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@9:893481b2e488, 2013-05-05 (annotated)

Committer:
jekain314
Date:
Sun May 05 17:05:02 2013 +0000
Revision:
9:893481b2e488
Parent:
6:71da5b99de97
Child:
10:37ff5b97cf98
tweaked parameters for the trigger message receive. Used to test with mbed_test where 250 images collected.

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 9:893481b2e488 9 #include "SDShell.h"
jekain314 0:432b860b6ff7 10
jekain314 0:432b860b6ff7 11 //general digital I/O specifications for this application
jekain314 0:432b860b6ff7 12 //SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name);
jekain314 0:432b860b6ff7 13 SDFileSystem sd(p11,p12,p13,p14,"sd");
jekain314 0:432b860b6ff7 14 DigitalIn sd_detect(p27);
jekain314 0:432b860b6ff7 15 DigitalOut ppsled(LED1); //blink an LED at the 1PPS
jekain314 0:432b860b6ff7 16 DigitalOut trig1led(LED2); //blink an LED at the camera trigger detection
jekain314 1:8e24e633f8d8 17 DigitalOut rxMsg(LED3);
jekain314 1:8e24e633f8d8 18 DigitalOut txMsg(LED4);
jekain314 1:8e24e633f8d8 19 //DigitalOut recordDataled(LED4); //set the led when the record is on
jekain314 1:8e24e633f8d8 20
jekain314 1:8e24e633f8d8 21 //hardware trigger mechanization for bulb shutter commands
jekain314 1:8e24e633f8d8 22 DigitalInOut fire(p29); //connected to the tip of 2.5mm connector (T2i)
jekain314 1:8e24e633f8d8 23 DigitalInOut pre_fire(p30); //connected to the mid-connection for 2.5mm connector (T2i)
jekain314 1:8e24e633f8d8 24
jekain314 1:8e24e633f8d8 25
jekain314 0:432b860b6ff7 26 //USB serial data stream back to the PC
jekain314 0:432b860b6ff7 27 Serial toPC(USBTX, USBRX); //connect the GPS TX, RX to p9 and p10
jekain314 0:432b860b6ff7 28
jekain314 0:432b860b6ff7 29 Timer timeFromStart;
jekain314 2:7039be3daf6e 30 Timer timeFromPosVelMessageReceipt;
jekain314 0:432b860b6ff7 31
jekain314 0:432b860b6ff7 32 bool detectedGPS1PPS = false; //flag set in the ISR and reset after processing the 1PPS event
jekain314 0:432b860b6ff7 33 int PPSCounter = 0; //counts the 1PPS occurrences
jekain314 0:432b860b6ff7 34 int byteCounter = 0; //byte counter -- zeroed at 1PPS
jekain314 0:432b860b6ff7 35 unsigned short perSecMessageCounter=0; //counts the number of messages in a sec based on the header detection
jekain314 0:432b860b6ff7 36 bool messageDetected = false; //have detected a message header
jekain314 0:432b860b6ff7 37 unsigned long IMUbytesWritten = 0; //counts the IMU bytes written by the fwrite() to the SD card
jekain314 0:432b860b6ff7 38 int savedByteCounter = 0; //save ByteCounter at the 1PPS for display in main
jekain314 0:432b860b6ff7 39 int savedPerSecMessageCounter=0; //saved PerSecMsgCounter for display in main
jekain314 0:432b860b6ff7 40 int savedIMUClockCounter=0; //saved at the 1PPS for later diaplay from main
jekain314 0:432b860b6ff7 41 bool camera1EventDetected = false; //flag from ISR indicating a clock event occurred
jekain314 0:432b860b6ff7 42 double camera1Time; //GPS time of the camera event
jekain314 0:432b860b6ff7 43 int TotalBadCRCmatches = 0; //counter for the bad CRC matches for all GPS messages
jekain314 0:432b860b6ff7 44
jekain314 0:432b860b6ff7 45 volatile int PPSTimeOffset = 0;
jekain314 0:432b860b6ff7 46
jekain314 9:893481b2e488 47 // stuff to send the SD file to the PC
jekain314 9:893481b2e488 48 void transferFile()
jekain314 9:893481b2e488 49 {
jekain314 9:893481b2e488 50 SDShell emulate;
