james kain / Mbed 2 deprecated GPS_Incremental

JEK changes enabling proper recording of IMU/GPS datastrams - 02-APR-2013

Dependencies:   mbed

Fork of GPS_Incremental by Dan Matthews

main.cpp@4:68268737ff89, 2013-03-29 (annotated)

Committer:
jekain314
Date:
Fri Mar 29 20:52:24 2013 +0000
Revision:
4:68268737ff89
Parent:
3:5913df46f94a
Child:
6:2a8486283198
from Jim's site - March 29th,2013

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dannyman939 0:c746ee34feae 1 #include "mbed.h"
dannyman939 0:c746ee34feae 2
dannyman939 0:c746ee34feae 3 //set up the message buffer to be filled by the GPS read process
dannyman939 0:c746ee34feae 4 #define MODSERIAL_DEFAULT_RX_BUFFER_SIZE 256
dannyman939 0:c746ee34feae 5
dannyman939 0:c746ee34feae 6 #include "MODSERIAL.h"
dannyman939 0:c746ee34feae 7 #include "SDFileSystem.h" //imported using the import utility
dannyman939 0:c746ee34feae 8 //#include "rtos.h"
dannyman939 0:c746ee34feae 9 #include "OEM615.h"
dannyman939 0:c746ee34feae 10
dannyman939 0:c746ee34feae 11 #include "ADIS16488.h"
dannyman939 0:c746ee34feae 12 #include <string>
dannyman939 0:c746ee34feae 13
jekain314 4:68268737ff89 14 //these are defines for the messages that are sent from the PC across the USB
jekain314 4:68268737ff89 15 //these messages produce reactions on the mbed
dannyman939 0:c746ee34feae 16 #define STATUS_MSG 0
dannyman939 0:c746ee34feae 17 #define POSVEL_MSG 1
dannyman939 0:c746ee34feae 18 #define STARTDATA_MSG 2
dannyman939 0:c746ee34feae 19 #define STOPDATA_MSG 3
dannyman939 0:c746ee34feae 20 #define STARTSTREAM_MSG 4
dannyman939 0:c746ee34feae 21 #define STOPSTREAM_MSG 5
dannyman939 2:7301e63832ee 22 #define STARTLOGINFO_MSG 6
dannyman939 2:7301e63832ee 23 #define STOPLOGINFO_MSG 7
jekain314 4:68268737ff89 24
dannyman939 0:c746ee34feae 25 #define DEGREES_TO_RADIANS (3.14519/180.0)
dannyman939 0:c746ee34feae 26
jekain314 4:68268737ff89 27 //general digital I/O specifications for this application
dannyman939 0:c746ee34feae 28 //SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name);
dannyman939 0:c746ee34feae 29 SDFileSystem sd(p11,p12,p13,p14,"sd");
dannyman939 0:c746ee34feae 30 //Serial debug(USBTX, USBRX); // tx, rx USB communication to the PC for debug purposes
jekain314 4:68268737ff89 31 DigitalOut ppsled(LED1); //blink an LED at the 1PPS
jekain314 4:68268737ff89 32 DigitalOut trig1led(LED2); //blink an LED at the camera trigger detection
jekain314 4:68268737ff89 33 DigitalOut recordDataled(LED4); //set the led when the record is on
jekain314 4:68268737ff89 34 InterruptIn camera1Int(p30); // camera interrupt in
jekain314 4:68268737ff89 35 DigitalOut camera2Pin(p29); // i dont believe we use the second camera interrupt
dannyman939 0:c746ee34feae 36 //USB serial data stream back to the PC
dannyman939 0:c746ee34feae 37 Serial toPC(USBTX, USBRX); //connect the GPS TX, RX to p9 and p10
dannyman939 0:c746ee34feae 38
jekain314 4:68268737ff89 39 bool detectedGPS1PPS = false; //flag set in the ISR and reset after processing the 1PPS event
jekain314 4:68268737ff89 40 bool recordData = false; //set to true when commanded from the PC
jekain314 4:68268737ff89 41 int PPSCounter = 0; //counts the 1PPS occurrences
jekain314 4:68268737ff89 42 int byteCounter = 0; //byte counter -- where used??
jekain314 4:68268737ff89 43 unsigned short perSecMessageCounter=0; //counts the number of messages in a sec based on the header detection
jekain314 4:68268737ff89 44 bool lookingForMessages = true; //set in the PPS ISR and set false after the message processing in the main
jekain314 4:68268737ff89 45 bool messageDetected = false; //have detected a message header
jekain314 4:68268737ff89 46 int savedIMUClockCounter=0;
jekain314 4:68268737ff89 47 unsigned long IMUbytesWritten = 0;
jekain314 4:68268737ff89 48 int savedByteCounter = 0;
jekain314 4:68268737ff89 49 int savedPerSecMessageCounter=0;
dannyman939 0:c746ee34feae 50 int IMUClockCounter = 0;
dannyman939 0:c746ee34feae 51 bool camera1EventDetected = false;
dannyman939 0:c746ee34feae 52 double camera1Time;
dannyman939 2:7301e63832ee 53 char serBuf[128];
dannyman939 0:c746ee34feae 54 int serBufChars=0;
jekain314 4:68268737ff89 55
jekain314 4:68268737ff89 56 //flags to control the PC command actions
dannyman939 0:c746ee34feae 57 bool sendPosVel=false;
dannyman939 0:c746ee34feae 58 bool sendStatus=false;
dannyman939 0:c746ee34feae 59 bool sendRecData=false;
dannyman939 0:c746ee34feae 60 bool streamPos=false;
dannyman939 0:c746ee34feae 61 bool sendStreamPos=false;
dannyman939 2:7301e63832ee 62 bool logMsgInfo=false;
dannyman939 2:7301e63832ee 63 bool sendLogMsgInfo=false;
dannyman939 0:c746ee34feae 64
dannyman939 0:c746ee34feae 65 //ISR for detection of the GPS 1PPS
dannyman939 0:c746ee34feae 66 void detect1PPSISR(void)
dannyman939 0:c746ee34feae 67 {
jekain314 4:68268737ff89 68 timeFromPPS.reset(); //reset the 1PPS timer upon 1PPS detection
jekain314 4:68268737ff89 69 savedIMUClockCounter = IMUClockCounter; //number of IMU clocks received since last 1PPS
jekain314 4:68268737ff89 70 savedByteCounter = byteCounter;
jekain314 4:68268737ff89 71 savedPerSecMessageCounter = perSecMessageCounter;
jekain314 4:68268737ff89 72 IMUClockCounter = 0; //counts number of IMU samples between 1PPS events
