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@12:c2f60b3ceb74, 2013-05-06 (annotated)
- Committer:
- jekain314
- Date:
- Mon May 06 04:20:10 2013 +0000
- Revision:
- 12:c2f60b3ceb74
- Parent:
- 7:1bec23c68a3c
- Parent:
- 11:88efc6048237
- Child:
- 16:2aea22130ba1
Merged program to add SDShell
Who changed what in which revision?
User | Revision | Line number | New 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; |
sam_grove | 7:1bec23c68a3c | 12 | const unsigned char GETFILE_MSG =9; |
jekain314 | 0:432b860b6ff7 | 13 | |
jekain314 | 0:432b860b6ff7 | 14 | const double DEGREES_TO_RADIANS = acos(-1.0)/180.0; |
jekain314 | 0:432b860b6ff7 | 15 | const double eccen = 0.0818191908426; //WGS84 earth eccentricity |
jekain314 | 0:432b860b6ff7 | 16 | const double earthRadius = 6378137; //WGS84 earthRadius in meters |
jekain314 | 0:432b860b6ff7 | 17 | |
jekain314 | 6:71da5b99de97 | 18 | const unsigned short serBuffMax = 18; |
jekain314 | 1:8e24e633f8d8 | 19 | char serBuf[serBuffMax]; |
jekain314 | 0:432b860b6ff7 | 20 | int serBufChars=0; |
jekain314 | 0:432b860b6ff7 | 21 | |
jekain314 | 0:432b860b6ff7 | 22 | //flags to control the PC command actions |
jekain314 | 0:432b860b6ff7 | 23 | bool sendPosVel =false; |
jekain314 | 0:432b860b6ff7 | 24 | bool sendStatus =false; |
jekain314 | 0:432b860b6ff7 | 25 | bool sendRecData =false; |
jekain314 | 0:432b860b6ff7 | 26 | bool streamPos =false; |
jekain314 | 0:432b860b6ff7 | 27 | bool sendStreamPos =false; |
jekain314 | 0:432b860b6ff7 | 28 | bool logMsgInfo =false; |
jekain314 | 0:432b860b6ff7 | 29 | bool sendLogMsgInfo =false; |
jekain314 | 0:432b860b6ff7 | 30 | bool recordData =false; |
jekain314 | 1:8e24e633f8d8 | 31 | bool fireTrigger =false; |
jekain314 | 9:893481b2e488 | 32 | bool get_file_msg =false; |
jekain314 | 0:432b860b6ff7 | 33 | |
jekain314 | 0:432b860b6ff7 | 34 | |
jekain314 | 9:893481b2e488 | 35 | const unsigned char numMessages = 10; //number of potential messages |
jekain314 | 0:432b860b6ff7 | 36 | char msgList[numMessages][32]; //text array storing the command messages from the PC |
jekain314 | 0:432b860b6ff7 | 37 | char minMessageSize = 11; //minimum size of a text message |
jekain314 | 0:432b860b6ff7 | 38 | unsigned char CR = 0x0d; //ASCII Carriage Return |
jekain314 | 0:432b860b6ff7 | 39 | unsigned char LF = 0x0a; //ASCII Line Feed |
jekain314 | 0:432b860b6ff7 | 40 | |
jekain314 | 6:71da5b99de97 | 41 | char preamble[5] = "WMsg"; |
jekain314 | 6:71da5b99de97 | 42 | char testPreamble[5]; |
jekain314 | 6:71da5b99de97 | 43 | |
jekain314 | 0:432b860b6ff7 | 44 | void setUpMessages(void) |
jekain314 | 0:432b860b6ff7 | 45 | { |
jekain314 | 0:432b860b6ff7 | 46 | //set up the ASCII text records that are candidates to be passed from the PC |
jekain314 | 0:432b860b6ff7 | 47 | sprintf(msgList[STATUS_MSG], "WMsg STATUS"); |
jekain314 | 0:432b860b6ff7 | 48 | sprintf(msgList[POSVEL_MSG], "WMsg POSVEL"); |
jekain314 | 0:432b860b6ff7 | 49 | sprintf(msgList[STARTDATA_MSG], "WMsg RECORDDATA Y"); |
jekain314 | 0:432b860b6ff7 | 50 | sprintf(msgList[STOPDATA_MSG], "WMsg RECORDDATA N"); |
jekain314 | 0:432b860b6ff7 | 51 | sprintf(msgList[STARTSTREAM_MSG], "WMsg POSSTREAM Y"); |
