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

PCMessaging.h@6:71da5b99de97, 2013-05-05 (annotated)

Committer:
jekain314
Date:
Sun May 05 14:35:25 2013 +0000
Revision:
6:71da5b99de97
Parent:
5:2ce1be9d4bef
Child:
7:1bec23c68a3c
Child:
9:893481b2e488
the logic for receiving PC messages was revised. Now we look for a 4-byte preamble (WMsg) as a message start and do a reset if we don't find a sequence of these 4 bytes at an assumed start of a message.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jekain314 0:432b860b6ff7 1 //these are defines for the messages that are sent from the PC across the USB
jekain314 0:432b860b6ff7 2 //these messages produce reactions on the mbed
jekain314 6:71da5b99de97 3 const unsigned char POSVEL_MSG =0;
jekain314 6:71da5b99de97 4 const unsigned char FIRE_TRIGGER_MSG =1;
jekain314 6:71da5b99de97 5 const unsigned char STATUS_MSG =2;
jekain314 6:71da5b99de97 6 const unsigned char STARTDATA_MSG =3;
jekain314 6:71da5b99de97 7 const unsigned char STOPDATA_MSG =4;
jekain314 6:71da5b99de97 8 const unsigned char STARTSTREAM_MSG =5;
jekain314 6:71da5b99de97 9 const unsigned char STOPSTREAM_MSG =6;
jekain314 6:71da5b99de97 10 const unsigned char STARTLOGINFO_MSG =7;
jekain314 6:71da5b99de97 11 const unsigned char STOPLOGINFO_MSG =8;
jekain314 0:432b860b6ff7 12
jekain314 0:432b860b6ff7 13 const double DEGREES_TO_RADIANS = acos(-1.0)/180.0;
jekain314 0:432b860b6ff7 14 const double eccen = 0.0818191908426; //WGS84 earth eccentricity
jekain314 0:432b860b6ff7 15 const double earthRadius = 6378137; //WGS84 earthRadius in meters
jekain314 0:432b860b6ff7 16
jekain314 6:71da5b99de97 17 const unsigned short serBuffMax = 18;
jekain314 1:8e24e633f8d8 18 char serBuf[serBuffMax];
jekain314 0:432b860b6ff7 19 int serBufChars=0;
jekain314 0:432b860b6ff7 20
jekain314 0:432b860b6ff7 21 //flags to control the PC command actions
jekain314 0:432b860b6ff7 22 bool sendPosVel =false;
jekain314 0:432b860b6ff7 23 bool sendStatus =false;
jekain314 0:432b860b6ff7 24 bool sendRecData =false;
jekain314 0:432b860b6ff7 25 bool streamPos =false;
jekain314 0:432b860b6ff7 26 bool sendStreamPos =false;
jekain314 0:432b860b6ff7 27 bool logMsgInfo =false;
jekain314 0:432b860b6ff7 28 bool sendLogMsgInfo =false;
jekain314 0:432b860b6ff7 29 bool recordData =false;
jekain314 1:8e24e633f8d8 30 bool fireTrigger =false;
jekain314 0:432b860b6ff7 31
jekain314 0:432b860b6ff7 32
jekain314 1:8e24e633f8d8 33 const unsigned char numMessages = 9; //number of potential messages
jekain314 0:432b860b6ff7 34 char msgList[numMessages][32]; //text array storing the command messages from the PC
jekain314 0:432b860b6ff7 35 char minMessageSize = 11; //minimum size of a text message
jekain314 0:432b860b6ff7 36 unsigned char CR = 0x0d; //ASCII Carriage Return
jekain314 0:432b860b6ff7 37 unsigned char LF = 0x0a; //ASCII Line Feed
jekain314 0:432b860b6ff7 38
jekain314 6:71da5b99de97 39 char preamble[5] = "WMsg";
jekain314 6:71da5b99de97 40 char testPreamble[5];
jekain314 6:71da5b99de97 41
jekain314 0:432b860b6ff7 42 void setUpMessages(void)
jekain314 0:432b860b6ff7 43 {
jekain314 0:432b860b6ff7 44 //set up the ASCII text records that are candidates to be passed from the PC
jekain314 0:432b860b6ff7 45 sprintf(msgList[STATUS_MSG], "WMsg STATUS");
jekain314 0:432b860b6ff7 46 sprintf(msgList[POSVEL_MSG], "WMsg POSVEL");
jekain314 0:432b860b6ff7 47 sprintf(msgList[STARTDATA_MSG], "WMsg RECORDDATA Y");