jekain314 4:68268737ff89 73 GPS_COM1.rxBufferFlush(); //flush the GPS serial buffer -- likely not needed but OK
jekain314 4:68268737ff89 74 byteCounter = 0;
jekain314 4:68268737ff89 75 perSecMessageCounter = 0;
dannyman939 0:c746ee34feae 76
jekain314 4:68268737ff89 77 detectedGPS1PPS = true; //reset in the main when 1PPS actions are complete
jekain314 4:68268737ff89 78 lookingForMessages = true; //means we should begin looking for new GPS messages
jekain314 4:68268737ff89 79 PPSCounter++; //count number of 1PPS epochs
jekain314 4:68268737ff89 80 PPSTimeOffset++; //counts the 1PPS events between occurrences when we have matching POS and VEL messages
jekain314 4:68268737ff89 81 ppsled = !ppsled; //blink an LED at the 1PPS
dannyman939 0:c746ee34feae 82 };
dannyman939 0:c746ee34feae 83
dannyman939 0:c746ee34feae 84 //ISR for detection of the hotshoe trigger 1
dannyman939 1:cbb9104d826f 85 void camera1ISR(void)
dannyman939 0:c746ee34feae 86 {
jekain314 4:68268737ff89 87 //PPSTimeOffset keeps track of missed
dannyman939 0:c746ee34feae 88 camera1Time = GPSTime + (double)PPSTimeOffset + timeFromPPS.read();
jekain314 4:68268737ff89 89
jekain314 4:68268737ff89 90 trig1led = !trig1led; //blink an LEWD at the camera event detection
jekain314 4:68268737ff89 91 camera1EventDetected = true; //reset to false in main after processing the image detection
dannyman939 0:c746ee34feae 92 };
dannyman939 0:c746ee34feae 93
dannyman939 0:c746ee34feae 94 void readFromPC()
dannyman939 0:c746ee34feae 95 {
jekain314 4:68268737ff89 96
jekain314 4:68268737ff89 97 //better solution
jekain314 4:68268737ff89 98 //start a timer when we get a char from the PC and set a bool: detectingPCMessage = true
jekain314 4:68268737ff89 99 //keep reading bytes until elapsed time from the first byte is : 0.01 secs of numByes > 16
jekain314 4:68268737ff89 100 //the messages are from 10 to 16 bytes -- this will take from 10/921600 to 16/921600 secs at 921600 baud
jekain314 4:68268737ff89 101 //8*115200 = 921600
jekain314 4:68268737ff89 102 //this is about 2e-5 or 20usec.
jekain314 4:68268737ff89 103 //so we could wait 50usec from the first char reeived and be certain we had all the chars for a message.
jekain314 4:68268737ff89 104 //the steps are below ....
jekain314 4:68268737ff89 105 //(1) convert this procedures to a ISR per byte
jekain314 4:68268737ff89 106 //(2) in the ISR, start the timer on the first byte received when !detectingPCMessage
jekain314 4:68268737ff89 107 //(3) set detectingPCMessage = true
jekain314 4:68268737ff89 108 //(4) in the main loop, test the timer for >50usec and parse the bytes to test fr a message
jekain314 4:68268737ff89 109 //(5) reset the timer to zero in the main loop after parsing the message
jekain314 4:68268737ff89 110 //(6) set detectingPCMessage = false;
jekain314 4:68268737ff89 111
jekain314 4:68268737ff89 112 //The received commands obnly occur at the initialization stage -- time is not that critical there.
jekain314 4:68268737ff89 113 //during the real-time action, we will never pass the followong if test ( no characters received)
dannyman939 0:c746ee34feae 114 if (toPC.readable()) //read a PC serial byte and test it for a command
dannyman939 0:c746ee34feae 115 {
dannyman939 0:c746ee34feae 116 // Read in next character
dannyman939 0:c746ee34feae 117 char inChar = toPC.getc();
dannyman939 0:c746ee34feae 118 serBuf[serBufChars++] = inChar;
jekain314 4:68268737ff89 119
dannyman939 0:c746ee34feae 120 // Append end of string character
jekain314 4:68268737ff89 121 //why do this for every character we read?
jekain314 4:68268737ff89 122 //answer: we always assume we have a complete message and test for this below
dannyman939 0:c746ee34feae 123 serBuf[serBufChars] = '\0';
jekain314 4:68268737ff89 124
dannyman939 0:c746ee34feae 125 // Need to parse message to determine behavior
dannyman939 0:c746ee34feae 126 // Need to clean this up
jekain314 4:68268737ff89 127 //need to do this outside the read byte ---
dannyman939 2:7301e63832ee 128 char msgList[8][32];
dannyman939 0:c746ee34feae 129 sprintf(msgList[STATUS_MSG], "WMsg STATUS");
dannyman939 0:c746ee34feae 130 sprintf(msgList[POSVEL_MSG], "WMsg POSVEL");
dannyman939 0:c746ee34feae 131 sprintf(msgList[STARTDATA_MSG], "WMsg RECORDDATA Y");
dannyman939 0:c746ee34feae 132 sprintf(msgList[STOPDATA_MSG], "WMsg RECORDDATA N");
dannyman939 0:c746ee34feae 133 sprintf(msgList[STARTSTREAM_MSG], "WMsg POSSTREAM Y");
dannyman939 0:c746ee34feae 134 sprintf(msgList[STOPSTREAM_MSG], "WMsg POSSTREAM N");
dannyman939 2:7301e63832ee 135 sprintf(msgList[STARTLOGINFO_MSG], "WMsg LOGINFO Y");
dannyman939 2:7301e63832ee 136 sprintf(msgList[STOPLOGINFO_MSG], "WMsg LOGINFO N");
jekain314 4:68268737ff89 137 //message length is from 10 to 16 chars
jekain314 4:68268737ff89 138
dannyman939 0:c746ee34feae 139 // assume an invalid message which needs to be reset
dannyman939 0:c746ee34feae 140 bool validMessage = false;
dannyman939 0:c746ee34feae 141 bool resetMessage = true;
jekain314 4:68268737ff89 142
dannyman939 0:c746ee34feae 143 // Check for valid message
jekain314 4:68268737ff89 144 for (int m = 0; m < 8 && !validMessage; m++) //check for all messages ...