jekain314 | 0:432b860b6ff7 | 52 | sprintf(msgList[STOPSTREAM_MSG], "WMsg POSSTREAM N"); |
jekain314 | 0:432b860b6ff7 | 53 | sprintf(msgList[STARTLOGINFO_MSG], "WMsg LOGINFO Y"); |
jekain314 | 0:432b860b6ff7 | 54 | sprintf(msgList[STOPLOGINFO_MSG], "WMsg LOGINFO N"); |
jekain314 | 1:8e24e633f8d8 | 55 | sprintf(msgList[FIRE_TRIGGER_MSG], "WMsg TRIGGER"); |
jekain314 | 9:893481b2e488 | 56 | sprintf(msgList[GETFILE_MSG], "WMsg GETFILE"); |
jekain314 | 0:432b860b6ff7 | 57 | //message length is from 10 to 16 chars |
jekain314 | 0:432b860b6ff7 | 58 | |
jekain314 | 6:71da5b99de97 | 59 | // toPC.printf(" finished setting up messages \n"); |
jekain314 | 0:432b860b6ff7 | 60 | } |
jekain314 | 0:432b860b6ff7 | 61 | |
jekain314 | 0:432b860b6ff7 | 62 | void readFromPC() |
jekain314 | 0:432b860b6ff7 | 63 | { |
jekain314 | 6:71da5b99de97 | 64 | // should this be a while rather than if ??? -- may have multiple bytes in buffer |
jekain314 | 0:432b860b6ff7 | 65 | if (toPC.readable()) //read a PC serial byte and test it for a command |
jekain314 | 0:432b860b6ff7 | 66 | { |
jekain314 | 6:71da5b99de97 | 67 | // Read in next character -- why not read all available?? |
jekain314 | 1:8e24e633f8d8 | 68 | unsigned char inChar = 0; |
jekain314 | 6:71da5b99de97 | 69 | inChar = toPC.getc(); //read char from the USB serial link to the PC |
jekain314 | 0:432b860b6ff7 | 70 | //toPC.printf("%02x ",inChar); |
jekain314 | 0:432b860b6ff7 | 71 | |
jekain314 | 0:432b860b6ff7 | 72 | //incoming messages will end witb a CR / LF -- disregard these chars |
jekain314 | 0:432b860b6ff7 | 73 | if (inChar == CR || inChar == LF) return; //CR is a 0x0a |
jekain314 | 0:432b860b6ff7 | 74 | |
jekain314 | 6:71da5b99de97 | 75 | //all received messages assumed to have a WMsg preamble |
jekain314 | 6:71da5b99de97 | 76 | //if we have read 4 chars, test these for "WMsg", if they are not WMsg, reset the buffer counter |
jekain314 | 6:71da5b99de97 | 77 | //if we receive an occasional bad byte that messes up a message, this will resynch fast to a next message |
jekain314 | 6:71da5b99de97 | 78 | //this will let us miss a message --- but hopefully only one |
jekain314 | 6:71da5b99de97 | 79 | |
jekain314 | 6:71da5b99de97 | 80 | // serBuffMax = 18 -- largest serBuffMax is 16 -- but we add one below for the '\0' |
jekain314 | 6:71da5b99de97 | 81 | // if the following occurs we have had a trash byte following a WMsg header |
jekain314 | 6:71da5b99de97 | 82 | if (serBufChars >= (serBuffMax-2)) {toPC.printf("WMsg restart message search\n"); serBufChars = 0; } |
jekain314 | 6:71da5b99de97 | 83 | |
jekain314 | 6:71da5b99de97 | 84 | serBuf[serBufChars] = inChar; //set this char in a char array for testing complete message |
jekain314 | 6:71da5b99de97 | 85 | |
jekain314 | 6:71da5b99de97 | 86 | testPreamble[serBufChars] = inChar; //char array for testing the preamble |
jekain314 | 5:2ce1be9d4bef | 87 | serBufChars++; |
jekain314 | 0:432b860b6ff7 | 88 | |
jekain314 | 6:71da5b99de97 | 89 | if (serBufChars == 4) //four initial chars detected (0, 1, 2, 3) |
jekain314 | 6:71da5b99de97 | 90 | { |
jekain314 | 6:71da5b99de97 | 91 | testPreamble[4] = '\0'; //form null-terminated string for compare |
