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@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 #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 0:432b860b6ff7 53 //ISR for detection of the GPS 1PPS
jekain314 0:432b860b6ff7 54 void detect1PPSISR(void)
jekain314 0:432b860b6ff7 55 {
jekain314 0:432b860b6ff7 56 timeFromPPS.reset(); //reset the 1PPS timer upon 1PPS detection
jekain314 0:432b860b6ff7 57 //note -- the below accounts for time information becoming available AFTER the 1PPS event
jekain314 0:432b860b6ff7 58 PPSTimeOffset++; //counts 1PPS events between matching POS and VEL messages
jekain314 0:432b860b6ff7 59
jekain314 0:432b860b6ff7 60 //covers the case where the PPS ISR interrupts the IMU data ready ISR
jekain314 0:432b860b6ff7 61 if(IMUDataReady) IMUtimeFrom1PPS = 0;
jekain314 0:432b860b6ff7 62
jekain314 0:432b860b6ff7 63 savedByteCounter = byteCounter; //save byteCounter for display in main
jekain314 0:432b860b6ff7 64 savedPerSecMessageCounter = perSecMessageCounter; //save for display un main
jekain314 0:432b860b6ff7 65 byteCounter = 0; //countes bytes between 1PPS events
jekain314 0:432b860b6ff7 66 perSecMessageCounter = 0; //counts GPS messages between 1PPS events
jekain314 0:432b860b6ff7 67
jekain314 0:432b860b6ff7 68 GPS_COM1.rxBufferFlush(); //flush the GPS serial buffer
jekain314 0:432b860b6ff7 69
jekain314 0:432b860b6ff7 70 detectedGPS1PPS = true; //set false in the main when 1PPS actions are complete
jekain314 0:432b860b6ff7 71 PPSCounter++; //count number of 1PPS epoch
jekain314 0:432b860b6ff7 72
jekain314 0:432b860b6ff7 73 ppsled = !ppsled; //blink an LED at the 1PPS
jekain314 0:432b860b6ff7 74 };
jekain314 0:432b860b6ff7 75
jekain314 0:432b860b6ff7 76
jekain314 0:432b860b6ff7 77 ///////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 78 //set up the USB port and the GPS COM port
jekain314 0:432b860b6ff7 79 ///////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 80 FILE *fpNav = NULL; //file pointer to the nav file on the SD card
jekain314 0:432b860b6ff7 81 void setupCOM(void)
jekain314 0:432b860b6ff7 82 {
jekain314 0:432b860b6ff7 83 //system starts with GPS in reset active
jekain314 0:432b860b6ff7 84 //dis-engage the reset to get the GPS started
jekain314 0:432b860b6ff7 85 GPS_Reset=1; wait_ms(1000);
jekain314 0:432b860b6ff7 86
jekain314 0:432b860b6ff7 87 //establish 1PPS ISR
jekain314 0:432b860b6ff7 88 PPSInt.rise(&detect1PPSISR);
jekain314 0:432b860b6ff7 89
jekain314 0:432b860b6ff7 90 //set the USB serial data rate -- rate must be matched at the PC end
jekain314 0:432b860b6ff7 91 //This the serial communication back to the the PC host
jekain314 0:432b860b6ff7 92 //Launch the C++ serial port read program there to catch the ASCII characters
jekain314 0:432b860b6ff7 93 //toPC.baud(9600); wait_ms(100);
jekain314 0:432b860b6ff7 94 toPC.baud(8*115200); wait_ms(100);
jekain314 0:432b860b6ff7 95 //toPC.baud(1*115200); wait_ms(100);
jekain314 6:71da5b99de97 96 //toPC.printf("\n\n released GPS from RESET and set to high baud rate \n\n");