dannyman939 0:c746ee34feae 145 {
dannyman939 0:c746ee34feae 146 if (strncmp(serBuf, msgList[m], serBufChars) == 0)
dannyman939 0:c746ee34feae 147 {
dannyman939 0:c746ee34feae 148 validMessage = true;
jekain314 4:68268737ff89 149 //test that chars in the serial buffer is same as message length
dannyman939 0:c746ee34feae 150 if (serBufChars == strlen(msgList[m]))
dannyman939 0:c746ee34feae 151 {
dannyman939 0:c746ee34feae 152 switch(m)
dannyman939 0:c746ee34feae 153 {
dannyman939 0:c746ee34feae 154 case STATUS_MSG:
dannyman939 0:c746ee34feae 155 sendStatus = true;
dannyman939 0:c746ee34feae 156 break;
dannyman939 0:c746ee34feae 157 case POSVEL_MSG:
dannyman939 0:c746ee34feae 158 sendPosVel = true;
dannyman939 0:c746ee34feae 159 break;
dannyman939 0:c746ee34feae 160 case STARTDATA_MSG:
dannyman939 0:c746ee34feae 161 case STOPDATA_MSG:
dannyman939 0:c746ee34feae 162 recordData = (m == STARTDATA_MSG);
dannyman939 0:c746ee34feae 163 sendRecData = true;
dannyman939 0:c746ee34feae 164 break;
dannyman939 0:c746ee34feae 165 case STARTSTREAM_MSG:
dannyman939 0:c746ee34feae 166 case STOPSTREAM_MSG:
dannyman939 0:c746ee34feae 167 streamPos = (m == STARTSTREAM_MSG);
dannyman939 0:c746ee34feae 168 sendStreamPos = true;
dannyman939 0:c746ee34feae 169 break;
dannyman939 2:7301e63832ee 170 case STARTLOGINFO_MSG:
dannyman939 2:7301e63832ee 171 case STOPLOGINFO_MSG:
dannyman939 2:7301e63832ee 172 logMsgInfo = (m == STARTLOGINFO_MSG);
dannyman939 2:7301e63832ee 173 sendLogMsgInfo = true;
dannyman939 2:7301e63832ee 174 break;
dannyman939 0:c746ee34feae 175
dannyman939 0:c746ee34feae 176 }
dannyman939 0:c746ee34feae 177 }
dannyman939 0:c746ee34feae 178 // message is still in progress, do not reset
dannyman939 0:c746ee34feae 179 else
dannyman939 0:c746ee34feae 180 {
dannyman939 0:c746ee34feae 181 resetMessage = false;
dannyman939 0:c746ee34feae 182 }
dannyman939 0:c746ee34feae 183 }
dannyman939 0:c746ee34feae 184 }
jekain314 4:68268737ff89 185
dannyman939 0:c746ee34feae 186 // if message should be reset
dannyman939 0:c746ee34feae 187 if (resetMessage)
dannyman939 0:c746ee34feae 188 {
dannyman939 0:c746ee34feae 189 // reset serial buffer character count
dannyman939 0:c746ee34feae 190 serBufChars = 0;
dannyman939 0:c746ee34feae 191 // if invalid message and most recent character is 'W' (first message character),
dannyman939 0:c746ee34feae 192 // possible message collision
dannyman939 0:c746ee34feae 193 if ((!validMessage) && (inChar == 'W'))
dannyman939 0:c746ee34feae 194 {
dannyman939 0:c746ee34feae 195 // start a new message
dannyman939 0:c746ee34feae 196 serBuf[serBufChars++] = inChar;
jekain314 4:68268737ff89 197 serBuf[serBufChars] = '\0';
dannyman939 0:c746ee34feae 198 }
dannyman939 0:c746ee34feae 199 // Append end of string character
dannyman939 0:c746ee34feae 200 serBuf[serBufChars] = '\0';
dannyman939 0:c746ee34feae 201 }
dannyman939 0:c746ee34feae 202 }
dannyman939 0:c746ee34feae 203 };
dannyman939 0:c746ee34feae 204
dannyman939 0:c746ee34feae 205 void sendASCII(char* ASCI_message, int numChars)
dannyman939 0:c746ee34feae 206 {
jekain314 4:68268737ff89 207 /////////////////////////////////////////////////
jekain314 4:68268737ff89 208 //send an ASCII command to the GPS receiver
jekain314 4:68268737ff89 209 /////////////////////////////////////////////////
jekain314 4:68268737ff89 210
dannyman939 0:c746ee34feae 211 //char ASCI_message[] = "unlogall COM1";
dannyman939 0:c746ee34feae 212 int as = numChars - 1;
dannyman939 0:c746ee34feae 213 unsigned char CR = 0x0d; //ASCII Carriage Return
dannyman939 0:c746ee34feae 214 unsigned char LF = 0x0a; //ASCII Line Feed
dannyman939 0:c746ee34feae 215
dannyman939 0:c746ee34feae 216 //printf("%s", ch);
dannyman939 0:c746ee34feae 217 //printf("\n");
dannyman939 0:c746ee34feae 218
dannyman939 0:c746ee34feae 219 for (int i=0; i<as; i++) GPS_COM1.putc(ASCI_message[i]);
dannyman939 0:c746ee34feae 220 GPS_COM1.putc(CR); //carriage return at end
dannyman939 0:c746ee34feae 221 GPS_COM1.putc(LF); //line feed at end
dannyman939 3:5913df46f94a 222 };
dannyman939 0:c746ee34feae 223
dannyman939 0:c746ee34feae 224 //FILE* fp = NULL;
dannyman939 0:c746ee34feae 225 void setupCOM(void)
dannyman939 0:c746ee34feae 226 {
dannyman939 0:c746ee34feae 227 //system starts with GPS in reset active
dannyman939 0:c746ee34feae 228 //dis-engage the reset to get the GPS started
dannyman939 0:c746ee34feae 229 GPS_Reset=1; wait_ms(1000);
dannyman939 0:c746ee34feae 230
dannyman939 0:c746ee34feae 231 //establish 1PPS ISR
dannyman939 0:c746ee34feae 232 PPSInt.rise(&detect1PPSISR);
dannyman939 0:c746ee34feae 233
dannyman939 0:c746ee34feae 234 //set the USB serial data rate -- rate must be matched at the PC end
dannyman939 0:c746ee34feae 235 //This the serial communication back to the the PC host
dannyman939 0:c746ee34feae 236 //Launch the C++ serial port read program there to catch the ASCII characters
dannyman939 0:c746ee34feae 237 //toPC.baud(9600); wait_ms(100);
dannyman939 0:c746ee34feae 238 toPC.baud(8*115200); wait_ms(100);
dannyman939 2:7301e63832ee 239 //toPC.baud(1*115200); wait_ms(100);
dannyman939 0:c746ee34feae 240 toPC.printf("\n\n released GPS from RESET and set to high baud rate \n\n");
dannyman939 0:c746ee34feae 241
jekain314 4:68268737ff89 242 //just wait to launch the GPS receiver
dannyman939 0:c746ee34feae 243 for (int i=0; i<5; i++) { toPC.printf(" to start: %3d \n", 4-i); wait(1); }
dannyman939 0:c746ee34feae 244
dannyman939 0:c746ee34feae 245
dannyman939 0:c746ee34feae 246 mkdir("/sd/Data", 0777);
dannyman939 0:c746ee34feae 247
dannyman939 0:c746ee34feae 248 /*
dannyman939 0:c746ee34feae 249 fp = fopen("/sd/Data/IMUGPS.bin", "wb");
dannyman939 0:c746ee34feae 250 if (fp == NULL)
dannyman939 0:c746ee34feae 251 {
dannyman939 0:c746ee34feae 252 toPC.printf(" cannot open the IMUGPS data file \n");
dannyman939 0:c746ee34feae 253 }
dannyman939 0:c746ee34feae 254 else
dannyman939 0:c746ee34feae 255 toPC.printf(" opened the IMUGPS data file \n");
dannyman939 0:c746ee34feae 256 */
jekain314 4:68268737ff89 257
jekain314 4:68268737ff89 258 //NOTE: we do not assume that the GPS receiver has been pre-set up for the WALDO_FCS functionality
jekain314 4:68268737ff89 259 //we alwsys start with a reset and reprogram the receiver with our data out products
jekain314 4:68268737ff89 260 // this prevents failure because of a blown NVRAM as occurred for the older camera systems
jekain314 4:68268737ff89 261
dannyman939 0:c746ee34feae 262 //this is the COM1 port from th GPS receiuver to the mbed
dannyman939 0:c746ee34feae 263 //it should be always started at 9600 baud because thats the default for the GPS receiver
dannyman939 0:c746ee34feae 264 GPS_COM1.baud(9600); wait_ms(100);
dannyman939 0:c746ee34feae 265
dannyman939 0:c746ee34feae 266 // this ASCII command sets up the serial data from the GPS receiver on its COM1
dannyman939 0:c746ee34feae 267 char ch7[] = "serialconfig COM1 9600 n 8 1 n off";
jekain314 4:68268737ff89 268 // this is a software reset and has the same effect as a hardware reset (why do it?)