jekain314 9:893481b2e488 51 emulate.init();
jekain314 9:893481b2e488 52
jekain314 9:893481b2e488 53 trig1led = ppsled = rxMsg = txMsg = 1;
jekain314 9:893481b2e488 54 while(1)
jekain314 9:893481b2e488 55 {
jekain314 9:893481b2e488 56 emulate.shell(toPC, sd, "/sd");
jekain314 9:893481b2e488 57 }
jekain314 9:893481b2e488 58 }
jekain314 9:893481b2e488 59
jekain314 0:432b860b6ff7 60 //////////////////////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 61 // the below should become classes
jekain314 0:432b860b6ff7 62 //////////////////////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 63 #include "OEM615.h" //OEM615 GPS activities
jekain314 0:432b860b6ff7 64 #include "ADIS16488.h" //ADIS16488 activities
jekain314 0:432b860b6ff7 65 #include "PCMessaging.h" //PC messaging activities
jekain314 0:432b860b6ff7 66
jekain314 0:432b860b6ff7 67 //ISR for detection of the GPS 1PPS
jekain314 0:432b860b6ff7 68 void detect1PPSISR(void)
jekain314 0:432b860b6ff7 69 {
jekain314 0:432b860b6ff7 70 timeFromPPS.reset(); //reset the 1PPS timer upon 1PPS detection
jekain314 0:432b860b6ff7 71 //note -- the below accounts for time information becoming available AFTER the 1PPS event
jekain314 0:432b860b6ff7 72 PPSTimeOffset++; //counts 1PPS events between matching POS and VEL messages
jekain314 0:432b860b6ff7 73
jekain314 0:432b860b6ff7 74 //covers the case where the PPS ISR interrupts the IMU data ready ISR
jekain314 0:432b860b6ff7 75 if(IMUDataReady) IMUtimeFrom1PPS = 0;
jekain314 0:432b860b6ff7 76
jekain314 0:432b860b6ff7 77 savedByteCounter = byteCounter; //save byteCounter for display in main
jekain314 0:432b860b6ff7 78 savedPerSecMessageCounter = perSecMessageCounter; //save for display un main
jekain314 0:432b860b6ff7 79 byteCounter = 0; //countes bytes between 1PPS events
jekain314 0:432b860b6ff7 80 perSecMessageCounter = 0; //counts GPS messages between 1PPS events
jekain314 0:432b860b6ff7 81
jekain314 0:432b860b6ff7 82 GPS_COM1.rxBufferFlush(); //flush the GPS serial buffer
jekain314 0:432b860b6ff7 83
jekain314 0:432b860b6ff7 84 detectedGPS1PPS = true; //set false in the main when 1PPS actions are complete
jekain314 0:432b860b6ff7 85 PPSCounter++; //count number of 1PPS epoch
jekain314 0:432b860b6ff7 86
jekain314 0:432b860b6ff7 87 ppsled = !ppsled; //blink an LED at the 1PPS
jekain314 0:432b860b6ff7 88 };
jekain314 0:432b860b6ff7 89
jekain314 0:432b860b6ff7 90
jekain314 0:432b860b6ff7 91 ///////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 92 //set up the USB port and the GPS COM port
jekain314 0:432b860b6ff7 93 ///////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 94 FILE *fpNav = NULL; //file pointer to the nav file on the SD card
jekain314 0:432b860b6ff7 95 void setupCOM(void)
jekain314 0:432b860b6ff7 96 {
jekain314 0:432b860b6ff7 97 //system starts with GPS in reset active
jekain314 0:432b860b6ff7 98 //dis-engage the reset to get the GPS started
jekain314 0:432b860b6ff7 99 GPS_Reset=1; wait_ms(1000);
jekain314 0:432b860b6ff7 100
jekain314 0:432b860b6ff7 101 //establish 1PPS ISR
jekain314 0:432b860b6ff7 102 PPSInt.rise(&detect1PPSISR);
jekain314 0:432b860b6ff7 103
jekain314 0:432b860b6ff7 104 //set the USB serial data rate -- rate must be matched at the PC end
jekain314 0:432b860b6ff7 105 //This the serial communication back to the the PC host
jekain314 0:432b860b6ff7 106 //Launch the C++ serial port read program there to catch the ASCII characters
