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@29:dead10cce6e9, 2014-01-09 (annotated)

Committer:
jekain314
Date:
Thu Jan 09 14:09:05 2014 +0000
Revision:
29:dead10cce6e9
Parent:
27:94a6f0589993
Child:
30:96d133f3008e
initial commit

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 29:dead10cce6e9 11
jekain314 29:dead10cce6e9 12 //if we dont write to the card we dont need this ...
jekain314 0:432b860b6ff7 13 //SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name);
jekain314 0:432b860b6ff7 14 SDFileSystem sd(p11,p12,p13,p14,"sd");
jekain314 29:dead10cce6e9 15
jekain314 0:432b860b6ff7 16 DigitalIn sd_detect(p27);
jekain314 0:432b860b6ff7 17 DigitalOut ppsled(LED1); //blink an LED at the 1PPS
jekain314 0:432b860b6ff7 18 DigitalOut trig1led(LED2); //blink an LED at the camera trigger detection
jekain314 1:8e24e633f8d8 19 DigitalOut rxMsg(LED3);
jekain314 1:8e24e633f8d8 20 DigitalOut txMsg(LED4);
jekain314 1:8e24e633f8d8 21 //DigitalOut recordDataled(LED4); //set the led when the record is on
jekain314 1:8e24e633f8d8 22
jekain314 1:8e24e633f8d8 23 //hardware trigger mechanization for bulb shutter commands
jekain314 1:8e24e633f8d8 24 DigitalInOut fire(p29); //connected to the tip of 2.5mm connector (T2i)
jekain314 1:8e24e633f8d8 25 DigitalInOut pre_fire(p30); //connected to the mid-connection for 2.5mm connector (T2i)
jekain314 1:8e24e633f8d8 26
jekain314 0:432b860b6ff7 27 //USB serial data stream back to the PC
jekain314 0:432b860b6ff7 28 Serial toPC(USBTX, USBRX); //connect the GPS TX, RX to p9 and p10
jekain314 0:432b860b6ff7 29
jekain314 0:432b860b6ff7 30 Timer timeFromStart;
jekain314 0:432b860b6ff7 31
jekain314 29:dead10cce6e9 32
sam_grove 27:94a6f0589993 33
jekain314 0:432b860b6ff7 34 bool detectedGPS1PPS = false; //flag set in the ISR and reset after processing the 1PPS event
jekain314 0:432b860b6ff7 35 int PPSCounter = 0; //counts the 1PPS occurrences
jekain314 0:432b860b6ff7 36 int byteCounter = 0; //byte counter -- zeroed at 1PPS
jekain314 0:432b860b6ff7 37 unsigned short perSecMessageCounter=0; //counts the number of messages in a sec based on the header detection
jekain314 0:432b860b6ff7 38 bool messageDetected = false; //have detected a message header
jekain314 0:432b860b6ff7 39 unsigned long IMUbytesWritten = 0; //counts the IMU bytes written by the fwrite() to the SD card
jekain314 0:432b860b6ff7 40 int savedByteCounter = 0; //save ByteCounter at the 1PPS for display in main
jekain314 0:432b860b6ff7 41 int savedPerSecMessageCounter=0; //saved PerSecMsgCounter for display in main
jekain314 0:432b860b6ff7 42 int savedIMUClockCounter=0; //saved at the 1PPS for later diaplay from main
jekain314 0:432b860b6ff7 43 bool camera1EventDetected = false; //flag from ISR indicating a clock event occurred
jekain314 0:432b860b6ff7 44 double camera1Time; //GPS time of the camera event
sam_grove 27:94a6f0589993 45 volatile int PPSTimeOffset = 0;
jekain314 29:dead10cce6e9 46 int totalGPSBytes = 0;
jekain314 0:432b860b6ff7 47
jekain314 29:dead10cce6e9 48 bool writeIMUDataToPC = false; //used in main loop to cause IMU data write to the PC
jekain314 29:dead10cce6e9 49 bool writeGPSDataToPC = false; //used in main loop to cause GPS data write to the PC
jekain314 0:432b860b6ff7 50
jekain314 0:432b860b6ff7 51 #include "OEM615.h" //OEM615 GPS activities
jekain314 0:432b860b6ff7 52 #include "ADIS16488.h" //ADIS16488 activities
jekain314 0:432b860b6ff7 53 #include "PCMessaging.h" //PC messaging activities
jekain314 0:432b860b6ff7 54
jekain314 0:432b860b6ff7 55 //ISR for detection of the GPS 1PPS
jekain314 0:432b860b6ff7 56 void detect1PPSISR(void)
jekain314 0:432b860b6ff7 57 {
jekain314 0:432b860b6ff7 58 timeFromPPS.reset(); //reset the 1PPS timer upon 1PPS detection