jekain314 4:68268737ff89 269 //char ch0[] = "RESET";
dannyman939 0:c746ee34feae 270 //this command stops all communication from the GPS receiver on COM1
jekain314 4:68268737ff89 271 //logs should still be presented on USB port so the Novatel CDU application can be used on the PC in parallel
dannyman939 0:c746ee34feae 272 char ch1[] = "unlogall COM1";
dannyman939 0:c746ee34feae 273 //set the final baud rate that we will use from here
dannyman939 0:c746ee34feae 274 //allowable baud rate values: 9600 115200 230400 460800 921600
jekain314 4:68268737ff89 275 //char ch2[] = "serialconfig COM1 921600 n 8 1 n off";
jekain314 4:68268737ff89 276 char ch2[] = "serialconfig COM1 460800 n 8 1 n off";
dannyman939 0:c746ee34feae 277
dannyman939 0:c746ee34feae 278 //the below commands request the POS, VEL, RANGE, and TIME messages
dannyman939 0:c746ee34feae 279 char ch3[] = "log COM1 BESTPOSB ONTIME 1"; //messageID = 42
dannyman939 0:c746ee34feae 280 char ch4[] = "log COM1 BESTVelB ONTIME 1"; //messageID = 99
dannyman939 0:c746ee34feae 281 char ch5[] = "log COM1 RANGEB ONTIME 1"; //messageID = 43
jekain314 4:68268737ff89 282 //char ch6[] = "log COM1 TIMEB ONTIME 1"; //messageID = 101
dannyman939 0:c746ee34feae 283
dannyman939 0:c746ee34feae 284 //set up VARF to be 100Hz with 1X10^4 * 10^-8 = 10^-4 sec (10usec) pulse width
jekain314 4:68268737ff89 285 //in fact, we do not use this output but it is available.
jekain314 4:68268737ff89 286 //originally planned to use this to command the IMU data
dannyman939 0:c746ee34feae 287 char ch8[] = "FREQUENCYOUT enable 10000 1000000";
dannyman939 0:c746ee34feae 288
dannyman939 0:c746ee34feae 289 toPC.printf("set serial config \n");
dannyman939 0:c746ee34feae 290 sendASCII(ch7, sizeof(ch7)); wait_ms(500);
dannyman939 0:c746ee34feae 291 //sendASCII(ch0, sizeof(ch0));
dannyman939 0:c746ee34feae 292 toPC.printf("unlog all messages \n");
dannyman939 0:c746ee34feae 293 sendASCII(ch1, sizeof(ch1)); wait_ms(500);
dannyman939 0:c746ee34feae 294 toPC.printf("log BESTPOSB on COM1 \n");
dannyman939 0:c746ee34feae 295 sendASCII(ch3, sizeof(ch3)); wait_ms(500);
dannyman939 0:c746ee34feae 296 toPC.printf("log BESTVELB on COM1\n");
dannyman939 0:c746ee34feae 297 sendASCII(ch4, sizeof(ch4)); wait_ms(500);
dannyman939 0:c746ee34feae 298 toPC.printf("log RANGEB on COM1\n");
dannyman939 0:c746ee34feae 299 sendASCII(ch5, sizeof(ch5)); wait_ms(500);
dannyman939 0:c746ee34feae 300
dannyman939 0:c746ee34feae 301 //toPC.printf("log TIMEB om COM1 \n");
dannyman939 0:c746ee34feae 302 //sendASCII(ch6, sizeof(ch6)); wait_ms(100);
dannyman939 0:c746ee34feae 303
dannyman939 0:c746ee34feae 304 toPC.printf(" set up th VARF signal \n");
dannyman939 0:c746ee34feae 305 sendASCII(ch8, sizeof(ch8)); wait_ms(500);
dannyman939 0:c746ee34feae 306
dannyman939 0:c746ee34feae 307 //set GPS output COM1 to the final high rate
dannyman939 0:c746ee34feae 308 toPC.printf("set the COM ports to high rate\n");
dannyman939 0:c746ee34feae 309 sendASCII(ch2, sizeof(ch2)); wait_ms(500);
dannyman939 0:c746ee34feae 310
dannyman939 0:c746ee34feae 311 //set the mbed COM port to match the GPS transmit rate
dannyman939 0:c746ee34feae 312 //the below baud rate must match the COM1 rate coming from the GPS receiver
jekain314 4:68268737ff89 313 GPS_COM1.baud(460800); wait_ms(500); //without this wait -- the baud rate is not detected when using MODSERIAL
jekain314 4:68268737ff89 314 //GPS_COM1.baud(921600); wait_ms(500); //without this wait -- the baud rate is not detected when using MODSERIAL
dannyman939 0:c746ee34feae 315 };
dannyman939 0:c746ee34feae 316
dannyman939 0:c746ee34feae 317 void setupTriggers()
dannyman939 0:c746ee34feae 318 {
dannyman939 1:cbb9104d826f 319 camera1Int.mode(PullUp);
dannyman939 1:cbb9104d826f 320 camera2Pin = 1;
dannyman939 0:c746ee34feae 321 //establish Trigger ISR
dannyman939 1:cbb9104d826f 322 camera1Int.rise(&camera1ISR);
dannyman939 0:c746ee34feae 323
dannyman939 3:5913df46f94a 324 };
dannyman939 0:c746ee34feae 325
dannyman939 0:c746ee34feae 326 int test = 0;
dannyman939 0:c746ee34feae 327 unsigned short messageCounter = 0;
dannyman939 0:c746ee34feae 328 unsigned short savedMessageCounter = 0;
jekain314 4:68268737ff89 329 unsigned char msgBuffer[1536]; //array to contain one full second of GPS bytes
jekain314 4:68268737ff89 330 unsigned short messageLocation[6] = {0}; //stores the message location start within the message buffer
dannyman939 0:c746ee34feae 331
dannyman939 0:c746ee34feae 332 //see the mbed COOKBOOK for MODSERIAL
dannyman939 0:c746ee34feae 333 //MODSERIAL is an easy to use library that extends Serial to add fully buffered input and output.