jekain314 0:432b860b6ff7 107 //toPC.baud(9600); wait_ms(100);
jekain314 0:432b860b6ff7 108 toPC.baud(8*115200); wait_ms(100);
jekain314 0:432b860b6ff7 109 //toPC.baud(1*115200); wait_ms(100);
jekain314 6:71da5b99de97 110 //toPC.printf("\n\n released GPS from RESET and set to high baud rate \n\n");
jekain314 0:432b860b6ff7 111
jekain314 0:432b860b6ff7 112 //just wait to launch the GPS receiver
jekain314 3:e1a884e5325a 113 for (int i=0; i<5; i++) { toPC.printf("WMsg start: %3d \n", 4-i); wait(1); }
jekain314 0:432b860b6ff7 114
jekain314 0:432b860b6ff7 115 sd_detect.mode(PullUp);
jekain314 0:432b860b6ff7 116
jekain314 0:432b860b6ff7 117 if (sd_detect == 0)
jekain314 0:432b860b6ff7 118 {
jekain314 0:432b860b6ff7 119 mkdir("/sd/Data", 0777);
jekain314 0:432b860b6ff7 120 }
jekain314 0:432b860b6ff7 121 else
jekain314 0:432b860b6ff7 122 {
jekain314 6:71da5b99de97 123 toPC.printf("WMsg SD card not present \n");
jekain314 0:432b860b6ff7 124 }
jekain314 0:432b860b6ff7 125
jekain314 0:432b860b6ff7 126 //NOTE: we do not assume that the GPS receiver has been pre-set up for the WALDO_FCS functionality
jekain314 0:432b860b6ff7 127 //we alwsys start with a reset and reprogram the receiver with our data out products
jekain314 0:432b860b6ff7 128 // this prevents failure because of a blown NVRAM as occurred for the older camera systems
jekain314 0:432b860b6ff7 129
jekain314 0:432b860b6ff7 130 //this is the COM1 port from th GPS receiuver to the mbed
jekain314 0:432b860b6ff7 131 //it should be always started at 9600 baud because thats the default for the GPS receiver
jekain314 0:432b860b6ff7 132 GPS_COM1.baud(9600); wait_ms(100);
jekain314 0:432b860b6ff7 133
jekain314 0:432b860b6ff7 134 // this ASCII command sets up the serial data from the GPS receiver on its COM1
jekain314 0:432b860b6ff7 135 char ch7[] = "serialconfig COM1 9600 n 8 1 n off";
jekain314 0:432b860b6ff7 136 // this is a software reset and has the same effect as a hardware reset (why do it?)
jekain314 0:432b860b6ff7 137 //char ch0[] = "RESET";
jekain314 0:432b860b6ff7 138 //this command stops all communication from the GPS receiver on COM1
jekain314 0:432b860b6ff7 139 //logs should still be presented on USB port so the Novatel CDU application can be used on the PC in parallel
jekain314 0:432b860b6ff7 140 char ch1[] = "unlogall COM1";
jekain314 0:432b860b6ff7 141 //set the final baud rate that we will use from here
jekain314 0:432b860b6ff7 142 //allowable baud rate values: 9600 115200 230400 460800 921600
jekain314 0:432b860b6ff7 143 //char ch2[] = "serialconfig COM1 921600 n 8 1 n off";
jekain314 0:432b860b6ff7 144 char ch2[] = "serialconfig COM1 115200 n 8 1 n off";
jekain314 0:432b860b6ff7 145
jekain314 0:432b860b6ff7 146 //the below commands request the POS, VEL, RANGE, and TIME messages
jekain314 0:432b860b6ff7 147 char ch3[] = "log COM1 BESTPOSB ONTIME 1"; //messageID = 42
jekain314 0:432b860b6ff7 148 char ch4[] = "log COM1 BESTVelB ONTIME 1"; //messageID = 99
jekain314 0:432b860b6ff7 149 char ch5[] = "log COM1 RANGEB ONTIME 1"; //messageID = 43
jekain314 0:432b860b6ff7 150 //char ch6[] = "log COM1 TIMEB ONTIME 1"; //messageID = 101
jekain314 0:432b860b6ff7 151
jekain314 0:432b860b6ff7 152 //set up VARF to be 100Hz with 1X10^4 * 10^-8 = 10^-4 sec (10usec) pulse width
jekain314 0:432b860b6ff7 153 //in fact, we do not use this output but it is available.
