james kain / Mbed 2 deprecated Waldo_Embed_V2

this version has all of Jim's fixes for reading the GPS and IMU data synchronously

Dependencies:   MODSERIAL SDFileSystem mbed SDShell CRC CommHandler FP LinkedList LogUtil

main.cpp@18:111025f447d8, 2013-05-10 (annotated)

Committer:
jekain314
Date:
Fri May 10 15:03:39 2013 +0000
Revision:
18:111025f447d8
Parent:
17:71900da6ced6
Child:
19:26c5298a7138
more attempts to orderly shutdown from the sdshell

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jekain314 0:432b860b6ff7 1 #include "mbed.h"
jekain314 0:432b860b6ff7 2 #include <string>
jekain314 0:432b860b6ff7 3
jekain314 0:432b860b6ff7 4 //set up the message buffer to be filled by the GPS read process
jekain314 0:432b860b6ff7 5 #define MODSERIAL_DEFAULT_RX_BUFFER_SIZE 256
jekain314 0:432b860b6ff7 6
jekain314 0:432b860b6ff7 7 #include "MODSERIAL.h"
jekain314 0:432b860b6ff7 8 #include "SDFileSystem.h" //imported using the import utility
jekain314 0:432b860b6ff7 9
jekain314 0:432b860b6ff7 10 //general digital I/O specifications for this application
jekain314 0:432b860b6ff7 11 //SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name);
jekain314 0:432b860b6ff7 12 SDFileSystem sd(p11,p12,p13,p14,"sd");
jekain314 0:432b860b6ff7 13 DigitalIn sd_detect(p27);
jekain314 0:432b860b6ff7 14 DigitalOut ppsled(LED1); //blink an LED at the 1PPS
jekain314 0:432b860b6ff7 15 DigitalOut trig1led(LED2); //blink an LED at the camera trigger detection
jekain314 1:8e24e633f8d8 16 DigitalOut rxMsg(LED3);
jekain314 1:8e24e633f8d8 17 DigitalOut txMsg(LED4);
jekain314 1:8e24e633f8d8 18 //DigitalOut recordDataled(LED4); //set the led when the record is on
jekain314 1:8e24e633f8d8 19
jekain314 1:8e24e633f8d8 20 //hardware trigger mechanization for bulb shutter commands
jekain314 1:8e24e633f8d8 21 DigitalInOut fire(p29); //connected to the tip of 2.5mm connector (T2i)
jekain314 1:8e24e633f8d8 22 DigitalInOut pre_fire(p30); //connected to the mid-connection for 2.5mm connector (T2i)
jekain314 1:8e24e633f8d8 23
jekain314 1:8e24e633f8d8 24
jekain314 0:432b860b6ff7 25 //USB serial data stream back to the PC
jekain314 0:432b860b6ff7 26 Serial toPC(USBTX, USBRX); //connect the GPS TX, RX to p9 and p10
jekain314 0:432b860b6ff7 27
jekain314 0:432b860b6ff7 28 Timer timeFromStart;
jekain314 2:7039be3daf6e 29 Timer timeFromPosVelMessageReceipt;
jekain314 0:432b860b6ff7 30
jekain314 0:432b860b6ff7 31 bool detectedGPS1PPS = false; //flag set in the ISR and reset after processing the 1PPS event
jekain314 0:432b860b6ff7 32 int PPSCounter = 0; //counts the 1PPS occurrences
jekain314 0:432b860b6ff7 33 int byteCounter = 0; //byte counter -- zeroed at 1PPS
jekain314 0:432b860b6ff7 34 unsigned short perSecMessageCounter=0; //counts the number of messages in a sec based on the header detection
jekain314 0:432b860b6ff7 35 bool messageDetected = false; //have detected a message header
jekain314 0:432b860b6ff7 36 unsigned long IMUbytesWritten = 0; //counts the IMU bytes written by the fwrite() to the SD card
jekain314 0:432b860b6ff7 37 int savedByteCounter = 0; //save ByteCounter at the 1PPS for display in main
jekain314 0:432b860b6ff7 38 int savedPerSecMessageCounter=0; //saved PerSecMsgCounter for display in main
jekain314 0:432b860b6ff7 39 int savedIMUClockCounter=0; //saved at the 1PPS for later diaplay from main
jekain314 0:432b860b6ff7 40 bool camera1EventDetected = false; //flag from ISR indicating a clock event occurred
jekain314 0:432b860b6ff7 41 double camera1Time; //GPS time of the camera event
jekain314 0:432b860b6ff7 42 int TotalBadCRCmatches = 0; //counter for the bad CRC matches for all GPS messages
jekain314 0:432b860b6ff7 43
jekain314 0:432b860b6ff7 44 volatile int PPSTimeOffset = 0;
jekain314 0:432b860b6ff7 45
jekain314 0:432b860b6ff7 46 //////////////////////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 47 // the below should become classes