jekain314 0:432b860b6ff7 59 //note -- the below accounts for time information becoming available AFTER the 1PPS event
jekain314 0:432b860b6ff7 60 PPSTimeOffset++; //counts 1PPS events between matching POS and VEL messages
jekain314 0:432b860b6ff7 61
jekain314 0:432b860b6ff7 62 //covers the case where the PPS ISR interrupts the IMU data ready ISR
jekain314 0:432b860b6ff7 63 if(IMUDataReady) IMUtimeFrom1PPS = 0;
jekain314 0:432b860b6ff7 64
jekain314 0:432b860b6ff7 65 savedByteCounter = byteCounter; //save byteCounter for display in main
jekain314 0:432b860b6ff7 66 savedPerSecMessageCounter = perSecMessageCounter; //save for display un main
jekain314 0:432b860b6ff7 67 byteCounter = 0; //countes bytes between 1PPS events
jekain314 0:432b860b6ff7 68 perSecMessageCounter = 0; //counts GPS messages between 1PPS events
jekain314 0:432b860b6ff7 69
jekain314 0:432b860b6ff7 70 GPS_COM1.rxBufferFlush(); //flush the GPS serial buffer
jekain314 0:432b860b6ff7 71
jekain314 0:432b860b6ff7 72 detectedGPS1PPS = true; //set false in the main when 1PPS actions are complete
jekain314 0:432b860b6ff7 73 PPSCounter++; //count number of 1PPS epoch
jekain314 0:432b860b6ff7 74
jekain314 0:432b860b6ff7 75 ppsled = !ppsled; //blink an LED at the 1PPS
jekain314 0:432b860b6ff7 76 };
jekain314 0:432b860b6ff7 77
jekain314 0:432b860b6ff7 78
jekain314 0:432b860b6ff7 79 ///////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 80 //set up the USB port and the GPS COM port
jekain314 0:432b860b6ff7 81 ///////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 82 void setupCOM(void)
jekain314 0:432b860b6ff7 83 {
jekain314 0:432b860b6ff7 84 //system starts with GPS in reset active
jekain314 0:432b860b6ff7 85 //dis-engage the reset to get the GPS started
jekain314 0:432b860b6ff7 86 GPS_Reset=1; wait_ms(1000);
jekain314 0:432b860b6ff7 87
jekain314 0:432b860b6ff7 88 //establish 1PPS ISR
jekain314 0:432b860b6ff7 89 PPSInt.rise(&detect1PPSISR);
jekain314 0:432b860b6ff7 90
jekain314 0:432b860b6ff7 91 //set the USB serial data rate -- rate must be matched at the PC end
jekain314 0:432b860b6ff7 92 //This the serial communication back to the the PC host
jekain314 0:432b860b6ff7 93 //Launch the C++ serial port read program there to catch the ASCII characters
jekain314 0:432b860b6ff7 94 //toPC.baud(9600); wait_ms(100);
jekain314 25:2287bd8c9877 95 toPC.baud(8*115200); wait_ms(100);
jekain314 0:432b860b6ff7 96 //toPC.baud(1*115200); wait_ms(100);
jekain314 6:71da5b99de97 97 //toPC.printf("\n\n released GPS from RESET and set to high baud rate \n\n");
jekain314 0:432b860b6ff7 98
jekain314 29:dead10cce6e9 99 //just wait some time to launch the GPS receiver
jekain314 29:dead10cce6e9 100 for (int i=0; i<5; i++) { toPC.printf("WMessage start countdown: %3d \n", 4-i); wait(1); }
jekain314 0:432b860b6ff7 101
jekain314 0:432b860b6ff7 102 //NOTE: we do not assume that the GPS receiver has been pre-set up for the WALDO_FCS functionality
jekain314 0:432b860b6ff7 103 //we alwsys start with a reset and reprogram the receiver with our data out products
jekain314 0:432b860b6ff7 104 // this prevents failure because of a blown NVRAM as occurred for the older camera systems
jekain314 0:432b860b6ff7 105
jekain314 29:dead10cce6e9 106 //this is the COM1 port from th GPS receiver to the mbed
jekain314 0:432b860b6ff7 107 //it should be always started at 9600 baud because thats the default for the GPS receiver
jekain314 0:432b860b6ff7 108 GPS_COM1.baud(9600); wait_ms(100);
jekain314 0:432b860b6ff7 109
jekain314 0:432b860b6ff7 110 // this ASCII command sets up the serial data from the GPS receiver on its COM1
jekain314 0:432b860b6ff7 111 char ch7[] = "serialconfig COM1 9600 n 8 1 n off";
jekain314 0:432b860b6ff7 112 // this is a software reset and has the same effect as a hardware reset (why do it?)
