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@27:94a6f0589993, 2013-06-21 (annotated)
- Committer:
- sam_grove
- Date:
- Fri Jun 21 05:48:02 2013 +0000
- Revision:
- 27:94a6f0589993
- Parent:
- 26:c2208b0ff78b
- Child:
- 29:dead10cce6e9
added comments to main.cpp
Who changed what in which revision?
User | Revision | Line number | New 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 | |
sam_grove | 27:94a6f0589993 | 25 | |
sam_grove | 27:94a6f0589993 | 26 | /* Look at https://mbed.org/users/sam_grove/code/BufferedSerial/ */ |
sam_grove | 27:94a6f0589993 | 27 | /* I wrote this and it works quite well. IRQ driven UART with software buffers for TX and RX */ |
sam_grove | 27:94a6f0589993 | 28 | /* Same API as Serial with some enhancements */ |
sam_grove | 27:94a6f0589993 | 29 | /* This will reduce the loop around main time. Right now the problem is that the delay */ |
sam_grove | 27:94a6f0589993 | 30 | /* between events changes based on the UART speed */ |
sam_grove | 27:94a6f0589993 | 31 | |
jekain314 | 0:432b860b6ff7 | 32 | //USB serial data stream back to the PC |
jekain314 | 0:432b860b6ff7 | 33 | Serial toPC(USBTX, USBRX); //connect the GPS TX, RX to p9 and p10 |
jekain314 | 0:432b860b6ff7 | 34 | |
jekain314 | 0:432b860b6ff7 | 35 | Timer timeFromStart; |
jekain314 | 2:7039be3daf6e | 36 | Timer timeFromPosVelMessageReceipt; |
jekain314 | 0:432b860b6ff7 | 37 | |
sam_grove | 27:94a6f0589993 | 38 | /* should make all flags uint32_t for fastest access */ |
sam_grove | 27:94a6f0589993 | 39 | /* encapsulate all this into a structure */ |
sam_grove | 27:94a6f0589993 | 40 | /* or several based on what peripheral they belong to */ |
sam_grove | 27:94a6f0589993 | 41 | |
jekain314 | 0:432b860b6ff7 | 42 | bool detectedGPS1PPS = false; //flag set in the ISR and reset after processing the 1PPS event |
jekain314 | 0:432b860b6ff7 | 43 | int PPSCounter = 0; //counts the 1PPS occurrences |
jekain314 | 0:432b860b6ff7 | 44 | int byteCounter = 0; //byte counter -- zeroed at 1PPS |
jekain314 | 0:432b860b6ff7 | 45 | unsigned short perSecMessageCounter=0; //counts the number of messages in a sec based on the header detection |
jekain314 | 0:432b860b6ff7 | 46 | bool messageDetected = false; //have detected a message header |
jekain314 | 0:432b860b6ff7 | 47 | unsigned long IMUbytesWritten = 0; //counts the IMU bytes written by the fwrite() to the SD card |
jekain314 | 0:432b860b6ff7 | 48 | int savedByteCounter = 0; //save ByteCounter at the 1PPS for display in main |
jekain314 | 0:432b860b6ff7 | 49 | int savedPerSecMessageCounter=0; //saved PerSecMsgCounter for display in main |
jekain314 | 0:432b860b6ff7 | 50 | int savedIMUClockCounter=0; //saved at the 1PPS for later diaplay from main |
jekain314 | 0:432b860b6ff7 | 51 | bool camera1EventDetected = false; //flag from ISR indicating a clock event occurred |
jekain314 | 0:432b860b6ff7 | 52 | double camera1Time; //GPS time of the camera event |
jekain314 | 0:432b860b6ff7 | 53 | int TotalBadCRCmatches = 0; //counter for the bad CRC matches for all GPS messages |
sam_grove | 27:94a6f0589993 | 54 | volatile int PPSTimeOffset = 0; |
jekain314 | 0:432b860b6ff7 | 55 | |
sam_grove | 27:94a6f0589993 | 56 | /* Ive done some of this. Look at: */ |
sam_grove | 27:94a6f0589993 | 57 | /* https://mbed.org/users/sam_grove/code/OEM615/ */ |
sam_grove | 27:94a6f0589993 | 58 | /* https://mbed.org/users/sam_grove/code/ADIS16488/ */ |
sam_grove | 27:94a6f0589993 | 59 | /* a starting point that i'd done back during the hardware tester */ |
jekain314 | 0:432b860b6ff7 | 60 | |
jekain314 | 0:432b860b6ff7 | 61 | ////////////////////////////////////////////////////////////////////// |
jekain314 | 0:432b860b6ff7 | 62 | // the below should become classes |
jekain314 | 0:432b860b6ff7 | 63 | ////////////////////////////////////////////////////////////////////// |
jekain314 | 0:432b860b6ff7 | 64 | #include "OEM615.h" //OEM615 GPS activities |
jekain314 | 0:432b860b6ff7 | 65 | #include "ADIS16488.h" //ADIS16488 activities |
jekain314 | 0:432b860b6ff7 | 66 | #include "PCMessaging.h" //PC messaging activities |
jekain314 | 0:432b860b6ff7 | 67 | |
jekain314 | 16:2aea22130ba1 | 68 | |
sam_grove | 27:94a6f0589993 | 69 | /* This should be called from a PC message handler when found. */ |
sam_grove | 27:94a6f0589993 | 70 | |
jekain314 | 16:2aea22130ba1 | 71 | // stuff to send the SD file to the PC |
jekain314 | 16:2aea22130ba1 | 72 | #include "SDShell.h" |
jekain314 | 16:2aea22130ba1 | 73 | void transferFile() |
jekain314 | 16:2aea22130ba1 | 74 | { |
jekain314 | 16:2aea22130ba1 | 75 | SDShell emulate; // create the object |
jekain314 | 16:2aea22130ba1 | 76 | emulate.init(); // init the params inside |
jekain314 | 16:2aea22130ba1 | 77 | GPS_Reset = 0; // low power PCB mode |
jekain314 | 16:2aea22130ba1 | 78 | ADIS_RST = 0; // same here |
jekain314 | 16:2aea22130ba1 | 79 | wait(0.01f); // just make sure that the hardware has time to stop |
