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

ADIS16488.h@9:b45feb91ba38, 2013-04-19 (annotated)

Committer:
jekain314
Date:
Fri Apr 19 16:21:27 2013 +0000
Revision:
9:b45feb91ba38
Parent:
6:2a8486283198 
update to allow better imu gps data collection

Who changed what in which revision?

UserRevisionLine numberNew contents of line
dannyman939 0:c746ee34feae 1
dannyman939 0:c746ee34feae 2
dannyman939 0:c746ee34feae 3
dannyman939 0:c746ee34feae 4 //set up the SPI on pins 5, 6, 7 to read from the ADIS16488
dannyman939 0:c746ee34feae 5 SPI spi(p5, p6, p7); // mosi (DIN), miso (DOUT), sclk (CLK)
dannyman939 0:c746ee34feae 6 DigitalOut ADIS_CS(p8); //Chip Select for the ADIS SPI
dannyman939 0:c746ee34feae 7 InterruptIn ADIS_DR(p28); //DataReady interrupt connected to DIO2 for ADIS
dannyman939 0:c746ee34feae 8 DigitalOut ADIS_RST(p20); //ADIS reset pin
dannyman939 0:c746ee34feae 9
dannyman939 0:c746ee34feae 10 bool IMUDataReady = false;
dannyman939 0:c746ee34feae 11 int IMURecordCounter = 0;
dannyman939 0:c746ee34feae 12 //see Table 9 from page 11 of the ADIS16488 spec
dannyman939 0:c746ee34feae 13 //see fig 15 of spec -- note the low byte of the regsiter word is always zero
dannyman939 0:c746ee34feae 14 // X_DELTANG_LOW, Y_DELTANG_LOW, X_DETANG_LOW, X_DELTVEL_LOW, Y_DELTVEL_LOW, Z_DELTVEL_LOW
dannyman939 0:c746ee34feae 15 unsigned short LOW_REGISTER[] = {0x4000, 0x4400, 0x4800, 0x4C00, 0x5000, 0x5400};
dannyman939 0:c746ee34feae 16 // X_DELTANG_HIGH, Y_DELTANG_HIGH, X_DETANG_HIGH, X_DELTVEL_HIGH, Y_DELTVEL_HIGH, Z_DELTVEL_HIGH
dannyman939 0:c746ee34feae 17 unsigned short HIGH_REGISTER[] = {0x4200, 0x4600, 0x4A00, 0x4E00, 0x5200, 0x5600};
jekain314 9:b45feb91ba38 18
jekain314 9:b45feb91ba38 19 unsigned long IMUtimeFrom1PPS = 0;
dannyman939 0:c746ee34feae 20
dannyman939 0:c746ee34feae 21 union WD { long dataWord; unsigned short pt[2];} wd;
dannyman939 0:c746ee34feae 22
dannyman939 0:c746ee34feae 23 #pragma pack(1)
dannyman939 0:c746ee34feae 24 struct IMUREC
dannyman939 0:c746ee34feae 25 {
dannyman939 0:c746ee34feae 26 unsigned long synch;
jekain314 6:2a8486283198 27 unsigned short msgID;
jekain314 6:2a8486283198 28 unsigned long GPSTime;
dannyman939 0:c746ee34feae 29 long dataWord[6];
jekain314 6:2a8486283198 30 // 4 + 2 + 4 + 24 = 34
dannyman939 0:c746ee34feae 31 } imuRec;
dannyman939 0:c746ee34feae 32
dannyman939 0:c746ee34feae 33 void IMUDataReadyISR(void)
dannyman939 0:c746ee34feae 34 {
jekain314 9:b45feb91ba38 35 //IMUtimeFrom1PPS = timeFromPPS.read_us();
jekain314 9:b45feb91ba38 36 IMUClockCounter++;
jekain314 4:68268737ff89 37 IMUDataReady = true;
dannyman939 0:c746ee34feae 38 return;
dannyman939 0:c746ee34feae 39 }
dannyman939 0:c746ee34feae 40
dannyman939 0:c746ee34feae 41 void setupADIS(void)
dannyman939 0:c746ee34feae 42 {