jekain314 0:432b860b6ff7 113 //char ch0[] = "RESET";
jekain314 0:432b860b6ff7 114 //this command stops all communication from the GPS receiver on COM1
jekain314 0:432b860b6ff7 115 //logs should still be presented on USB port so the Novatel CDU application can be used on the PC in parallel
jekain314 0:432b860b6ff7 116 char ch1[] = "unlogall COM1";
jekain314 0:432b860b6ff7 117 //set the final baud rate that we will use from here
jekain314 0:432b860b6ff7 118 //allowable baud rate values: 9600 115200 230400 460800 921600
jekain314 0:432b860b6ff7 119 //char ch2[] = "serialconfig COM1 921600 n 8 1 n off";
jekain314 0:432b860b6ff7 120 char ch2[] = "serialconfig COM1 115200 n 8 1 n off";
jekain314 0:432b860b6ff7 121
jekain314 0:432b860b6ff7 122 //the below commands request the POS, VEL, RANGE, and TIME messages
jekain314 29:dead10cce6e9 123 //Binary commands are shown below
jekain314 29:dead10cce6e9 124 //char ch3[] = "log COM1 BESTPOSB ONTIME 1"; //messageID = 42
jekain314 29:dead10cce6e9 125 //char ch4[] = "log COM1 BESTVelB ONTIME 1"; //messageID = 99
jekain314 29:dead10cce6e9 126 //char ch5[] = "log COM1 RANGEB ONTIME 1"; //messageID = 43
jekain314 0:432b860b6ff7 127 //char ch6[] = "log COM1 TIMEB ONTIME 1"; //messageID = 101
jekain314 29:dead10cce6e9 128
jekain314 29:dead10cce6e9 129 //ASCII commands are shown below
jekain314 29:dead10cce6e9 130 char ch3[] = "log COM1 BESTPOSA ONTIME 1"; //messageID = 42
jekain314 29:dead10cce6e9 131 char ch4[] = "log COM1 BESTVelA ONTIME 1"; //messageID = 99
jekain314 29:dead10cce6e9 132 char ch5[] = "log COM1 RANGEA ONTIME 1"; //messageID = 43
jekain314 29:dead10cce6e9 133 //char ch6[] = "log COM1 TIMEB ONTIME 1"; //messageID = 101
jekain314 0:432b860b6ff7 134
jekain314 15:f3b92958cf5a 135 //toPC.printf("WMsg set serial config \n");
jekain314 0:432b860b6ff7 136 sendASCII(ch7, sizeof(ch7)); wait_ms(500);
jekain314 0:432b860b6ff7 137 //sendASCII(ch0, sizeof(ch0));
jekain314 15:f3b92958cf5a 138 //toPC.printf("WMsg unlog all messages \n");
jekain314 0:432b860b6ff7 139 sendASCII(ch1, sizeof(ch1)); wait_ms(500);
jekain314 15:f3b92958cf5a 140 //toPC.printf("WMsg log BESTPOSB on COM1 \n");
jekain314 0:432b860b6ff7 141 sendASCII(ch3, sizeof(ch3)); wait_ms(500);
jekain314 15:f3b92958cf5a 142 //toPC.printf("WMsg log BESTVELB on COM1\n");
jekain314 0:432b860b6ff7 143 sendASCII(ch4, sizeof(ch4)); wait_ms(500);
jekain314 15:f3b92958cf5a 144 //toPC.printf("WMsg log RANGEB on COM1\n");
jekain314 0:432b860b6ff7 145 sendASCII(ch5, sizeof(ch5)); wait_ms(500);
jekain314 0:432b860b6ff7 146
jekain314 0:432b860b6ff7 147 //toPC.printf("log TIMEB om COM1 \n");
jekain314 0:432b860b6ff7 148 //sendASCII(ch6, sizeof(ch6)); wait_ms(100);
jekain314 0:432b860b6ff7 149
jekain314 0:432b860b6ff7 150 //toPC.printf("Set up th VARF signal \n");
jekain314 0:432b860b6ff7 151 //sendASCII(ch8, sizeof(ch8)); wait_ms(500);
jekain314 0:432b860b6ff7 152
jekain314 0:432b860b6ff7 153 //set GPS output COM1 to the final high rate
jekain314 15:f3b92958cf5a 154 //toPC.printf("WMsg set the COM ports to high rate\n");
jekain314 0:432b860b6ff7 155 sendASCII(ch2, sizeof(ch2)); wait_ms(500);