jekain314 0:432b860b6ff7 48 sprintf(msgList[STOPDATA_MSG], "WMsg RECORDDATA N");
jekain314 0:432b860b6ff7 49 sprintf(msgList[STARTSTREAM_MSG], "WMsg POSSTREAM Y");
jekain314 0:432b860b6ff7 50 sprintf(msgList[STOPSTREAM_MSG], "WMsg POSSTREAM N");
jekain314 0:432b860b6ff7 51 sprintf(msgList[STARTLOGINFO_MSG], "WMsg LOGINFO Y");
jekain314 0:432b860b6ff7 52 sprintf(msgList[STOPLOGINFO_MSG], "WMsg LOGINFO N");
jekain314 1:8e24e633f8d8 53 sprintf(msgList[FIRE_TRIGGER_MSG], "WMsg TRIGGER");
jekain314 0:432b860b6ff7 54 //message length is from 10 to 16 chars
jekain314 0:432b860b6ff7 55
jekain314 6:71da5b99de97 56 // toPC.printf(" finished setting up messages \n");
jekain314 0:432b860b6ff7 57 }
jekain314 0:432b860b6ff7 58
jekain314 0:432b860b6ff7 59 void readFromPC()
jekain314 0:432b860b6ff7 60 {
jekain314 6:71da5b99de97 61 // should this be a while rather than if ??? -- may have multiple bytes in buffer
jekain314 0:432b860b6ff7 62 if (toPC.readable()) //read a PC serial byte and test it for a command
jekain314 0:432b860b6ff7 63 {
jekain314 6:71da5b99de97 64 // Read in next character -- why not read all available??
jekain314 1:8e24e633f8d8 65 unsigned char inChar = 0;
jekain314 6:71da5b99de97 66 inChar = toPC.getc(); //read char from the USB serial link to the PC
jekain314 0:432b860b6ff7 67 //toPC.printf("%02x ",inChar);
jekain314 0:432b860b6ff7 68
jekain314 0:432b860b6ff7 69 //incoming messages will end witb a CR / LF -- disregard these chars
jekain314 0:432b860b6ff7 70 if (inChar == CR || inChar == LF) return; //CR is a 0x0a
jekain314 0:432b860b6ff7 71
jekain314 6:71da5b99de97 72 //all received messages assumed to have a WMsg preamble
jekain314 6:71da5b99de97 73 //if we have read 4 chars, test these for "WMsg", if they are not WMsg, reset the buffer counter
jekain314 6:71da5b99de97 74 //if we receive an occasional bad byte that messes up a message, this will resynch fast to a next message
jekain314 6:71da5b99de97 75 //this will let us miss a message --- but hopefully only one
jekain314 6:71da5b99de97 76
jekain314 6:71da5b99de97 77 // serBuffMax = 18 -- largest serBuffMax is 16 -- but we add one below for the '\0'
jekain314 6:71da5b99de97 78 // if the following occurs we have had a trash byte following a WMsg header
jekain314 6:71da5b99de97 79 if (serBufChars >= (serBuffMax-2)) {toPC.printf("WMsg restart message search\n"); serBufChars = 0; }
jekain314 6:71da5b99de97 80
jekain314 6:71da5b99de97 81 serBuf[serBufChars] = inChar; //set this char in a char array for testing complete message
jekain314 6:71da5b99de97 82
jekain314 6:71da5b99de97 83 testPreamble[serBufChars] = inChar; //char array for testing the preamble
jekain314 5:2ce1be9d4bef 84 serBufChars++;
jekain314 0:432b860b6ff7 85
jekain314 6:71da5b99de97 86 if (serBufChars == 4) //four initial chars detected (0, 1, 2, 3)
jekain314 6:71da5b99de97 87 {
jekain314 6:71da5b99de97 88 testPreamble[4] = '\0'; //form null-terminated string for compare
jekain314 6:71da5b99de97 89 if (strncmp(testPreamble, preamble, 5) != 0) //compare the chars to the WMsg preamble
jekain314 6:71da5b99de97 90 {
jekain314 6:71da5b99de97 91 toPC.printf("WMsg preamble mismatch \n");
jekain314 6:71da5b99de97 92 serBufChars = 0; //if they dont match -- restart the search for a preamble
jekain314 6:71da5b99de97 93 return;
jekain314 6:71da5b99de97 94 }
jekain314 6:71da5b99de97 95 }