jekain314 0:432b860b6ff7 97
jekain314 0:432b860b6ff7 98 //just wait to launch the GPS receiver
jekain314 3:e1a884e5325a 99 for (int i=0; i<5; i++) { toPC.printf("WMsg start: %3d \n", 4-i); wait(1); }
jekain314 0:432b860b6ff7 100
jekain314 0:432b860b6ff7 101 sd_detect.mode(PullUp);
jekain314 0:432b860b6ff7 102
jekain314 0:432b860b6ff7 103 if (sd_detect == 0)
jekain314 0:432b860b6ff7 104 {
jekain314 0:432b860b6ff7 105 mkdir("/sd/Data", 0777);
jekain314 0:432b860b6ff7 106 }
jekain314 0:432b860b6ff7 107 else
jekain314 0:432b860b6ff7 108 {
jekain314 6:71da5b99de97 109 toPC.printf("WMsg SD card not present \n");
jekain314 0:432b860b6ff7 110 }
jekain314 0:432b860b6ff7 111
jekain314 0:432b860b6ff7 112 //NOTE: we do not assume that the GPS receiver has been pre-set up for the WALDO_FCS functionality
jekain314 0:432b860b6ff7 113 //we alwsys start with a reset and reprogram the receiver with our data out products
jekain314 0:432b860b6ff7 114 // this prevents failure because of a blown NVRAM as occurred for the older camera systems
jekain314 0:432b860b6ff7 115
jekain314 0:432b860b6ff7 116 //this is the COM1 port from th GPS receiuver to the mbed
jekain314 0:432b860b6ff7 117 //it should be always started at 9600 baud because thats the default for the GPS receiver
jekain314 0:432b860b6ff7 118 GPS_COM1.baud(9600); wait_ms(100);
jekain314 0:432b860b6ff7 119
jekain314 0:432b860b6ff7 120 // this ASCII command sets up the serial data from the GPS receiver on its COM1
jekain314 0:432b860b6ff7 121 char ch7[] = "serialconfig COM1 9600 n 8 1 n off";
jekain314 0:432b860b6ff7 122 // this is a software reset and has the same effect as a hardware reset (why do it?)
jekain314 0:432b860b6ff7 123 //char ch0[] = "RESET";
jekain314 0:432b860b6ff7 124 //this command stops all communication from the GPS receiver on COM1
jekain314 0:432b860b6ff7 125 //logs should still be presented on USB port so the Novatel CDU application can be used on the PC in parallel
jekain314 0:432b860b6ff7 126 char ch1[] = "unlogall COM1";
jekain314 0:432b860b6ff7 127 //set the final baud rate that we will use from here
jekain314 0:432b860b6ff7 128 //allowable baud rate values: 9600 115200 230400 460800 921600
jekain314 0:432b860b6ff7 129 //char ch2[] = "serialconfig COM1 921600 n 8 1 n off";
jekain314 0:432b860b6ff7 130 char ch2[] = "serialconfig COM1 115200 n 8 1 n off";
jekain314 0:432b860b6ff7 131
jekain314 0:432b860b6ff7 132 //the below commands request the POS, VEL, RANGE, and TIME messages
jekain314 0:432b860b6ff7 133 char ch3[] = "log COM1 BESTPOSB ONTIME 1"; //messageID = 42
jekain314 0:432b860b6ff7 134 char ch4[] = "log COM1 BESTVelB ONTIME 1"; //messageID = 99
jekain314 0:432b860b6ff7 135 char ch5[] = "log COM1 RANGEB ONTIME 1"; //messageID = 43
jekain314 0:432b860b6ff7 136 //char ch6[] = "log COM1 TIMEB ONTIME 1"; //messageID = 101
jekain314 0:432b860b6ff7 137
jekain314 0:432b860b6ff7 138 //set up VARF to be 100Hz with 1X10^4 * 10^-8 = 10^-4 sec (10usec) pulse width
jekain314 0:432b860b6ff7 139 //in fact, we do not use this output but it is available.
