File content as of revision 3:5913df46f94a:

#include "mbed.h" 

//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    
//#include "rtos.h"
#include "OEM615.h"

#include "ADIS16488.h"
#include <string>

#define STATUS_MSG 0
#define POSVEL_MSG 1
#define STARTDATA_MSG 2
#define STOPDATA_MSG 3
#define STARTSTREAM_MSG 4
#define STOPSTREAM_MSG 5
#define STARTLOGINFO_MSG 6
#define STOPLOGINFO_MSG 7
#define DEGREES_TO_RADIANS (3.14519/180.0)

//general items for this application
//SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name);
SDFileSystem sd(p11,p12,p13,p14,"sd");
//Serial debug(USBTX, USBRX); // tx, rx  USB communication to the PC for debug purposes
DigitalOut ppsled(LED1);
DigitalOut trig1led(LED2);
DigitalOut recordDataled(LED4);
InterruptIn camera1Int(p30);
DigitalOut camera2Pin(p29);
//USB serial data stream back to the PC
Serial toPC(USBTX, USBRX); //connect the GPS TX, RX to p9 and p10

bool detectedGPS1PPS = false;
bool recordData = false;
int PPSCounter = 0;
int byteCounter = 0;
unsigned short perSecMessageCounter=0;
bool lookingForMessages = true;
bool messageDetected = false;
int savedIMUClockCounter=0;
int IMUClockCounter = 0;
bool camera1EventDetected = false;
double camera1Time;
char serBuf[128];
int serBufChars=0;
bool sendPosVel=false;
bool sendStatus=false;
bool sendRecData=false;
bool streamPos=false;
bool sendStreamPos=false;
bool logMsgInfo=false;
bool sendLogMsgInfo=false;


//ISR for detection of the GPS 1PPS
void detect1PPSISR(void)
{
    timeFromPPS.reset();
    savedIMUClockCounter = IMUClockCounter;
    IMUClockCounter = 0;
    GPS_COM1.rxBufferFlush();
    
    detectedGPS1PPS = true;
    lookingForMessages = true;
    PPSCounter++;
    PPSTimeOffset++;
    ppsled = !ppsled;
};

//ISR for detection of the hotshoe trigger 1
void camera1ISR(void)
{
    camera1Time = GPSTime + (double)PPSTimeOffset + timeFromPPS.read();
    trig1led = !trig1led;
    camera1EventDetected = true;
};

void readFromPC()
{
    if (toPC.readable()) //read a PC serial byte and test it for a command
    {
        // Read in next character
        char inChar = toPC.getc();
        serBuf[serBufChars++] = inChar;
        // Append end of string character
        serBuf[serBufChars] = '\0';
        // Need to parse message to determine behavior
        // Need to clean this up 
        char msgList[8][32];
        sprintf(msgList[STATUS_MSG], "WMsg STATUS");
        sprintf(msgList[POSVEL_MSG], "WMsg POSVEL");
        sprintf(msgList[STARTDATA_MSG], "WMsg RECORDDATA Y");
        sprintf(msgList[STOPDATA_MSG], "WMsg RECORDDATA N");
        sprintf(msgList[STARTSTREAM_MSG], "WMsg POSSTREAM Y");
        sprintf(msgList[STOPSTREAM_MSG], "WMsg POSSTREAM N");
        sprintf(msgList[STARTLOGINFO_MSG], "WMsg LOGINFO Y");
        sprintf(msgList[STOPLOGINFO_MSG], "WMsg LOGINFO N");
        // assume an invalid message which needs to be reset
        bool validMessage = false;
        bool resetMessage = true;
        // Check for valid message
        for (int m = 0; m < 8 && !validMessage; m++)
        {
            if (strncmp(serBuf, msgList[m], serBufChars) == 0)
            {
                validMessage = true;
                // buffer length is same as message length
                if (serBufChars == strlen(msgList[m]))
                {
                    switch(m)
                    {
                        case STATUS_MSG:
                            sendStatus = true;
                        break;
                        case POSVEL_MSG:
                            sendPosVel = true;
                        break;
                        case STARTDATA_MSG:
                        case STOPDATA_MSG:
                            recordData = (m == STARTDATA_MSG);
                            sendRecData = true;
                        break;
                        case STARTSTREAM_MSG:
                        case STOPSTREAM_MSG:
                            streamPos = (m == STARTSTREAM_MSG);
                            sendStreamPos = true;
                        break;
                        case STARTLOGINFO_MSG:
                        case STOPLOGINFO_MSG:
                            logMsgInfo = (m == STARTLOGINFO_MSG);
                            sendLogMsgInfo = true;
                        break;
                        