jekain314 | 6:71da5b99de97 | 92 | if (strncmp(testPreamble, preamble, 5) != 0) //compare the chars to the WMsg preamble |
jekain314 | 6:71da5b99de97 | 93 | { |
jekain314 | 6:71da5b99de97 | 94 | toPC.printf("WMsg preamble mismatch \n"); |
jekain314 | 6:71da5b99de97 | 95 | serBufChars = 0; //if they dont match -- restart the search for a preamble |
jekain314 | 6:71da5b99de97 | 96 | return; |
jekain314 | 6:71da5b99de97 | 97 | } |
jekain314 | 6:71da5b99de97 | 98 | } |
jekain314 | 6:71da5b99de97 | 99 | |
jekain314 | 6:71da5b99de97 | 100 | //if we get here, we have found a preamble and we are looking for a complete message |
jekain314 | 0:432b860b6ff7 | 101 | //no need to continue if numChars are less than the shortest candidate message |
jekain314 | 5:2ce1be9d4bef | 102 | if (serBufChars < minMessageSize) return; |
jekain314 | 0:432b860b6ff7 | 103 | |
jekain314 | 0:432b860b6ff7 | 104 | // Append end of string |
jekain314 | 6:71da5b99de97 | 105 | // We always assume we have a complete message string and test for this below |
jekain314 | 0:432b860b6ff7 | 106 | serBuf[serBufChars] = '\0'; |
jekain314 | 0:432b860b6ff7 | 107 | |
jekain314 | 0:432b860b6ff7 | 108 | bool validMessage = false; |
jekain314 | 0:432b860b6ff7 | 109 | |
jekain314 | 0:432b860b6ff7 | 110 | // Check for valid message -- there are numMessages possible messages |
jekain314 | 6:71da5b99de97 | 111 | //this assumes that the message buffer contains an exact message |
jekain314 | 0:432b860b6ff7 | 112 | for (int m = 0; m < numMessages && !validMessage; m++) //check for all messages ... |
jekain314 | 0:432b860b6ff7 | 113 | { |
jekain314 | 0:432b860b6ff7 | 114 | //toPC.printf(" \n\n found chars to test %3d %3d %s \n\n\n ", serBufChars, strlen(msgList[m]), serBuf ); |
jekain314 | 0:432b860b6ff7 | 115 | |
jekain314 | 0:432b860b6ff7 | 116 | //check the current partial message against ALL possible messages |
jekain314 | 0:432b860b6ff7 | 117 | //messages must match in both strength length and text |
jekain314 | 0:432b860b6ff7 | 118 | if (serBufChars == strlen(msgList[m]) && strncmp(serBuf, msgList[m], serBufChars) == 0 ) |
jekain314 | 0:432b860b6ff7 | 119 | { |
jekain314 | 0:432b860b6ff7 | 120 | |
jekain314 | 0:432b860b6ff7 | 121 | //toPC.printf( "\n found valid message %s \n\n", serBuf); |
jekain314 | 1:8e24e633f8d8 | 122 | rxMsg = !rxMsg; |
jekain314 | 0:432b860b6ff7 | 123 | |
jekain314 | 0:432b860b6ff7 | 124 | validMessage = true; |
jekain314 | 0:432b860b6ff7 | 125 | serBufChars = 0; //reset the character count to reset for next message |
jekain314 | 2:7039be3daf6e | 126 | |
jekain314 | 0:432b860b6ff7 | 127 | //set programmatic action flags based on the message |
jekain314 | 0:432b860b6ff7 | 128 | switch(m) |
jekain314 | 0:432b860b6ff7 | 129 | { |
jekain314 | 0:432b860b6ff7 | 130 | case STATUS_MSG: |
jekain314 | 0:432b860b6ff7 | 131 | sendStatus = true; //send a status message back to PC |
jekain314 | 9:893481b2e488 | 132 | break; |
sam_grove | 7:1bec23c68a3c | 133 | |
jekain314 | 0:432b860b6ff7 | 134 | case POSVEL_MSG: |
jekain314 | 0:432b860b6ff7 | 135 | sendPosVel = true; //send a posvel message back to PC |