dannyman939 0:c746ee34feae 334 void readSerialByte(MODSERIAL_IRQ_INFO *q)
dannyman939 0:c746ee34feae 335 {
dannyman939 0:c746ee34feae 336 MODSERIAL *serial = q->serial;
dannyman939 0:c746ee34feae 337 unsigned char synch0 = serial->getc();
dannyman939 0:c746ee34feae 338 msgBuffer[byteCounter] = synch0;
dannyman939 0:c746ee34feae 339
dannyman939 0:c746ee34feae 340 //we need to trap the GPS message header byte-string 0xAA44121C
dannyman939 0:c746ee34feae 341 //generate a 4-byte sliding-window sequence from the input bytes
dannyman939 0:c746ee34feae 342 //shift last 4-byte value left 8 bits & push recently read byte (synch0) into low-order byte
dannyman939 0:c746ee34feae 343 test = (test<<8) | synch0; //
dannyman939 0:c746ee34feae 344
dannyman939 0:c746ee34feae 345 if (test == 0xAA44121C) //test for the Receiver message header signature
dannyman939 0:c746ee34feae 346 {
dannyman939 1:cbb9104d826f 347 messageLocation[perSecMessageCounter] = byteCounter-3; //store the location of this message (with 4 synch words)
dannyman939 0:c746ee34feae 348 perSecMessageCounter++;
dannyman939 0:c746ee34feae 349 messageDetected = true;
dannyman939 0:c746ee34feae 350 }
jekain314 4:68268737ff89 351 //byteCounter reset to zero in main after the 1PPS is detected -- its NOT reset in the 1PPS ISR
dannyman939 0:c746ee34feae 352 byteCounter++; //total per-sec byte counter (reset to zero in main when 1PPS detected)
dannyman939 2:7301e63832ee 353
dannyman939 0:c746ee34feae 354 };
dannyman939 0:c746ee34feae 355
jekain314 4:68268737ff89 356 void earthCoefficients(double latitudeRad, double longitudeRad, double height, double &latRateFac, double &lonRateFac)
jekain314 4:68268737ff89 357 {
jekain314 4:68268737ff89 358 //compute the lat and lon factors for use in the interpolation of the lat and lon between 1 sec epochs
jekain314 4:68268737ff89 359 //see this document (page 32) www.fas.org/spp/military/program/nav/basicnav.pdf
jekain314 4:68268737ff89 360 double eccen = 0.0818191908426; //WGS84 earth eccentricity
jekain314 4:68268737ff89 361 double earthRadius = 6378137; //WGS84 earthRadius in meters
jekain314 4:68268737ff89 362 double eccenSinLat = eccen * sin(latitudeRad);
jekain314 4:68268737ff89 363 double temp1 = 1.0 - eccenSinLat*eccenSinLat;
jekain314 4:68268737ff89 364 double temp2 = sqrt(temp1);
jekain314 4:68268737ff89 365 double r_meridian = earthRadius * ( 1.0 - eccen*eccen)/ (temp1 * temp2);
jekain314 4:68268737ff89 366 double r_normal = earthRadius / temp2;
jekain314 4:68268737ff89 367
jekain314 4:68268737ff89 368 //multiply latRateFac times V-north to get the latitude rate in radians [er sec
jekain314 4:68268737ff89 369 latRateFac = 1.0 / (r_meridian + height);
jekain314 4:68268737ff89 370
jekain314 4:68268737ff89 371 //multiply lonRatFac by VEast to get the longitude rate in radians per sec
jekain314 4:68268737ff89 372 lonRateFac = 1.0 / ( (r_normal + height) * cos(latitudeRad) );
jekain314 4:68268737ff89 373 }
jekain314 4:68268737ff89 374
dannyman939 0:c746ee34feae 375 int main() {
dannyman939 0:c746ee34feae 376
dannyman939 0:c746ee34feae 377 //FILE *fpIMU = NULL;
dannyman939 0:c746ee34feae 378 //FILE *fpGPS = NULL;
dannyman939 0:c746ee34feae 379 FILE *fpNav = NULL;
jekain314 4:68268737ff89 380
jekain314 4:68268737ff89 381 OEM615BESTPOS posMsg; //BESTPOS structure in OEMV615.h
jekain314 4:68268737ff89 382 OEM615BESTPOS curPos; //BESTPOS structure in OEMV615.h
jekain314 4:68268737ff89 383 OEM615BESTVEL velMsg; //BESTVEL structure in OEMV615.h
jekain314 4:68268737ff89 384 OEM615BESTVEL curVel; //BESTVEL structure in OEMV615.h
jekain314 4:68268737ff89 385
dannyman939 1:cbb9104d826f 386 int msgLen;
dannyman939 1:cbb9104d826f 387 int msgEnd;
dannyman939 0:c746ee34feae 388
dannyman939 2:7301e63832ee 389 //set up the GPS and mbed COM ports
dannyman939 0:c746ee34feae 390 setupCOM();
dannyman939 0:c746ee34feae 391
dannyman939 0:c746ee34feae 392 //set up the ADIS16488
dannyman939 0:c746ee34feae 393 setupADIS();
dannyman939 0:c746ee34feae 394
dannyman939 0:c746ee34feae 395 //setup Hotshoe
dannyman939 0:c746ee34feae 396 setupTriggers();
jekain314 4:68268737ff89 397
dannyman939 0:c746ee34feae 398 //attempt to use the mbed RTOS library
dannyman939 0:c746ee34feae 399 //Thread thread(writeThread);
dannyman939 0:c746ee34feae 400
jekain314 4:68268737ff89 401 //this doesnt show up on the PC Rich Text Box because we dont start the init til after this occurs
dannyman939 0:c746ee34feae 402 toPC.printf("completed setting up COM ports \n");
dannyman939 0:c746ee34feae 403
jekain314 4:68268737ff89 404 //set up the interrupt to catch the GPS receiver serial bytes as they are presented
dannyman939 0:c746ee34feae 405 GPS_COM1.attach(&readSerialByte, MODSERIAL::RxIrq);
dannyman939 0:c746ee34feae 406
jekain314 4:68268737ff89 407 timeFromPPS.start(); //start the time for measuring time from 1PPS events
dannyman939 0:c746ee34feae 408
jekain314 4:68268737ff89 409 while(PPSCounter < 100)
jekain314 4:68268737ff89 410 ///////////////////////////////////////////////////////////////////////////
jekain314 4:68268737ff89 411 // top of the while loop
jekain314 4:68268737ff89 412 ///////////////////////////////////////////////////////////////////////////
jekain314 4:68268737ff89 413 //while(1)
dannyman939 0:c746ee34feae 414 {
dannyman939 0:c746ee34feae 415 //read the USB serial data from the PC to check for commands
jekain314 4:68268737ff89 416 //in the primary real-time portion, there are no bytes from the PC so this has no impact
dannyman939 0:c746ee34feae 417 readFromPC();
dannyman939 0:c746ee34feae 418
jekain314 4:68268737ff89 419 //we should put the below stuff into the readPC() procedure.