jekain314 0:432b860b6ff7 48 //////////////////////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 49 #include "OEM615.h" //OEM615 GPS activities
jekain314 0:432b860b6ff7 50 #include "ADIS16488.h" //ADIS16488 activities
jekain314 0:432b860b6ff7 51 #include "PCMessaging.h" //PC messaging activities
jekain314 0:432b860b6ff7 52
jekain314 16:2aea22130ba1 53
jekain314 16:2aea22130ba1 54 // stuff to send the SD file to the PC
jekain314 16:2aea22130ba1 55 #include "SDShell.h"
jekain314 16:2aea22130ba1 56 void transferFile()
jekain314 16:2aea22130ba1 57 {
jekain314 16:2aea22130ba1 58 SDShell emulate; // create the object
jekain314 16:2aea22130ba1 59 emulate.init(); // init the params inside
jekain314 16:2aea22130ba1 60 GPS_Reset = 0; // low power PCB mode
jekain314 16:2aea22130ba1 61 ADIS_RST = 0; // same here
jekain314 16:2aea22130ba1 62 wait(0.01f); // just make sure that the hardware has time to stop
jekain314 16:2aea22130ba1 63 trig1led = ppsled = rxMsg = txMsg = 1; // just indicate that we're in here
jekain314 17:71900da6ced6 64 //toPC.attach(NULL); // incase the PC serial was using an interrupt handler for RX
jekain314 16:2aea22130ba1 65 fflush(stdout); // and clear any TX reminants
jekain314 16:2aea22130ba1 66 toPC.printf("Entering Shell Emulator...\n"); // just for fluf
jekain314 16:2aea22130ba1 67 wait(0.1f); // no reason for this either
jekain314 16:2aea22130ba1 68 emulate.shell(toPC, sd, "/sd"); // now the SDShell object will serve SD files via UNIX commands
jekain314 17:71900da6ced6 69
jekain314 17:71900da6ced6 70 toPC.printf(" normal termination of single mission \n");
jekain314 17:71900da6ced6 71 wait(0.1f);
jekain314 16:2aea22130ba1 72 }
jekain314 16:2aea22130ba1 73
jekain314 0:432b860b6ff7 74 //ISR for detection of the GPS 1PPS
jekain314 0:432b860b6ff7 75 void detect1PPSISR(void)
jekain314 0:432b860b6ff7 76 {
jekain314 0:432b860b6ff7 77 timeFromPPS.reset(); //reset the 1PPS timer upon 1PPS detection
jekain314 0:432b860b6ff7 78 //note -- the below accounts for time information becoming available AFTER the 1PPS event
jekain314 0:432b860b6ff7 79 PPSTimeOffset++; //counts 1PPS events between matching POS and VEL messages
jekain314 0:432b860b6ff7 80
jekain314 0:432b860b6ff7 81 //covers the case where the PPS ISR interrupts the IMU data ready ISR
jekain314 0:432b860b6ff7 82 if(IMUDataReady) IMUtimeFrom1PPS = 0;
jekain314 0:432b860b6ff7 83
jekain314 0:432b860b6ff7 84 savedByteCounter = byteCounter; //save byteCounter for display in main
jekain314 0:432b860b6ff7 85 savedPerSecMessageCounter = perSecMessageCounter; //save for display un main
jekain314 0:432b860b6ff7 86 byteCounter = 0; //countes bytes between 1PPS events
jekain314 0:432b860b6ff7 87 perSecMessageCounter = 0; //counts GPS messages between 1PPS events
jekain314 0:432b860b6ff7 88
jekain314 0:432b860b6ff7 89 GPS_COM1.rxBufferFlush(); //flush the GPS serial buffer
jekain314 0:432b860b6ff7 90
jekain314 0:432b860b6ff7 91 detectedGPS1PPS = true; //set false in the main when 1PPS actions are complete
jekain314 0:432b860b6ff7 92 PPSCounter++; //count number of 1PPS epoch
jekain314 0:432b860b6ff7 93
jekain314 0:432b860b6ff7 94 ppsled = !ppsled; //blink an LED at the 1PPS
jekain314 0:432b860b6ff7 95 };
jekain314 0:432b860b6ff7 96
jekain314 0:432b860b6ff7 97
jekain314 0:432b860b6ff7 98 ///////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 99 //set up the USB port and the GPS COM port
jekain314 0:432b860b6ff7 100 ///////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 101 FILE *fpNav = NULL; //file pointer to the nav file on the SD card
jekain314 0:432b860b6ff7 102 void setupCOM(void)
jekain314 0:432b860b6ff7 103 {
jekain314 0:432b860b6ff7 104 //system starts with GPS in reset active
jekain314 0:432b860b6ff7 105 //dis-engage the reset to get the GPS started