jekain314 | 16:2aea22130ba1 | 80 | fflush(stdout); // and clear any TX reminants |
jekain314 | 16:2aea22130ba1 | 81 | toPC.printf("Entering Shell Emulator...\n"); // just for fluf |
jekain314 | 16:2aea22130ba1 | 82 | wait(0.1f); // no reason for this either |
jekain314 | 16:2aea22130ba1 | 83 | emulate.shell(toPC, sd, "/sd"); // now the SDShell object will serve SD files via UNIX commands |
jekain314 | 16:2aea22130ba1 | 84 | } |
jekain314 | 16:2aea22130ba1 | 85 | |
sam_grove | 27:94a6f0589993 | 86 | /* Move into the GPS class */ |
sam_grove | 27:94a6f0589993 | 87 | |
jekain314 | 0:432b860b6ff7 | 88 | //ISR for detection of the GPS 1PPS |
jekain314 | 0:432b860b6ff7 | 89 | void detect1PPSISR(void) |
jekain314 | 0:432b860b6ff7 | 90 | { |
jekain314 | 0:432b860b6ff7 | 91 | timeFromPPS.reset(); //reset the 1PPS timer upon 1PPS detection |
jekain314 | 0:432b860b6ff7 | 92 | //note -- the below accounts for time information becoming available AFTER the 1PPS event |
jekain314 | 0:432b860b6ff7 | 93 | PPSTimeOffset++; //counts 1PPS events between matching POS and VEL messages |
jekain314 | 0:432b860b6ff7 | 94 | |
jekain314 | 0:432b860b6ff7 | 95 | //covers the case where the PPS ISR interrupts the IMU data ready ISR |
jekain314 | 0:432b860b6ff7 | 96 | if(IMUDataReady) IMUtimeFrom1PPS = 0; |
jekain314 | 0:432b860b6ff7 | 97 | |
jekain314 | 0:432b860b6ff7 | 98 | savedByteCounter = byteCounter; //save byteCounter for display in main |
jekain314 | 0:432b860b6ff7 | 99 | savedPerSecMessageCounter = perSecMessageCounter; //save for display un main |
jekain314 | 0:432b860b6ff7 | 100 | byteCounter = 0; //countes bytes between 1PPS events |
jekain314 | 0:432b860b6ff7 | 101 | perSecMessageCounter = 0; //counts GPS messages between 1PPS events |
jekain314 | 0:432b860b6ff7 | 102 | |
jekain314 | 0:432b860b6ff7 | 103 | GPS_COM1.rxBufferFlush(); //flush the GPS serial buffer |
jekain314 | 0:432b860b6ff7 | 104 | |
jekain314 | 0:432b860b6ff7 | 105 | detectedGPS1PPS = true; //set false in the main when 1PPS actions are complete |
jekain314 | 0:432b860b6ff7 | 106 | PPSCounter++; //count number of 1PPS epoch |
jekain314 | 0:432b860b6ff7 | 107 | |
jekain314 | 0:432b860b6ff7 | 108 | ppsled = !ppsled; //blink an LED at the 1PPS |
jekain314 | 0:432b860b6ff7 | 109 | }; |
jekain314 | 0:432b860b6ff7 | 110 | |
jekain314 | 0:432b860b6ff7 | 111 | |
sam_grove | 27:94a6f0589993 | 112 | |
sam_grove | 27:94a6f0589993 | 113 | /* Break up into GPS class and PC message class */ |
sam_grove | 27:94a6f0589993 | 114 | /* GPS boot up messages should be checking for a response rather than waiting a predefined time */ |
sam_grove | 27:94a6f0589993 | 115 | /* SD card stuff should also be a seperate class. Allow for dynamic directory and file awareness */ |
jekain314 | 0:432b860b6ff7 | 116 | /////////////////////////////////////////////////////// |
jekain314 | 0:432b860b6ff7 | 117 | //set up the USB port and the GPS COM port |
jekain314 | 0:432b860b6ff7 | 118 | /////////////////////////////////////////////////////// |
jekain314 | 0:432b860b6ff7 | 119 | FILE *fpNav = NULL; //file pointer to the nav file on the SD card |
jekain314 | 0:432b860b6ff7 | 120 | void setupCOM(void) |
jekain314 | 0:432b860b6ff7 | 121 | { |
jekain314 | 0:432b860b6ff7 | 122 | //system starts with GPS in reset active |
jekain314 | 0:432b860b6ff7 | 123 | //dis-engage the reset to get the GPS started |
jekain314 | 0:432b860b6ff7 | 124 | GPS_Reset=1; wait_ms(1000); |
jekain314 | 0:432b860b6ff7 | 125 | |
jekain314 | 0:432b860b6ff7 | 126 | //establish 1PPS ISR |
jekain314 | 0:432b860b6ff7 | 127 | PPSInt.rise(&detect1PPSISR); |
jekain314 | 0:432b860b6ff7 | 128 | |
jekain314 | 0:432b860b6ff7 | 129 | //set the USB serial data rate -- rate must be matched at the PC end |
jekain314 | 0:432b860b6ff7 | 130 | //This the serial communication back to the the PC host |
jekain314 | 0:432b860b6ff7 | 131 | //Launch the C++ serial port read program there to catch the ASCII characters |
jekain314 | 0:432b860b6ff7 | 132 | //toPC.baud(9600); wait_ms(100); |
jekain314 | 25:2287bd8c9877 | 133 | toPC.baud(8*115200); wait_ms(100); |
jekain314 | 0:432b860b6ff7 | 134 | //toPC.baud(1*115200); wait_ms(100); |
jekain314 | 6:71da5b99de97 | 135 | //toPC.printf("\n\n released GPS from RESET and set to high baud rate \n\n"); |
jekain314 | 0:432b860b6ff7 | 136 | |
jekain314 | 0:432b860b6ff7 | 137 | //just wait to launch the GPS receiver |
jekain314 | 3:e1a884e5325a | 138 | for (int i=0; i<5; i++) { toPC.printf("WMsg start: %3d \n", 4-i); wait(1); } |
jekain314 | 0:432b860b6ff7 | 139 | |
jekain314 | 0:432b860b6ff7 | 140 | sd_detect.mode(PullUp); |
jekain314 | 0:432b860b6ff7 | 141 | |
jekain314 | 0:432b860b6ff7 | 142 | if (sd_detect == 0) |
jekain314 | 0:432b860b6ff7 | 143 | { |
jekain314 | 0:432b860b6ff7 | 144 | mkdir("/sd/Data", 0777); |
jekain314 | 0:432b860b6ff7 | 145 | } |
jekain314 | 0:432b860b6ff7 | 146 | else |
jekain314 | 0:432b860b6ff7 | 147 | { |