jekain314 0:432b860b6ff7 140 //originally planned to use this to command the IMU data
jekain314 0:432b860b6ff7 141 //char ch8[] = "FREQUENCYOUT enable 10000 1000000";
jekain314 0:432b860b6ff7 142
jekain314 3:e1a884e5325a 143 toPC.printf("WMsg set serial config \n");
jekain314 0:432b860b6ff7 144 sendASCII(ch7, sizeof(ch7)); wait_ms(500);
jekain314 0:432b860b6ff7 145 //sendASCII(ch0, sizeof(ch0));
jekain314 3:e1a884e5325a 146 toPC.printf("WMsg unlog all messages \n");
jekain314 0:432b860b6ff7 147 sendASCII(ch1, sizeof(ch1)); wait_ms(500);
jekain314 3:e1a884e5325a 148 toPC.printf("WMsg log BESTPOSB on COM1 \n");
jekain314 0:432b860b6ff7 149 sendASCII(ch3, sizeof(ch3)); wait_ms(500);
jekain314 3:e1a884e5325a 150 toPC.printf("WMsg log BESTVELB on COM1\n");
jekain314 0:432b860b6ff7 151 sendASCII(ch4, sizeof(ch4)); wait_ms(500);
jekain314 3:e1a884e5325a 152 toPC.printf("WMsg log RANGEB on COM1\n");
jekain314 0:432b860b6ff7 153 sendASCII(ch5, sizeof(ch5)); wait_ms(500);
jekain314 0:432b860b6ff7 154
jekain314 0:432b860b6ff7 155 //toPC.printf("log TIMEB om COM1 \n");
jekain314 0:432b860b6ff7 156 //sendASCII(ch6, sizeof(ch6)); wait_ms(100);
jekain314 0:432b860b6ff7 157
jekain314 0:432b860b6ff7 158 //toPC.printf("Set up th VARF signal \n");
jekain314 0:432b860b6ff7 159 //sendASCII(ch8, sizeof(ch8)); wait_ms(500);
jekain314 0:432b860b6ff7 160
jekain314 0:432b860b6ff7 161 //set GPS output COM1 to the final high rate
jekain314 3:e1a884e5325a 162 toPC.printf("WMsg set the COM ports to high rate\n");
jekain314 0:432b860b6ff7 163 sendASCII(ch2, sizeof(ch2)); wait_ms(500);
jekain314 0:432b860b6ff7 164
jekain314 0:432b860b6ff7 165 //set the mbed COM port to match the GPS transmit rate
jekain314 0:432b860b6ff7 166 //the below baud rate must match the COM1 rate coming from the GPS receiver
jekain314 0:432b860b6ff7 167 GPS_COM1.baud(115200); wait_ms(500); //without this wait -- the baud rate is not detected when using MODSERIAL
jekain314 0:432b860b6ff7 168 //GPS_COM1.baud(921600); wait_ms(500); //without this wait -- the baud rate is not detected when using MODSERIAL
jekain314 0:432b860b6ff7 169 };
jekain314 0:432b860b6ff7 170
jekain314 0:432b860b6ff7 171
jekain314 0:432b860b6ff7 172 /////////////////////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 173 // mbed main to support the Waldo_FCS
jekain314 0:432b860b6ff7 174 /////////////////////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 175 int main() {
jekain314 0:432b860b6ff7 176
jekain314 0:432b860b6ff7 177 //these are structures for the to GPS messages that must be parsed
jekain314 0:432b860b6ff7 178 MESSAGEHEADER msgHdr;
jekain314 0:432b860b6ff7 179 OEM615BESTPOS posMsg; //BESTPOS structure in OEMV615.h that has matching time to a BESTVEL message
jekain314 0:432b860b6ff7 180 OEM615BESTPOS curPos; //BESTPOS structure in OEMV615.h
jekain314 0:432b860b6ff7 181 OEM615BESTVEL velMsg; //BESTVEL structure in OEMV615.h that has matching time to a BESTPOS message
jekain314 0:432b860b6ff7 182 OEM615BESTVEL curVel; //BESTVEL structure in OEMV615.h
jekain314 0:432b860b6ff7 183
jekain314 1:8e24e633f8d8 184
jekain314 1:8e24e633f8d8 185 fire.output(); //set the fire pin as outoput
jekain314 1:8e24e633f8d8 186 pre_fire.output(); //set the pre-fire pin as output