jekain314 6:71da5b99de97 96
jekain314 6:71da5b99de97 97 //if we get here, we have found a preamble and we are looking for a complete message
jekain314 0:432b860b6ff7 98 //no need to continue if numChars are less than the shortest candidate message
jekain314 5:2ce1be9d4bef 99 if (serBufChars < minMessageSize) return;
jekain314 0:432b860b6ff7 100
jekain314 0:432b860b6ff7 101 // Append end of string
jekain314 6:71da5b99de97 102 // We always assume we have a complete message string and test for this below
jekain314 0:432b860b6ff7 103 serBuf[serBufChars] = '\0';
jekain314 0:432b860b6ff7 104
jekain314 0:432b860b6ff7 105 bool validMessage = false;
jekain314 0:432b860b6ff7 106
jekain314 0:432b860b6ff7 107 // Check for valid message -- there are numMessages possible messages
jekain314 6:71da5b99de97 108 //this assumes that the message buffer contains an exact message
jekain314 0:432b860b6ff7 109 for (int m = 0; m < numMessages && !validMessage; m++) //check for all messages ...
jekain314 0:432b860b6ff7 110 {
jekain314 0:432b860b6ff7 111 //toPC.printf(" \n\n found chars to test %3d %3d %s \n\n\n ", serBufChars, strlen(msgList[m]), serBuf );
jekain314 0:432b860b6ff7 112
jekain314 0:432b860b6ff7 113 //check the current partial message against ALL possible messages
jekain314 0:432b860b6ff7 114 //messages must match in both strength length and text
jekain314 0:432b860b6ff7 115 if (serBufChars == strlen(msgList[m]) && strncmp(serBuf, msgList[m], serBufChars) == 0 )
jekain314 0:432b860b6ff7 116 {
jekain314 0:432b860b6ff7 117
jekain314 0:432b860b6ff7 118 //toPC.printf( "\n found valid message %s \n\n", serBuf);
jekain314 1:8e24e633f8d8 119 rxMsg = !rxMsg;
jekain314 0:432b860b6ff7 120
jekain314 0:432b860b6ff7 121 validMessage = true;
jekain314 0:432b860b6ff7 122 serBufChars = 0; //reset the character count to reset for next message
jekain314 2:7039be3daf6e 123
jekain314 0:432b860b6ff7 124 //set programmatic action flags based on the message
jekain314 0:432b860b6ff7 125 switch(m)
jekain314 0:432b860b6ff7 126 {
jekain314 0:432b860b6ff7 127 case STATUS_MSG:
jekain314 0:432b860b6ff7 128 sendStatus = true; //send a status message back to PC
jekain314 0:432b860b6ff7 129 break;
jekain314 0:432b860b6ff7 130 case POSVEL_MSG:
jekain314 0:432b860b6ff7 131 sendPosVel = true; //send a posvel message back to PC
jekain314 2:7039be3daf6e 132 timeFromPosVelMessageReceipt.reset(); //start time and close SD card file if too long
jekain314 0:432b860b6ff7 133 break;
jekain314 0:432b860b6ff7 134 case STARTDATA_MSG: //start the data recording to the SD card
jekain314 0:432b860b6ff7 135 recordData = true;
jekain314 0:432b860b6ff7 136 sendRecData = true;
jekain314 0:432b860b6ff7 137 break;
jekain314 0:432b860b6ff7 138 case STOPDATA_MSG: //stop the data recording to the SD card
jekain314 0:432b860b6ff7 139 recordData = false;
jekain314 0:432b860b6ff7 140 sendRecData = true;
jekain314 0:432b860b6ff7 141 break;
jekain314 0:432b860b6ff7 142 case STARTSTREAM_MSG:
jekain314 0:432b860b6ff7 143 case STOPSTREAM_MSG:
jekain314 0:432b860b6ff7 144 streamPos = (m == STARTSTREAM_MSG);
jekain314 0:432b860b6ff7 145 sendStreamPos = true;
jekain314 0:432b860b6ff7 146 break;
jekain314 0:432b860b6ff7 147 case STARTLOGINFO_MSG:
jekain314 0:432b860b6ff7 148 case STOPLOGINFO_MSG:
jekain314 0:432b860b6ff7 149 logMsgInfo = (m == STARTLOGINFO_MSG);
jekain314 0:432b860b6ff7 150 sendLogMsgInfo = true;