jekain314 | 6:71da5b99de97 | 148 | toPC.printf("WMsg SD card not present \n"); |
jekain314 | 0:432b860b6ff7 | 149 | } |
jekain314 | 0:432b860b6ff7 | 150 | |
jekain314 | 0:432b860b6ff7 | 151 | //NOTE: we do not assume that the GPS receiver has been pre-set up for the WALDO_FCS functionality |
jekain314 | 0:432b860b6ff7 | 152 | //we alwsys start with a reset and reprogram the receiver with our data out products |
jekain314 | 0:432b860b6ff7 | 153 | // this prevents failure because of a blown NVRAM as occurred for the older camera systems |
jekain314 | 0:432b860b6ff7 | 154 | |
jekain314 | 0:432b860b6ff7 | 155 | //this is the COM1 port from th GPS receiuver to the mbed |
jekain314 | 0:432b860b6ff7 | 156 | //it should be always started at 9600 baud because thats the default for the GPS receiver |
jekain314 | 0:432b860b6ff7 | 157 | GPS_COM1.baud(9600); wait_ms(100); |
jekain314 | 0:432b860b6ff7 | 158 | |
jekain314 | 0:432b860b6ff7 | 159 | // this ASCII command sets up the serial data from the GPS receiver on its COM1 |
jekain314 | 0:432b860b6ff7 | 160 | char ch7[] = "serialconfig COM1 9600 n 8 1 n off"; |
jekain314 | 0:432b860b6ff7 | 161 | // this is a software reset and has the same effect as a hardware reset (why do it?) |
jekain314 | 0:432b860b6ff7 | 162 | //char ch0[] = "RESET"; |
jekain314 | 0:432b860b6ff7 | 163 | //this command stops all communication from the GPS receiver on COM1 |
jekain314 | 0:432b860b6ff7 | 164 | //logs should still be presented on USB port so the Novatel CDU application can be used on the PC in parallel |
jekain314 | 0:432b860b6ff7 | 165 | char ch1[] = "unlogall COM1"; |
jekain314 | 0:432b860b6ff7 | 166 | //set the final baud rate that we will use from here |
jekain314 | 0:432b860b6ff7 | 167 | //allowable baud rate values: 9600 115200 230400 460800 921600 |
jekain314 | 0:432b860b6ff7 | 168 | //char ch2[] = "serialconfig COM1 921600 n 8 1 n off"; |
jekain314 | 0:432b860b6ff7 | 169 | char ch2[] = "serialconfig COM1 115200 n 8 1 n off"; |
jekain314 | 0:432b860b6ff7 | 170 | |
jekain314 | 0:432b860b6ff7 | 171 | //the below commands request the POS, VEL, RANGE, and TIME messages |
jekain314 | 0:432b860b6ff7 | 172 | char ch3[] = "log COM1 BESTPOSB ONTIME 1"; //messageID = 42 |
jekain314 | 0:432b860b6ff7 | 173 | char ch4[] = "log COM1 BESTVelB ONTIME 1"; //messageID = 99 |
jekain314 | 0:432b860b6ff7 | 174 | char ch5[] = "log COM1 RANGEB ONTIME 1"; //messageID = 43 |
jekain314 | 0:432b860b6ff7 | 175 | //char ch6[] = "log COM1 TIMEB ONTIME 1"; //messageID = 101 |
jekain314 | 0:432b860b6ff7 | 176 | |
jekain314 | 0:432b860b6ff7 | 177 | //set up VARF to be 100Hz with 1X10^4 * 10^-8 = 10^-4 sec (10usec) pulse width |
jekain314 | 0:432b860b6ff7 | 178 | //in fact, we do not use this output but it is available. |
jekain314 | 0:432b860b6ff7 | 179 | //originally planned to use this to command the IMU data |
jekain314 | 0:432b860b6ff7 | 180 | //char ch8[] = "FREQUENCYOUT enable 10000 1000000"; |
jekain314 | 0:432b860b6ff7 | 181 | |
jekain314 | 15:f3b92958cf5a | 182 | //toPC.printf("WMsg set serial config \n"); |
jekain314 | 0:432b860b6ff7 | 183 | sendASCII(ch7, sizeof(ch7)); wait_ms(500); |
jekain314 | 0:432b860b6ff7 | 184 | //sendASCII(ch0, sizeof(ch0)); |
jekain314 | 15:f3b92958cf5a | 185 | //toPC.printf("WMsg unlog all messages \n"); |
jekain314 | 0:432b860b6ff7 | 186 | sendASCII(ch1, sizeof(ch1)); wait_ms(500); |
jekain314 | 15:f3b92958cf5a | 187 | //toPC.printf("WMsg log BESTPOSB on COM1 \n"); |
jekain314 | 0:432b860b6ff7 | 188 | sendASCII(ch3, sizeof(ch3)); wait_ms(500); |
jekain314 | 15:f3b92958cf5a | 189 | //toPC.printf("WMsg log BESTVELB on COM1\n"); |
jekain314 | 0:432b860b6ff7 | 190 | sendASCII(ch4, sizeof(ch4)); wait_ms(500); |
jekain314 | 15:f3b92958cf5a | 191 | //toPC.printf("WMsg log RANGEB on COM1\n"); |
jekain314 | 0:432b860b6ff7 | 192 | sendASCII(ch5, sizeof(ch5)); wait_ms(500); |
jekain314 | 0:432b860b6ff7 | 193 | |
jekain314 | 0:432b860b6ff7 | 194 | //toPC.printf("log TIMEB om COM1 \n"); |
jekain314 | 0:432b860b6ff7 | 195 | //sendASCII(ch6, sizeof(ch6)); wait_ms(100); |
jekain314 | 0:432b860b6ff7 | 196 | |
jekain314 | 0:432b860b6ff7 | 197 | //toPC.printf("Set up th VARF signal \n"); |
jekain314 | 0:432b860b6ff7 | 198 | //sendASCII(ch8, sizeof(ch8)); wait_ms(500); |
jekain314 | 0:432b860b6ff7 | 199 | |
jekain314 | 0:432b860b6ff7 | 200 | //set GPS output COM1 to the final high rate |
jekain314 | 15:f3b92958cf5a | 201 | //toPC.printf("WMsg set the COM ports to high rate\n"); |
jekain314 | 0:432b860b6ff7 | 202 | sendASCII(ch2, sizeof(ch2)); wait_ms(500); |
jekain314 | 0:432b860b6ff7 | 203 | |
jekain314 | 0:432b860b6ff7 | 204 | //set the mbed COM port to match the GPS transmit rate |
jekain314 | 0:432b860b6ff7 | 205 | //the below baud rate must match the COM1 rate coming from the GPS receiver |
jekain314 | 0:432b860b6ff7 | 206 | GPS_COM1.baud(115200); wait_ms(500); //without this wait -- the baud rate is not detected when using MODSERIAL |