jekain314 | 2:7039be3daf6e | 136 | timeFromPosVelMessageReceipt.reset(); //start time and close SD card file if too long |
jekain314 | 9:893481b2e488 | 137 | break; |
jekain314 | 9:893481b2e488 | 138 | |
jekain314 | 0:432b860b6ff7 | 139 | case STARTDATA_MSG: //start the data recording to the SD card |
jekain314 | 0:432b860b6ff7 | 140 | recordData = true; |
jekain314 | 0:432b860b6ff7 | 141 | sendRecData = true; |
jekain314 | 0:432b860b6ff7 | 142 | break; |
jekain314 | 9:893481b2e488 | 143 | |
jekain314 | 0:432b860b6ff7 | 144 | case STOPDATA_MSG: //stop the data recording to the SD card |
jekain314 | 0:432b860b6ff7 | 145 | recordData = false; |
jekain314 | 0:432b860b6ff7 | 146 | sendRecData = true; |
jekain314 | 0:432b860b6ff7 | 147 | break; |
jekain314 | 9:893481b2e488 | 148 | |
jekain314 | 0:432b860b6ff7 | 149 | case STARTSTREAM_MSG: |
jekain314 | 0:432b860b6ff7 | 150 | case STOPSTREAM_MSG: |
jekain314 | 0:432b860b6ff7 | 151 | streamPos = (m == STARTSTREAM_MSG); |
jekain314 | 0:432b860b6ff7 | 152 | sendStreamPos = true; |
jekain314 | 9:893481b2e488 | 153 | break; |
jekain314 | 9:893481b2e488 | 154 | |
jekain314 | 0:432b860b6ff7 | 155 | case STARTLOGINFO_MSG: |
jekain314 | 0:432b860b6ff7 | 156 | case STOPLOGINFO_MSG: |
jekain314 | 0:432b860b6ff7 | 157 | logMsgInfo = (m == STARTLOGINFO_MSG); |
jekain314 | 0:432b860b6ff7 | 158 | sendLogMsgInfo = true; |
jekain314 | 9:893481b2e488 | 159 | break; |
jekain314 | 9:893481b2e488 | 160 | |
jekain314 | 1:8e24e633f8d8 | 161 | case FIRE_TRIGGER_MSG: |
jekain314 | 1:8e24e633f8d8 | 162 | fireTrigger = true; |
jekain314 | 6:71da5b99de97 | 163 | toPC.printf("MBED received trigger command \n"); |
jekain314 | 9:893481b2e488 | 164 | break; |
jekain314 | 9:893481b2e488 | 165 | |
jekain314 | 9:893481b2e488 | 166 | case GETFILE_MSG: |
jekain314 | 9:893481b2e488 | 167 | get_file_msg = true; |
jekain314 | 11:88efc6048237 | 168 | break; |
jekain314 | 9:893481b2e488 | 169 | |
jekain314 | 0:432b860b6ff7 | 170 | } //end Switch statement |
jekain314 | 0:432b860b6ff7 | 171 | break; |
jekain314 | 0:432b860b6ff7 | 172 | } //end test for a valid message |
jekain314 | 6:71da5b99de97 | 173 | |
jekain314 | 0:432b860b6ff7 | 174 | } //end message text loop |
jekain314 | 6:71da5b99de97 | 175 | |
jekain314 | 0:432b860b6ff7 | 176 | } //end pc.readable |
jekain314 | 0:432b860b6ff7 | 177 | }; |
jekain314 | 0:432b860b6ff7 | 178 | |
jekain314 | 0:432b860b6ff7 | 179 | void earthCoefficients(double latitudeRad, double longitudeRad, double height, double &latRateFac, double &lonRateFac) |
jekain314 | 0:432b860b6ff7 | 180 | { |
jekain314 | 0:432b860b6ff7 | 181 | //compute the lat and lon factors for use in the interpolation of the lat and lon between 1 sec epochs |
jekain314 | 0:432b860b6ff7 | 182 | //latRateFac & lonRateFac multiplied by Vnorth or VEast to get latRate and lonRate |
jekain314 | 0:432b860b6ff7 | 183 | //see this document (page 32) www.fas.org/spp/military/program/nav/basicnav.pdf |
jekain314 | 0:432b860b6ff7 | 184 | |
jekain314 | 0:432b860b6ff7 | 185 | double eccenSinLat = eccen * sin(latitudeRad); |
jekain314 | 0:432b860b6ff7 | 186 | double temp1 = 1.0 - eccenSinLat*eccenSinLat; |