                    }
                }
                // message is still in progress, do not reset
                else
                {
                    resetMessage = false;
                }
            }
        }
        // if message should be reset
        if (resetMessage)
        {
            // reset serial buffer character count
            serBufChars = 0;
            // if invalid message and most recent character is 'W' (first message character),
            // possible message collision
            if ((!validMessage) && (inChar == 'W'))
            {
                // start a new message
                serBuf[serBufChars++] = inChar;
                serBuf[serBufChars] == '\0';
            }
            // Append end of string character
            serBuf[serBufChars] = '\0';
        }
    }
};

void sendASCII(char* ASCI_message, int numChars)
{
    //char ASCI_message[] = "unlogall COM1";
    int as = numChars - 1;
    unsigned char CR = 0x0d;  //ASCII Carriage Return
    unsigned char LF = 0x0a;  //ASCII Line Feed
    
    //printf("%s", ch);
    //printf("\n");

    for (int i=0; i<as; i++) GPS_COM1.putc(ASCI_message[i]); 
    GPS_COM1.putc(CR);   //carriage return at end
    GPS_COM1.putc(LF);   //line feed at end
};

//FILE* fp = NULL;
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 lauinch the GPS receiver
    for (int i=0; i<5; i++) { toPC.printf(" to start: %3d \n", 4-i); wait(1); }

    
    mkdir("/sd/Data", 0777);
    
    /*
    fp = fopen("/sd/Data/IMUGPS.bin", "wb");
    if (fp == NULL)
    {
        toPC.printf(" cannot open the IMUGPS data file \n");
    }
    else
        toPC.printf(" opened the IMUGPS data file \n");
    */
      
    //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 CDU can be used 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";
    
    //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
    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(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);
    
};

int test = 0;
unsigned short messageCounter = 0;
unsigned short savedMessageCounter = 0;
unsigned char msgBuffer[1536];
unsigned short messageLocation[6] = {0};

//see the mbed COOKBOOK for MODSERIAL
//MODSERIAL is an easy to use library that extends Serial to add fully buffered input and output.
void readSerialByte(MODSERIAL_IRQ_INFO *q)
{ 
    MODSERIAL *serial = q->serial;
    unsigned char synch0 = serial->getc();
    msgBuffer[byteCounter] = synch0;

    //we need to trap the GPS message header byte-string 0xAA44121C
    //generate a 4-byte sliding-window sequence from the input bytes
    //shift last 4-byte value left 8 bits & push recently read byte (synch0) into low-order byte
    test = (test<<8) | synch0;  //
   
    if (test == 0xAA44121C) //test for the Receiver message header signature
    {
        messageLocation[perSecMessageCounter] = byteCounter-3; //store the location of this message (with 4 synch words)
        perSecMessageCounter++;
        messageDetected = true;
     }   
     byteCounter++;     //total per-sec byte counter (reset to zero in main when 1PPS detected) 

};

int main() {

    //FILE *fpIMU = NULL;
    //FILE *fpGPS = NULL;
    FILE *fpNav = NULL;
    OEM615BESTPOS posMsg;
    OEM615BESTPOS curPos;
    OEM615BESTVEL velMsg;
    OEM615BESTVEL curVel;
    int msgLen;
    int msgEnd;

    //set up the GPS and mbed COM ports
    setupCOM(); 
    
    //set up the ADIS16488 
    setupADIS();
    
    //setup Hotshoe
    setupTriggers();
    //attempt to use the mbed RTOS library
    //Thread thread(writeThread);
    
    toPC.printf("completed setting up COM ports \n");
    
    //set up the interrupt to catch the serial byte availability
    GPS_COM1.attach(&readSerialByte, MODSERIAL::RxIrq);
    
    timeFromPPS.start();