jekain314 | 0:432b860b6ff7 | 207 | //GPS_COM1.baud(921600); wait_ms(500); //without this wait -- the baud rate is not detected when using MODSERIAL |
jekain314 | 0:432b860b6ff7 | 208 | }; |
jekain314 | 0:432b860b6ff7 | 209 | |
jekain314 | 0:432b860b6ff7 | 210 | |
jekain314 | 0:432b860b6ff7 | 211 | ///////////////////////////////////////////////////////////////////// |
jekain314 | 0:432b860b6ff7 | 212 | // mbed main to support the Waldo_FCS |
jekain314 | 0:432b860b6ff7 | 213 | ///////////////////////////////////////////////////////////////////// |
jekain314 | 14:009d4671f0e3 | 214 | int main() |
jekain314 | 14:009d4671f0e3 | 215 | { |
jekain314 | 0:432b860b6ff7 | 216 | |
sam_grove | 27:94a6f0589993 | 217 | /* IMO this should all be ASCII (GPS data). Too much processing on the mbed side for messages that arent used */ |
sam_grove | 27:94a6f0589993 | 218 | /* the parsing and error checking + printf with floating point are EXPENSIVE CPU instructions */ |
sam_grove | 27:94a6f0589993 | 219 | |
jekain314 | 0:432b860b6ff7 | 220 | //these are structures for the to GPS messages that must be parsed |
jekain314 | 0:432b860b6ff7 | 221 | MESSAGEHEADER msgHdr; |
jekain314 | 0:432b860b6ff7 | 222 | OEM615BESTPOS posMsg; //BESTPOS structure in OEMV615.h that has matching time to a BESTVEL message |
jekain314 | 0:432b860b6ff7 | 223 | OEM615BESTPOS curPos; //BESTPOS structure in OEMV615.h |
jekain314 | 0:432b860b6ff7 | 224 | OEM615BESTVEL velMsg; //BESTVEL structure in OEMV615.h that has matching time to a BESTPOS message |
jekain314 | 0:432b860b6ff7 | 225 | OEM615BESTVEL curVel; //BESTVEL structure in OEMV615.h |
jekain314 | 0:432b860b6ff7 | 226 | |
jekain314 | 1:8e24e633f8d8 | 227 | |
sam_grove | 27:94a6f0589993 | 228 | /* Self explanitory */ |
sam_grove | 27:94a6f0589993 | 229 | |
jekain314 | 1:8e24e633f8d8 | 230 | fire.output(); //set the fire pin as outoput |
jekain314 | 1:8e24e633f8d8 | 231 | pre_fire.output(); //set the pre-fire pin as output |
sam_grove | 27:94a6f0589993 | 232 | |
sam_grove | 27:94a6f0589993 | 233 | /* both should be open drain */ |
sam_grove | 27:94a6f0589993 | 234 | |
jekain314 | 1:8e24e633f8d8 | 235 | //fire.mode(OpenDrain); |
jekain314 | 1:8e24e633f8d8 | 236 | |
sam_grove | 27:94a6f0589993 | 237 | /* not necessary if open drain outputs */ |
sam_grove | 27:94a6f0589993 | 238 | |
jekain314 | 1:8e24e633f8d8 | 239 | //set up for the first trigger |
jekain314 | 1:8e24e633f8d8 | 240 | fire = 1; |
jekain314 | 1:8e24e633f8d8 | 241 | pre_fire = 1; |
sam_grove | 27:94a6f0589993 | 242 | |
sam_grove | 27:94a6f0589993 | 243 | /* for lower power modes of operation all this should be different classes and called when the PC requests it */ |
sam_grove | 27:94a6f0589993 | 244 | /* always on and idle is a waste of battery power. Could probabally add 30-50% life by leaving things off until needed */ |
sam_grove | 27:94a6f0589993 | 245 | |
jekain314 | 0:432b860b6ff7 | 246 | //set up the GPS and mbed COM ports |
jekain314 | 0:432b860b6ff7 | 247 | setupCOM(); |
jekain314 | 0:432b860b6ff7 | 248 | |
sam_grove | 27:94a6f0589993 | 249 | /* same as above */ |
sam_grove | 27:94a6f0589993 | 250 | |
jekain314 | 0:432b860b6ff7 | 251 | //set up the ADIS16488 |
jekain314 | 0:432b860b6ff7 | 252 | setupADIS(); |
jekain314 | 0:432b860b6ff7 | 253 | |
jekain314 | 25:2287bd8c9877 | 254 | setUpMessages(); //set up the expected text message commands from the PC |
jekain314 | 0:432b860b6ff7 | 255 | |
sam_grove | 27:94a6f0589993 | 256 | /* same as above */ |
sam_grove | 27:94a6f0589993 | 257 | |
jekain314 | 25:2287bd8c9877 | 258 | //initiate the interrupt to catch the GPS receiver serial bytes as they are presented |
jekain314 | 0:432b860b6ff7 | 259 | GPS_COM1.attach(&readSerialByte, MODSERIAL::RxIrq); |
jekain314 | 0:432b860b6ff7 | 260 | |
sam_grove | 27:94a6f0589993 | 261 | /* same as above */ |
sam_grove | 27:94a6f0589993 | 262 | |
jekain314 | 0:432b860b6ff7 | 263 | timeFromPPS.start(); //start the time for measuring time from 1PPS events |
jekain314 | 0:432b860b6ff7 | 264 | timeFromStart.start(); |
jekain314 | 0:432b860b6ff7 | 265 | |
jekain314 | 3:e1a884e5325a | 266 | //toPC.printf("\n\n top of the main loop \n\n"); |
jekain314 | 0:432b860b6ff7 | 267 | |
jekain314 | 0:432b860b6ff7 | 268 | int totalBytesWritten = 0; |
jekain314 | 0:432b860b6ff7 | 269 | |
jekain314 | 25:2287bd8c9877 | 270 | /*establish the initial value for the CRC recursion after the header signature bytes |
jekain314 | 0:432b860b6ff7 | 271 | unsigned long CRC = 0; |
jekain314 | 0:432b860b6ff7 | 272 | CRC32Value(CRC, 0xAA); |
jekain314 | 0:432b860b6ff7 | 273 | CRC32Value(CRC, 0x44); |
jekain314 | 0:432b860b6ff7 | 274 | CRC32Value(CRC, 0x12); |
jekain314 | 0:432b860b6ff7 | 275 | CRC32Value(CRC, 0x1C); |
jekain314 | 0:432b860b6ff7 | 276 | //this results in a value of: 0x39b0f0e1 |
jekain314 | 0:432b860b6ff7 | 277 | toPC.printf(" CRC after AA44121C header: %08x \n", CRC); |
jekain314 | 0:432b860b6ff7 | 278 | wait(20); |
jekain314 | 0:432b860b6ff7 | 279 | */ |