jekain314 0:432b860b6ff7 106 GPS_Reset=1; wait_ms(1000);
jekain314 0:432b860b6ff7 107
jekain314 0:432b860b6ff7 108 //establish 1PPS ISR
jekain314 0:432b860b6ff7 109 PPSInt.rise(&detect1PPSISR);
jekain314 0:432b860b6ff7 110
jekain314 0:432b860b6ff7 111 //set the USB serial data rate -- rate must be matched at the PC end
jekain314 0:432b860b6ff7 112 //This the serial communication back to the the PC host
jekain314 0:432b860b6ff7 113 //Launch the C++ serial port read program there to catch the ASCII characters
jekain314 0:432b860b6ff7 114 //toPC.baud(9600); wait_ms(100);
jekain314 0:432b860b6ff7 115 toPC.baud(8*115200); wait_ms(100);
jekain314 0:432b860b6ff7 116 //toPC.baud(1*115200); wait_ms(100);
jekain314 6:71da5b99de97 117 //toPC.printf("\n\n released GPS from RESET and set to high baud rate \n\n");
jekain314 0:432b860b6ff7 118
jekain314 0:432b860b6ff7 119 //just wait to launch the GPS receiver
jekain314 3:e1a884e5325a 120 for (int i=0; i<5; i++) { toPC.printf("WMsg start: %3d \n", 4-i); wait(1); }
jekain314 0:432b860b6ff7 121
jekain314 0:432b860b6ff7 122 sd_detect.mode(PullUp);
jekain314 0:432b860b6ff7 123
jekain314 0:432b860b6ff7 124 if (sd_detect == 0)
jekain314 0:432b860b6ff7 125 {
jekain314 0:432b860b6ff7 126 mkdir("/sd/Data", 0777);
jekain314 0:432b860b6ff7 127 }
jekain314 0:432b860b6ff7 128 else
jekain314 0:432b860b6ff7 129 {
jekain314 6:71da5b99de97 130 toPC.printf("WMsg SD card not present \n");
jekain314 0:432b860b6ff7 131 }
jekain314 0:432b860b6ff7 132
jekain314 0:432b860b6ff7 133 //NOTE: we do not assume that the GPS receiver has been pre-set up for the WALDO_FCS functionality
jekain314 0:432b860b6ff7 134 //we alwsys start with a reset and reprogram the receiver with our data out products
jekain314 0:432b860b6ff7 135 // this prevents failure because of a blown NVRAM as occurred for the older camera systems
jekain314 0:432b860b6ff7 136
jekain314 0:432b860b6ff7 137 //this is the COM1 port from th GPS receiuver to the mbed
jekain314 0:432b860b6ff7 138 //it should be always started at 9600 baud because thats the default for the GPS receiver
jekain314 0:432b860b6ff7 139 GPS_COM1.baud(9600); wait_ms(100);
jekain314 0:432b860b6ff7 140
jekain314 0:432b860b6ff7 141 // this ASCII command sets up the serial data from the GPS receiver on its COM1
jekain314 0:432b860b6ff7 142 char ch7[] = "serialconfig COM1 9600 n 8 1 n off";
jekain314 0:432b860b6ff7 143 // this is a software reset and has the same effect as a hardware reset (why do it?)
jekain314 0:432b860b6ff7 144 //char ch0[] = "RESET";
jekain314 0:432b860b6ff7 145 //this command stops all communication from the GPS receiver on COM1
jekain314 0:432b860b6ff7 146 //logs should still be presented on USB port so the Novatel CDU application can be used on the PC in parallel
jekain314 0:432b860b6ff7 147 char ch1[] = "unlogall COM1";
jekain314 0:432b860b6ff7 148 //set the final baud rate that we will use from here
jekain314 0:432b860b6ff7 149 //allowable baud rate values: 9600 115200 230400 460800 921600
jekain314 0:432b860b6ff7 150 //char ch2[] = "serialconfig COM1 921600 n 8 1 n off";
jekain314 0:432b860b6ff7 151 char ch2[] = "serialconfig COM1 115200 n 8 1 n off";
jekain314 0:432b860b6ff7 152
jekain314 0:432b860b6ff7 153 //the below commands request the POS, VEL, RANGE, and TIME messages
jekain314 0:432b860b6ff7 154 char ch3[] = "log COM1 BESTPOSB ONTIME 1"; //messageID = 42
jekain314 0:432b860b6ff7 155 char ch4[] = "log COM1 BESTVelB ONTIME 1"; //messageID = 99
jekain314 0:432b860b6ff7 156 char ch5[] = "log COM1 RANGEB ONTIME 1"; //messageID = 43
jekain314 0:432b860b6ff7 157 //char ch6[] = "log COM1 TIMEB ONTIME 1"; //messageID = 101
jekain314 0:432b860b6ff7 158
jekain314 0:432b860b6ff7 159 //set up VARF to be 100Hz with 1X10^4 * 10^-8 = 10^-4 sec (10usec) pulse width
jekain314 0:432b860b6ff7 160 //in fact, we do not use this output but it is available.