jekain314 1:8e24e633f8d8 187 //fire.mode(OpenDrain);
jekain314 1:8e24e633f8d8 188
jekain314 1:8e24e633f8d8 189 //set up for the first trigger
jekain314 1:8e24e633f8d8 190 fire = 1;
jekain314 1:8e24e633f8d8 191 pre_fire = 1;
jekain314 0:432b860b6ff7 192 //set up the GPS and mbed COM ports
jekain314 0:432b860b6ff7 193 setupCOM();
jekain314 0:432b860b6ff7 194
jekain314 0:432b860b6ff7 195 //set up the ADIS16488
jekain314 0:432b860b6ff7 196 setupADIS();
jekain314 0:432b860b6ff7 197
jekain314 0:432b860b6ff7 198 setUpMessages(); //set up the expected text message commands frm the PC
jekain314 0:432b860b6ff7 199
jekain314 0:432b860b6ff7 200 //set up the interrupt to catch the GPS receiver serial bytes as they are presented
jekain314 0:432b860b6ff7 201 GPS_COM1.attach(&readSerialByte, MODSERIAL::RxIrq);
jekain314 0:432b860b6ff7 202
jekain314 0:432b860b6ff7 203 timeFromPPS.start(); //start the time for measuring time from 1PPS events
jekain314 0:432b860b6ff7 204 timeFromStart.start();
jekain314 0:432b860b6ff7 205
jekain314 3:e1a884e5325a 206 //toPC.printf("\n\n top of the main loop \n\n");
jekain314 0:432b860b6ff7 207
jekain314 0:432b860b6ff7 208 int totalBytesWritten = 0;
jekain314 0:432b860b6ff7 209
jekain314 0:432b860b6ff7 210 /*establish the initial value for the CRC recursion atter the header
jekain314 0:432b860b6ff7 211 unsigned long CRC = 0;
jekain314 0:432b860b6ff7 212 CRC32Value(CRC, 0xAA);
jekain314 0:432b860b6ff7 213 CRC32Value(CRC, 0x44);
jekain314 0:432b860b6ff7 214 CRC32Value(CRC, 0x12);
jekain314 0:432b860b6ff7 215 CRC32Value(CRC, 0x1C);
jekain314 0:432b860b6ff7 216 //this results in a value of: 0x39b0f0e1
jekain314 0:432b860b6ff7 217 toPC.printf(" CRC after AA44121C header: %08x \n", CRC);
jekain314 0:432b860b6ff7 218 wait(20);
jekain314 0:432b860b6ff7 219 */
jekain314 1:8e24e633f8d8 220
jekain314 0:432b860b6ff7 221 recordData = true;
jekain314 0:432b860b6ff7 222 sendRecData = true;
jekain314 0:432b860b6ff7 223
jekain314 0:432b860b6ff7 224 unsigned long cyclesPerSec = 0;
jekain314 0:432b860b6ff7 225 bool GPSdataWritten = false;
jekain314 4:dda2ab5cc643 226 bool finishTrigger = false;
jekain314 4:dda2ab5cc643 227 Timer triggerInterval;
jekain314 0:432b860b6ff7 228
jekain314 1:8e24e633f8d8 229 //while(PPSCounter < 300)
jekain314 0:432b860b6ff7 230 ///////////////////////////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 231 // top of the while loop
jekain314 0:432b860b6ff7 232 ///////////////////////////////////////////////////////////////////////////
jekain314 1:8e24e633f8d8 233 while(1)
jekain314 0:432b860b6ff7 234 {
jekain314 0:432b860b6ff7 235 //read the USB serial data from the PC to check for commands
jekain314 0:432b860b6ff7 236 //in the primary real-time portion, there are no bytes from the PC so this has no impact
jekain314 0:432b860b6ff7 237 readFromPC();
jekain314 2:7039be3daf6e 238
jekain314 6:71da5b99de97 239 /*
jekain314 2:7039be3daf6e 240 //this will close the fpNav file on the SD card if the file is open
jekain314 2:7039be3daf6e 241 //and the elapsed time from PosVel messages is > 60 secs
jekain314 2:7039be3daf6e 242 //this prevents loosing the fpNav file if the PC goes down