jekain314 0:432b860b6ff7 156
jekain314 0:432b860b6ff7 157 //set the mbed COM port to match the GPS transmit rate
jekain314 0:432b860b6ff7 158 //the below baud rate must match the COM1 rate coming from the GPS receiver
jekain314 0:432b860b6ff7 159 GPS_COM1.baud(115200); wait_ms(500); //without this wait -- the baud rate is not detected when using MODSERIAL
jekain314 0:432b860b6ff7 160 //GPS_COM1.baud(921600); wait_ms(500); //without this wait -- the baud rate is not detected when using MODSERIAL
jekain314 0:432b860b6ff7 161 };
jekain314 0:432b860b6ff7 162
jekain314 0:432b860b6ff7 163
jekain314 0:432b860b6ff7 164 /////////////////////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 165 // mbed main to support the Waldo_FCS
jekain314 0:432b860b6ff7 166 /////////////////////////////////////////////////////////////////////
jekain314 14:009d4671f0e3 167 int main()
jekain314 14:009d4671f0e3 168 {
jekain314 0:432b860b6ff7 169
jekain314 29:dead10cce6e9 170 toPC.printf("initiating the mbed app\n");
sam_grove 27:94a6f0589993 171
jekain314 1:8e24e633f8d8 172 fire.output(); //set the fire pin as outoput
jekain314 1:8e24e633f8d8 173 pre_fire.output(); //set the pre-fire pin as output
sam_grove 27:94a6f0589993 174
jekain314 1:8e24e633f8d8 175 //fire.mode(OpenDrain);
jekain314 1:8e24e633f8d8 176
jekain314 1:8e24e633f8d8 177 //set up for the first trigger
jekain314 1:8e24e633f8d8 178 fire = 1;
jekain314 1:8e24e633f8d8 179 pre_fire = 1;
sam_grove 27:94a6f0589993 180
jekain314 0:432b860b6ff7 181 //set up the GPS and mbed COM ports
jekain314 0:432b860b6ff7 182 setupCOM();
jekain314 29:dead10cce6e9 183 toPC.printf("Completed setting up GPS \n");
jekain314 0:432b860b6ff7 184
jekain314 29:dead10cce6e9 185 //set up the ADIS16488 IMU
jekain314 29:dead10cce6e9 186 //setupADIS();
jekain314 29:dead10cce6e9 187
jekain314 25:2287bd8c9877 188 //initiate the interrupt to catch the GPS receiver serial bytes as they are presented
jekain314 0:432b860b6ff7 189 GPS_COM1.attach(&readSerialByte, MODSERIAL::RxIrq);
jekain314 0:432b860b6ff7 190
jekain314 0:432b860b6ff7 191 timeFromPPS.start(); //start the time for measuring time from 1PPS events
jekain314 0:432b860b6ff7 192 timeFromStart.start();
jekain314 0:432b860b6ff7 193
jekain314 25:2287bd8c9877 194 unsigned long cyclesPerSec = 0; //main while() loop cycles per GPS sec
jekain314 29:dead10cce6e9 195
jekain314 4:dda2ab5cc643 196 bool finishTrigger = false;
jekain314 4:dda2ab5cc643 197 Timer triggerInterval;
jekain314 0:432b860b6ff7 198
jekain314 17:71900da6ced6 199 bool newMission = true;
jekain314 17:71900da6ced6 200
jekain314 0:432b860b6ff7 201 ///////////////////////////////////////////////////////////////////////////
jekain314 17:71900da6ced6 202 // top of the mission while loop
jekain314 0:432b860b6ff7 203 ///////////////////////////////////////////////////////////////////////////
jekain314 17:71900da6ced6 204 while(newMission)
jekain314 29:dead10cce6e9 205 {
jekain314 29:dead10cce6e9 206 if (message0Complete)
jekain314 29:dead10cce6e9 207 {