jekain314 0:432b860b6ff7 161 //originally planned to use this to command the IMU data
jekain314 0:432b860b6ff7 162 //char ch8[] = "FREQUENCYOUT enable 10000 1000000";
jekain314 0:432b860b6ff7 163
jekain314 15:f3b92958cf5a 164 //toPC.printf("WMsg set serial config \n");
jekain314 0:432b860b6ff7 165 sendASCII(ch7, sizeof(ch7)); wait_ms(500);
jekain314 0:432b860b6ff7 166 //sendASCII(ch0, sizeof(ch0));
jekain314 15:f3b92958cf5a 167 //toPC.printf("WMsg unlog all messages \n");
jekain314 0:432b860b6ff7 168 sendASCII(ch1, sizeof(ch1)); wait_ms(500);
jekain314 15:f3b92958cf5a 169 //toPC.printf("WMsg log BESTPOSB on COM1 \n");
jekain314 0:432b860b6ff7 170 sendASCII(ch3, sizeof(ch3)); wait_ms(500);
jekain314 15:f3b92958cf5a 171 //toPC.printf("WMsg log BESTVELB on COM1\n");
jekain314 0:432b860b6ff7 172 sendASCII(ch4, sizeof(ch4)); wait_ms(500);
jekain314 15:f3b92958cf5a 173 //toPC.printf("WMsg log RANGEB on COM1\n");
jekain314 0:432b860b6ff7 174 sendASCII(ch5, sizeof(ch5)); wait_ms(500);
jekain314 0:432b860b6ff7 175
jekain314 0:432b860b6ff7 176 //toPC.printf("log TIMEB om COM1 \n");
jekain314 0:432b860b6ff7 177 //sendASCII(ch6, sizeof(ch6)); wait_ms(100);
jekain314 0:432b860b6ff7 178
jekain314 0:432b860b6ff7 179 //toPC.printf("Set up th VARF signal \n");
jekain314 0:432b860b6ff7 180 //sendASCII(ch8, sizeof(ch8)); wait_ms(500);
jekain314 0:432b860b6ff7 181
jekain314 0:432b860b6ff7 182 //set GPS output COM1 to the final high rate
jekain314 15:f3b92958cf5a 183 //toPC.printf("WMsg set the COM ports to high rate\n");
jekain314 0:432b860b6ff7 184 sendASCII(ch2, sizeof(ch2)); wait_ms(500);
jekain314 0:432b860b6ff7 185
jekain314 0:432b860b6ff7 186 //set the mbed COM port to match the GPS transmit rate
jekain314 0:432b860b6ff7 187 //the below baud rate must match the COM1 rate coming from the GPS receiver
jekain314 0:432b860b6ff7 188 GPS_COM1.baud(115200); wait_ms(500); //without this wait -- the baud rate is not detected when using MODSERIAL
jekain314 0:432b860b6ff7 189 //GPS_COM1.baud(921600); wait_ms(500); //without this wait -- the baud rate is not detected when using MODSERIAL
jekain314 0:432b860b6ff7 190 };
jekain314 0:432b860b6ff7 191
jekain314 0:432b860b6ff7 192
jekain314 0:432b860b6ff7 193 /////////////////////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 194 // mbed main to support the Waldo_FCS
jekain314 0:432b860b6ff7 195 /////////////////////////////////////////////////////////////////////
jekain314 14:009d4671f0e3 196 int main()
jekain314 14:009d4671f0e3 197 {
jekain314 0:432b860b6ff7 198
jekain314 0:432b860b6ff7 199 //these are structures for the to GPS messages that must be parsed
jekain314 0:432b860b6ff7 200 MESSAGEHEADER msgHdr;
jekain314 0:432b860b6ff7 201 OEM615BESTPOS posMsg; //BESTPOS structure in OEMV615.h that has matching time to a BESTVEL message
jekain314 0:432b860b6ff7 202 OEM615BESTPOS curPos; //BESTPOS structure in OEMV615.h
jekain314 0:432b860b6ff7 203 OEM615BESTVEL velMsg; //BESTVEL structure in OEMV615.h that has matching time to a BESTPOS message
jekain314 0:432b860b6ff7 204 OEM615BESTVEL curVel; //BESTVEL structure in OEMV615.h
jekain314 0:432b860b6ff7 205
jekain314 1:8e24e633f8d8 206
jekain314 1:8e24e633f8d8 207 fire.output(); //set the fire pin as outoput
jekain314 1:8e24e633f8d8 208 pre_fire.output(); //set the pre-fire pin as output
jekain314 1:8e24e633f8d8 209 //fire.mode(OpenDrain);
jekain314 1:8e24e633f8d8 210
