Diff: main.cpp

Revision:

14:009d4671f0e3

Parent:

13:d5026299c54e

Child:

15:f3b92958cf5a

--- a/main.cpp	Mon May 06 04:28:57 2013 +0000
+++ b/main.cpp	Mon May 06 20:32:01 2013 +0000
@@ -6,6 +6,7 @@
 
 #include "MODSERIAL.h"
 #include "SDFileSystem.h"      //imported using the import utility    
+#include "SDShell.h"
 
 //general digital I/O specifications for this application
 //SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name);
@@ -43,12 +44,16 @@
 
 volatile int PPSTimeOffset = 0;
 
-// get files from the SD Card - bcat has some problems....
-#include "SDShell.h"
-void transferFile(void)
+// stuff to send the SD file to the PC
+void transferFile()
 {
     SDShell emulate;
     emulate.init();
+    // just indicate that we're in here
+    trig1led = ppsled = rxMsg = txMsg = 1;
+    
+    toPC.printf("Entering Shell Emulator...\n");
+    wait(0.1f);
     emulate.shell(toPC, sd, "/sd");
 }
 
@@ -181,7 +186,8 @@
 /////////////////////////////////////////////////////////////////////
 //  mbed main to support the Waldo_FCS
 /////////////////////////////////////////////////////////////////////
-int main() {
+int main() 
+{
     
     //these are structures for the to GPS messages that must be parsed
     MESSAGEHEADER msgHdr;
@@ -241,25 +247,30 @@
     ///////////////////////////////////////////////////////////////////////////
     while(1)
     {        
+            
         //read the USB serial data from the PC to check for commands
         //in the primary real-time portion, there are no bytes from the PC so this has no impact
         readFromPC();
         
-        /*
+        //
         //this will close the fpNav file on the SD card if the file is open 
         //and the elapsed time from PosVel messages is > 60 secs
         //this prevents loosing the fpNav file if the PC goes down
-        if (fpNav && (timeFromPosVelMessageReceipt.read() > 60) )
+        if (fpNav && (timeFromPosVelMessageReceipt.read() > 10) )
         {
             sendRecData = true;
             recordData  = false;
         }
-        */
+        //
                 
         processPCmessages(fpNav, posMsg, velMsg);
         
+        if (get_file_msg) break;  //terminate the while loop when we receive this message from the PC
+        
         if(fireTrigger)  //comes from a PC request message
         {
+            unsigned long triggerTime = GPSTimemsecs + PPSTimeOffset*1000 + timeFromPPS.read_us()/1000.0;
+            toPC.printf("WMsg TRIGGERTIME %10d \n", triggerTime);
             //pre-fire the trigger using the mid-body 2.5mm connection (T2i)
             pre_fire = 0;  //pin30 (midbody of connector) set to zero
             wait(.01f);  //wait for 0.25 secs
@@ -276,8 +287,6 @@
         {
             fire = 1;
             pre_fire = 1;
-            unsigned long triggerTime = GPSTimemsecs + PPSTimeOffset*1000 + timeFromPPS.read_us()/1000.0;
-            toPC.printf("WMsg TRIGGERTIME %10d \n", triggerTime);
             triggerInterval.reset();
             finishTrigger = false;
         }
@@ -387,18 +396,27 @@
             IMURecordCounter = 0;
             detectedGPS1PPS = false;
         }
-        
-        if(get_file_msg)
-        {
-            get_file_msg = false;
-            ADIS_RST = 0;
-            GPS_Reset = 0;
-            fclose(fpNav);
-            transferFile();
-            
-        }
     }
       
-    fclose(fpNav);
+    if (fpNav != NULL) fclose(fpNav);  //insurance
     toPC.printf(" normal termination \n");
+    
+    /*
+    //at this point we have terminated the dat collection and we need to send the stored nav file to the PC 
+    FILE* fpNavStored = fopen("/sd/Data/NAV.bin", "rb");
+    unsigned char tempArray[512];
+    toPC.printf(" beginning the file transfer \n");
+    int i = 0;
+    while(!feof(fpNavStored) )
+    {
+        
+        toPC.printf(" reading the 512 bytes: %3d  \n", i);
+        fread(tempArray, 1, 512, fpNavStored);
+        toPC.printf(" writing the 512 bytes: %3d  \n", i);
+        fwrite(tempArray, 1, 512, toPC); 
+        i++;
+    }
+    */
+
+    
 }
\ No newline at end of file