jekain314 4:68268737ff89 420 //only do these actions in response to a command so no need for the tests w/o an inoput byte from the PC
jekain314 4:68268737ff89 421 //perform the activities as a response to the commands
jekain314 4:68268737ff89 422 if (sendPosVel) //true if we want to return a position solution
dannyman939 0:c746ee34feae 423 {
jekain314 4:68268737ff89 424 sendPosVel=false; //set to true if a POSVEL is requested from the PC
dannyman939 0:c746ee34feae 425 char solReady = 'N';
jekain314 4:68268737ff89 426 if (posMsg.solStatus == 0) //how is this set??
dannyman939 0:c746ee34feae 427 {
dannyman939 0:c746ee34feae 428 solReady = 'Y';
dannyman939 0:c746ee34feae 429 }
jekain314 4:68268737ff89 430
jekain314 4:68268737ff89 431 //north and east velocity from the horizontal speed and heading
jekain314 4:68268737ff89 432 //velMsg may not be the "current" message --- but is the one also associated with a position message
dannyman939 0:c746ee34feae 433 double nVel = velMsg.horizontalSpeed*cos(velMsg.heading*DEGREES_TO_RADIANS);
dannyman939 0:c746ee34feae 434 double eVel = velMsg.horizontalSpeed*sin(velMsg.heading*DEGREES_TO_RADIANS);
jekain314 4:68268737ff89 435
dannyman939 0:c746ee34feae 436 // For the 1 second deltas with which we are dealing
jekain314 4:68268737ff89 437 // This calculation should be close enough for now
jekain314 4:68268737ff89 438 // Approximately 1 nautical mile / minute latitude, 60 minutes/degree, 1852 meters/nautical mile
dannyman939 0:c746ee34feae 439 double latMetersPerDeg = 60.0*1852.0;
dannyman939 0:c746ee34feae 440 // longitude separation is approximately equal to latitude separation * cosine of latitude
dannyman939 0:c746ee34feae 441 double lonMetersPerDeg = latMetersPerDeg*cos(posMsg.latitude*DEGREES_TO_RADIANS);
dannyman939 0:c746ee34feae 442
dannyman939 0:c746ee34feae 443 // Elapsed time since last known GPS position
jekain314 4:68268737ff89 444 //PPSTimeOffset is a result of possibly missing a prior GPS position message
jekain314 4:68268737ff89 445 // timeFromPPS.read() is always the time from the moset recent 1PPS
dannyman939 0:c746ee34feae 446 double elTime = (double)PPSTimeOffset + timeFromPPS.read();
jekain314 4:68268737ff89 447
jekain314 4:68268737ff89 448 // Position time -- GPSTime is the time of the last valid GPS position message
dannyman939 0:c746ee34feae 449 double posTime = GPSTime + elTime;
dannyman939 0:c746ee34feae 450
dannyman939 0:c746ee34feae 451 // Estimated position based on previous position and velocity
jekain314 4:68268737ff89 452 // posMsg is the last time when the BESTVEL and BESTPOS messages had identical times
dannyman939 0:c746ee34feae 453 double latPos = posMsg.latitude + (nVel/latMetersPerDeg)*elTime;
dannyman939 0:c746ee34feae 454 double lonPos = posMsg.longitude + (eVel/lonMetersPerDeg)*elTime;
dannyman939 0:c746ee34feae 455 double htPos = posMsg.height + velMsg.verticalSpeed/(60*1852)*elTime;
dannyman939 0:c746ee34feae 456 toPC.printf("WMsg POSVEL %5.3lf %d %c %8.5lf %9.5lf %4.3lf %4.3lf %4.3lf %4.3lf\n",
dannyman939 0:c746ee34feae 457 posTime,
dannyman939 0:c746ee34feae 458 posMsg.numSolSV,
dannyman939 0:c746ee34feae 459 solReady,
dannyman939 0:c746ee34feae 460 latPos,
dannyman939 0:c746ee34feae 461 lonPos,
dannyman939 0:c746ee34feae 462 htPos,
dannyman939 0:c746ee34feae 463 nVel,
dannyman939 0:c746ee34feae 464 eVel,
dannyman939 0:c746ee34feae 465 velMsg.verticalSpeed
dannyman939 0:c746ee34feae 466 );
dannyman939 0:c746ee34feae 467 }
jekain314 4:68268737ff89 468
jekain314 4:68268737ff89 469 //all this does is assess the GPS convergence -- really available in the above
jekain314 4:68268737ff89 470 if (sendStatus) //send the status message to the PC
dannyman939 0:c746ee34feae 471 {
dannyman939 0:c746ee34feae 472 sendStatus=false;
dannyman939 0:c746ee34feae 473 char solReady = 'N';
dannyman939 0:c746ee34feae 474 if (posMsg.solStatus == 0)
dannyman939 0:c746ee34feae 475 {
dannyman939 0:c746ee34feae 476 solReady = 'Y';
dannyman939 0:c746ee34feae 477 }
dannyman939 0:c746ee34feae 478 toPC.printf("WMsg STATUS %5.3lf %c\n",
dannyman939 0:c746ee34feae 479 GPSTime,
dannyman939 0:c746ee34feae 480 solReady
dannyman939 0:c746ee34feae 481 );
dannyman939 0:c746ee34feae 482 }
jekain314 4:68268737ff89 483
jekain314 4:68268737ff89 484 //should just record ALL the data -- can pck over it in the post-processing
jekain314 4:68268737ff89 485 if (sendRecData) //begin to (or stop) record the serial data
dannyman939 0:c746ee34feae 486 {
dannyman939 0:c746ee34feae 487 sendRecData=false;
dannyman939 0:c746ee34feae 488 char recChar = 'N';
dannyman939 0:c746ee34feae 489 if (recordData)
dannyman939 0:c746ee34feae 490 {
dannyman939 0:c746ee34feae 491 if ((fpNav == NULL))
dannyman939 0:c746ee34feae 492 {
dannyman939 0:c746ee34feae 493 fpNav = fopen("/sd/Data/NAV.bin", "wb");
dannyman939 0:c746ee34feae 494 }
dannyman939 0:c746ee34feae 495 if (fpNav != NULL)
dannyman939 0:c746ee34feae 496 {
dannyman939 0:c746ee34feae 497 recChar = 'Y';
dannyman939 0:c746ee34feae 498 }
dannyman939 0:c746ee34feae 499 //recChar = 'Y';
dannyman939 0:c746ee34feae 500 }
dannyman939 0:c746ee34feae 501 else
dannyman939 0:c746ee34feae 502 {
