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
- Committer:
- jekain314
- Date:
- 2014-01-09
- Revision:
- 29:dead10cce6e9
- Parent:
- 27:94a6f0589993
- Child:
- 30:96d133f3008e
File content as of revision 29:dead10cce6e9:
#include "mbed.h" #include <string> //set up the message buffer to be filled by the GPS read process #define MODSERIAL_DEFAULT_RX_BUFFER_SIZE 256 #include "MODSERIAL.h" #include "SDFileSystem.h" //imported using the import utility //general digital I/O specifications for this application //if we dont write to the card we dont need this ... //SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name); SDFileSystem sd(p11,p12,p13,p14,"sd"); DigitalIn sd_detect(p27); DigitalOut ppsled(LED1); //blink an LED at the 1PPS DigitalOut trig1led(LED2); //blink an LED at the camera trigger detection DigitalOut rxMsg(LED3); DigitalOut txMsg(LED4); //DigitalOut recordDataled(LED4); //set the led when the record is on //hardware trigger mechanization for bulb shutter commands DigitalInOut fire(p29); //connected to the tip of 2.5mm connector (T2i) DigitalInOut pre_fire(p30); //connected to the mid-connection for 2.5mm connector (T2i) //USB serial data stream back to the PC Serial toPC(USBTX, USBRX); //connect the GPS TX, RX to p9 and p10 Timer timeFromStart; bool detectedGPS1PPS = false; //flag set in the ISR and reset after processing the 1PPS event int PPSCounter = 0; //counts the 1PPS occurrences int byteCounter = 0; //byte counter -- zeroed at 1PPS unsigned short perSecMessageCounter=0; //counts the number of messages in a sec based on the header detection bool messageDetected = false; //have detected a message header unsigned long IMUbytesWritten = 0; //counts the IMU bytes written by the fwrite() to the SD card int savedByteCounter = 0; //save ByteCounter at the 1PPS for display in main int savedPerSecMessageCounter=0; //saved PerSecMsgCounter for display in main int savedIMUClockCounter=0; //saved at the 1PPS for later diaplay from main bool camera1EventDetected = false; //flag from ISR indicating a clock event occurred double camera1Time; //GPS time of the camera event volatile int PPSTimeOffset = 0; int totalGPSBytes = 0; bool writeIMUDataToPC = false; //used in main loop to cause IMU data write to the PC bool writeGPSDataToPC = false; //used in main loop to cause GPS data write to the PC #include "OEM615.h" //OEM615 GPS activities #include "ADIS16488.h" //ADIS16488 activities #include "PCMessaging.h" //PC messaging activities //ISR for detection of the GPS 1PPS void detect1PPSISR(void) { timeFromPPS.reset(); //reset the 1PPS timer upon 1PPS detection //note -- the below accounts for time information becoming available AFTER the 1PPS event PPSTimeOffset++; //counts 1PPS events between matching POS and VEL messages //covers the case where the PPS ISR interrupts the IMU data ready ISR if(IMUDataReady) IMUtimeFrom1PPS = 0; savedByteCounter = byteCounter; //save byteCounter for display in main savedPerSecMessageCounter = perSecMessageCounter; //save for display un main byteCounter = 0; //countes bytes between 1PPS events perSecMessageCounter = 0; //counts GPS messages between 1PPS events GPS_COM1.rxBufferFlush(); //flush the GPS serial buffer detectedGPS1PPS = true; //set false in the main when 1PPS actions are complete PPSCounter++; //count number of 1PPS epoch ppsled = !ppsled; //blink an LED at the 1PPS }; /////////////////////////////////////////////////////// //set up the USB port and the GPS COM port /////////////////////////////////////////////////////// void setupCOM(void) { //system starts with GPS in reset active //dis-engage the reset to get the GPS started GPS_Reset=1; wait_ms(1000); //establish 