jekain314 0:432b860b6ff7 154 //originally planned to use this to command the IMU data
jekain314 0:432b860b6ff7 155 //char ch8[] = "FREQUENCYOUT enable 10000 1000000";
jekain314 0:432b860b6ff7 156
jekain314 3:e1a884e5325a 157 toPC.printf("WMsg set serial config \n");
jekain314 0:432b860b6ff7 158 sendASCII(ch7, sizeof(ch7)); wait_ms(500);
jekain314 0:432b860b6ff7 159 //sendASCII(ch0, sizeof(ch0));
jekain314 3:e1a884e5325a 160 toPC.printf("WMsg unlog all messages \n");
jekain314 0:432b860b6ff7 161 sendASCII(ch1, sizeof(ch1)); wait_ms(500);
jekain314 3:e1a884e5325a 162 toPC.printf("WMsg log BESTPOSB on COM1 \n");
jekain314 0:432b860b6ff7 163 sendASCII(ch3, sizeof(ch3)); wait_ms(500);
jekain314 3:e1a884e5325a 164 toPC.printf("WMsg log BESTVELB on COM1\n");
jekain314 0:432b860b6ff7 165 sendASCII(ch4, sizeof(ch4)); wait_ms(500);
jekain314 3:e1a884e5325a 166 toPC.printf("WMsg log RANGEB on COM1\n");
jekain314 0:432b860b6ff7 167 sendASCII(ch5, sizeof(ch5)); wait_ms(500);
jekain314 0:432b860b6ff7 168
jekain314 0:432b860b6ff7 169 //toPC.printf("log TIMEB om COM1 \n");
jekain314 0:432b860b6ff7 170 //sendASCII(ch6, sizeof(ch6)); wait_ms(100);
jekain314 0:432b860b6ff7 171
jekain314 0:432b860b6ff7 172 //toPC.printf("Set up th VARF signal \n");
jekain314 0:432b860b6ff7 173 //sendASCII(ch8, sizeof(ch8)); wait_ms(500);
jekain314 0:432b860b6ff7 174
jekain314 0:432b860b6ff7 175 //set GPS output COM1 to the final high rate
jekain314 3:e1a884e5325a 176 toPC.printf("WMsg set the COM ports to high rate\n");
jekain314 0:432b860b6ff7 177 sendASCII(ch2, sizeof(ch2)); wait_ms(500);
jekain314 0:432b860b6ff7 178
jekain314 0:432b860b6ff7 179 //set the mbed COM port to match the GPS transmit rate
jekain314 0:432b860b6ff7 180 //the below baud rate must match the COM1 rate coming from the GPS receiver
jekain314 0:432b860b6ff7 181 GPS_COM1.baud(115200); wait_ms(500); //without this wait -- the baud rate is not detected when using MODSERIAL
jekain314 0:432b860b6ff7 182 //GPS_COM1.baud(921600); wait_ms(500); //without this wait -- the baud rate is not detected when using MODSERIAL
jekain314 0:432b860b6ff7 183 };
jekain314 0:432b860b6ff7 184
jekain314 0:432b860b6ff7 185
jekain314 0:432b860b6ff7 186 /////////////////////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 187 // mbed main to support the Waldo_FCS
jekain314 0:432b860b6ff7 188 /////////////////////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 189 int main() {
jekain314 0:432b860b6ff7 190
jekain314 0:432b860b6ff7 191 //these are structures for the to GPS messages that must be parsed
jekain314 0:432b860b6ff7 192 MESSAGEHEADER msgHdr;
jekain314 0:432b860b6ff7 193 OEM615BESTPOS posMsg; //BESTPOS structure in OEMV615.h that has matching time to a BESTVEL message