jekain314 1:8e24e633f8d8 211 //set up for the first trigger
jekain314 1:8e24e633f8d8 212 fire = 1;
jekain314 1:8e24e633f8d8 213 pre_fire = 1;
jekain314 0:432b860b6ff7 214 //set up the GPS and mbed COM ports
jekain314 0:432b860b6ff7 215 setupCOM();
jekain314 0:432b860b6ff7 216
jekain314 0:432b860b6ff7 217 //set up the ADIS16488
jekain314 0:432b860b6ff7 218 setupADIS();
jekain314 0:432b860b6ff7 219
jekain314 0:432b860b6ff7 220 setUpMessages(); //set up the expected text message commands frm the PC
jekain314 0:432b860b6ff7 221
jekain314 0:432b860b6ff7 222 //set up the interrupt to catch the GPS receiver serial bytes as they are presented
jekain314 0:432b860b6ff7 223 GPS_COM1.attach(&readSerialByte, MODSERIAL::RxIrq);
jekain314 0:432b860b6ff7 224
jekain314 0:432b860b6ff7 225 timeFromPPS.start(); //start the time for measuring time from 1PPS events
jekain314 0:432b860b6ff7 226 timeFromStart.start();
jekain314 0:432b860b6ff7 227
jekain314 3:e1a884e5325a 228 //toPC.printf("\n\n top of the main loop \n\n");
jekain314 0:432b860b6ff7 229
jekain314 0:432b860b6ff7 230 int totalBytesWritten = 0;
jekain314 0:432b860b6ff7 231
jekain314 0:432b860b6ff7 232 /*establish the initial value for the CRC recursion atter the header
jekain314 0:432b860b6ff7 233 unsigned long CRC = 0;
jekain314 0:432b860b6ff7 234 CRC32Value(CRC, 0xAA);
jekain314 0:432b860b6ff7 235 CRC32Value(CRC, 0x44);
jekain314 0:432b860b6ff7 236 CRC32Value(CRC, 0x12);
jekain314 0:432b860b6ff7 237 CRC32Value(CRC, 0x1C);
jekain314 0:432b860b6ff7 238 //this results in a value of: 0x39b0f0e1
jekain314 0:432b860b6ff7 239 toPC.printf(" CRC after AA44121C header: %08x \n", CRC);
jekain314 0:432b860b6ff7 240 wait(20);
jekain314 0:432b860b6ff7 241 */
jekain314 1:8e24e633f8d8 242
jekain314 0:432b860b6ff7 243 recordData = true;
jekain314 0:432b860b6ff7 244 sendRecData = true;
jekain314 0:432b860b6ff7 245
jekain314 0:432b860b6ff7 246 unsigned long cyclesPerSec = 0;
jekain314 0:432b860b6ff7 247 bool GPSdataWritten = false;
jekain314 4:dda2ab5cc643 248 bool finishTrigger = false;
jekain314 4:dda2ab5cc643 249 Timer triggerInterval;
jekain314 0:432b860b6ff7 250
jekain314 1:8e24e633f8d8 251 //while(PPSCounter < 300)
jekain314 17:71900da6ced6 252
jekain314 17:71900da6ced6 253 bool newMission = true;
jekain314 17:71900da6ced6 254
jekain314 0:432b860b6ff7 255 ///////////////////////////////////////////////////////////////////////////
jekain314 17:71900da6ced6 256 // top of the mission while loop
jekain314 0:432b860b6ff7 257 ///////////////////////////////////////////////////////////////////////////
jekain314 17:71900da6ced6 258 while(newMission)
jekain314 0:432b860b6ff7 259 {
jekain314 14:009d4671f0e3 260
jekain314 0:432b860b6ff7 261 //read the USB serial data from the PC to check for commands
jekain314 0:432b860b6ff7 262 //in the primary real-time portion, there are no bytes from the PC so this has no impact
jekain314 0:432b860b6ff7 263 readFromPC();
jekain314 2:7039be3daf6e 264
jekain314 14:009d4671f0e3 265 //
jekain314 2:7039be3daf6e 266 //this will close the fpNav file on the SD card if the file is open
jekain314 2:7039be3daf6e 267 //and the elapsed time from PosVel messages is > 60 secs
jekain314 2:7039be3daf6e 268 //this prevents loosing the fpNav file if the PC goes down
jekain314 14:009d4671f0e3 269 if (fpNav && (timeFromPosVelMessageReceipt.read() > 10) )
jekain314 2:7039be3daf6e 270 {
jekain314 2:7039be3daf6e 271 sendRecData = true;
