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@9:b45feb91ba38, 2013-04-19 (annotated)

Committer:
jekain314
Date:
Fri Apr 19 16:21:27 2013 +0000
Revision:
9:b45feb91ba38
Parent:
8:13724ed3f825 
update to allow better imu gps data collection

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dannyman939 0:c746ee34feae 1 #include "mbed.h"
jekain314 6:2a8486283198 2 #include <string>
dannyman939 0:c746ee34feae 3
dannyman939 0:c746ee34feae 4 //set up the message buffer to be filled by the GPS read process
dannyman939 0:c746ee34feae 5 #define MODSERIAL_DEFAULT_RX_BUFFER_SIZE 256
dannyman939 0:c746ee34feae 6
dannyman939 0:c746ee34feae 7 #include "MODSERIAL.h"
dannyman939 0:c746ee34feae 8 #include "SDFileSystem.h" //imported using the import utility
dannyman939 0:c746ee34feae 9
jekain314 4:68268737ff89 10 //general digital I/O specifications for this application
dannyman939 0:c746ee34feae 11 //SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name);
dannyman939 0:c746ee34feae 12 SDFileSystem sd(p11,p12,p13,p14,"sd");
jekain314 6:2a8486283198 13 DigitalIn sd_detect(p27);
jekain314 6:2a8486283198 14 DigitalOut ppsled(LED1); //blink an LED at the 1PPS
jekain314 6:2a8486283198 15 DigitalOut trig1led(LED2); //blink an LED at the camera trigger detection
jekain314 6:2a8486283198 16 DigitalOut recordDataled(LED4); //set the led when the record is on
jekain314 6:2a8486283198 17 InterruptIn camera1Int(p30); // camera interrupt in
jekain314 6:2a8486283198 18 DigitalOut camera2Pin(p29); // We dont use the second camera interrupt
dannyman939 0:c746ee34feae 19 //USB serial data stream back to the PC
jekain314 6:2a8486283198 20 Serial toPC(USBTX, USBRX); //connect the GPS TX, RX to p9 and p10
dannyman939 0:c746ee34feae 21
jekain314 6:2a8486283198 22 bool detectedGPS1PPS = false; //flag set in the ISR and reset after processing the 1PPS event
jekain314 6:2a8486283198 23 int PPSCounter = 0; //counts the 1PPS occurrences
jekain314 6:2a8486283198 24 int byteCounter = 0; //byte counter -- zeroed at 1PPS
jekain314 4:68268737ff89 25 unsigned short perSecMessageCounter=0; //counts the number of messages in a sec based on the header detection
jekain314 6:2a8486283198 26 bool lookingForMessages = true; //set in the PPS ISR and set false after the message processing in the main
jekain314 6:2a8486283198 27 bool messageDetected = false; //have detected a message header
jekain314 6:2a8486283198 28 unsigned long IMUbytesWritten = 0; //counts the IMU bytes written by the fwrite() to the SD card
jekain314 6:2a8486283198 29 int savedByteCounter = 0; //save ByteCounter at the 1PPS for display in main
jekain314 6:2a8486283198 30 int savedPerSecMessageCounter=0; //saved PerSecMsgCounter for display in main
jekain314 6:2a8486283198 31 int IMUClockCounter = 0; //counter for IMU samples per sec
jekain314 6:2a8486283198 32 int savedIMUClockCounter=0; //saved at the 1PPS for later diaplay from main
jekain314 6:2a8486283198 33 bool camera1EventDetected = false; //flag from ISR indicating a clock event occurred
jekain314 6:2a8486283198 34 double camera1Time; //GPS time of the camera event
jekain314 6:2a8486283198 35 int TotalBadCRCmatches = 0; //counter for the bad CRC matches for all GPS messages
jekain314 4:68268737ff89 36
jekain314 6:2a8486283198 37 //////////////////////////////////////////////////////////////////////
jekain314 6:2a8486283198 38 // the below should become classes
jekain314 6:2a8486283198 39 //////////////////////////////////////////////////////////////////////
jekain314 6:2a8486283198 40 #include "OEM615.h" //OEM615 GPS activities