    //while(PPSCounter < 1000)
    while(1)
    {        
        //read the USB serial data from the PC to check for commands
        readFromPC();

        if (sendPosVel)
        {
            sendPosVel=false;
            char solReady = 'N';
            if (posMsg.solStatus == 0)
            {
                solReady = 'Y';
            }
            double nVel = velMsg.horizontalSpeed*cos(velMsg.heading*DEGREES_TO_RADIANS);
            double eVel = velMsg.horizontalSpeed*sin(velMsg.heading*DEGREES_TO_RADIANS);
            // For the 1 second deltas with which we are dealing
            //  this calculation should be close enough for now
            // approximately 1 nautical mile / minute latitude, 60 minutes/degree, 1852 meters/nautical mile
            double latMetersPerDeg = 60.0*1852.0;
            // longitude separation is approximately equal to latitude separation * cosine of latitude
            double lonMetersPerDeg = latMetersPerDeg*cos(posMsg.latitude*DEGREES_TO_RADIANS);

            // Elapsed time since last known GPS position
            double elTime = (double)PPSTimeOffset + timeFromPPS.read();
            // Position time
            double posTime = GPSTime + elTime;

            // Estimated position based on previous position and velocity
            double latPos = posMsg.latitude + (nVel/latMetersPerDeg)*elTime;
            double lonPos = posMsg.longitude + (eVel/lonMetersPerDeg)*elTime;
            double htPos = posMsg.height + velMsg.verticalSpeed/(60*1852)*elTime;
            toPC.printf("WMsg POSVEL %5.3lf %d %c %8.5lf %9.5lf %4.3lf %4.3lf %4.3lf %4.3lf\n", 
                         posTime, 
                         posMsg.numSolSV,
                         solReady,
                         latPos,
                         lonPos,
                         htPos,
                         nVel,
                         eVel,
                         velMsg.verticalSpeed
                         );
        }
        if (sendStatus)
        {
            sendStatus=false;
            char solReady = 'N';
            if (posMsg.solStatus == 0)
            {
                solReady = 'Y';
            }
            toPC.printf("WMsg STATUS %5.3lf %c\n", 
                         GPSTime, 
                         solReady
                         );
        }
        if (sendRecData)
        {
            sendRecData=false;
            char recChar = 'N';
            if (recordData)
            {
                if ((fpNav == NULL))
                {
                    fpNav = fopen("/sd/Data/NAV.bin", "wb");
                }
                if (fpNav != NULL)
                {
                    recChar = 'Y';
                }
                //recChar = 'Y';
            }
            else
            {
                if (fpNav != NULL)
                {
                    fclose(fpNav);
                    fpNav = NULL;
                }
                /*
                if (fpIMU != NULL)
                {
                    fclose(fpIMU);
                    fpIMU = NULL;
                }
                if (fpGPS != NULL)
                {
                    fclose(fpGPS);
                    fpGPS = NULL;
                }
                */
            }
            toPC.printf("WMsg RECORDDATA %c\n", 
                         recChar
                         );
        }
        recordDataled = recordData;
        if (sendStreamPos)
        {
            sendStreamPos=false;
            char streamChar = 'N';
            if (streamPos)
            {
                streamChar = 'Y';
            }
            toPC.printf("WMsg POSSTREAM %c\n", 
                         streamChar
                         );
        }
        if (sendLogMsgInfo)
        {
            sendLogMsgInfo=false;
            char logChar = 'N';
            if (logMsgInfo)
            {
                logChar = 'Y';
            }
            toPC.printf("WMsg LOGINFO %c\n", 
                         logChar
                         );
        }
        if (IMUDataReady)
        {
            //write the IMU data
            //if (recordData && (fpIMU != NULL))
            if (recordData && (fpNav != NULL))
            {
                fwrite(imuRec.dataWord, sizeof(IMUREC), 1, fpNav);
            }
            IMUDataReady = false;
        }
        //if (lookingForMessages && (timeFromPPS.read() > 0.100))  //it takes less than 20msec to receive all messages
        {
            