jekain314 | 25:2287bd8c9877 | 280 | |
jekain314 | 25:2287bd8c9877 | 281 | //at the start we do not record the data |
jekain314 | 24:353322495742 | 282 | recordData = false; |
jekain314 | 24:353322495742 | 283 | sendRecData = false; |
jekain314 | 0:432b860b6ff7 | 284 | |
sam_grove | 27:94a6f0589993 | 285 | /* I'd get these off the stack and into a global structure */ |
sam_grove | 27:94a6f0589993 | 286 | /* If you did have a stack error condition (buffer overwrite) all this could be clobbered */ |
sam_grove | 27:94a6f0589993 | 287 | |
jekain314 | 25:2287bd8c9877 | 288 | unsigned long cyclesPerSec = 0; //main while() loop cycles per GPS sec |
jekain314 | 0:432b860b6ff7 | 289 | bool GPSdataWritten = false; |
jekain314 | 4:dda2ab5cc643 | 290 | bool finishTrigger = false; |
jekain314 | 4:dda2ab5cc643 | 291 | Timer triggerInterval; |
jekain314 | 0:432b860b6ff7 | 292 | |
jekain314 | 1:8e24e633f8d8 | 293 | //while(PPSCounter < 300) |
jekain314 | 17:71900da6ced6 | 294 | |
sam_grove | 27:94a6f0589993 | 295 | /* New command logic will keep this loop from ever exiting */ |
sam_grove | 27:94a6f0589993 | 296 | |
jekain314 | 17:71900da6ced6 | 297 | bool newMission = true; |
jekain314 | 17:71900da6ced6 | 298 | |
jekain314 | 0:432b860b6ff7 | 299 | /////////////////////////////////////////////////////////////////////////// |
jekain314 | 17:71900da6ced6 | 300 | // top of the mission while loop |
jekain314 | 0:432b860b6ff7 | 301 | /////////////////////////////////////////////////////////////////////////// |
jekain314 | 17:71900da6ced6 | 302 | while(newMission) |
jekain314 | 0:432b860b6ff7 | 303 | { |
jekain314 | 14:009d4671f0e3 | 304 | |
sam_grove | 27:94a6f0589993 | 305 | /* right idea. Build messages and parse */ |
sam_grove | 27:94a6f0589993 | 306 | |
jekain314 | 0:432b860b6ff7 | 307 | //read the USB serial data from the PC to check for commands |
jekain314 | 0:432b860b6ff7 | 308 | readFromPC(); |
jekain314 | 2:7039be3daf6e | 309 | |
sam_grove | 27:94a6f0589993 | 310 | /* file should only be open when writing. If you crash and the file is open */ |
sam_grove | 27:94a6f0589993 | 311 | /* the data will be lost. Should be in a class that takes structures or strings to write to the file */ |
sam_grove | 27:94a6f0589993 | 312 | |
jekain314 | 2:7039be3daf6e | 313 | //this will close the fpNav file on the SD card if the file is open |
jekain314 | 2:7039be3daf6e | 314 | //and the elapsed time from PosVel messages is > 60 secs |
jekain314 | 2:7039be3daf6e | 315 | //this prevents loosing the fpNav file if the PC goes down |
jekain314 | 25:2287bd8c9877 | 316 | // !!!! timeFromPosVelMessageReceipt !!! was never started |
jekain314 | 14:009d4671f0e3 | 317 | if (fpNav && (timeFromPosVelMessageReceipt.read() > 10) ) |
jekain314 | 2:7039be3daf6e | 318 | { |
jekain314 | 2:7039be3daf6e | 319 | sendRecData = true; |
jekain314 | 2:7039be3daf6e | 320 | recordData = false; |
jekain314 | 2:7039be3daf6e | 321 | } |
jekain314 | 0:432b860b6ff7 | 322 | |
sam_grove | 27:94a6f0589993 | 323 | /* Should be done when reading and building the message */ |
sam_grove | 27:94a6f0589993 | 324 | |
jekain314 | 25:2287bd8c9877 | 325 | // for any received PC message, take the appropriate action |
jekain314 | 0:432b860b6ff7 | 326 | processPCmessages(fpNav, posMsg, velMsg); |
jekain314 | 0:432b860b6ff7 | 327 | |
sam_grove | 27:94a6f0589993 | 328 | /* file should always be closed until needed */ |
sam_grove | 27:94a6f0589993 | 329 | |
jekain314 | 25:2287bd8c9877 | 330 | //if we receive a "GETFILE" message from the PC -- close the fpNavFile and break from the while() loop |
jekain314 | 25:2287bd8c9877 | 331 | if (get_file_msg) |
jekain314 | 20:3f04a0bde484 | 332 | { |
jekain314 | 20:3f04a0bde484 | 333 | if (fpNav != NULL) fclose(fpNav); |
jekain314 | 20:3f04a0bde484 | 334 | break; //terminate the while loop when we receive this message from the PC |
jekain314 | 20:3f04a0bde484 | 335 | } |
jekain314 | 14:009d4671f0e3 | 336 | |
sam_grove | 27:94a6f0589993 | 337 | /* wait looks unnecessary (and bad during runtime). During all tests with the camera the pre-fire is */ |
sam_grove | 27:94a6f0589993 | 338 | /* 250mS before the fire. Not sure if this changes the time til shutter open */ |
sam_grove | 27:94a6f0589993 | 339 | /* Look at the Timeout class */ |
sam_grove | 27:94a6f0589993 | 340 | |
jekain314 | 5:2ce1be9d4bef | 341 | if(fireTrigger) //comes from a PC request message |
jekain314 | 1:8e24e633f8d8 | 342 | { |
jekain314 | 26:c2208b0ff78b | 343 | unsigned long triggerTime = GPSTimemsecs + PPSTimeOffset*1000.0 + timeFromPPS.read_us()/1000.0; |
jekain314 | 14:009d4671f0e3 | 344 | toPC.printf("WMsg TRIGGERTIME %10d \n", triggerTime); |
jekain314 | 1:8e24e633f8d8 | 345 | //pre-fire the trigger using the mid-body 2.5mm connection (T2i) |
jekain314 | 1:8e24e633f8d8 | 346 | pre_fire = 0; //pin30 (midbody of connector) set to zero |
jekain314 | 25:2287bd8c9877 | 347 | wait(.01f); // not sure what this does |