jekain314 6:2a8486283198 41 #include "ADIS16488.h" //ADIS16488 activities
jekain314 6:2a8486283198 42 #include "PCMessaging.h" //PC messaging activities
dannyman939 0:c746ee34feae 43
dannyman939 0:c746ee34feae 44 //ISR for detection of the GPS 1PPS
dannyman939 0:c746ee34feae 45 void detect1PPSISR(void)
dannyman939 0:c746ee34feae 46 {
jekain314 6:2a8486283198 47 timeFromPPS.reset(); //reset the 1PPS timer upon 1PPS detection
jekain314 4:68268737ff89 48 savedIMUClockCounter = IMUClockCounter; //number of IMU clocks received since last 1PPS
jekain314 6:2a8486283198 49 savedByteCounter = byteCounter; //save byteCounter for display in main
jekain314 6:2a8486283198 50 savedPerSecMessageCounter = perSecMessageCounter; //save for display un main
jekain314 6:2a8486283198 51 IMUClockCounter = 0; //counts per-sec IMU samples (between 1PPS events)
jekain314 6:2a8486283198 52 byteCounter = 0; //countes bytes between 1PPS events
jekain314 6:2a8486283198 53 perSecMessageCounter = 0; //counts GPS messages between 1PPS events
jekain314 6:2a8486283198 54
jekain314 6:2a8486283198 55 GPS_COM1.rxBufferFlush(); //flush the GPS serial buffer
dannyman939 0:c746ee34feae 56
jekain314 6:2a8486283198 57 detectedGPS1PPS = true; //set false in the main when 1PPS actions are complete
jekain314 6:2a8486283198 58 lookingForMessages = true; //set false in main after processing messages
jekain314 6:2a8486283198 59 PPSCounter++; //count number of 1PPS epoch
jekain314 6:2a8486283198 60
jekain314 6:2a8486283198 61 //note -- the below accounts for time information becoming available AFTER the 1PPS event
jekain314 6:2a8486283198 62 PPSTimeOffset++; //counts 1PPS events between matching POS and VEL messages
jekain314 6:2a8486283198 63
jekain314 6:2a8486283198 64 ppsled = !ppsled; //blink an LED at the 1PPS
dannyman939 0:c746ee34feae 65 };
dannyman939 0:c746ee34feae 66
dannyman939 0:c746ee34feae 67 //ISR for detection of the hotshoe trigger 1
dannyman939 1:cbb9104d826f 68 void camera1ISR(void)
dannyman939 0:c746ee34feae 69 {
jekain314 6:2a8486283198 70 //GPSTime is from POS message header
jekain314 6:2a8486283198 71 //PPSTimeOffset is an even sec to account for Time becoming known AFTER the 1PPS
jekain314 6:2a8486283198 72 //PPSTimeOffset + timeFromPPS.read() can be as large as 1.02 secs
jekain314 6:2a8486283198 73 camera1Time = GPSTime + PPSTimeOffset + timeFromPPS.read();
jekain314 6:2a8486283198 74 camera1EventDetected = true; //reset to false in main after processing the image detection
jekain314 4:68268737ff89 75 trig1led = !trig1led; //blink an LEWD at the camera event detection
dannyman939 0:c746ee34feae 76 };
dannyman939 0:c746ee34feae 77
jekain314 6:2a8486283198 78 ///////////////////////////////////////////////////////
jekain314 6:2a8486283198 79 //set up the USB port and the GPS COM port
jekain314 6:2a8486283198 80 ///////////////////////////////////////////////////////
jekain314 6:2a8486283198 81 FILE *fpNav = NULL; //file pointer to the nav file on the SD card
dannyman939 0:c746ee34feae 82 void setupCOM(void)
dannyman939 0:c746ee34feae 83 {
dannyman939 0:c746ee34feae 84 //system starts with GPS in reset active
dannyman939 0:c746ee34feae 85 //dis-engage the reset to get the GPS started
dannyman939 0:c746ee34feae 86 GPS_Reset=1; wait_ms(1000);
dannyman939 0:c746ee34feae 87
dannyman939 0:c746ee34feae 88 //establish 1PPS ISR
dannyman939 0:c746ee34feae 89 PPSInt.rise(&detect1PPSISR);
dannyman939 0:c746ee34feae 90
dannyman939 0:c746ee34feae 91 //set the USB serial data rate -- rate must be matched at the PC end