            //toPC.printf(" num messages = %3d time = %5d \n", perSecMessageCounter, timeFromPPS.read_us());
            for (int i=0; i<perSecMessageCounter; i++)
            {
                // ensure at message header has arrived before processing
                if (byteCounter < (messageLocation[i] + sizeof(MESSAGEHEADER)))
                {
                    // Complete message header has not been received.
                    // Clear processed messages and break out of message processing loop
                    for (int j = 0; j < i; j++)
                    {
                        messageLocation[j] = messageLocation[i+j];
                        perSecMessageCounter--;
                    }
                    break;
                }
                msgHeader[i] = (MESSAGEHEADER*)&msgBuffer[messageLocation[i]];
                // Ensure complete message has been received
                // Message length is header length + message length + CRC
                msgLen = 28;
                switch (msgHeader[i]->messageID)
                {
                    case 42:
                        msgLen = 104;
                    break;
                    case 99:
                        msgLen = 76;
                    break;
                    default:
                        msgLen = msgHeader[i]->headerLength + msgHeader[i]->messageLength + sizeof(unsigned long);
                    break;
                    
                }
                msgLen = msgHeader[i]->headerLength + msgHeader[i]->messageLength + sizeof(unsigned long);
                // Find last byte position of message
                msgEnd = messageLocation[i] + msgLen;
                if (byteCounter < msgEnd)
                {
                    // Complete message has not been received.
                    // Clear processed messages and break out of message processing loop
                    for (int j = 0; j < i; j++)
                    {
                        messageLocation[j] = messageLocation[i+j];
                        perSecMessageCounter--;
                    }
                    break;
                }
                else if ((i < (perSecMessageCounter-1)) &&
                         (messageLocation[i+i] < msgEnd)) // ignore CRC for now
                {
                    // Next message was started before this mesage was completely received.
                    // Ignore and continue on to the next message
                    continue;
                }
                if (logMsgInfo)
                {
                    toPC.printf("WMsg MESSAGEINFO %5d %5d %5d %5d %5d = %5d (%5d)\n", 
                                                    msgHeader[i]->messageID, 
                                                    messageLocation[i], 
                                                    msgHeader[i]->headerLength,
                                                    msgHeader[i]->messageLength,
                                                    sizeof(unsigned long),
                                                    msgEnd,
                                                    byteCounter);
                }
                //toPC.printf(" %5d ", msgHeader[i]->messageID);
                if ((msgHeader[i]->messageID == 42) ||
                    (msgHeader[i]->messageID == 99))
                {
                    if (msgHeader[i]->messageID == 42)
                    {
                        // Wait until velocity message has also been received before using as
                        // base position
                        //memcpy(&curPos, &msgBuffer[messageLocation[i]], sizeof(OEM615BESTPOS));
                        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);
                        }
                    }
                    else if (msgHeader[i]->messageID == 99)
                    {
                        // Wait until position message has also been received before using as
                        // base position
                        //memcpy(&curVel, &msgBuffer[messageLocation[i]], sizeof(OEM615BESTVEL));
                        curVel = *((OEM615BESTVEL*)&msgBuffer[messageLocation[i]]);
                    }
                    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;
                        PPSTimeOffset = 0;
                    }
                }
                if (i == (perSecMessageCounter-1))
                {
                    if (recordData && (fpNav != NULL))
                    {
                        fwrite(msgBuffer, byteCounter, 1, fpNav);
                    }
                    byteCounter = 0;
                    perSecMessageCounter = 0;
                }
            }  
            //toPC.printf(" %3d %8d \n", msgHeader[0]->timeStatus, GPSTimemsecs);
            //if (recordData && (fpGPS != NULL))

            /*
            if (recordData && (fpNav != NULL))
            {
                fwrite(msgBuffer, byteCounter, 1, fpNav);
            }
            */
            //lookingForMessages = false;
        }
        if (messageDetected)
        {
            //toPC.printf(" msgTime = %4d \n", timeFromPPS.read_us());
            messageDetected = false;
        }
        if (camera1EventDetected)
        {
            toPC.printf("WMsg TRIGGERTIME %5.3lf\n", camera1Time);
            camera1EventDetected = false;
        }
        if (detectedGPS1PPS)
        {   
            //toPC.printf(" PPSCounter = %4d byteCounter = %10d num Messages Received = %3d IMUClock = %4d\n", 
            //                PPSCounter, byteCounter, perSecMessageCounter, savedIMUClockCounter);
            if (recordData && (fpNav != NULL) && (byteCounter > 0))
            {
                fwrite(msgBuffer, byteCounter, 1, fpNav);
            }
            byteCounter = 0;
            perSecMessageCounter=0;
            detectedGPS1PPS = false;
        }
    }
    toPC.printf(" normal termination \n");
}