (msgHeader[i]->messageID == 99)
                {
                    curVel = *((OEM615BESTVEL*)&msgBuffer[messageLocation[i]]);
                }
                
                //the below test ensures that the positin and veocity are matched in time
                //not sure the reason for the "250" below    
                if ((curVel.msgHeader.GPSTime_msecs+250)/1000 == 
                    (curPos.msgHeader.GPSTime_msecs+250)/1000)
                {
                    // update position and velocity used for calculation
                    GPSTimemsecs = curPos.msgHeader.GPSTime_msecs;
                    GPSTime = (double)GPSTimemsecs/1000.0;
                    velMsg = curVel;  //
                    posMsg = curPos;
                        
                    /////////////////////////////////////////////////////////////////////////////////////////
                    //IMPORTANT:   we reset the PPSTimeOffset when we have a matching position and velocity 
                    PPSTimeOffset = 0;
                    /////////////////////////////////////////////////////////////////////////////////////////
                }
            }  //end of per message loop
            lookingForMessages = false;
            
            if (recordData && (fpNav != NULL) && (byteCounter > 0))
            {
                wait_us(1000);
                totalBytesWritten += fwrite(msgBuffer, 1, byteCounter, fpNav);  // this writes out a complete set of messages for this sec
                wait_us(1000);
            }
            
        }  //end of the GPS message processing
        
//
        
        //the IMU data record is read from the SPI in the ISR and the IMUDataReady is set true
        //we write the IMU data here
        if (IMUDataReady)  //IMUDataReady is true if we have a recent IMU data record
        {
            //GPSTime (secs from midnight) is from the header of the position message
            //PPSTimeOffset accounts for time becoming known ~20msec AFTER the 1PPS
            imuRec.GPSTime = GPSTimemsecs + PPSTimeOffset*1000 + timeFromPPS.read_us()/1000.0;
            wait_us(10);
            spi.write((int) HIGH_REGISTER[0]); wait_us(10); // next read will return results from HIGH_REGITER[0]
            for (int i=0; i<6; i++)  //read the 6 rate and accel variables
            {
                wd.pt[1] = (unsigned short)spi.write((int) LOW_REGISTER[i]); wait_us(10) ; 
                if (i<5)  // dont this on the last because this was pre-called
                {   wd.pt[0] = (unsigned short)spi.write((int) HIGH_REGISTER[i+1]); wait_us(10); }
                imuRec.dataWord[i] = wd.dataWord; //data word is a signed long
            }
            IMURecordCounter++;
            //write the IMU data
            if (recordData && (fpNav != NULL))
            {   
                totalBytesWritten += fwrite(&imuRec, 1, sizeof(IMUREC), fpNav);
            }
            IMUClockCounter++;
            IMUDataReady = false;
        }
        
        /*
        if (messageDetected)  //some GPS message header has been detected
        {
            toPC.printf(" msgTime = %4d \n", timeFromPPS.read_us());
            messageDetected = false;
        }
        */
        
        if (camera1EventDetected)  //we have detected a camera trigger event
        {
            camera2Pin=0;
            wait(.25);
            camera2Pin=1;
            wait(.50);
            camera2Pin=0;
            camera1Time = GPSTime + PPSTimeOffset + timeFromPPS.read();
            toPC.printf("WMsg TRIGGERTIME %5.3lf\n", camera1Time);
            camera2Pin=1;
            camera1EventDetected = false;
        }
        
        if (detectedGPS1PPS)  //true if we are exactly at a 1PPS event detection
        {   
            //toPC.printf(" PPSCounter=%4d byteCounter=%10d Msgs Received=%3d IMUClock=%4d bytesWritten=%8d\n", 
            //                PPSCounter, savedByteCounter, savedPerSecMessageCounter, savedIMUClockCounter, totalBytesWritten);

            detectedGPS1PPS = false;
        }
    }
    
    fclose(fpNav);
    toPC.printf(" normal termination \n");
}