jekain314 | 0:432b860b6ff7 | 187 | double temp2 = sqrt(temp1); |
jekain314 | 0:432b860b6ff7 | 188 | double r_meridian = earthRadius * ( 1.0 - eccen*eccen)/ (temp1 * temp2); |
jekain314 | 0:432b860b6ff7 | 189 | double r_normal = earthRadius / temp2; |
jekain314 | 0:432b860b6ff7 | 190 | |
jekain314 | 0:432b860b6ff7 | 191 | //divide Vnorth by latRateFac to get the latitude rate in deg per sec |
jekain314 | 0:432b860b6ff7 | 192 | latRateFac = (r_meridian + height)* DEGREES_TO_RADIANS; |
jekain314 | 0:432b860b6ff7 | 193 | |
jekain314 | 0:432b860b6ff7 | 194 | //divide VEast by lonRateFac to get the longitude rate in deg per sec |
jekain314 | 0:432b860b6ff7 | 195 | lonRateFac = (r_normal + height) * cos(latitudeRad)* DEGREES_TO_RADIANS; |
jekain314 | 0:432b860b6ff7 | 196 | } |
jekain314 | 0:432b860b6ff7 | 197 | |
jekain314 | 0:432b860b6ff7 | 198 | void sendPosVelMessageToPC(OEM615BESTPOS posMsg, OEM615BESTVEL velMsg) |
jekain314 | 0:432b860b6ff7 | 199 | { |
jekain314 | 0:432b860b6ff7 | 200 | //north and east velocity from the horizontal speed and heading |
jekain314 | 0:432b860b6ff7 | 201 | //velMsg may not be the "current" message --- but is the one also associated with a position message |
jekain314 | 0:432b860b6ff7 | 202 | double nVel = velMsg.horizontalSpeed*cos(velMsg.heading*DEGREES_TO_RADIANS); |
jekain314 | 0:432b860b6ff7 | 203 | double eVel = velMsg.horizontalSpeed*sin(velMsg.heading*DEGREES_TO_RADIANS); |
jekain314 | 0:432b860b6ff7 | 204 | |
jekain314 | 0:432b860b6ff7 | 205 | double latRateFac; |
jekain314 | 0:432b860b6ff7 | 206 | double lonRateFac; |
jekain314 | 0:432b860b6ff7 | 207 | |
jekain314 | 0:432b860b6ff7 | 208 | earthCoefficients( posMsg.latitude*DEGREES_TO_RADIANS, |
jekain314 | 0:432b860b6ff7 | 209 | posMsg.longitude*DEGREES_TO_RADIANS, |
jekain314 | 0:432b860b6ff7 | 210 | posMsg.height, |
jekain314 | 0:432b860b6ff7 | 211 | latRateFac, lonRateFac); |
jekain314 | 0:432b860b6ff7 | 212 | |
jekain314 | 0:432b860b6ff7 | 213 | //commented calculations are for a spherical earth (Chris's original computation) |
jekain314 | 0:432b860b6ff7 | 214 | // For the 1 second deltas with which we are dealing |
jekain314 | 0:432b860b6ff7 | 215 | // This calculation should be close enough for now |
jekain314 | 0:432b860b6ff7 | 216 | // Approximately 1 nautical mile / minute latitude, 60 minutes/degree, 1852 meters/nautical mile |
jekain314 | 0:432b860b6ff7 | 217 | //double latMetersPerDeg = 60.0*1852.0; |
jekain314 | 0:432b860b6ff7 | 218 | // longitude separation is approximately equal to latitude separation * cosine of latitude |
jekain314 | 0:432b860b6ff7 | 219 | //double lonMetersPerDeg = latMetersPerDeg*cos(posMsg.latitude*DEGREES_TO_RADIANS); |
jekain314 | 0:432b860b6ff7 | 220 | |
jekain314 | 0:432b860b6ff7 | 221 | // Elapsed time since last known GPS position |
jekain314 | 0:432b860b6ff7 | 222 | //PPSTimeOffset is a result of possibly missing a prior GPS position message |
jekain314 | 0:432b860b6ff7 | 223 | // timeFromPPS.read() is always the time from the moset recent 1PPS |
jekain314 | 0:432b860b6ff7 | 224 | double elTime = (double)PPSTimeOffset + timeFromPPS.read(); |
jekain314 | 0:432b860b6ff7 | 225 | |