jekain314 | 1:8e24e633f8d8 | 348 | fire = 0; //fire the trigger using the tip connection |
jekain314 | 25:2287bd8c9877 | 349 | fireTrigger = false; //finished the setup -- but wait to do the actual fire |
jekain314 | 25:2287bd8c9877 | 350 | finishTrigger = true; //set to false after firing the trigger |
jekain314 | 4:dda2ab5cc643 | 351 | triggerInterval.start(); |
jekain314 | 4:dda2ab5cc643 | 352 | } |
jekain314 | 4:dda2ab5cc643 | 353 | |
sam_grove | 27:94a6f0589993 | 354 | /* see above */ |
sam_grove | 27:94a6f0589993 | 355 | |
jekain314 | 6:71da5b99de97 | 356 | //the trigger requires a pulse -- the above portion lowers the signal and the below raises it |
jekain314 | 6:71da5b99de97 | 357 | //this has been tested at 50 msecs and it will not fire at that pulse duration |
jekain314 | 4:dda2ab5cc643 | 358 | if(finishTrigger && triggerInterval.read_ms() > 100) |
jekain314 | 4:dda2ab5cc643 | 359 | { |
jekain314 | 1:8e24e633f8d8 | 360 | fire = 1; |
jekain314 | 1:8e24e633f8d8 | 361 | pre_fire = 1; |
jekain314 | 4:dda2ab5cc643 | 362 | triggerInterval.reset(); |
jekain314 | 25:2287bd8c9877 | 363 | finishTrigger = false; //completes the trigger firing pulse definition |
jekain314 | 1:8e24e633f8d8 | 364 | } |
jekain314 | 1:8e24e633f8d8 | 365 | |
sam_grove | 27:94a6f0589993 | 366 | /* who clears this, PPS? */ |
sam_grove | 27:94a6f0589993 | 367 | |
jekain314 | 0:432b860b6ff7 | 368 | cyclesPerSec++; |
jekain314 | 0:432b860b6ff7 | 369 | |
jekain314 | 0:432b860b6ff7 | 370 | //////////////////////////////////////////////////////////////////////////// |
jekain314 | 0:432b860b6ff7 | 371 | //below is where we process the complete stored GPS message for the second |
jekain314 | 0:432b860b6ff7 | 372 | //The !IMUDataReady test prevents the IMU and GPS data from being written |
jekain314 | 0:432b860b6ff7 | 373 | //to disk on the same pass through this loop |
jekain314 | 25:2287bd8c9877 | 374 | ///////////////////////////////////////////////////////////////////////////// |
jekain314 | 0:432b860b6ff7 | 375 | |
jekain314 | 25:2287bd8c9877 | 376 | //there are three potential messages and all messages have a header |
jekain314 | 0:432b860b6ff7 | 377 | if (completeMessageAvailable && !IMUDataReady) |
jekain314 | 0:432b860b6ff7 | 378 | { |
jekain314 | 26:c2208b0ff78b | 379 | //must unpack header first to get the message length |
jekain314 | 0:432b860b6ff7 | 380 | msgHdr = *((MESSAGEHEADER*)&msgBuffer[messageLocation[savedMessageCounter-1]]); |
jekain314 | 0:432b860b6ff7 | 381 | |
jekain314 | 0:432b860b6ff7 | 382 | //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 | 383 | //GPSTimemsecs increments by 1 for each new GPS measurement -- note that the below computations are actually |
jekain314 | 0:432b860b6ff7 | 384 | //done at the receipt of each GPS message. This is OK because each message has the same time in its header. |
jekain314 | 0:432b860b6ff7 | 385 | //Thus GPSTimemsecs increments by 1 here while GPSTimemsecs effectively decrements by 1. |
jekain314 | 0:432b860b6ff7 | 386 | //This handles IMU time tagging between the 1PPS event and the first receipt of a new GPS time. |
jekain314 | 0:432b860b6ff7 | 387 | |
jekain314 | 25:2287bd8c9877 | 388 | //message header length is 28 -- right side is pointer to the receiver-computed CRC for this record |
jekain314 | 26:c2208b0ff78b | 389 | //CRC is computed while reading in the GPS bytes |
jekain314 | 0:432b860b6ff7 | 390 | unsigned long msgCRC = *((unsigned long*)&msgBuffer[messageLocation[savedMessageCounter-1] + 28 + msgHdr.messageLength]); |
jekain314 | 0:432b860b6ff7 | 391 | |
jekain314 | 0:432b860b6ff7 | 392 | //toPC.printf("tmeFrom1PPS= %5d ID= %3d Ln = %3d computedCRC= %08x msgCRC= %08x msgCntr = %3d CRCerr=%4d\n", |
jekain314 | 0:432b860b6ff7 | 393 | // timeFromPPS.read_us(), msgHdr.messageID, msgHdr.messageLength, computedCRC, msgCRC, savedMessageCounter, TotalBadCRCmatches); |
jekain314 | 0:432b860b6ff7 | 394 | |
sam_grove | 27:94a6f0589993 | 395 | /* is this really necessary? Seems like keeping it in ascii and sending in ascii would make more sense */ |
sam_grove | 27:94a6f0589993 | 396 | |
jekain314 | 26:c2208b0ff78b | 397 | if ( msgCRC == computedCRC) //computedCRC is performed as we read each bvyte |
jekain314 | 25:2287bd8c9877 | 398 | { |
jekain314 | 25:2287bd8c9877 | 399 | //if the CRC check is valid -- then get the time from the header |
jekain314 | 25:2287bd8c9877 | 400 | //we get three messages each sec -- does it matter that we do this three times? |
jekain314 | 25:2287bd8c9877 | 401 | GPSTimemsecs = msgHdr.GPSTime_msecs; //time in GPS message header |
jekain314 | 25:2287bd8c9877 | 402 | |
jekain314 | 25:2287bd8c9877 | 403 | //the PPSTimeOffset accounts for the occurrence where we do not get any GPS messages over a sec -- but PPS is still operative |
jekain314 | 25:2287bd8c9877 | 404 | PPSTimeOffset = 0; //incremented by 1 in the PPS ISR |
jekain314 | 26:c2208b0ff78b | 405 | |