dannyman939 0:c746ee34feae 92 //This the serial communication back to the the PC host
dannyman939 0:c746ee34feae 93 //Launch the C++ serial port read program there to catch the ASCII characters
dannyman939 0:c746ee34feae 94 //toPC.baud(9600); wait_ms(100);
dannyman939 0:c746ee34feae 95 toPC.baud(8*115200); wait_ms(100);
dannyman939 2:7301e63832ee 96 //toPC.baud(1*115200); wait_ms(100);
dannyman939 0:c746ee34feae 97 toPC.printf("\n\n released GPS from RESET and set to high baud rate \n\n");
dannyman939 0:c746ee34feae 98
jekain314 4:68268737ff89 99 //just wait to launch the GPS receiver
dannyman939 0:c746ee34feae 100 for (int i=0; i<5; i++) { toPC.printf(" to start: %3d \n", 4-i); wait(1); }
dannyman939 0:c746ee34feae 101
jekain314 6:2a8486283198 102 sd_detect.mode(PullUp);
dannyman939 0:c746ee34feae 103
jekain314 6:2a8486283198 104 if (sd_detect == 0)
jekain314 6:2a8486283198 105 {
jekain314 6:2a8486283198 106 mkdir("/sd/Data", 0777);
jekain314 6:2a8486283198 107 }
jekain314 6:2a8486283198 108 else
jekain314 6:2a8486283198 109 {
jekain314 6:2a8486283198 110 toPC.printf(" SD card not present \n");
jekain314 6:2a8486283198 111 }
jekain314 6:2a8486283198 112
jekain314 4:68268737ff89 113 //NOTE: we do not assume that the GPS receiver has been pre-set up for the WALDO_FCS functionality
jekain314 4:68268737ff89 114 //we alwsys start with a reset and reprogram the receiver with our data out products
jekain314 4:68268737ff89 115 // this prevents failure because of a blown NVRAM as occurred for the older camera systems
jekain314 4:68268737ff89 116
dannyman939 0:c746ee34feae 117 //this is the COM1 port from th GPS receiuver to the mbed
dannyman939 0:c746ee34feae 118 //it should be always started at 9600 baud because thats the default for the GPS receiver
dannyman939 0:c746ee34feae 119 GPS_COM1.baud(9600); wait_ms(100);
dannyman939 0:c746ee34feae 120
dannyman939 0:c746ee34feae 121 // this ASCII command sets up the serial data from the GPS receiver on its COM1
dannyman939 0:c746ee34feae 122 char ch7[] = "serialconfig COM1 9600 n 8 1 n off";
jekain314 4:68268737ff89 123 // this is a software reset and has the same effect as a hardware reset (why do it?)
jekain314 4:68268737ff89 124 //char ch0[] = "RESET";
dannyman939 0:c746ee34feae 125 //this command stops all communication from the GPS receiver on COM1
jekain314 4:68268737ff89 126 //logs should still be presented on USB port so the Novatel CDU application can be used on the PC in parallel
dannyman939 0:c746ee34feae 127 char ch1[] = "unlogall COM1";
dannyman939 0:c746ee34feae 128 //set the final baud rate that we will use from here
dannyman939 0:c746ee34feae 129 //allowable baud rate values: 9600 115200 230400 460800 921600
jekain314 4:68268737ff89 130 //char ch2[] = "serialconfig COM1 921600 n 8 1 n off";
jekain314 9:b45feb91ba38 131 char ch2[] = "serialconfig COM1 115200 n 8 1 n off";
dannyman939 0:c746ee34feae 132
dannyman939 0:c746ee34feae 133 //the below commands request the POS, VEL, RANGE, and TIME messages
dannyman939 0:c746ee34feae 134 char ch3[] = "log COM1 BESTPOSB ONTIME 1"; //messageID = 42
dannyman939 0:c746ee34feae 135 char ch4[] = "log COM1 BESTVelB ONTIME 1"; //messageID = 99
dannyman939 0:c746ee34feae 136 char ch5[] = "log COM1 RANGEB ONTIME 1"; //messageID = 43
jekain314 4:68268737ff89 137 //char ch6[] = "log COM1 TIMEB ONTIME 1"; //messageID = 101
dannyman939 0:c746ee34feae 138
dannyman939 0:c746ee34feae 139 //set up VARF to be 100Hz with 1X10^4 * 10^-8 = 10^-4 sec (10usec) pulse width
jekain314 4:68268737ff89 140 //in fact, we do not use this output but it is available.