dannyman939 0:c746ee34feae 43 ADIS_DR.mode(PullDown);
dannyman939 0:c746ee34feae 44 ADIS_RST = 0;
dannyman939 0:c746ee34feae 45
dannyman939 0:c746ee34feae 46 // set the IMU dataReady ISR
dannyman939 0:c746ee34feae 47 ADIS_DR.rise(&IMUDataReadyISR);
dannyman939 0:c746ee34feae 48
dannyman939 0:c746ee34feae 49 // Setup the mbed SPI for 16 bit data, high steady state clock,
dannyman939 0:c746ee34feae 50 // second edge capture, with a 1MHz clock rate
dannyman939 0:c746ee34feae 51 spi.format(16,3);
dannyman939 0:c746ee34feae 52 spi.frequency(1000000);
dannyman939 0:c746ee34feae 53
dannyman939 0:c746ee34feae 54 ADIS_CS = 1; //CS must be set high before it goes low cause the enable is the transition
dannyman939 0:c746ee34feae 55 ADIS_RST = 1;
dannyman939 0:c746ee34feae 56 wait(0.5);
dannyman939 0:c746ee34feae 57 ADIS_CS = 0; //set the Chip select low to enable the IMU SPI access
dannyman939 0:c746ee34feae 58
dannyman939 0:c746ee34feae 59 spi.write((int)0x8003); //change to page 3
dannyman939 0:c746ee34feae 60
dannyman939 0:c746ee34feae 61 //change the DECRATE to 98.4 Hz (this is also in page 3)
dannyman939 0:c746ee34feae 62 //the 8 sets the high bit to 1 indicating a write to a register
dannyman939 0:c746ee34feae 63 // The C abd D designate the registers for the DECRATE of Page 3
jekain314 9:b45feb91ba38 64 // The 0x17 sets the rate to: 2460/(23+1) = 102.5Hz
jekain314 9:b45feb91ba38 65 // The 0x18 sets the rate to: 2460/(24+1) = 98.4Hz
dannyman939 0:c746ee34feae 66 spi.write((int)0x8C17); //write high byte (only page number can be written in a single byte)
dannyman939 0:c746ee34feae 67 spi.write((int)0x8D00); //write the low byte of DECRATE
dannyman939 0:c746ee34feae 68
dannyman939 0:c746ee34feae 69 //to set the GPS VARF clock as the input synch clock for the IMU
dannyman939 0:c746ee34feae 70 //the high byte is CD indicating the synch is enabled on the rising edge of the input clock
dannyman939 0:c746ee34feae 71 //spi.write((int)0x86CD); //write high byte to register 0x06
dannyman939 0:c746ee34feae 72 //spi.write((int)0x8700); //write the low byte of 00 to registed 0x07
dannyman939 0:c746ee34feae 73
dannyman939 0:c746ee34feae 74 //change the page to 0 to get the data
dannyman939 0:c746ee34feae 75 spi.write((int)0x8000); //change to page 0
dannyman939 0:c746ee34feae 76
jekain314 6:2a8486283198 77 toPC.printf(" setting the default values\n");
jekain314 6:2a8486283198 78
dannyman939 0:c746ee34feae 79 //set the IMU synch and message ID
jekain314 6:2a8486283198 80 imuRec.synch = 0x1C1244AA; //same as the GPS synch words
jekain314 6:2a8486283198 81
dannyman939 0:c746ee34feae 82 imuRec.msgID=111; //IMU record ID
jekain314 6:2a8486283198 83
jekain314 6:2a8486283198 84 toPC.printf(" finished setting the default values\n");
jekain314 6:2a8486283198 85
dannyman939 0:c746ee34feae 86 }