jekain314 0:432b860b6ff7 151 break;
jekain314 1:8e24e633f8d8 152 case FIRE_TRIGGER_MSG:
jekain314 1:8e24e633f8d8 153 fireTrigger = true;
jekain314 6:71da5b99de97 154 toPC.printf("MBED received trigger command \n");
jekain314 1:8e24e633f8d8 155 break;
jekain314 0:432b860b6ff7 156 } //end Switch statement
jekain314 0:432b860b6ff7 157 break;
jekain314 0:432b860b6ff7 158 } //end test for a valid message
jekain314 6:71da5b99de97 159
jekain314 0:432b860b6ff7 160 } //end message text loop
jekain314 6:71da5b99de97 161
jekain314 0:432b860b6ff7 162 } //end pc.readable
jekain314 0:432b860b6ff7 163 };
jekain314 0:432b860b6ff7 164
jekain314 0:432b860b6ff7 165 void earthCoefficients(double latitudeRad, double longitudeRad, double height, double &latRateFac, double &lonRateFac)
jekain314 0:432b860b6ff7 166 {
jekain314 0:432b860b6ff7 167 //compute the lat and lon factors for use in the interpolation of the lat and lon between 1 sec epochs
jekain314 0:432b860b6ff7 168 //latRateFac & lonRateFac multiplied by Vnorth or VEast to get latRate and lonRate
jekain314 0:432b860b6ff7 169 //see this document (page 32) www.fas.org/spp/military/program/nav/basicnav.pdf
jekain314 0:432b860b6ff7 170
jekain314 0:432b860b6ff7 171 double eccenSinLat = eccen * sin(latitudeRad);
jekain314 0:432b860b6ff7 172 double temp1 = 1.0 - eccenSinLat*eccenSinLat;
jekain314 0:432b860b6ff7 173 double temp2 = sqrt(temp1);
jekain314 0:432b860b6ff7 174 double r_meridian = earthRadius * ( 1.0 - eccen*eccen)/ (temp1 * temp2);
jekain314 0:432b860b6ff7 175 double r_normal = earthRadius / temp2;
jekain314 0:432b860b6ff7 176
jekain314 0:432b860b6ff7 177 //divide Vnorth by latRateFac to get the latitude rate in deg per sec
jekain314 0:432b860b6ff7 178 latRateFac = (r_meridian + height)* DEGREES_TO_RADIANS;
jekain314 0:432b860b6ff7 179
jekain314 0:432b860b6ff7 180 //divide VEast by lonRateFac to get the longitude rate in deg per sec
jekain314 0:432b860b6ff7 181 lonRateFac = (r_normal + height) * cos(latitudeRad)* DEGREES_TO_RADIANS;
jekain314 0:432b860b6ff7 182 }
jekain314 0:432b860b6ff7 183
jekain314 0:432b860b6ff7 184 void sendPosVelMessageToPC(OEM615BESTPOS posMsg, OEM615BESTVEL velMsg)
jekain314 0:432b860b6ff7 185 {
jekain314 0:432b860b6ff7 186 //north and east velocity from the horizontal speed and heading
jekain314 0:432b860b6ff7 187 //velMsg may not be the "current" message --- but is the one also associated with a position message
jekain314 0:432b860b6ff7 188 double nVel = velMsg.horizontalSpeed*cos(velMsg.heading*DEGREES_TO_RADIANS);
jekain314 0:432b860b6ff7 189 double eVel = velMsg.horizontalSpeed*sin(velMsg.heading*DEGREES_TO_RADIANS);
jekain314 0:432b860b6ff7 190
jekain314 0:432b860b6ff7 191 double latRateFac;
jekain314 0:432b860b6ff7 192 double lonRateFac;
jekain314 0:432b860b6ff7 193
jekain314 0:432b860b6ff7 194 earthCoefficients( posMsg.latitude*DEGREES_TO_RADIANS,
jekain314 0:432b860b6ff7 195 posMsg.longitude*DEGREES_TO_RADIANS,
jekain314 0:432b860b6ff7 196 posMsg.height,
jekain314 0:432b860b6ff7 197 latRateFac, lonRateFac);
jekain314 0:432b860b6ff7 198
jekain314 0:432b860b6ff7 199 //commented calculations are for a spherical earth (Chris's original computation)
jekain314 0:432b860b6ff7 200 // For the 1 second deltas with which we are dealing
jekain314 0:432b860b6ff7 201 // This calculation should be close enough for now