jekain314 29:dead10cce6e9 208 for (int i=0; i<GPSbyteCounter0; i++) toPC.printf("%c", msgBuffer0[i]);
jekain314 29:dead10cce6e9 209 toPC.printf("\n");
jekain314 29:dead10cce6e9 210 message0Complete = false;
jekain314 29:dead10cce6e9 211 }
jekain314 29:dead10cce6e9 212 else if (message1Complete)
jekain314 29:dead10cce6e9 213 {
jekain314 29:dead10cce6e9 214 for (int i=0; i<GPSbyteCounter1; i++) toPC.printf("%c", msgBuffer1[i]);
jekain314 29:dead10cce6e9 215 toPC.printf("\n");
jekain314 29:dead10cce6e9 216 message1Complete = false;
jekain314 29:dead10cce6e9 217 }
jekain314 29:dead10cce6e9 218 else if (message2Complete)
jekain314 29:dead10cce6e9 219 {
jekain314 29:dead10cce6e9 220 for (int i=0; i<GPSbyteCounter2; i++) toPC.printf("%c", msgBuffer2[i]);
jekain314 29:dead10cce6e9 221 toPC.printf("\n");
jekain314 29:dead10cce6e9 222 message2Complete = false;
jekain314 29:dead10cce6e9 223 }
jekain314 29:dead10cce6e9 224 /*
jekain314 29:dead10cce6e9 225 if (writeIMUDataToPC)
jekain314 2:7039be3daf6e 226 {
jekain314 29:dead10cce6e9 227 //write the IMU data to the PC
jekain314 29:dead10cce6e9 228 toPC.printf("IMURECORD "); // 9 bytes header
jekain314 29:dead10cce6e9 229 for (int i=0; i<IMUrecArraySize; i++)
jekain314 29:dead10cce6e9 230 {
jekain314 29:dead10cce6e9 231 if (fillingPingWritingPong)
jekain314 29:dead10cce6e9 232 {
jekain314 29:dead10cce6e9 233 toPC.printf("%d9 %d9 %d9 %d9 %d9 %d9 %d9", //70 bytes
jekain314 29:dead10cce6e9 234 imuPong[i].GPSTime,
jekain314 29:dead10cce6e9 235 imuPong[i].dataWord[0],
jekain314 29:dead10cce6e9 236 imuPong[i].dataWord[1],
jekain314 29:dead10cce6e9 237 imuPong[i].dataWord[2],
jekain314 29:dead10cce6e9 238 imuPong[i].dataWord[3],
jekain314 29:dead10cce6e9 239 imuPong[i].dataWord[4],
jekain314 29:dead10cce6e9 240 imuPong[i].dataWord[5] );
jekain314 29:dead10cce6e9 241 }
jekain314 29:dead10cce6e9 242 else
jekain314 29:dead10cce6e9 243 {
jekain314 29:dead10cce6e9 244 toPC.printf("%d9 %d9 %d9 %d9 %d9 %d9 %d9",
jekain314 29:dead10cce6e9 245 imuPing[i].GPSTime,
jekain314 29:dead10cce6e9 246 imuPing[i].dataWord[0],
jekain314 29:dead10cce6e9 247 imuPing[i].dataWord[1],
jekain314 29:dead10cce6e9 248 imuPing[i].dataWord[2],
jekain314 29:dead10cce6e9 249 imuPing[i].dataWord[3],
jekain314 29:dead10cce6e9 250 imuPing[i].dataWord[4],
jekain314 29:dead10cce6e9 251 imuPing[i].dataWord[5] );
jekain314 29:dead10cce6e9 252 }
jekain314 29:dead10cce6e9 253 }
jekain314 29:dead10cce6e9 254 toPC.printf("/n"); //total of 10 * 70 + 9 = 709 bytes
jekain314 29:dead10cce6e9 255 writeIMUDataToPC = false;
jekain314 2:7039be3daf6e 256 }
jekain314 29:dead10cce6e9 257 */
jekain314 29:dead10cce6e9 258
jekain314 29:dead10cce6e9 259 //read the USB serial data from the PC to check for commands
jekain314 29:dead10cce6e9 260 //only message we expect will be thr trigger command
jekain314 29:dead10cce6e9 261 readFromPC();
jekain314 29:dead10cce6e9 262
jekain314 5:2ce1be9d4bef 263 if(fireTrigger) //comes from a PC request message
jekain314 1:8e24e633f8d8 264 {
jekain314 26:c2208b0ff78b 265 unsigned long triggerTime = GPSTimemsecs + PPSTimeOffset*1000.0 + timeFromPPS.read_us()/1000.0;