jekain314 3:e1a884e5325a 243 if (fpNav && (timeFromPosVelMessageReceipt.read() > 60) )
jekain314 2:7039be3daf6e 244 {
jekain314 2:7039be3daf6e 245 sendRecData = true;
jekain314 2:7039be3daf6e 246 recordData = false;
jekain314 2:7039be3daf6e 247 }
jekain314 6:71da5b99de97 248 */
jekain314 0:432b860b6ff7 249
jekain314 0:432b860b6ff7 250 processPCmessages(fpNav, posMsg, velMsg);
jekain314 0:432b860b6ff7 251
jekain314 5:2ce1be9d4bef 252 if(fireTrigger) //comes from a PC request message
jekain314 1:8e24e633f8d8 253 {
jekain314 1:8e24e633f8d8 254 //pre-fire the trigger using the mid-body 2.5mm connection (T2i)
jekain314 1:8e24e633f8d8 255 pre_fire = 0; //pin30 (midbody of connector) set to zero
jekain314 1:8e24e633f8d8 256 wait(.01f); //wait for 0.25 secs
jekain314 1:8e24e633f8d8 257 fire = 0; //fire the trigger using the tip connection
jekain314 4:dda2ab5cc643 258 //wait(0.10);
jekain314 4:dda2ab5cc643 259 fireTrigger = false;
jekain314 4:dda2ab5cc643 260 finishTrigger = true;
jekain314 4:dda2ab5cc643 261 triggerInterval.start();
jekain314 4:dda2ab5cc643 262 }
jekain314 4:dda2ab5cc643 263
jekain314 6:71da5b99de97 264 //the trigger requires a pulse -- the above portion lowers the signal and the below raises it
jekain314 6:71da5b99de97 265 //this has been tested at 50 msecs and it will not fire at that pulse duration
jekain314 4:dda2ab5cc643 266 if(finishTrigger && triggerInterval.read_ms() > 100)
jekain314 4:dda2ab5cc643 267 {
jekain314 1:8e24e633f8d8 268 fire = 1;
jekain314 1:8e24e633f8d8 269 pre_fire = 1;
jekain314 1:8e24e633f8d8 270 unsigned long triggerTime = GPSTimemsecs + PPSTimeOffset*1000 + timeFromPPS.read_us()/1000.0;
jekain314 1:8e24e633f8d8 271 toPC.printf("WMsg TRIGGERTIME %10d \n", triggerTime);
jekain314 4:dda2ab5cc643 272 triggerInterval.reset();
jekain314 4:dda2ab5cc643 273 finishTrigger = false;
jekain314 1:8e24e633f8d8 274 }
jekain314 1:8e24e633f8d8 275
jekain314 0:432b860b6ff7 276 cyclesPerSec++;
jekain314 0:432b860b6ff7 277
jekain314 0:432b860b6ff7 278 //
jekain314 0:432b860b6ff7 279 ////////////////////////////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 280 //below is where we process the complete stored GPS message for the second
jekain314 0:432b860b6ff7 281 //The !IMUDataReady test prevents the IMU and GPS data from being written
jekain314 0:432b860b6ff7 282 //to disk on the same pass through this loop
jekain314 0:432b860b6ff7 283 /////////////////////////////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 284
jekain314 0:432b860b6ff7 285
jekain314 0:432b860b6ff7 286 if (completeMessageAvailable && !IMUDataReady)
jekain314 0:432b860b6ff7 287 {
jekain314 0:432b860b6ff7 288
jekain314 0:432b860b6ff7 289 msgHdr = *((MESSAGEHEADER*)&msgBuffer[messageLocation[savedMessageCounter-1]]);
jekain314 0:432b860b6ff7 290
jekain314 0:432b860b6ff7 291 //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 292 //GPSTimemsecs increments by 1 for each new GPS measurement -- note that the below computations are actually
jekain314 0:432b860b6ff7 293 //done at the receipt of each GPS message. This is OK because each message has the same time in its header.
jekain314 0:432b860b6ff7 294 //Thus GPSTimemsecs increments by 1 here while GPSTimemsecs effectively decrements by 1.