jekain314 0:432b860b6ff7 202 // Approximately 1 nautical mile / minute latitude, 60 minutes/degree, 1852 meters/nautical mile
jekain314 0:432b860b6ff7 203 //double latMetersPerDeg = 60.0*1852.0;
jekain314 0:432b860b6ff7 204 // longitude separation is approximately equal to latitude separation * cosine of latitude
jekain314 0:432b860b6ff7 205 //double lonMetersPerDeg = latMetersPerDeg*cos(posMsg.latitude*DEGREES_TO_RADIANS);
jekain314 0:432b860b6ff7 206
jekain314 0:432b860b6ff7 207 // Elapsed time since last known GPS position
jekain314 0:432b860b6ff7 208 //PPSTimeOffset is a result of possibly missing a prior GPS position message
jekain314 0:432b860b6ff7 209 // timeFromPPS.read() is always the time from the moset recent 1PPS
jekain314 0:432b860b6ff7 210 double elTime = (double)PPSTimeOffset + timeFromPPS.read();
jekain314 0:432b860b6ff7 211
jekain314 0:432b860b6ff7 212 // Position time -- GPSTime is the time of the last valid GPS position message
jekain314 1:8e24e633f8d8 213 double posTime = GPSTimemsecs/1000 + elTime;
jekain314 0:432b860b6ff7 214
jekain314 0:432b860b6ff7 215 //toPC.printf(" elTime = %6.3f PPSimeOffset = %6.3f \n", elTime, PPSTimeOffset);
jekain314 0:432b860b6ff7 216 //toPC.printf(" latRateFac = %10.3f lonRateFac = %10.3f \n", latRateFac, lonRateFac);
jekain314 0:432b860b6ff7 217 //toPC.printf(" latRateFac = %10.3f lonRateFac = %10.3f \n", latMetersPerDeg, lonMetersPerDeg);
jekain314 0:432b860b6ff7 218
jekain314 0:432b860b6ff7 219 // Estimated position based on previous position and velocity
jekain314 0:432b860b6ff7 220 // posMsg is the last time when the BESTVEL and BESTPOS messages had identical times
jekain314 0:432b860b6ff7 221 //double latPos = posMsg.latitude + (nVel/latMetersPerDeg)*elTime;
jekain314 0:432b860b6ff7 222 //double lonPos = posMsg.longitude + (eVel/lonMetersPerDeg)*elTime;
jekain314 0:432b860b6ff7 223
jekain314 0:432b860b6ff7 224 double latPos = posMsg.latitude + (nVel/latRateFac)*elTime;
jekain314 0:432b860b6ff7 225 double lonPos = posMsg.longitude + (eVel/lonRateFac)*elTime;
jekain314 0:432b860b6ff7 226 double htPos = posMsg.height + velMsg.verticalSpeed/(60*1852)*elTime;
jekain314 0:432b860b6ff7 227
jekain314 0:432b860b6ff7 228 char solReady = 'N';
jekain314 0:432b860b6ff7 229 //solStatus
jekain314 0:432b860b6ff7 230 if (posMsg.solStatus == 0) //see description of solution status in OEMV615.h
jekain314 0:432b860b6ff7 231 {
jekain314 0:432b860b6ff7 232 solReady = 'Y';
jekain314 0:432b860b6ff7 233 }
jekain314 0:432b860b6ff7 234
jekain314 0:432b860b6ff7 235 toPC.printf("WMsg POSVEL %5.3lf %1d %c %8.5lf %9.5lf %4.3lf %4.3lf %4.3lf %4.3lf\n",
jekain314 0:432b860b6ff7 236 posTime,
jekain314 0:432b860b6ff7 237 posMsg.numSolSV,
jekain314 0:432b860b6ff7 238 solReady,
jekain314 0:432b860b6ff7 239 latPos,
jekain314 0:432b860b6ff7 240 lonPos,
jekain314 0:432b860b6ff7 241 htPos,
jekain314 0:432b860b6ff7 242 nVel,
jekain314 0:432b860b6ff7 243 eVel,
jekain314 0:432b860b6ff7 244 velMsg.verticalSpeed
jekain314 0:432b860b6ff7 245 );
jekain314 1:8e24e633f8d8 246 txMsg = !txMsg;
jekain314 0:432b860b6ff7 247 }
jekain314 0:432b860b6ff7 248
jekain314 0:432b860b6ff7 249 void processPCmessages(FILE* &fpNav, OEM615BESTPOS posMsg, OEM615BESTVEL velMsg)
jekain314 0:432b860b6ff7 250 {
jekain314 0:432b860b6ff7 251
jekain314 1:8e24e633f8d8 252
jekain314 1:8e24e633f8d8 253
jekain314 0:432b860b6ff7 254 //we should put the below stuff into the readPC() procedure.