jekain314 4:68268737ff89 141 //originally planned to use this to command the IMU data
jekain314 6:2a8486283198 142 //char ch8[] = "FREQUENCYOUT enable 10000 1000000";
dannyman939 0:c746ee34feae 143
dannyman939 0:c746ee34feae 144 toPC.printf("set serial config \n");
dannyman939 0:c746ee34feae 145 sendASCII(ch7, sizeof(ch7)); wait_ms(500);
dannyman939 0:c746ee34feae 146 //sendASCII(ch0, sizeof(ch0));
dannyman939 0:c746ee34feae 147 toPC.printf("unlog all messages \n");
dannyman939 0:c746ee34feae 148 sendASCII(ch1, sizeof(ch1)); wait_ms(500);
dannyman939 0:c746ee34feae 149 toPC.printf("log BESTPOSB on COM1 \n");
dannyman939 0:c746ee34feae 150 sendASCII(ch3, sizeof(ch3)); wait_ms(500);
dannyman939 0:c746ee34feae 151 toPC.printf("log BESTVELB on COM1\n");
dannyman939 0:c746ee34feae 152 sendASCII(ch4, sizeof(ch4)); wait_ms(500);
dannyman939 0:c746ee34feae 153 toPC.printf("log RANGEB on COM1\n");
dannyman939 0:c746ee34feae 154 sendASCII(ch5, sizeof(ch5)); wait_ms(500);
dannyman939 0:c746ee34feae 155
dannyman939 0:c746ee34feae 156 //toPC.printf("log TIMEB om COM1 \n");
dannyman939 0:c746ee34feae 157 //sendASCII(ch6, sizeof(ch6)); wait_ms(100);
dannyman939 0:c746ee34feae 158
jekain314 6:2a8486283198 159 //toPC.printf("Set up th VARF signal \n");
jekain314 6:2a8486283198 160 //sendASCII(ch8, sizeof(ch8)); wait_ms(500);
dannyman939 0:c746ee34feae 161
dannyman939 0:c746ee34feae 162 //set GPS output COM1 to the final high rate
dannyman939 0:c746ee34feae 163 toPC.printf("set the COM ports to high rate\n");
dannyman939 0:c746ee34feae 164 sendASCII(ch2, sizeof(ch2)); wait_ms(500);
dannyman939 0:c746ee34feae 165
dannyman939 0:c746ee34feae 166 //set the mbed COM port to match the GPS transmit rate
dannyman939 0:c746ee34feae 167 //the below baud rate must match the COM1 rate coming from the GPS receiver
jekain314 9:b45feb91ba38 168 GPS_COM1.baud(115200); wait_ms(500); //without this wait -- the baud rate is not detected when using MODSERIAL
jekain314 4:68268737ff89 169 //GPS_COM1.baud(921600); wait_ms(500); //without this wait -- the baud rate is not detected when using MODSERIAL
dannyman939 0:c746ee34feae 170 };
dannyman939 0:c746ee34feae 171
dannyman939 0:c746ee34feae 172 void setupTriggers()
dannyman939 0:c746ee34feae 173 {
dannyman939 1:cbb9104d826f 174 camera1Int.mode(PullUp);
dannyman939 1:cbb9104d826f 175 camera2Pin = 1;
dannyman939 0:c746ee34feae 176 //establish Trigger ISR
dannyman939 1:cbb9104d826f 177 camera1Int.rise(&camera1ISR);
dannyman939 0:c746ee34feae 178
dannyman939 3:5913df46f94a 179 };
dannyman939 0:c746ee34feae 180
jekain314 6:2a8486283198 181 /////////////////////////////////////////////////////////////////////
jekain314 6:2a8486283198 182 // mbed main to support the Waldo_FCS
jekain314 6:2a8486283198 183 /////////////////////////////////////////////////////////////////////
jekain314 6:2a8486283198 184 int main() {
jekain314 4:68268737ff89 185
jekain314 6:2a8486283198 186 //these are structures for the to GPS messages that must be parsed
jekain314 9:b45feb91ba38 187 MESSAGEHEADER msgHdr;
jekain314 6:2a8486283198 188 OEM615BESTPOS posMsg; //BESTPOS structure in OEMV615.h that has matching time to a BESTVEL message
jekain314 4:68268737ff89 189 OEM615BESTPOS curPos; //BESTPOS structure in OEMV615.h
jekain314 6:2a8486283198 190 OEM615BESTVEL velMsg; //BESTVEL structure in OEMV615.h that has matching time to a BESTPOS message