jekain314 14:009d4671f0e3 266 toPC.printf("WMsg TRIGGERTIME %10d \n", triggerTime);
jekain314 1:8e24e633f8d8 267 //pre-fire the trigger using the mid-body 2.5mm connection (T2i)
jekain314 1:8e24e633f8d8 268 pre_fire = 0; //pin30 (midbody of connector) set to zero
jekain314 25:2287bd8c9877 269 wait(.01f); // not sure what this does
jekain314 1:8e24e633f8d8 270 fire = 0; //fire the trigger using the tip connection
jekain314 25:2287bd8c9877 271 fireTrigger = false; //finished the setup -- but wait to do the actual fire
jekain314 25:2287bd8c9877 272 finishTrigger = true; //set to false after firing the trigger
jekain314 4:dda2ab5cc643 273 triggerInterval.start();
jekain314 4:dda2ab5cc643 274 }
jekain314 4:dda2ab5cc643 275
jekain314 6:71da5b99de97 276 //the trigger requires a pulse -- the above portion lowers the signal and the below raises it
jekain314 6:71da5b99de97 277 //this has been tested at 50 msecs and it will not fire at that pulse duration
jekain314 4:dda2ab5cc643 278 if(finishTrigger && triggerInterval.read_ms() > 100)
jekain314 4:dda2ab5cc643 279 {
jekain314 1:8e24e633f8d8 280 fire = 1;
jekain314 1:8e24e633f8d8 281 pre_fire = 1;
jekain314 4:dda2ab5cc643 282 triggerInterval.reset();
jekain314 25:2287bd8c9877 283 finishTrigger = false; //completes the trigger firing pulse definition
jekain314 1:8e24e633f8d8 284 }
jekain314 1:8e24e633f8d8 285
jekain314 0:432b860b6ff7 286 cyclesPerSec++;
jekain314 0:432b860b6ff7 287
jekain314 25:2287bd8c9877 288 //this is a command from the PC to fire a trigger
jekain314 0:432b860b6ff7 289 if (camera1EventDetected) //we have detected a camera trigger event
jekain314 0:432b860b6ff7 290 {
jekain314 0:432b860b6ff7 291 toPC.printf("WMsg TRIGGERTIME %5.3lf\n", camera1Time);
jekain314 0:432b860b6ff7 292 camera1EventDetected = false;
jekain314 0:432b860b6ff7 293 }
jekain314 0:432b860b6ff7 294
sam_grove 27:94a6f0589993 295 /* managed in GPS class */
sam_grove 27:94a6f0589993 296
jekain314 0:432b860b6ff7 297 if (detectedGPS1PPS) //true if we are exactly at a 1PPS event detection
jekain314 0:432b860b6ff7 298 {
jekain314 29:dead10cce6e9 299 toPC.printf("detected GPS 1PPS now %5d %10d\n", PPSCounter, totalGPSBytes);
jekain314 29:dead10cce6e9 300 totalGPSBytes=0;
jekain314 0:432b860b6ff7 301
jekain314 0:432b860b6ff7 302 cyclesPerSec = 0;
jekain314 0:432b860b6ff7 303
jekain314 29:dead10cce6e9 304 messagePerSecCounter = 0; //GPS message per second counter
jekain314 29:dead10cce6e9 305
jekain314 0:432b860b6ff7 306 IMURecordCounter = 0;
jekain314 0:432b860b6ff7 307 detectedGPS1PPS = false;
jekain314 22:1cbdbc856660 308
jekain314 25:2287bd8c9877 309 rxMsg = !rxMsg; //flash the lights to make sure the mbed loop is operative
jekain314 22:1cbdbc856660 310 txMsg = !txMsg;
jekain314 0:432b860b6ff7 311 }
jekain314 25:2287bd8c9877 312 ///////////////////////////////////////////
jekain314 25:2287bd8c9877 313 } //end of the major while() loop
jekain314 25:2287bd8c9877 314 ///////////////////////////////////////////
jekain314 0:432b860b6ff7 315
jekain314 17:71900da6ced6 316
jekain314 14:009d4671f0e3 317
jekain314 0:432b860b6ff7 318 }