jekain314 0:432b860b6ff7 295 //This handles IMU time tagging between the 1PPS event and the first receipt of a new GPS time.
jekain314 0:432b860b6ff7 296
jekain314 0:432b860b6ff7 297 GPSTimemsecs = msgHdr.GPSTime_msecs; //time in GPS message header
jekain314 0:432b860b6ff7 298 PPSTimeOffset = 0; //incremented by 1 in the PPS ISR
jekain314 0:432b860b6ff7 299
jekain314 0:432b860b6ff7 300 unsigned long msgCRC = *((unsigned long*)&msgBuffer[messageLocation[savedMessageCounter-1] + 28 + msgHdr.messageLength]);
jekain314 0:432b860b6ff7 301
jekain314 0:432b860b6ff7 302 //toPC.printf("tmeFrom1PPS= %5d ID= %3d Ln = %3d computedCRC= %08x msgCRC= %08x msgCntr = %3d CRCerr=%4d\n",
jekain314 0:432b860b6ff7 303 // timeFromPPS.read_us(), msgHdr.messageID, msgHdr.messageLength, computedCRC, msgCRC, savedMessageCounter, TotalBadCRCmatches);
jekain314 0:432b860b6ff7 304
jekain314 0:432b860b6ff7 305 if ( msgCRC != computedCRC)
jekain314 0:432b860b6ff7 306 {
jekain314 0:432b860b6ff7 307 toPC.printf(" bad CRC match for messageID %3d total CRC errors = %4d \n",
jekain314 0:432b860b6ff7 308 msgHdr.messageLength, TotalBadCRCmatches++);
jekain314 0:432b860b6ff7 309 }
jekain314 0:432b860b6ff7 310
jekain314 0:432b860b6ff7 311 if (msgHdr.messageID == 42)
jekain314 0:432b860b6ff7 312 {
jekain314 0:432b860b6ff7 313 curPos = *((OEM615BESTPOS*)&msgBuffer[messageLocation[savedMessageCounter-1]]);
jekain314 0:432b860b6ff7 314 posMsg = curPos;
jekain314 0:432b860b6ff7 315
jekain314 1:8e24e633f8d8 316 if (streamPos)
jekain314 0:432b860b6ff7 317 {
jekain314 1:8e24e633f8d8 318 toPC.printf("BESTPOS %5d %1d %8.5lf %9.5lf %5.3lf %d %d\n",
jekain314 0:432b860b6ff7 319 curPos.msgHeader.GPSTime_msecs, curPos.solStatus,
jekain314 0:432b860b6ff7 320 curPos.latitude, curPos.longitude, curPos.height,
jekain314 1:8e24e633f8d8 321 curPos.numSV, curPos.numSolSV);
jekain314 0:432b860b6ff7 322 }
jekain314 0:432b860b6ff7 323
jekain314 0:432b860b6ff7 324 }
jekain314 0:432b860b6ff7 325 else if (msgHdr.messageID == 99)
jekain314 0:432b860b6ff7 326 {
jekain314 0:432b860b6ff7 327 curVel = *((OEM615BESTVEL*)&msgBuffer[ messageLocation[savedMessageCounter-1] ]);
jekain314 1:8e24e633f8d8 328 //toPC.printf("BESTVEL vel: horizontalSpeed= %5.3f heading=%5.1f verticalSpeed=%4.2f \n",
jekain314 1:8e24e633f8d8 329 // curVel.horizontalSpeed, curVel.heading, curVel.verticalSpeed );
jekain314 0:432b860b6ff7 330 velMsg = curVel;
jekain314 0:432b860b6ff7 331 }
jekain314 5:2ce1be9d4bef 332
jekain314 0:432b860b6ff7 333 completeMessageAvailable = false;
jekain314 0:432b860b6ff7 334 }
jekain314 0:432b860b6ff7 335
jekain314 1:8e24e633f8d8 336 //write the GPS data to the SD card
jekain314 0:432b860b6ff7 337 if (!IMUDataReady && !GPSdataWritten && timeFromPPS.read_us() > 500000 && recordData && (fpNav != NULL))