jekain314 4:68268737ff89 191 OEM615BESTVEL curVel; //BESTVEL structure in OEMV615.h
dannyman939 0:c746ee34feae 192
dannyman939 2:7301e63832ee 193 //set up the GPS and mbed COM ports
dannyman939 0:c746ee34feae 194 setupCOM();
dannyman939 0:c746ee34feae 195
dannyman939 0:c746ee34feae 196 //set up the ADIS16488
dannyman939 0:c746ee34feae 197 setupADIS();
dannyman939 0:c746ee34feae 198
dannyman939 0:c746ee34feae 199 //setup Hotshoe
dannyman939 0:c746ee34feae 200 setupTriggers();
jekain314 6:2a8486283198 201
jekain314 6:2a8486283198 202 setUpMessages(); //set up the expected text message commands frm the PC
dannyman939 0:c746ee34feae 203
jekain314 4:68268737ff89 204 //set up the interrupt to catch the GPS receiver serial bytes as they are presented
dannyman939 0:c746ee34feae 205 GPS_COM1.attach(&readSerialByte, MODSERIAL::RxIrq);
dannyman939 0:c746ee34feae 206
jekain314 4:68268737ff89 207 timeFromPPS.start(); //start the time for measuring time from 1PPS events
jekain314 6:2a8486283198 208
jekain314 6:2a8486283198 209 toPC.printf("\n\n top of the main loop \n\n");
jekain314 6:2a8486283198 210
jekain314 6:2a8486283198 211 int totalBytesWritten = 0;
jekain314 6:2a8486283198 212
jekain314 9:b45feb91ba38 213 /*
jekain314 9:b45feb91ba38 214 unsigned long CRC = 0;
jekain314 9:b45feb91ba38 215 CRC32Value(CRC, 0xAA);
jekain314 9:b45feb91ba38 216 CRC32Value(CRC, 0x44);
jekain314 9:b45feb91ba38 217 CRC32Value(CRC, 0x12);
jekain314 9:b45feb91ba38 218 CRC32Value(CRC, 0x1C);
jekain314 9:b45feb91ba38 219 toPC.printf(" CRC after AA44121C header: %08x \n", CRC);
jekain314 9:b45feb91ba38 220 wait(20);
jekain314 9:b45feb91ba38 221 */
jekain314 9:b45feb91ba38 222
jekain314 9:b45feb91ba38 223 int CRCerrors = 0;
jekain314 9:b45feb91ba38 224
jekain314 9:b45feb91ba38 225 recordData = true;
jekain314 9:b45feb91ba38 226 sendRecData = true;
jekain314 9:b45feb91ba38 227
jekain314 9:b45feb91ba38 228 while(PPSCounter < 300)
jekain314 4:68268737ff89 229 ///////////////////////////////////////////////////////////////////////////
jekain314 4:68268737ff89 230 // top of the while loop
jekain314 4:68268737ff89 231 ///////////////////////////////////////////////////////////////////////////
jekain314 9:b45feb91ba38 232 //while(1)
dannyman939 0:c746ee34feae 233 {
dannyman939 0:c746ee34feae 234 //read the USB serial data from the PC to check for commands
jekain314 4:68268737ff89 235 //in the primary real-time portion, there are no bytes from the PC so this has no impact
dannyman939 0:c746ee34feae 236 readFromPC();
jekain314 7:2e20e4cf53e6 237
jekain314 6:2a8486283198 238 processPCmessages(fpNav, posMsg, velMsg);
dannyman939 0:c746ee34feae 239
jekain314 6:2a8486283198 240 //
jekain314 4:68268737ff89 241 ////////////////////////////////////////////////////////////////////////////
jekain314 4:68268737ff89 242 //below is where we process the complete stored GPS message for the second
jekain314 4:68268737ff89 243 //The !IMUDataReady test prevents the IMU and GPS data from being written
jekain314 9:b45feb91ba38 244 //to disk on the same pass through this loop
jekain314 4:68268737ff89 245 /////////////////////////////////////////////////////////////////////////////
jekain314 9:b45feb91ba38 246
jekain314 9:b45feb91ba38 247
jekain314 9:b45feb91ba38 248 if (completeMessageAvailable && !IMUDataReady)
