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@16:2aea22130ba1, 2013-05-08 (annotated)

Committer:
jekain314
Date:
Wed May 08 06:22:57 2013 +0000
Revision:
16:2aea22130ba1
Parent:
15:f3b92958cf5a
Child:
17:71900da6ced6
incorporated SDShell and verified basic functionality with mbed_test - working, sg-

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