jekain314 2:7039be3daf6e 272 recordData = false;
jekain314 2:7039be3daf6e 273 }
jekain314 14:009d4671f0e3 274 //
jekain314 0:432b860b6ff7 275
jekain314 0:432b860b6ff7 276 processPCmessages(fpNav, posMsg, velMsg);
jekain314 0:432b860b6ff7 277
jekain314 14:009d4671f0e3 278 if (get_file_msg) break; //terminate the while loop when we receive this message from the PC
jekain314 14:009d4671f0e3 279
jekain314 5:2ce1be9d4bef 280 if(fireTrigger) //comes from a PC request message
jekain314 1:8e24e633f8d8 281 {
jekain314 14:009d4671f0e3 282 unsigned long triggerTime = GPSTimemsecs + PPSTimeOffset*1000 + timeFromPPS.read_us()/1000.0;
jekain314 14:009d4671f0e3 283 toPC.printf("WMsg TRIGGERTIME %10d \n", triggerTime);
jekain314 1:8e24e633f8d8 284 //pre-fire the trigger using the mid-body 2.5mm connection (T2i)
jekain314 1:8e24e633f8d8 285 pre_fire = 0; //pin30 (midbody of connector) set to zero
jekain314 1:8e24e633f8d8 286 wait(.01f); //wait for 0.25 secs
jekain314 1:8e24e633f8d8 287 fire = 0; //fire the trigger using the tip connection
jekain314 4:dda2ab5cc643 288 //wait(0.10);
jekain314 4:dda2ab5cc643 289 fireTrigger = false;
jekain314 4:dda2ab5cc643 290 finishTrigger = true;
jekain314 4:dda2ab5cc643 291 triggerInterval.start();
jekain314 4:dda2ab5cc643 292 }
jekain314 4:dda2ab5cc643 293
jekain314 6:71da5b99de97 294 //the trigger requires a pulse -- the above portion lowers the signal and the below raises it
jekain314 6:71da5b99de97 295 //this has been tested at 50 msecs and it will not fire at that pulse duration
jekain314 4:dda2ab5cc643 296 if(finishTrigger && triggerInterval.read_ms() > 100)
jekain314 4:dda2ab5cc643 297 {
jekain314 1:8e24e633f8d8 298 fire = 1;
jekain314 1:8e24e633f8d8 299 pre_fire = 1;
jekain314 4:dda2ab5cc643 300 triggerInterval.reset();
jekain314 4:dda2ab5cc643 301 finishTrigger = false;
jekain314 1:8e24e633f8d8 302 }
jekain314 1:8e24e633f8d8 303
jekain314 0:432b860b6ff7 304 cyclesPerSec++;
jekain314 0:432b860b6ff7 305
jekain314 0:432b860b6ff7 306 //
jekain314 0:432b860b6ff7 307 ////////////////////////////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 308 //below is where we process the complete stored GPS message for the second
jekain314 0:432b860b6ff7 309 //The !IMUDataReady test prevents the IMU and GPS data from being written
jekain314 0:432b860b6ff7 310 //to disk on the same pass through this loop
jekain314 0:432b860b6ff7 311 /////////////////////////////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 312
jekain314 0:432b860b6ff7 313
jekain314 0:432b860b6ff7 314 if (completeMessageAvailable && !IMUDataReady)
jekain314 0:432b860b6ff7 315 {
jekain314 0:432b860b6ff7 316
jekain314 0:432b860b6ff7 317 msgHdr = *((MESSAGEHEADER*)&msgBuffer[messageLocation[savedMessageCounter-1]]);
jekain314 0:432b860b6ff7 318
jekain314 0:432b860b6ff7 319 //these times are used to tag the IMU sample time. PPSTimeOffset increments by 1 exactly at the 1PPS event (in the 1PPS ISR)
jekain314 0:432b860b6ff7 320 //GPSTimemsecs increments by 1 for each new GPS measurement -- note that the below computations are actually
jekain314 0:432b860b6ff7 321 //done at the receipt of each GPS message. This is OK because each message has the same time in its header.
jekain314 0:432b860b6ff7 322 //Thus GPSTimemsecs increments by 1 here while GPSTimemsecs effectively decrements by 1.
jekain314 0:432b860b6ff7 323 //This handles IMU time tagging between the 1PPS event and the first receipt of a new GPS time.