jekain314 | 26:c2208b0ff78b | 406 | //We need the pos and vel messages to pass back data to the PC -- error cases that can occur: |
jekain314 | 26:c2208b0ff78b | 407 | // (1) missed 42 (POS) -- use last good pos and extrapolate using last good vel |
jekain314 | 26:c2208b0ff78b | 408 | // (2) missed 99 (VEL) -- use the last good vel since likely not changed much |
jekain314 | 26:c2208b0ff78b | 409 | // (3) missed both 42 and 99 -- must use last good position and extrapolae using last good velocity |
jekain314 | 26:c2208b0ff78b | 410 | // GPS time used to time-tag the IMU data and to do the extrapolttion from last good position to send to PC |
jekain314 | 26:c2208b0ff78b | 411 | // in the position extrapolation, we will use the GPS time that is kept in the header of the POS msg (42) |
jekain314 | 26:c2208b0ff78b | 412 | // see the procedure: sendPosVelMessageToPC() |
jekain314 | 0:432b860b6ff7 | 413 | |
jekain314 | 26:c2208b0ff78b | 414 | if (msgHdr.messageID == 42) //this is the position message (lat, lon, alt) |
jekain314 | 0:432b860b6ff7 | 415 | { |
jekain314 | 26:c2208b0ff78b | 416 | //map the starting record byte index to the record structure |
jekain314 | 26:c2208b0ff78b | 417 | curPos = *((OEM615BESTPOS*)&msgBuffer[messageLocation[savedMessageCounter-1]]); |
jekain314 | 26:c2208b0ff78b | 418 | posMsg = curPos; |
jekain314 | 26:c2208b0ff78b | 419 | |
jekain314 | 26:c2208b0ff78b | 420 | if (streamPos) // we no longer use this functionality |
jekain314 | 26:c2208b0ff78b | 421 | { |
jekain314 | 26:c2208b0ff78b | 422 | toPC.printf("BESTPOS %5d %1d %8.6lf %9.6lf %5.3lf %d %d\n", |
jekain314 | 26:c2208b0ff78b | 423 | curPos.msgHeader.GPSTime_msecs, curPos.solStatus, |
jekain314 | 26:c2208b0ff78b | 424 | curPos.latitude, curPos.longitude, curPos.height, |
jekain314 | 26:c2208b0ff78b | 425 | curPos.numSV, curPos.numSolSV); |
jekain314 | 26:c2208b0ff78b | 426 | } |
jekain314 | 26:c2208b0ff78b | 427 | |
jekain314 | 26:c2208b0ff78b | 428 | } |
jekain314 | 26:c2208b0ff78b | 429 | else if (msgHdr.messageID == 99) //this is the velocity message |
jekain314 | 26:c2208b0ff78b | 430 | { |
jekain314 | 26:c2208b0ff78b | 431 | curVel = *((OEM615BESTVEL*)&msgBuffer[ messageLocation[savedMessageCounter-1] ]); |
jekain314 | 26:c2208b0ff78b | 432 | //toPC.printf("BESTVEL vel: horizontalSpeed= %5.3f heading=%5.1f verticalSpeed=%4.2f \n", |
jekain314 | 26:c2208b0ff78b | 433 | // curVel.horizontalSpeed, curVel.heading, curVel.verticalSpeed ); |
jekain314 | 26:c2208b0ff78b | 434 | velMsg = curVel; |
jekain314 | 0:432b860b6ff7 | 435 | } |
jekain314 | 26:c2208b0ff78b | 436 | |
jekain314 | 26:c2208b0ff78b | 437 | //below is set to true when we detect that we have received a complete GPS message |
jekain314 | 26:c2208b0ff78b | 438 | completeMessageAvailable = false; |
jekain314 | 26:c2208b0ff78b | 439 | } |
jekain314 | 26:c2208b0ff78b | 440 | else // do this if we do not pass the CRC |
jekain314 | 0:432b860b6ff7 | 441 | { |
jekain314 | 26:c2208b0ff78b | 442 | toPC.printf("WMsg bad CRC match for messageID %3d total CRC errors = %4d \n", |
jekain314 | 26:c2208b0ff78b | 443 | msgHdr.messageLength, TotalBadCRCmatches++); |
jekain314 | 0:432b860b6ff7 | 444 | } |
jekain314 | 0:432b860b6ff7 | 445 | } |
jekain314 | 26:c2208b0ff78b | 446 | |
jekain314 | 0:432b860b6ff7 | 447 | |
sam_grove | 27:94a6f0589993 | 448 | /* should move into a file management class for protection and error checking */ |
sam_grove | 27:94a6f0589993 | 449 | |
jekain314 | 1:8e24e633f8d8 | 450 | //write the GPS data to the SD card |
jekain314 | 25:2287bd8c9877 | 451 | //NOTE: this is valid only for a once-per-sec GPS message |
jekain314 | 25:2287bd8c9877 | 452 | //for this case, all messages come out well prior to 0.5 secs after the 1PPS |
jekain314 | 0:432b860b6ff7 | 453 | if (!IMUDataReady && !GPSdataWritten && timeFromPPS.read_us() > 500000 && recordData && (fpNav != NULL)) |
jekain314 | 0:432b860b6ff7 | 454 | { |
jekain314 | 0:432b860b6ff7 | 455 | totalBytesWritten += fwrite(&msgBuffer, 1, byteCounter, fpNav); |
jekain314 | 0:432b860b6ff7 | 456 | GPSdataWritten = true; |
jekain314 | 0:432b860b6ff7 | 457 | } |
jekain314 | 0:432b860b6ff7 | 458 | |
sam_grove | 27:94a6f0589993 | 459 | /* would have 2 arrays of structures and a pointer in the class than changes between the buffers. */ |
sam_grove | 27:94a6f0589993 | 460 | /* This way there is 1 write and management in 1 place */ |
sam_grove | 27:94a6f0589993 | 461 | |
jekain314 | 0:432b860b6ff7 | 462 | //the IMU data record is read from the SPI in the ISR and the IMUDataReady is set true |
jekain314 | 0:432b860b6ff7 | 463 | //we write the IMU data here |
jekain314 | 0:432b860b6ff7 | 464 | if (IMUDataReady) //IMUDataReady is true if we have a recent IMU data record |
jekain314 | 0:432b860b6ff7 | 465 | { |
jekain314 | 0:432b860b6ff7 | 466 | //write the IMU data |
jekain314 | 0:432b860b6ff7 | 467 | if ( recordData && (fpNav != NULL) ) |
jekain314 | 0:432b860b6ff7 | 468 | { |