dannyman939 0:c746ee34feae 503 if (fpNav != NULL)
dannyman939 0:c746ee34feae 504 {
dannyman939 0:c746ee34feae 505 fclose(fpNav);
dannyman939 0:c746ee34feae 506 fpNav = NULL;
dannyman939 0:c746ee34feae 507 }
dannyman939 0:c746ee34feae 508 /*
dannyman939 0:c746ee34feae 509 if (fpIMU != NULL)
dannyman939 0:c746ee34feae 510 {
dannyman939 0:c746ee34feae 511 fclose(fpIMU);
dannyman939 0:c746ee34feae 512 fpIMU = NULL;
dannyman939 0:c746ee34feae 513 }
dannyman939 0:c746ee34feae 514 if (fpGPS != NULL)
dannyman939 0:c746ee34feae 515 {
dannyman939 0:c746ee34feae 516 fclose(fpGPS);
dannyman939 0:c746ee34feae 517 fpGPS = NULL;
dannyman939 0:c746ee34feae 518 }
dannyman939 0:c746ee34feae 519 */
dannyman939 0:c746ee34feae 520 }
dannyman939 0:c746ee34feae 521 toPC.printf("WMsg RECORDDATA %c\n",
dannyman939 0:c746ee34feae 522 recChar
dannyman939 0:c746ee34feae 523 );
dannyman939 0:c746ee34feae 524 }
jekain314 4:68268737ff89 525
jekain314 4:68268737ff89 526 //this is called everytime through the loop -- wasteful
jekain314 4:68268737ff89 527 //recordDataled = recordData;
jekain314 4:68268737ff89 528
jekain314 4:68268737ff89 529 if (sendStreamPos) //stream the position data to the PC
dannyman939 0:c746ee34feae 530 {
dannyman939 0:c746ee34feae 531 sendStreamPos=false;
dannyman939 0:c746ee34feae 532 char streamChar = 'N';
dannyman939 0:c746ee34feae 533 if (streamPos)
dannyman939 0:c746ee34feae 534 {
dannyman939 0:c746ee34feae 535 streamChar = 'Y';
dannyman939 0:c746ee34feae 536 }
dannyman939 0:c746ee34feae 537 toPC.printf("WMsg POSSTREAM %c\n",
dannyman939 0:c746ee34feae 538 streamChar
dannyman939 0:c746ee34feae 539 );
dannyman939 0:c746ee34feae 540 }
jekain314 4:68268737ff89 541
jekain314 4:68268737ff89 542 //not sure this is ever used ..
jekain314 4:68268737ff89 543 if (sendLogMsgInfo) //send log info to the PC
dannyman939 2:7301e63832ee 544 {
dannyman939 2:7301e63832ee 545 sendLogMsgInfo=false;
dannyman939 2:7301e63832ee 546 char logChar = 'N';
dannyman939 2:7301e63832ee 547 if (logMsgInfo)
dannyman939 2:7301e63832ee 548 {
dannyman939 2:7301e63832ee 549 logChar = 'Y';
dannyman939 2:7301e63832ee 550 }
dannyman939 2:7301e63832ee 551 toPC.printf("WMsg LOGINFO %c\n",
dannyman939 2:7301e63832ee 552 logChar
dannyman939 2:7301e63832ee 553 );
dannyman939 2:7301e63832ee 554 }
jekain314 4:68268737ff89 555
jekain314 4:68268737ff89 556
jekain314 4:68268737ff89 557 ////////////////////////////////////////////////////////////////////////////
jekain314 4:68268737ff89 558 //below is where we process the complete stored GPS message for the second
jekain314 4:68268737ff89 559 //The !IMUDataReady test prevents the IMU and GPS data from being written
jekain314 4:68268737ff89 560 //to disk on the same pass through thi loop
jekain314 4:68268737ff89 561 /////////////////////////////////////////////////////////////////////////////
jekain314 4:68268737ff89 562 if (!IMUDataReady && lookingForMessages && (timeFromPPS.read_us() > 20000)) //it takes less than 20msec to receive all messages
jekain314 4:68268737ff89 563 {
jekain314 4:68268737ff89 564 toPC.printf(" num messages = %3d time = %5d \n", perSecMessageCounter, timeFromPPS.read_us());
jekain314 4:68268737ff89 565
jekain314 4:68268737ff89 566 //cycle through all the bytes stored this sec (after the 1PPS as set)
jekain314 4:68268737ff89 567 // perSecMessageCounter is incremented whenever we detect a new message headet 0xAA44121C sequence
jekain314 4:68268737ff89 568 for (int i=0; i<perSecMessageCounter; i++)
dannyman939 0:c746ee34feae 569 {
jekain314 4:68268737ff89 570 msgHeader[i] = (MESSAGEHEADER*)&msgBuffer[messageLocation[i]];
jekain314 4:68268737ff89 571 toPC.printf("WMsg MESSAGEINFO %5d %5d \n",
jekain314 4:68268737ff89 572 msgHeader[i]->messageID,
jekain314 4:68268737ff89 573 messageLocation[i]);
jekain314 4:68268737ff89 574 //test for a message 42 (BESTPOS)
jekain314 4:68268737ff89 575 if (msgHeader[i]->messageID == 42)
dannyman939 2:7301e63832ee 576 {
jekain314 4:68268737ff89 577 curPos = *((OEM615BESTPOS*)&msgBuffer[messageLocation[i]]);
dannyman939 2:7301e63832ee 578
jekain314 4:68268737ff89 579 if (streamPos)
dannyman939 1:cbb9104d826f 580 {
dannyman939 0:c746ee34feae 581 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",
dannyman939 0:c746ee34feae 582 curPos.msgHeader.GPSTime_msecs,
dannyman939 0:c746ee34feae 583 curPos.solStatus,
dannyman939 0:c746ee34feae 584 curPos.posType,
dannyman939 0:c746ee34feae 585 curPos.latitude,
dannyman939 0:c746ee34feae 586 curPos.longitude,
dannyman939 0:c746ee34feae 587 curPos.height,
dannyman939 0:c746ee34feae 588 curPos.undulation,
dannyman939 0:c746ee34feae 589 curPos.latitudeSTD,
dannyman939 0:c746ee34feae 590 curPos.longitudeSTD,
dannyman939 0:c746ee34feae 591 curPos.heightSTD,
dannyman939 0:c746ee34feae 592 curPos.diffAge,
dannyman939 0:c746ee34feae 593 curPos.solutionAge,
dannyman939 0:c746ee34feae 594 curPos.numSV,
dannyman939 0:c746ee34feae 595 curPos.numSolSV,
dannyman939 0:c746ee34feae 596 curPos.numGGL1,
dannyman939 0:c746ee34feae 597 curPos.extSolStatus,
dannyman939 0:c746ee34feae 598 curPos.sigMask);
dannyman939 0:c746ee34feae 599 }
dannyman939 0:c746ee34feae 600 }