jekain314 0:432b860b6ff7 324
jekain314 0:432b860b6ff7 325 GPSTimemsecs = msgHdr.GPSTime_msecs; //time in GPS message header
jekain314 0:432b860b6ff7 326 PPSTimeOffset = 0; //incremented by 1 in the PPS ISR
jekain314 0:432b860b6ff7 327
jekain314 0:432b860b6ff7 328 unsigned long msgCRC = *((unsigned long*)&msgBuffer[messageLocation[savedMessageCounter-1] + 28 + msgHdr.messageLength]);
jekain314 0:432b860b6ff7 329
jekain314 0:432b860b6ff7 330 //toPC.printf("tmeFrom1PPS= %5d ID= %3d Ln = %3d computedCRC= %08x msgCRC= %08x msgCntr = %3d CRCerr=%4d\n",
jekain314 0:432b860b6ff7 331 // timeFromPPS.read_us(), msgHdr.messageID, msgHdr.messageLength, computedCRC, msgCRC, savedMessageCounter, TotalBadCRCmatches);
jekain314 0:432b860b6ff7 332
jekain314 0:432b860b6ff7 333 if ( msgCRC != computedCRC)
jekain314 0:432b860b6ff7 334 {
jekain314 0:432b860b6ff7 335 toPC.printf(" bad CRC match for messageID %3d total CRC errors = %4d \n",
jekain314 0:432b860b6ff7 336 msgHdr.messageLength, TotalBadCRCmatches++);
jekain314 0:432b860b6ff7 337 }
jekain314 0:432b860b6ff7 338
jekain314 0:432b860b6ff7 339 if (msgHdr.messageID == 42)
jekain314 0:432b860b6ff7 340 {
jekain314 0:432b860b6ff7 341 curPos = *((OEM615BESTPOS*)&msgBuffer[messageLocation[savedMessageCounter-1]]);
jekain314 0:432b860b6ff7 342 posMsg = curPos;
jekain314 0:432b860b6ff7 343
jekain314 1:8e24e633f8d8 344 if (streamPos)
jekain314 0:432b860b6ff7 345 {
jekain314 1:8e24e633f8d8 346 toPC.printf("BESTPOS %5d %1d %8.5lf %9.5lf %5.3lf %d %d\n",
jekain314 0:432b860b6ff7 347 curPos.msgHeader.GPSTime_msecs, curPos.solStatus,
jekain314 0:432b860b6ff7 348 curPos.latitude, curPos.longitude, curPos.height,
jekain314 1:8e24e633f8d8 349 curPos.numSV, curPos.numSolSV);
jekain314 0:432b860b6ff7 350 }
jekain314 0:432b860b6ff7 351
jekain314 0:432b860b6ff7 352 }
jekain314 0:432b860b6ff7 353 else if (msgHdr.messageID == 99)
jekain314 0:432b860b6ff7 354 {
jekain314 0:432b860b6ff7 355 curVel = *((OEM615BESTVEL*)&msgBuffer[ messageLocation[savedMessageCounter-1] ]);
jekain314 1:8e24e633f8d8 356 //toPC.printf("BESTVEL vel: horizontalSpeed= %5.3f heading=%5.1f verticalSpeed=%4.2f \n",
jekain314 1:8e24e633f8d8 357 // curVel.horizontalSpeed, curVel.heading, curVel.verticalSpeed );
jekain314 0:432b860b6ff7 358 velMsg = curVel;
jekain314 0:432b860b6ff7 359 }
jekain314 5:2ce1be9d4bef 360
jekain314 0:432b860b6ff7 361 completeMessageAvailable = false;
jekain314 0:432b860b6ff7 362 }
jekain314 0:432b860b6ff7 363
jekain314 1:8e24e633f8d8 364 //write the GPS data to the SD card
jekain314 0:432b860b6ff7 365 if (!IMUDataReady && !GPSdataWritten && timeFromPPS.read_us() > 500000 && recordData && (fpNav != NULL))
jekain314 0:432b860b6ff7 366 {
jekain314 0:432b860b6ff7 367 totalBytesWritten += fwrite(&msgBuffer, 1, byteCounter, fpNav);
jekain314 0:432b860b6ff7 368 GPSdataWritten = true;
jekain314 0:432b860b6ff7 369 }
jekain314 0:432b860b6ff7 370
jekain314 0:432b860b6ff7 371 //the IMU data record is read from the SPI in the ISR and the IMUDataReady is set true
jekain314 0:432b860b6ff7 372 //we write the IMU data here
jekain314 0:432b860b6ff7 373 if (IMUDataReady) //IMUDataReady is true if we have a recent IMU data record
jekain314 0:432b860b6ff7 374 {
jekain314 0:432b860b6ff7 375 //write the IMU data
jekain314 0:432b860b6ff7 376 if ( recordData && (fpNav != NULL) )
jekain314 0:432b860b6ff7 377 {
jekain314 1:8e24e633f8d8 378 //delTimeOfWrite = timeFromStart.read_us();
jekain314 0:432b860b6ff7 379