jekain314 | 0:432b860b6ff7 | 226 | // Position time -- GPSTime is the time of the last valid GPS position message |
jekain314 | 1:8e24e633f8d8 | 227 | double posTime = GPSTimemsecs/1000 + elTime; |
jekain314 | 0:432b860b6ff7 | 228 | |
jekain314 | 0:432b860b6ff7 | 229 | //toPC.printf(" elTime = %6.3f PPSimeOffset = %6.3f \n", elTime, PPSTimeOffset); |
jekain314 | 0:432b860b6ff7 | 230 | //toPC.printf(" latRateFac = %10.3f lonRateFac = %10.3f \n", latRateFac, lonRateFac); |
jekain314 | 0:432b860b6ff7 | 231 | //toPC.printf(" latRateFac = %10.3f lonRateFac = %10.3f \n", latMetersPerDeg, lonMetersPerDeg); |
jekain314 | 0:432b860b6ff7 | 232 | |
jekain314 | 0:432b860b6ff7 | 233 | // Estimated position based on previous position and velocity |
jekain314 | 0:432b860b6ff7 | 234 | // posMsg is the last time when the BESTVEL and BESTPOS messages had identical times |
jekain314 | 0:432b860b6ff7 | 235 | //double latPos = posMsg.latitude + (nVel/latMetersPerDeg)*elTime; |
jekain314 | 0:432b860b6ff7 | 236 | //double lonPos = posMsg.longitude + (eVel/lonMetersPerDeg)*elTime; |
jekain314 | 0:432b860b6ff7 | 237 | |
jekain314 | 0:432b860b6ff7 | 238 | double latPos = posMsg.latitude + (nVel/latRateFac)*elTime; |
jekain314 | 0:432b860b6ff7 | 239 | double lonPos = posMsg.longitude + (eVel/lonRateFac)*elTime; |
jekain314 | 0:432b860b6ff7 | 240 | double htPos = posMsg.height + velMsg.verticalSpeed/(60*1852)*elTime; |
jekain314 | 0:432b860b6ff7 | 241 | |
jekain314 | 0:432b860b6ff7 | 242 | char solReady = 'N'; |
jekain314 | 0:432b860b6ff7 | 243 | //solStatus |
jekain314 | 0:432b860b6ff7 | 244 | if (posMsg.solStatus == 0) //see description of solution status in OEMV615.h |
jekain314 | 0:432b860b6ff7 | 245 | { |
jekain314 | 0:432b860b6ff7 | 246 | solReady = 'Y'; |
jekain314 | 0:432b860b6ff7 | 247 | } |
jekain314 | 0:432b860b6ff7 | 248 | |
jekain314 | 0:432b860b6ff7 | 249 | toPC.printf("WMsg POSVEL %5.3lf %1d %c %8.5lf %9.5lf %4.3lf %4.3lf %4.3lf %4.3lf\n", |
jekain314 | 0:432b860b6ff7 | 250 | posTime, |
jekain314 | 0:432b860b6ff7 | 251 | posMsg.numSolSV, |
jekain314 | 0:432b860b6ff7 | 252 | solReady, |
jekain314 | 0:432b860b6ff7 | 253 | latPos, |
jekain314 | 0:432b860b6ff7 | 254 | lonPos, |
jekain314 | 0:432b860b6ff7 | 255 | htPos, |
jekain314 | 0:432b860b6ff7 | 256 | nVel, |
jekain314 | 0:432b860b6ff7 | 257 | eVel, |
jekain314 | 0:432b860b6ff7 | 258 | velMsg.verticalSpeed |
jekain314 | 0:432b860b6ff7 | 259 | ); |
jekain314 | 1:8e24e633f8d8 | 260 | txMsg = !txMsg; |
jekain314 | 0:432b860b6ff7 | 261 | } |
jekain314 | 0:432b860b6ff7 | 262 | |
jekain314 | 0:432b860b6ff7 | 263 | void processPCmessages(FILE* &fpNav, OEM615BESTPOS posMsg, OEM615BESTVEL velMsg) |
jekain314 | 0:432b860b6ff7 | 264 | { |
jekain314 | 0:432b860b6ff7 | 265 | |
jekain314 | 1:8e24e633f8d8 | 266 | |
jekain314 | 1:8e24e633f8d8 | 267 | |
jekain314 | 0:432b860b6ff7 | 268 | //we should put the below stuff into the readPC() procedure. |
jekain314 | 0:432b860b6ff7 | 269 | //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 | 270 | //perform the activities as a response to the commands |
jekain314 | 0:432b860b6ff7 | 271 | if (sendPosVel) //true if we want to return a position solution |
