james kain
JEK changes enabling proper recording of IMU/GPS datastrams - 02-APR-2013
Fork of
GPS_Incremental
by 
Dan Matthews
Diff: main.cpp
- Revision:
- 9:b45feb91ba38
- Parent:
- 8:13724ed3f825
--- a/main.cpp Wed Apr 17 13:50:21 2013 +0000
+++ b/main.cpp Fri Apr 19 16:21:27 2013 +0000
@@ -128,7 +128,7 @@
//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";
+ char ch2[] = "serialconfig COM1 115200 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
@@ -165,7 +165,7 @@
//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(115200); 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
};
@@ -184,6 +184,7 @@
int main() {
//these are structures for the to GPS messages that must be parsed
+ MESSAGEHEADER msgHdr;
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
@@ -209,11 +210,26 @@
int totalBytesWritten = 0;
- //while(PPSCounter < 100)
+ /*
+ unsigned long CRC = 0;
+ CRC32Value(CRC, 0xAA);
+ CRC32Value(CRC, 0x44);
+ CRC32Value(CRC, 0x12);
+ CRC32Value(CRC, 0x1C);
+ toPC.printf(" CRC after AA44121C header: %08x \n", CRC);
+ wait(20);
+ */
+
+ int CRCerrors = 0;
+
+ recordData = true;
+ sendRecData = true;
+
+ while(PPSCounter < 300)
///////////////////////////////////////////////////////////////////////////
// top of the while loop
///////////////////////////////////////////////////////////////////////////
- while(1)
+ //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
@@ -225,96 +241,66 @@
////////////////////////////////////////////////////////////////////////////
//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
+ //to disk on the same pass through this 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());
+
+
+ if (completeMessageAvailable && !IMUDataReady)
+ {
+
+ msgHdr = *((MESSAGEHEADER*)&msgBuffer[messageLocation[savedMessageCounter-1]]);
- //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++)
+ GPSTimemsecs = msgHdr.GPSTime_msecs;
+ /////////////////////////////////////////////////////////////////////////////////////////
+ //IMPORTANT: we reset the PPSTimeOffset when we have a matching position and velocity
+ PPSTimeOffset = 0;
+ /////////////////////////////////////////////////////////////////////////////////////////
+
+ unsigned long msgCRC = *((unsigned long*)&msgBuffer[messageLocation[savedMessageCounter-1] + 28 + msgHdr.messageLength]);
+
+ //toPC.printf("tmeFrom1PPS= %5d ID= %3d Ln = %3d computedCRC= %08x msgCRC= %08x msgCntr = %3d CRCerr=%4d\n",
+ // timeFromPPS.read_us(), msgHdr.messageID, msgHdr.messageLength, computedCRC, msgCRC, savedMessageCounter, TotalBadCRCmatches);
+
+ if ( msgCRC != computedCRC)
{
- 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)
+ toPC.printf(" bad CRC match for messageID %3d total CRC errors = %4d \n",
+ msgHdr.messageLength, TotalBadCRCmatches++);
+ }
+
+ if (msgHdr.messageID == 42)
+ {
+ curPos = *((OEM615BESTPOS*)&msgBuffer[messageLocation[savedMessageCounter-1]]);
+ posMsg = curPos;
+
+ if (streamPos)
{
- 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]]);
+ toPC.printf("WMsg BESTPOS %5d %1d %8.5lf %9.5lf %5.3lf %d %d %d\n",
+ curPos.msgHeader.GPSTime_msecs, curPos.solStatus,
+ curPos.latitude, curPos.longitude, curPos.height,
+ curPos.numSV, curPos.numSolSV, curPos.numGGL1);
}
- //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;
+ /////////////////////////////////////////////////////////////////////////////////////////
+ //IMPORTANT: we reset the PPSTimeOffset when we have a matching position and velocity
+ PPSTimeOffset = 0;
+ /////////////////////////////////////////////////////////////////////////////////////////
+ }
+ else if (msgHdr.messageID == 99)
+ {
+ curVel = *((OEM615BESTVEL*)&msgBuffer[ messageLocation[savedMessageCounter-1] ]);
+ velMsg = curVel;
+ }
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);
+ //wait_us(10);
+ int totalMessageLength = 28 + msgHdr.messageLength + 4; //header length + message Length + CRC word size
+ totalBytesWritten += fwrite(&msgBuffer[messageLocation[savedMessageCounter-1]], 1, totalMessageLength, fpNav); // this writes out a complete set of messages for this sec
+ //wait_us(10);
}
-
- } //end of the GPS message processing
-
-//
+
+ completeMessageAvailable = false;
+ }
//the IMU data record is read from the SPI in the ISR and the IMUDataReady is set true
//we write the IMU data here
@@ -322,14 +308,15 @@
{
//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]
+ IMUtimeFrom1PPS = timeFromPPS.read_us();
+ imuRec.GPSTime = GPSTimemsecs + PPSTimeOffset*1000 + IMUtimeFrom1PPS/1000.0;
+ //wait_us(1);
+ spi.write((int) HIGH_REGISTER[0]); //wait_us(1); // 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) ;
+ wd.pt[1] = (unsigned short)spi.write((int) LOW_REGISTER[i]); //wait_us(1) ;
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); }
+ { wd.pt[0] = (unsigned short)spi.write((int) HIGH_REGISTER[i+1]); }
imuRec.dataWord[i] = wd.dataWord; //data word is a signed long
}
IMURecordCounter++;
@@ -338,18 +325,9 @@
{
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
{
toPC.printf("WMsg TRIGGERTIME %5.3lf\n", camera1Time);
@@ -358,13 +336,14 @@
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);
-
+ toPC.printf("\n PPSCounter=%4d byteCounter=%10d Msgs Received=%3d IMUClock=%4d IMURec = %3d bytesWritten=%8d\n",
+ PPSCounter, savedByteCounter, savedPerSecMessageCounter, savedIMUClockCounter, IMURecordCounter, totalBytesWritten);
+
+ IMURecordCounter = 0;
detectedGPS1PPS = false;
}
}
-
+
fclose(fpNav);
toPC.printf(" normal termination \n");
}
\ No newline at end of file