jekain314 | 1:8e24e633f8d8 | 469 | //delTimeOfWrite = timeFromStart.read_us(); |
jekain314 | 0:432b860b6ff7 | 470 | |
jekain314 | 20:3f04a0bde484 | 471 | if (fillingPingWritingPong) totalBytesWritten += fwrite(&imuPong, 1, IMUrecArraySize*sizeof(IMUREC), fpNav); |
jekain314 | 20:3f04a0bde484 | 472 | else totalBytesWritten += fwrite(&imuPing, 1, IMUrecArraySize*sizeof(IMUREC), fpNav); |
jekain314 | 0:432b860b6ff7 | 473 | |
jekain314 | 1:8e24e633f8d8 | 474 | //delTimeOfWrite = (unsigned long)((unsigned long)timeFromStart.read_us() - delTimeOfWrite); |
jekain314 | 1:8e24e633f8d8 | 475 | //if (delTimeOfWrite > maxWriteTime) maxWriteTime = delTimeOfWrite; |
jekain314 | 0:432b860b6ff7 | 476 | } |
jekain314 | 0:432b860b6ff7 | 477 | IMURecordCounter+=IMUrecArraySize; |
jekain314 | 0:432b860b6ff7 | 478 | IMUDataReady = false; |
jekain314 | 0:432b860b6ff7 | 479 | } |
jekain314 | 0:432b860b6ff7 | 480 | |
sam_grove | 27:94a6f0589993 | 481 | /* should remove floating point if possible and send as milli-sec integers */ |
sam_grove | 27:94a6f0589993 | 482 | |
jekain314 | 25:2287bd8c9877 | 483 | //this is a command from the PC to fire a trigger |
jekain314 | 0:432b860b6ff7 | 484 | if (camera1EventDetected) //we have detected a camera trigger event |
jekain314 | 0:432b860b6ff7 | 485 | { |
jekain314 | 0:432b860b6ff7 | 486 | toPC.printf("WMsg TRIGGERTIME %5.3lf\n", camera1Time); |
jekain314 | 0:432b860b6ff7 | 487 | camera1EventDetected = false; |
jekain314 | 0:432b860b6ff7 | 488 | } |
jekain314 | 0:432b860b6ff7 | 489 | |
sam_grove | 27:94a6f0589993 | 490 | /* managed in GPS class */ |
sam_grove | 27:94a6f0589993 | 491 | |
jekain314 | 0:432b860b6ff7 | 492 | if (detectedGPS1PPS) //true if we are exactly at a 1PPS event detection |
jekain314 | 0:432b860b6ff7 | 493 | { |
jekain314 | 1:8e24e633f8d8 | 494 | //toPC.printf("PPS=%4d stat=%1d bytes=%3d GPSMsgs=%2d #write=%8d cycles=%6d\n", |
jekain314 | 1:8e24e633f8d8 | 495 | // PPSCounter, posMsg.solStatus, savedByteCounter, savedPerSecMessageCounter, |
jekain314 | 1:8e24e633f8d8 | 496 | // totalBytesWritten, cyclesPerSec ); |
jekain314 | 0:432b860b6ff7 | 497 | |
jekain314 | 0:432b860b6ff7 | 498 | cyclesPerSec = 0; |
jekain314 | 20:3f04a0bde484 | 499 | //totalBytesWritten = 0; |
jekain314 | 0:432b860b6ff7 | 500 | GPSdataWritten = false; |
jekain314 | 22:1cbdbc856660 | 501 | //toPC.printf(" bytesWritten = %5d \n", totalBytesWritten); |
jekain314 | 0:432b860b6ff7 | 502 | |
jekain314 | 0:432b860b6ff7 | 503 | IMURecordCounter = 0; |
jekain314 | 0:432b860b6ff7 | 504 | detectedGPS1PPS = false; |
jekain314 | 22:1cbdbc856660 | 505 | |
jekain314 | 25:2287bd8c9877 | 506 | rxMsg = !rxMsg; //flash the lights to make sure the mbed loop is operative |
jekain314 | 22:1cbdbc856660 | 507 | txMsg = !txMsg; |
jekain314 | 0:432b860b6ff7 | 508 | } |
jekain314 | 25:2287bd8c9877 | 509 | /////////////////////////////////////////// |
jekain314 | 25:2287bd8c9877 | 510 | } //end of the major while() loop |
jekain314 | 25:2287bd8c9877 | 511 | /////////////////////////////////////////// |
jekain314 | 0:432b860b6ff7 | 512 | |
jekain314 | 17:71900da6ced6 | 513 | |
sam_grove | 27:94a6f0589993 | 514 | /* should already be closed by file management class */ |
sam_grove | 27:94a6f0589993 | 515 | |
jekain314 | 20:3f04a0bde484 | 516 | if (fpNav != NULL) |
jekain314 | 20:3f04a0bde484 | 517 | { |
jekain314 | 20:3f04a0bde484 | 518 | fclose(fpNav); //insurance |
jekain314 | 22:1cbdbc856660 | 519 | toPC.printf("WMsg closeFPNav \n"); |
jekain314 | 20:3f04a0bde484 | 520 | } |
jekain314 | 20:3f04a0bde484 | 521 | |
sam_grove | 27:94a6f0589993 | 522 | /* accessable by SDShell class */ |
sam_grove | 27:94a6f0589993 | 523 | /* see: https://mbed.org/users/sam_grove/code/SDShell/ */ |
sam_grove | 27:94a6f0589993 | 524 | |
jekain314 | 22:1cbdbc856660 | 525 | toPC.printf("WMsg totalBytesWritten %5d \n", totalBytesWritten); |
jekain314 | 20:3f04a0bde484 | 526 | wait_ms(100); |
jekain314 | 20:3f04a0bde484 | 527 | |
sam_grove | 27:94a6f0589993 | 528 | /* just a state of the communication management class */ |
sam_grove | 27:94a6f0589993 | 529 | |
jekain314 | 26:c2208b0ff78b | 530 | //send the nav file to the PC |
jekain314 | 17:71900da6ced6 | 531 | transferFile(); |
jekain314 | 19:26c5298a7138 | 532 | //rxMsg = txMsg = 0; // just indicate that we're in here |
jekain314 | 17:71900da6ced6 | 533 | // to exit this function the HOST (ie: computer or PC app) must send "exit" otherwise the mbed will act |
jekain314 | 17:71900da6ced6 | 534 | // like a terminal and serve SD file data forever |
jekain314 | 16:2aea22130ba1 | 535 | |
sam_grove | 27:94a6f0589993 | 536 | /* no longer needed */ |
sam_grove | 27:94a6f0589993 | 537 | |
jekain314 | 22:1cbdbc856660 | 538 | toPC.printf("WMsg normalTermination \n"); |
jekain314 | 20:3f04a0bde484 | 539 | wait_ms(100); |
jekain314 | 17:71900da6ced6 | 540 | |
jekain314 | 17:71900da6ced6 | 541 | NVIC_SystemReset(); |
jekain314 | 14:009d4671f0e3 | 542 | |
jekain314 | 0:432b860b6ff7 | 543 | } |