jekain314 | 0:432b860b6ff7 | 272 | { |
jekain314 | 2:7039be3daf6e | 273 | //if we are receiving POSVEL requests -- always open the file for storage and store the data |
jekain314 | 2:7039be3daf6e | 274 | //th file is closed(in main) if we dont receive POSVAL messages for 60 secs |
jekain314 | 2:7039be3daf6e | 275 | if (fpNav == NULL) |
jekain314 | 2:7039be3daf6e | 276 | { |
jekain314 | 6:71da5b99de97 | 277 | toPC.printf("WMsg opening the SD card file \n"); |
jekain314 | 2:7039be3daf6e | 278 | fpNav = fopen("/sd/Data/NAV.bin", "wb"); |
jekain314 | 2:7039be3daf6e | 279 | wait_ms(10); |
jekain314 | 2:7039be3daf6e | 280 | recordData = true; |
jekain314 | 2:7039be3daf6e | 281 | } |
jekain314 | 0:432b860b6ff7 | 282 | sendPosVel=false; //set to true if a POSVEL is requested from the PC |
jekain314 | 0:432b860b6ff7 | 283 | sendPosVelMessageToPC(posMsg, velMsg); |
jekain314 | 0:432b860b6ff7 | 284 | } |
jekain314 | 0:432b860b6ff7 | 285 | |
jekain314 | 0:432b860b6ff7 | 286 | //all this does is assess the GPS convergence -- really available in the above |
jekain314 | 0:432b860b6ff7 | 287 | if (sendStatus) //send the status message to the PC |
jekain314 | 0:432b860b6ff7 | 288 | { |
jekain314 | 1:8e24e633f8d8 | 289 | txMsg = !txMsg; |
jekain314 | 0:432b860b6ff7 | 290 | sendStatus=false; |
jekain314 | 0:432b860b6ff7 | 291 | char solReady = 'N'; |
jekain314 | 0:432b860b6ff7 | 292 | //solStatus |
jekain314 | 0:432b860b6ff7 | 293 | if (posMsg.solStatus == 0) //see description of solution status in OEMV615.h |
jekain314 | 0:432b860b6ff7 | 294 | { |
jekain314 | 0:432b860b6ff7 | 295 | solReady = 'Y'; |
jekain314 | 0:432b860b6ff7 | 296 | } |
jekain314 | 0:432b860b6ff7 | 297 | toPC.printf("WMsg STATUS %5.3lf %c\n", |
jekain314 | 1:8e24e633f8d8 | 298 | GPSTimemsecs, |
jekain314 | 0:432b860b6ff7 | 299 | solReady |
jekain314 | 0:432b860b6ff7 | 300 | ); |
jekain314 | 0:432b860b6ff7 | 301 | } |
jekain314 | 0:432b860b6ff7 | 302 | |
jekain314 | 0:432b860b6ff7 | 303 | //should just record ALL the data -- can pick over it in the post-processing |
jekain314 | 0:432b860b6ff7 | 304 | if (sendRecData) //begin to (or stop) record the serial data |
jekain314 | 0:432b860b6ff7 | 305 | { |
jekain314 | 1:8e24e633f8d8 | 306 | sendRecData=false; //reset the flag so we dont continue to come through here |
jekain314 | 0:432b860b6ff7 | 307 | char recChar = 'N'; |
jekain314 | 1:8e24e633f8d8 | 308 | //recordData set to true only if we receive a STARTDATA from the PC |
jekain314 | 1:8e24e633f8d8 | 309 | if (recordData) //here we have received a message to record the data |
jekain314 | 0:432b860b6ff7 | 310 | { |
jekain314 | 1:8e24e633f8d8 | 311 | if ((fpNav == NULL)) //if file not opened -- open it |
jekain314 | 0:432b860b6ff7 | 312 | { |
jekain314 | 1:8e24e633f8d8 | 313 | toPC.printf(" opening the SD card file \n"); |
jekain314 | 0:432b860b6ff7 | 314 | fpNav = fopen("/sd/Data/NAV.bin", "wb"); |
jekain314 | 2:7039be3daf6e | 315 | wait_ms(10); |
jekain314 | 0:432b860b6ff7 | 316 | } |
jekain314 | 1:8e24e633f8d8 | 317 | if (fpNav != NULL) //if the fie was already opened we will respond to the PC with a Y |
jekain314 | 0:432b860b6ff7 | 318 | { |