1PPS ISR PPSInt.rise(&detect1PPSISR); //set the USB serial data rate -- rate must be matched at the PC end //This the serial communication back to the the PC host //Launch the C++ serial port read program there to catch the ASCII characters //toPC.baud(9600); wait_ms(100); toPC.baud(8*115200); wait_ms(100); //toPC.baud(1*115200); wait_ms(100); //toPC.printf("\n\n released GPS from RESET and set to high baud rate \n\n"); //just wait some time to launch the GPS receiver for (int i=0; i<5; i++) { toPC.printf("WMessage start countdown: %3d \n", 4-i); wait(1); } //NOTE: we do not assume that the GPS receiver has been pre-set up for the WALDO_FCS functionality //we alwsys start with a reset and reprogram the receiver with our data out products // this prevents failure because of a blown NVRAM as occurred for the older camera systems //this is the COM1 port from th GPS receiver to the mbed //it should be always started at 9600 baud because thats the default for the GPS receiver GPS_COM1.baud(9600); wait_ms(100); // this ASCII command sets up the serial data from the GPS receiver on its COM1 char ch7[] = "serialconfig COM1 9600 n 8 1 n off"; // this is a software reset and has the same effect as a hardware reset (why do it?) //char ch0[] = "RESET"; //this command stops all communication from the GPS receiver on COM1 //logs should still be presented on USB port so the Novatel CDU application can be used on the PC in parallel char ch1[] = "unlogall COM1"; //set the final baud rate that we will use from here //allowable baud rate values: 9600 115200 230400 460800 921600 //char ch2[] = "serialconfig COM1 921600 n 8 1 n off"; char ch2[] = "serialconfig COM1 115200 n 8 1 n off"; //the below commands request the POS, VEL, RANGE, and TIME messages //Binary commands are shown below //char ch3[] = "log COM1 BESTPOSB ONTIME 1"; //messageID = 42 //char ch4[] = "log COM1 BESTVelB ONTIME 1"; //messageID = 99 //char ch5[] = "log COM1 RANGEB ONTIME 1"; //messageID = 43 //char ch6[] = "log COM1 TIMEB ONTIME 1"; //messageID = 101 //ASCII commands are shown below char ch3[] = "log COM1 BESTPOSA ONTIME 1"; //messageID = 42 char ch4[] = "log COM1 BESTVelA ONTIME 1"; //messageID = 99 char ch5[] = "log COM1 RANGEA ONTIME 1"; //messageID = 43 //char ch6[] = "log COM1 TIMEB ONTIME 1"; //messageID = 101 //toPC.printf("WMsg set serial config \n"); sendASCII(ch7, sizeof(ch7)); wait_ms(500); //sendASCII(ch0, sizeof(ch0)); //toPC.printf("WMsg unlog all messages \n"); sendASCII(ch1, sizeof(ch1)); wait_ms(500); //toPC.printf("WMsg log BESTPOSB on COM1 \n"); sendASCII(ch3, sizeof(ch3)); wait_ms(500); //toPC.printf("WMsg log BESTVELB on COM1\n"); sendASCII(ch4, sizeof(ch4)); wait_ms(500); //toPC.printf("WMsg log RANGEB on COM1\n"); sendASCII(ch5, sizeof(ch5)); wait_ms(500); //toPC.printf("log TIMEB om COM1 \n"); //sendASCII(ch6, sizeof(ch6)); wait_ms(100); //toPC.printf("Set up th VARF signal \n"); //sendASCII(ch8, sizeof(ch8)); wait_ms(500); //set GPS output COM1 to the final high rate //toPC.printf("WMsg set the COM ports to high rate\n"); sendASCII(ch2, sizeof(ch2)); wait_ms(500); //set the mbed COM port to match the GPS transmit rate //the below baud rate must match the COM1 rate coming from the GPS receiver GPS_COM1.baud(115200); wait_ms(500); //without this wait -- the baud rate is not detected when using MODSERIAL //GPS_COM1.baud(921600); wait_ms(500); //without this wait -- the baud rate is not detected when using MODSERIAL }; ///////////////////////////////////////////////////////////////////// // mbed main to support the Waldo_FCS ///////////////////////////////////////////////////////////////////// int main() { toPC.printf("initiating the mbed