jekain314 9:b45feb91ba38 249 {
jekain314 9:b45feb91ba38 250
jekain314 9:b45feb91ba38 251 msgHdr = *((MESSAGEHEADER*)&msgBuffer[messageLocation[savedMessageCounter-1]]);
jekain314 4:68268737ff89 252
jekain314 9:b45feb91ba38 253 GPSTimemsecs = msgHdr.GPSTime_msecs;
jekain314 9:b45feb91ba38 254 /////////////////////////////////////////////////////////////////////////////////////////
jekain314 9:b45feb91ba38 255 //IMPORTANT: we reset the PPSTimeOffset when we have a matching position and velocity
jekain314 9:b45feb91ba38 256 PPSTimeOffset = 0;
jekain314 9:b45feb91ba38 257 /////////////////////////////////////////////////////////////////////////////////////////
jekain314 9:b45feb91ba38 258
jekain314 9:b45feb91ba38 259 unsigned long msgCRC = *((unsigned long*)&msgBuffer[messageLocation[savedMessageCounter-1] + 28 + msgHdr.messageLength]);
jekain314 9:b45feb91ba38 260
jekain314 9:b45feb91ba38 261 //toPC.printf("tmeFrom1PPS= %5d ID= %3d Ln = %3d computedCRC= %08x msgCRC= %08x msgCntr = %3d CRCerr=%4d\n",
jekain314 9:b45feb91ba38 262 // timeFromPPS.read_us(), msgHdr.messageID, msgHdr.messageLength, computedCRC, msgCRC, savedMessageCounter, TotalBadCRCmatches);
jekain314 9:b45feb91ba38 263
jekain314 9:b45feb91ba38 264 if ( msgCRC != computedCRC)
dannyman939 0:c746ee34feae 265 {
jekain314 9:b45feb91ba38 266 toPC.printf(" bad CRC match for messageID %3d total CRC errors = %4d \n",
jekain314 9:b45feb91ba38 267 msgHdr.messageLength, TotalBadCRCmatches++);
jekain314 9:b45feb91ba38 268 }
jekain314 9:b45feb91ba38 269
jekain314 9:b45feb91ba38 270 if (msgHdr.messageID == 42)
jekain314 9:b45feb91ba38 271 {
jekain314 9:b45feb91ba38 272 curPos = *((OEM615BESTPOS*)&msgBuffer[messageLocation[savedMessageCounter-1]]);
jekain314 9:b45feb91ba38 273 posMsg = curPos;
jekain314 9:b45feb91ba38 274
jekain314 9:b45feb91ba38 275 if (streamPos)
dannyman939 2:7301e63832ee 276 {
jekain314 9:b45feb91ba38 277 toPC.printf("WMsg BESTPOS %5d %1d %8.5lf %9.5lf %5.3lf %d %d %d\n",
jekain314 9:b45feb91ba38 278 curPos.msgHeader.GPSTime_msecs, curPos.solStatus,
jekain314 9:b45feb91ba38 279 curPos.latitude, curPos.longitude, curPos.height,
jekain314 9:b45feb91ba38 280 curPos.numSV, curPos.numSolSV, curPos.numGGL1);
jekain314 4:68268737ff89 281 }
jekain314 4:68268737ff89 282
jekain314 9:b45feb91ba38 283 /////////////////////////////////////////////////////////////////////////////////////////
jekain314 9:b45feb91ba38 284 //IMPORTANT: we reset the PPSTimeOffset when we have a matching position and velocity
jekain314 9:b45feb91ba38 285 PPSTimeOffset = 0;
jekain314 9:b45feb91ba38 286 /////////////////////////////////////////////////////////////////////////////////////////
jekain314 9:b45feb91ba38 287 }
jekain314 9:b45feb91ba38 288 else if (msgHdr.messageID == 99)
jekain314 9:b45feb91ba38 289 {
jekain314 9:b45feb91ba38 290 curVel = *((OEM615BESTVEL*)&msgBuffer[ messageLocation[savedMessageCounter-1] ]);
jekain314 9:b45feb91ba38 291 velMsg = curVel;
jekain314 9:b45feb91ba38 292 }
jekain314 4:68268737ff89 293
jekain314 6:2a8486283198 294 if (recordData && (fpNav != NULL) && (byteCounter > 0))
jekain314 6:2a8486283198 295 {
jekain314 9:b45feb91ba38 296 //wait_us(10);
jekain314 9:b45feb91ba38 297 int totalMessageLength = 28 + msgHdr.messageLength + 4; //header length + message Length + CRC word size