jekain314 0:432b860b6ff7 380 if (fillingPingWritingPong) fwrite(&imuPong, 1, IMUrecArraySize*sizeof(IMUREC), fpNav);
jekain314 0:432b860b6ff7 381 else fwrite(&imuPing, 1, IMUrecArraySize*sizeof(IMUREC), fpNav);
jekain314 0:432b860b6ff7 382
jekain314 1:8e24e633f8d8 383 //delTimeOfWrite = (unsigned long)((unsigned long)timeFromStart.read_us() - delTimeOfWrite);
jekain314 1:8e24e633f8d8 384 //if (delTimeOfWrite > maxWriteTime) maxWriteTime = delTimeOfWrite;
jekain314 0:432b860b6ff7 385 }
jekain314 0:432b860b6ff7 386 IMURecordCounter+=IMUrecArraySize;
jekain314 0:432b860b6ff7 387 IMUDataReady = false;
jekain314 0:432b860b6ff7 388 }
jekain314 0:432b860b6ff7 389
jekain314 0:432b860b6ff7 390 if (camera1EventDetected) //we have detected a camera trigger event
jekain314 0:432b860b6ff7 391 {
jekain314 0:432b860b6ff7 392 toPC.printf("WMsg TRIGGERTIME %5.3lf\n", camera1Time);
jekain314 0:432b860b6ff7 393 camera1EventDetected = false;
jekain314 0:432b860b6ff7 394 }
jekain314 0:432b860b6ff7 395
jekain314 0:432b860b6ff7 396 if (detectedGPS1PPS) //true if we are exactly at a 1PPS event detection
jekain314 0:432b860b6ff7 397 {
jekain314 1:8e24e633f8d8 398 //toPC.printf("PPS=%4d stat=%1d bytes=%3d GPSMsgs=%2d #write=%8d cycles=%6d\n",
jekain314 1:8e24e633f8d8 399 // PPSCounter, posMsg.solStatus, savedByteCounter, savedPerSecMessageCounter,
jekain314 1:8e24e633f8d8 400 // totalBytesWritten, cyclesPerSec );
jekain314 0:432b860b6ff7 401
jekain314 0:432b860b6ff7 402 cyclesPerSec = 0;
jekain314 0:432b860b6ff7 403 totalBytesWritten = 0;
jekain314 0:432b860b6ff7 404 GPSdataWritten = false;
jekain314 0:432b860b6ff7 405
jekain314 0:432b860b6ff7 406 IMURecordCounter = 0;
jekain314 0:432b860b6ff7 407 detectedGPS1PPS = false;
jekain314 0:432b860b6ff7 408 }
jekain314 0:432b860b6ff7 409 }
jekain314 0:432b860b6ff7 410
jekain314 17:71900da6ced6 411
jekain314 17:71900da6ced6 412 if (fpNav != NULL) fclose(fpNav); //insurance
jekain314 17:71900da6ced6 413 transferFile();
jekain314 18:111025f447d8 414 rxMsg = txMsg = 0; // just indicate that we're in here
jekain314 17:71900da6ced6 415 // to exit this function the HOST (ie: computer or PC app) must send "exit" otherwise the mbed will act
jekain314 17:71900da6ced6 416 // like a terminal and serve SD file data forever
jekain314 16:2aea22130ba1 417
jekain314 18:111025f447d8 418 //toPC.printf(" normal termination of single mission \n");
jekain314 17:71900da6ced6 419
jekain314 17:71900da6ced6 420 NVIC_SystemReset();
jekain314 14:009d4671f0e3 421
jekain314 14:009d4671f0e3 422 /*
jekain314 14:009d4671f0e3 423 //at this point we have terminated the dat collection and we need to send the stored nav file to the PC
jekain314 14:009d4671f0e3 424 FILE* fpNavStored = fopen("/sd/Data/NAV.bin", "rb");
jekain314 14:009d4671f0e3 425 unsigned char tempArray[512];
jekain314 14:009d4671f0e3 426 toPC.printf(" beginning the file transfer \n");
jekain314 14:009d4671f0e3 427 int i = 0;
jekain314 14:009d4671f0e3 428 while(!feof(fpNavStored) )
jekain314 14:009d4671f0e3 429 {
jekain314 14:009d4671f0e3 430
jekain314 14:009d4671f0e3 431 toPC.printf(" reading the 512 bytes: %3d \n", i);
jekain314 14:009d4671f0e3 432 fread(tempArray, 1, 512, fpNavStored);
jekain314 14:009d4671f0e3 433 toPC.printf(" writing the 512 bytes: %3d \n", i);
jekain314 14:009d4671f0e3 434 fwrite(tempArray, 1, 512, toPC);
jekain314 14:009d4671f0e3 435 i++;
jekain314 14:009d4671f0e3 436 }
jekain314 14:009d4671f0e3 437 */
jekain314 14:009d4671f0e3 438
jekain314 14:009d4671f0e3 439
jekain314 0:432b860b6ff7 440 }