jekain314 | 0:432b860b6ff7 | 319 | recChar = 'Y'; |
jekain314 | 0:432b860b6ff7 | 320 | } |
jekain314 | 1:8e24e633f8d8 | 321 | else //is the file was not opened we will write a message to the PC |
jekain314 | 0:432b860b6ff7 | 322 | { |
jekain314 | 0:432b860b6ff7 | 323 | toPC.printf(" Could not open the SD card \n\n"); |
jekain314 | 0:432b860b6ff7 | 324 | } |
jekain314 | 0:432b860b6ff7 | 325 | } |
jekain314 | 1:8e24e633f8d8 | 326 | //recordData set to false only if we receive a STOPDATA from the PC |
jekain314 | 1:8e24e633f8d8 | 327 | else //here we have received a message to stop the recording |
jekain314 | 0:432b860b6ff7 | 328 | { |
jekain314 | 1:8e24e633f8d8 | 329 | if (fpNav != NULL) //if the file is open -- close it |
jekain314 | 0:432b860b6ff7 | 330 | { |
jekain314 | 0:432b860b6ff7 | 331 | toPC.printf(" closing the SD card file \n\n"); |
jekain314 | 1:8e24e633f8d8 | 332 | fflush(fpNav); |
jekain314 | 0:432b860b6ff7 | 333 | fclose(fpNav); |
jekain314 | 1:8e24e633f8d8 | 334 | wait_ms(1000); |
jekain314 | 0:432b860b6ff7 | 335 | //toPC.printf("\n after closing the SD card file \n\n"); |
jekain314 | 0:432b860b6ff7 | 336 | fpNav = NULL; |
jekain314 | 0:432b860b6ff7 | 337 | } |
jekain314 | 1:8e24e633f8d8 | 338 | //if stop recording received and the file is already closed -- just do nothing |
jekain314 | 1:8e24e633f8d8 | 339 | recordData = false; |
jekain314 | 1:8e24e633f8d8 | 340 | |
jekain314 | 0:432b860b6ff7 | 341 | } |
jekain314 | 0:432b860b6ff7 | 342 | toPC.printf("WMsg RECORDDATA %c\n", |
jekain314 | 0:432b860b6ff7 | 343 | recChar |
jekain314 | 0:432b860b6ff7 | 344 | ); |
jekain314 | 0:432b860b6ff7 | 345 | } |
jekain314 | 0:432b860b6ff7 | 346 | |
jekain314 | 0:432b860b6ff7 | 347 | if (sendStreamPos) //stream the position data to the PC |
jekain314 | 0:432b860b6ff7 | 348 | { |
jekain314 | 0:432b860b6ff7 | 349 | sendStreamPos=false; |
jekain314 | 0:432b860b6ff7 | 350 | char streamChar = 'N'; |
jekain314 | 0:432b860b6ff7 | 351 | if (streamPos) |
jekain314 | 0:432b860b6ff7 | 352 | { |
jekain314 | 0:432b860b6ff7 | 353 | streamChar = 'Y'; |
jekain314 | 0:432b860b6ff7 | 354 | } |
jekain314 | 0:432b860b6ff7 | 355 | toPC.printf("WMsg POSSTREAM %c\n", |
jekain314 | 0:432b860b6ff7 | 356 | streamChar |
jekain314 | 0:432b860b6ff7 | 357 | ); |
jekain314 | 0:432b860b6ff7 | 358 | } |
jekain314 | 0:432b860b6ff7 | 359 | |
jekain314 | 0:432b860b6ff7 | 360 | //not sure this is ever used .. |
jekain314 | 0:432b860b6ff7 | 361 | if (sendLogMsgInfo) //send log info to the PC |
jekain314 | 0:432b860b6ff7 | 362 | { |
jekain314 | 0:432b860b6ff7 | 363 | sendLogMsgInfo=false; |
jekain314 | 0:432b860b6ff7 | 364 | char logChar = 'N'; |
jekain314 | 0:432b860b6ff7 | 365 | if (logMsgInfo) |
jekain314 | 0:432b860b6ff7 | 366 | { |
jekain314 | 0:432b860b6ff7 | 367 | logChar = 'Y'; |
jekain314 | 0:432b860b6ff7 | 368 | } |
jekain314 | 0:432b860b6ff7 | 369 | toPC.printf("WMsg LOGINFO %c\n", |
jekain314 | 0:432b860b6ff7 | 370 | logChar |
jekain314 | 0:432b860b6ff7 | 371 | ); |
jekain314 | 0:432b860b6ff7 | 372 | } |
jekain314 | 0:432b860b6ff7 | 373 | |
jekain314 | 0:432b860b6ff7 | 374 | |
jekain314 | 0:432b860b6ff7 | 375 | } |