jekain314 9:b45feb91ba38 298 totalBytesWritten += fwrite(&msgBuffer[messageLocation[savedMessageCounter-1]], 1, totalMessageLength, fpNav); // this writes out a complete set of messages for this sec
jekain314 9:b45feb91ba38 299 //wait_us(10);
jekain314 6:2a8486283198 300 }
jekain314 9:b45feb91ba38 301
jekain314 9:b45feb91ba38 302 completeMessageAvailable = false;
jekain314 9:b45feb91ba38 303 }
jekain314 6:2a8486283198 304
jekain314 4:68268737ff89 305 //the IMU data record is read from the SPI in the ISR and the IMUDataReady is set true
jekain314 4:68268737ff89 306 //we write the IMU data here
jekain314 4:68268737ff89 307 if (IMUDataReady) //IMUDataReady is true if we have a recent IMU data record
jekain314 4:68268737ff89 308 {
jekain314 6:2a8486283198 309 //GPSTime (secs from midnight) is from the header of the position message
jekain314 6:2a8486283198 310 //PPSTimeOffset accounts for time becoming known ~20msec AFTER the 1PPS
jekain314 9:b45feb91ba38 311 IMUtimeFrom1PPS = timeFromPPS.read_us();
jekain314 9:b45feb91ba38 312 imuRec.GPSTime = GPSTimemsecs + PPSTimeOffset*1000 + IMUtimeFrom1PPS/1000.0;
jekain314 9:b45feb91ba38 313 //wait_us(1);
jekain314 9:b45feb91ba38 314 spi.write((int) HIGH_REGISTER[0]); //wait_us(1); // next read will return results from HIGH_REGITER[0]
jekain314 4:68268737ff89 315 for (int i=0; i<6; i++) //read the 6 rate and accel variables
jekain314 4:68268737ff89 316 {
jekain314 9:b45feb91ba38 317 wd.pt[1] = (unsigned short)spi.write((int) LOW_REGISTER[i]); //wait_us(1) ;
jekain314 4:68268737ff89 318 if (i<5) // dont this on the last because this was pre-called
jekain314 9:b45feb91ba38 319 { wd.pt[0] = (unsigned short)spi.write((int) HIGH_REGISTER[i+1]); }
jekain314 4:68268737ff89 320 imuRec.dataWord[i] = wd.dataWord; //data word is a signed long
jekain314 4:68268737ff89 321 }
jekain314 4:68268737ff89 322 IMURecordCounter++;
jekain314 4:68268737ff89 323 //write the IMU data
dannyman939 0:c746ee34feae 324 if (recordData && (fpNav != NULL))
jekain314 6:2a8486283198 325 {
jekain314 6:2a8486283198 326 totalBytesWritten += fwrite(&imuRec, 1, sizeof(IMUREC), fpNav);
dannyman939 0:c746ee34feae 327 }
jekain314 4:68268737ff89 328 IMUDataReady = false;
dannyman939 0:c746ee34feae 329 }
jekain314 4:68268737ff89 330
jekain314 4:68268737ff89 331 if (camera1EventDetected) //we have detected a camera trigger event
dannyman939 0:c746ee34feae 332 {
dannyman939 2:7301e63832ee 333 toPC.printf("WMsg TRIGGERTIME %5.3lf\n", camera1Time);
dannyman939 0:c746ee34feae 334 camera1EventDetected = false;
dannyman939 0:c746ee34feae 335 }
jekain314 4:68268737ff89 336
jekain314 4:68268737ff89 337 if (detectedGPS1PPS) //true if we are exactly at a 1PPS event detection
dannyman939 0:c746ee34feae 338 {
jekain314 9:b45feb91ba38 339 toPC.printf("\n PPSCounter=%4d byteCounter=%10d Msgs Received=%3d IMUClock=%4d IMURec = %3d bytesWritten=%8d\n",
jekain314 9:b45feb91ba38 340 PPSCounter, savedByteCounter, savedPerSecMessageCounter, savedIMUClockCounter, IMURecordCounter, totalBytesWritten);
jekain314 9:b45feb91ba38 341
jekain314 9:b45feb91ba38 342 IMURecordCounter = 0;
dannyman939 0:c746ee34feae 343 detectedGPS1PPS = false;
dannyman939 0:c746ee34feae 344 }
dannyman939 0:c746ee34feae 345 }
jekain314 9:b45feb91ba38 346
jekain314 4:68268737ff89 347 fclose(fpNav);
dannyman939 0:c746ee34feae 348 toPC.printf(" normal termination \n");
dannyman939 0:c746ee34feae 349 }