jekain314 0:432b860b6ff7 255 //only do these actions in response to a command so no need for the tests w/o an inoput byte from the PC
jekain314 0:432b860b6ff7 256 //perform the activities as a response to the commands
jekain314 0:432b860b6ff7 257 if (sendPosVel) //true if we want to return a position solution
jekain314 0:432b860b6ff7 258 {
jekain314 2:7039be3daf6e 259 //if we are receiving POSVEL requests -- always open the file for storage and store the data
jekain314 2:7039be3daf6e 260 //th file is closed(in main) if we dont receive POSVAL messages for 60 secs
jekain314 2:7039be3daf6e 261 if (fpNav == NULL)
jekain314 2:7039be3daf6e 262 {
jekain314 6:71da5b99de97 263 toPC.printf("WMsg opening the SD card file \n");
jekain314 2:7039be3daf6e 264 fpNav = fopen("/sd/Data/NAV.bin", "wb");
jekain314 2:7039be3daf6e 265 wait_ms(10);
jekain314 2:7039be3daf6e 266 recordData = true;
jekain314 2:7039be3daf6e 267 }
jekain314 0:432b860b6ff7 268 sendPosVel=false; //set to true if a POSVEL is requested from the PC
jekain314 0:432b860b6ff7 269 sendPosVelMessageToPC(posMsg, velMsg);
jekain314 0:432b860b6ff7 270 }
jekain314 0:432b860b6ff7 271
jekain314 0:432b860b6ff7 272 //all this does is assess the GPS convergence -- really available in the above
jekain314 0:432b860b6ff7 273 if (sendStatus) //send the status message to the PC
jekain314 0:432b860b6ff7 274 {
jekain314 1:8e24e633f8d8 275 txMsg = !txMsg;
jekain314 0:432b860b6ff7 276 sendStatus=false;
jekain314 0:432b860b6ff7 277 char solReady = 'N';
jekain314 0:432b860b6ff7 278 //solStatus
jekain314 0:432b860b6ff7 279 if (posMsg.solStatus == 0) //see description of solution status in OEMV615.h
jekain314 0:432b860b6ff7 280 {
jekain314 0:432b860b6ff7 281 solReady = 'Y';
jekain314 0:432b860b6ff7 282 }
jekain314 0:432b860b6ff7 283 toPC.printf("WMsg STATUS %5.3lf %c\n",
jekain314 1:8e24e633f8d8 284 GPSTimemsecs,
jekain314 0:432b860b6ff7 285 solReady
jekain314 0:432b860b6ff7 286 );
jekain314 0:432b860b6ff7 287 }
jekain314 0:432b860b6ff7 288
jekain314 0:432b860b6ff7 289 //should just record ALL the data -- can pick over it in the post-processing
jekain314 0:432b860b6ff7 290 if (sendRecData) //begin to (or stop) record the serial data
jekain314 0:432b860b6ff7 291 {
jekain314 1:8e24e633f8d8 292 sendRecData=false; //reset the flag so we dont continue to come through here
jekain314 0:432b860b6ff7 293 char recChar = 'N';
jekain314 1:8e24e633f8d8 294 //recordData set to true only if we receive a STARTDATA from the PC
jekain314 1:8e24e633f8d8 295 if (recordData) //here we have received a message to record the data
jekain314 0:432b860b6ff7 296 {
jekain314 1:8e24e633f8d8 297 if ((fpNav == NULL)) //if file not opened -- open it
jekain314 0:432b860b6ff7 298 {
jekain314 1:8e24e633f8d8 299 toPC.printf(" opening the SD card file \n");
jekain314 0:432b860b6ff7 300 fpNav = fopen("/sd/Data/NAV.bin", "wb");