jekain314 4:68268737ff89 601
jekain314 4:68268737ff89 602 //check for a message 99 (BESTVEL) -- and cast it into its message structure
jekain314 4:68268737ff89 603 else if (msgHeader[i]->messageID == 99)
jekain314 4:68268737ff89 604 {
jekain314 4:68268737ff89 605 curVel = *((OEM615BESTVEL*)&msgBuffer[messageLocation[i]]);
jekain314 4:68268737ff89 606 }
jekain314 4:68268737ff89 607
jekain314 4:68268737ff89 608 //the below test ensures that the positin and veocity are matched in time
jekain314 4:68268737ff89 609 //not sure the reason for the "250" below
jekain314 4:68268737ff89 610 if ((curVel.msgHeader.GPSTime_msecs+250)/1000 ==
jekain314 4:68268737ff89 611 (curPos.msgHeader.GPSTime_msecs+250)/1000)
dannyman939 2:7301e63832ee 612 {
jekain314 4:68268737ff89 613 // update position and velocity used for calculation
jekain314 4:68268737ff89 614 GPSTimemsecs = curPos.msgHeader.GPSTime_msecs;
jekain314 4:68268737ff89 615 GPSTime = (double)GPSTimemsecs/1000.0;
jekain314 4:68268737ff89 616 velMsg = curVel; //
jekain314 4:68268737ff89 617 posMsg = curPos;
jekain314 4:68268737ff89 618
jekain314 4:68268737ff89 619 /////////////////////////////////////////////////////////////////////////////////////////
jekain314 4:68268737ff89 620 //IMPORTANT: we reset the PPSTimeOffset when we have a matching position and velocity
jekain314 4:68268737ff89 621 PPSTimeOffset = 0;
jekain314 4:68268737ff89 622 /////////////////////////////////////////////////////////////////////////////////////////
dannyman939 2:7301e63832ee 623 }
jekain314 4:68268737ff89 624 }
jekain314 4:68268737ff89 625 lookingForMessages = false;
jekain314 4:68268737ff89 626
jekain314 4:68268737ff89 627 } //end of the GPS message processing
jekain314 4:68268737ff89 628
jekain314 4:68268737ff89 629 //the IMU data record is read from the SPI in the ISR and the IMUDataReady is set true
jekain314 4:68268737ff89 630 //we write the IMU data here
jekain314 4:68268737ff89 631 if (IMUDataReady) //IMUDataReady is true if we have a recent IMU data record
jekain314 4:68268737ff89 632 {
jekain314 4:68268737ff89 633 imuRec.GPSTime = GPSTimemsecs + timeFromPPS.read_us()/1000000.0;
jekain314 4:68268737ff89 634 spi.write((int) HIGH_REGISTER[0]); // next read will return results from HIGH_REGITER[0]
jekain314 4:68268737ff89 635 for (int i=0; i<6; i++) //read the 6 rate and accel variables
jekain314 4:68268737ff89 636 {
jekain314 4:68268737ff89 637 wd.pt[1] = (unsigned short)spi.write((int) LOW_REGISTER[i]) ;
jekain314 4:68268737ff89 638 if (i<5) // dont this on the last because this was pre-called
jekain314 4:68268737ff89 639 { wd.pt[0] = (unsigned short)spi.write((int) HIGH_REGISTER[i+1]); }
jekain314 4:68268737ff89 640 imuRec.dataWord[i] = wd.dataWord; //data word is a signed long
jekain314 4:68268737ff89 641
jekain314 4:68268737ff89 642 }
jekain314 4:68268737ff89 643 IMURecordCounter++;
jekain314 4:68268737ff89 644 //write the IMU data
jekain314 4:68268737ff89 645 //if (recordData && (fpIMU != NULL))
dannyman939 0:c746ee34feae 646 if (recordData && (fpNav != NULL))
dannyman939 0:c746ee34feae 647 {
jekain314 4:68268737ff89 648 IMUbytesWritten += fwrite(imuRec.dataWord, sizeof(IMUREC), 1, fpNav);
dannyman939 0:c746ee34feae 649 }
jekain314 4:68268737ff89 650 IMUClockCounter++;
jekain314 4:68268737ff89 651 IMUDataReady = false;
dannyman939 0:c746ee34feae 652 }
jekain314 4:68268737ff89 653
jekain314 4:68268737ff89 654 if (messageDetected) //some GPS message header has been detected
dannyman939 0:c746ee34feae 655 {
jekain314 4:68268737ff89 656 toPC.printf(" msgTime = %4d \n", timeFromPPS.read_us());
dannyman939 0:c746ee34feae 657 messageDetected = false;
dannyman939 0:c746ee34feae 658 }
jekain314 4:68268737ff89 659
jekain314 4:68268737ff89 660 if (camera1EventDetected) //we have detected a camera trigger event
dannyman939 0:c746ee34feae 661 {
dannyman939 2:7301e63832ee 662 toPC.printf("WMsg TRIGGERTIME %5.3lf\n", camera1Time);
dannyman939 0:c746ee34feae 663 camera1EventDetected = false;
dannyman939 0:c746ee34feae 664 }
jekain314 4:68268737ff89 665
jekain314 4:68268737ff89 666 if (detectedGPS1PPS) //true if we are exactly at a 1PPS event detection
dannyman939 0:c746ee34feae 667 {
jekain314 4:68268737ff89 668 toPC.printf(" PPSCounter=%4d byteCounter=%10d Msgs Received=%3d IMUClock=%4d bytesWritten=%8d\n",
jekain314 4:68268737ff89 669 PPSCounter, savedByteCounter, savedPerSecMessageCounter, savedIMUClockCounter, IMUbytesWritten);
dannyman939 2:7301e63832ee 670 if (recordData && (fpNav != NULL) && (byteCounter > 0))
dannyman939 2:7301e63832ee 671 {
jekain314 4:68268737ff89 672 // we know that we are not reading a GPS message at exactly the 1PPS occurrence
jekain314 4:68268737ff89 673 fwrite(msgBuffer, byteCounter, 1, fpNav); // this writes out a complete set of messages for ths sec
dannyman939 2:7301e63832ee 674 }
dannyman939 0:c746ee34feae 675 detectedGPS1PPS = false;
dannyman939 0:c746ee34feae 676 }
dannyman939 0:c746ee34feae 677 }
jekain314 4:68268737ff89 678
jekain314 4:68268737ff89 679 fclose(fpNav);
dannyman939 0:c746ee34feae 680 toPC.printf(" normal termination \n");
dannyman939 0:c746ee34feae 681 }