jekain314 0:432b860b6ff7 338 {
jekain314 0:432b860b6ff7 339 totalBytesWritten += fwrite(&msgBuffer, 1, byteCounter, fpNav);
jekain314 0:432b860b6ff7 340 GPSdataWritten = true;
jekain314 0:432b860b6ff7 341 }
jekain314 0:432b860b6ff7 342
jekain314 0:432b860b6ff7 343 //the IMU data record is read from the SPI in the ISR and the IMUDataReady is set true
jekain314 0:432b860b6ff7 344 //we write the IMU data here
jekain314 0:432b860b6ff7 345 if (IMUDataReady) //IMUDataReady is true if we have a recent IMU data record
jekain314 0:432b860b6ff7 346 {
jekain314 0:432b860b6ff7 347 //write the IMU data
jekain314 0:432b860b6ff7 348 if ( recordData && (fpNav != NULL) )
jekain314 0:432b860b6ff7 349 {
jekain314 1:8e24e633f8d8 350 //delTimeOfWrite = timeFromStart.read_us();
jekain314 0:432b860b6ff7 351
jekain314 0:432b860b6ff7 352 if (fillingPingWritingPong) fwrite(&imuPong, 1, IMUrecArraySize*sizeof(IMUREC), fpNav);
jekain314 0:432b860b6ff7 353 else fwrite(&imuPing, 1, IMUrecArraySize*sizeof(IMUREC), fpNav);
jekain314 0:432b860b6ff7 354
jekain314 1:8e24e633f8d8 355 //delTimeOfWrite = (unsigned long)((unsigned long)timeFromStart.read_us() - delTimeOfWrite);
jekain314 1:8e24e633f8d8 356 //if (delTimeOfWrite > maxWriteTime) maxWriteTime = delTimeOfWrite;
jekain314 0:432b860b6ff7 357 }
jekain314 0:432b860b6ff7 358 IMURecordCounter+=IMUrecArraySize;
jekain314 0:432b860b6ff7 359 IMUDataReady = false;
jekain314 0:432b860b6ff7 360 }
jekain314 0:432b860b6ff7 361
jekain314 0:432b860b6ff7 362 if (camera1EventDetected) //we have detected a camera trigger event
jekain314 0:432b860b6ff7 363 {
jekain314 0:432b860b6ff7 364 toPC.printf("WMsg TRIGGERTIME %5.3lf\n", camera1Time);
jekain314 0:432b860b6ff7 365 camera1EventDetected = false;
jekain314 0:432b860b6ff7 366 }
jekain314 0:432b860b6ff7 367
jekain314 0:432b860b6ff7 368 if (detectedGPS1PPS) //true if we are exactly at a 1PPS event detection
jekain314 0:432b860b6ff7 369 {
jekain314 1:8e24e633f8d8 370 //toPC.printf("PPS=%4d stat=%1d bytes=%3d GPSMsgs=%2d #write=%8d cycles=%6d\n",
jekain314 1:8e24e633f8d8 371 // PPSCounter, posMsg.solStatus, savedByteCounter, savedPerSecMessageCounter,
jekain314 1:8e24e633f8d8 372 // totalBytesWritten, cyclesPerSec );
jekain314 0:432b860b6ff7 373
jekain314 0:432b860b6ff7 374 cyclesPerSec = 0;
jekain314 0:432b860b6ff7 375 totalBytesWritten = 0;
jekain314 0:432b860b6ff7 376 GPSdataWritten = false;
jekain314 0:432b860b6ff7 377
jekain314 0:432b860b6ff7 378 IMURecordCounter = 0;
jekain314 0:432b860b6ff7 379 detectedGPS1PPS = false;
jekain314 0:432b860b6ff7 380 }
jekain314 0:432b860b6ff7 381 }
jekain314 0:432b860b6ff7 382
jekain314 0:432b860b6ff7 383 fclose(fpNav);
jekain314 0:432b860b6ff7 384 toPC.printf(" normal termination \n");
jekain314 0:432b860b6ff7 385 }