jekain314 2:7039be3daf6e 301 wait_ms(10);
jekain314 0:432b860b6ff7 302 }
jekain314 1:8e24e633f8d8 303 if (fpNav != NULL) //if the fie was already opened we will respond to the PC with a Y
jekain314 0:432b860b6ff7 304 {
jekain314 0:432b860b6ff7 305 recChar = 'Y';
jekain314 0:432b860b6ff7 306 }
jekain314 1:8e24e633f8d8 307 else //is the file was not opened we will write a message to the PC
jekain314 0:432b860b6ff7 308 {
jekain314 0:432b860b6ff7 309 toPC.printf(" Could not open the SD card \n\n");
jekain314 0:432b860b6ff7 310 }
jekain314 0:432b860b6ff7 311 }
jekain314 1:8e24e633f8d8 312 //recordData set to false only if we receive a STOPDATA from the PC
jekain314 1:8e24e633f8d8 313 else //here we have received a message to stop the recording
jekain314 0:432b860b6ff7 314 {
jekain314 1:8e24e633f8d8 315 if (fpNav != NULL) //if the file is open -- close it
jekain314 0:432b860b6ff7 316 {
jekain314 0:432b860b6ff7 317 toPC.printf(" closing the SD card file \n\n");
jekain314 1:8e24e633f8d8 318 fflush(fpNav);
jekain314 0:432b860b6ff7 319 fclose(fpNav);
jekain314 1:8e24e633f8d8 320 wait_ms(1000);
jekain314 0:432b860b6ff7 321 //toPC.printf("\n after closing the SD card file \n\n");
jekain314 0:432b860b6ff7 322 fpNav = NULL;
jekain314 0:432b860b6ff7 323 }
jekain314 1:8e24e633f8d8 324 //if stop recording received and the file is already closed -- just do nothing
jekain314 1:8e24e633f8d8 325 recordData = false;
jekain314 1:8e24e633f8d8 326
jekain314 0:432b860b6ff7 327 }
jekain314 0:432b860b6ff7 328 toPC.printf("WMsg RECORDDATA %c\n",
jekain314 0:432b860b6ff7 329 recChar
jekain314 0:432b860b6ff7 330 );
jekain314 0:432b860b6ff7 331 }
jekain314 0:432b860b6ff7 332
jekain314 0:432b860b6ff7 333 if (sendStreamPos) //stream the position data to the PC
jekain314 0:432b860b6ff7 334 {
jekain314 0:432b860b6ff7 335 sendStreamPos=false;
jekain314 0:432b860b6ff7 336 char streamChar = 'N';
jekain314 0:432b860b6ff7 337 if (streamPos)
jekain314 0:432b860b6ff7 338 {
jekain314 0:432b860b6ff7 339 streamChar = 'Y';
jekain314 0:432b860b6ff7 340 }
jekain314 0:432b860b6ff7 341 toPC.printf("WMsg POSSTREAM %c\n",
jekain314 0:432b860b6ff7 342 streamChar
jekain314 0:432b860b6ff7 343 );
jekain314 0:432b860b6ff7 344 }
jekain314 0:432b860b6ff7 345
jekain314 0:432b860b6ff7 346 //not sure this is ever used ..
jekain314 0:432b860b6ff7 347 if (sendLogMsgInfo) //send log info to the PC
jekain314 0:432b860b6ff7 348 {
jekain314 0:432b860b6ff7 349 sendLogMsgInfo=false;
jekain314 0:432b860b6ff7 350 char logChar = 'N';
jekain314 0:432b860b6ff7 351 if (logMsgInfo)
jekain314 0:432b860b6ff7 352 {
jekain314 0:432b860b6ff7 353 logChar = 'Y';
jekain314 0:432b860b6ff7 354 }
jekain314 0:432b860b6ff7 355 toPC.printf("WMsg LOGINFO %c\n",
jekain314 0:432b860b6ff7 356 logChar
jekain314 0:432b860b6ff7 357 );
jekain314 0:432b860b6ff7 358 }
jekain314 0:432b860b6ff7 359
jekain314 0:432b860b6ff7 360
jekain314 0:432b860b6ff7 361 }