app\n"); fire.output(); //set the fire pin as outoput pre_fire.output(); //set the pre-fire pin as output //fire.mode(OpenDrain); //set up for the first trigger fire = 1; pre_fire = 1; //set up the GPS and mbed COM ports setupCOM(); toPC.printf("Completed setting up GPS \n"); //set up the ADIS16488 IMU //setupADIS(); //initiate the interrupt to catch the GPS receiver serial bytes as they are presented GPS_COM1.attach(&readSerialByte, MODSERIAL::RxIrq); timeFromPPS.start(); //start the time for measuring time from 1PPS events timeFromStart.start(); unsigned long cyclesPerSec = 0; //main while() loop cycles per GPS sec bool finishTrigger = false; Timer triggerInterval; bool newMission = true; /////////////////////////////////////////////////////////////////////////// // top of the mission while loop /////////////////////////////////////////////////////////////////////////// while(newMission) { if (message0Complete) { for (int i=0; i<GPSbyteCounter0; i++) toPC.printf("%c", msgBuffer0[i]); toPC.printf("\n"); message0Complete = false; } else if (message1Complete) { for (int i=0; i<GPSbyteCounter1; i++) toPC.printf("%c", msgBuffer1[i]); toPC.printf("\n"); message1Complete = false; } else if (message2Complete) { for (int i=0; i<GPSbyteCounter2; i++) toPC.printf("%c", msgBuffer2[i]); toPC.printf("\n"); message2Complete = false; } /* if (writeIMUDataToPC) { //write the IMU data to the PC toPC.printf("IMURECORD "); // 9 bytes header for (int i=0; i<IMUrecArraySize; i++) { if (fillingPingWritingPong) { toPC.printf("%d9 %d9 %d9 %d9 %d9 %d9 %d9", //70 bytes imuPong[i].GPSTime, imuPong[i].dataWord[0], imuPong[i].dataWord[1], imuPong[i].dataWord[2], imuPong[i].dataWord[3], imuPong[i].dataWord[4], imuPong[i].dataWord[5] ); } else { toPC.printf("%d9 %d9 %d9 %d9 %d9 %d9 %d9", imuPing[i].GPSTime, imuPing[i].dataWord[0], imuPing[i].dataWord[1], imuPing[i].dataWord[2], imuPing[i].dataWord[3], imuPing[i].dataWord[4], imuPing[i].dataWord[5] ); } } toPC.printf("/n"); //total of 10 * 70 + 9 = 709 bytes writeIMUDataToPC = false; } */ //read the USB serial data from the PC to check for commands //only message we expect will be thr trigger command readFromPC(); if(fireTrigger) //comes from a PC request message { unsigned long triggerTime = GPSTimemsecs + PPSTimeOffset*1000.0 + 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); // not sure what this does fire = 0; //fire the trigger using the tip connection fireTrigger = false; //finished the setup -- but wait to do the actual fire finishTrigger = true; //set to false after firing the trigger triggerInterval.start(); } //the trigger requires a pulse -- the above portion lowers the signal and the below raises it //this has been tested at 50 msecs and it will not fire at that pulse duration if(finishTrigger && triggerInterval.read_ms() > 100) { fire = 1; pre_fire = 1; triggerInterval.reset(); finishTrigger = false; //completes the trigger firing pulse definition } cyclesPerSec++; //this is a command from the PC to fire a trigger if (camera1EventDetected) //we have detected a camera trigger event { toPC.printf("WMsg TRIGGERTIME %5.3lf\n", camera1Time); camera1EventDetected = false; } /* managed in GPS class */ if (detectedGPS1PPS) //true if we are exactly at a 1PPS event detection { toPC.printf("detected GPS 1PPS now %5d %10d\n", PPSCounter, totalGPSBytes); totalGPSBytes=0; cyclesPerSec = 0; messagePerSecCounter = 0; //GPS message per second counter IMURecordCounter = 0; detectedGPS1PPS = false; rxMsg = !rxMsg; //flash the lights to make sure the mbed loop is operative txMsg = !txMsg; } /////////////////////////////////////////// } //end of the major while() loop /////////////////////////////////////////// }