jekain314 0:432b860b6ff7 194 OEM615BESTPOS curPos; //BESTPOS structure in OEMV615.h
jekain314 0:432b860b6ff7 195 OEM615BESTVEL velMsg; //BESTVEL structure in OEMV615.h that has matching time to a BESTPOS message
jekain314 0:432b860b6ff7 196 OEM615BESTVEL curVel; //BESTVEL structure in OEMV615.h
jekain314 0:432b860b6ff7 197
jekain314 1:8e24e633f8d8 198
jekain314 1:8e24e633f8d8 199 fire.output(); //set the fire pin as outoput
jekain314 1:8e24e633f8d8 200 pre_fire.output(); //set the pre-fire pin as output
jekain314 1:8e24e633f8d8 201 //fire.mode(OpenDrain);
jekain314 1:8e24e633f8d8 202
jekain314 1:8e24e633f8d8 203 //set up for the first trigger
jekain314 1:8e24e633f8d8 204 fire = 1;
jekain314 1:8e24e633f8d8 205 pre_fire = 1;
jekain314 0:432b860b6ff7 206 //set up the GPS and mbed COM ports
jekain314 0:432b860b6ff7 207 setupCOM();
jekain314 0:432b860b6ff7 208
jekain314 0:432b860b6ff7 209 //set up the ADIS16488
jekain314 0:432b860b6ff7 210 setupADIS();
jekain314 0:432b860b6ff7 211
jekain314 0:432b860b6ff7 212 setUpMessages(); //set up the expected text message commands frm the PC
jekain314 0:432b860b6ff7 213
jekain314 0:432b860b6ff7 214 //set up the interrupt to catch the GPS receiver serial bytes as they are presented
jekain314 0:432b860b6ff7 215 GPS_COM1.attach(&readSerialByte, MODSERIAL::RxIrq);
jekain314 0:432b860b6ff7 216
jekain314 0:432b860b6ff7 217 timeFromPPS.start(); //start the time for measuring time from 1PPS events
jekain314 0:432b860b6ff7 218 timeFromStart.start();
jekain314 0:432b860b6ff7 219
jekain314 3:e1a884e5325a 220 //toPC.printf("\n\n top of the main loop \n\n");
jekain314 0:432b860b6ff7 221
jekain314 0:432b860b6ff7 222 int totalBytesWritten = 0;
jekain314 0:432b860b6ff7 223
jekain314 0:432b860b6ff7 224 /*establish the initial value for the CRC recursion atter the header
jekain314 0:432b860b6ff7 225 unsigned long CRC = 0;
jekain314 0:432b860b6ff7 226 CRC32Value(CRC, 0xAA);
jekain314 0:432b860b6ff7 227 CRC32Value(CRC, 0x44);
jekain314 0:432b860b6ff7 228 CRC32Value(CRC, 0x12);
jekain314 0:432b860b6ff7 229 CRC32Value(CRC, 0x1C);
jekain314 0:432b860b6ff7 230 //this results in a value of: 0x39b0f0e1
jekain314 0:432b860b6ff7 231 toPC.printf(" CRC after AA44121C header: %08x \n", CRC);
jekain314 0:432b860b6ff7 232 wait(20);
jekain314 0:432b860b6ff7 233 */
jekain314 1:8e24e633f8d8 234
jekain314 0:432b860b6ff7 235 recordData = true;
jekain314 0:432b860b6ff7 236 sendRecData = true;
jekain314 0:432b860b6ff7 237
jekain314 0:432b860b6ff7 238 unsigned long cyclesPerSec = 0;
jekain314 0:432b860b6ff7 239 bool GPSdataWritten = false;
jekain314 4:dda2ab5cc643 240 bool finishTrigger = false;
jekain314 4:dda2ab5cc643 241 Timer triggerInterval;
jekain314 0:432b860b6ff7 242
jekain314 1:8e24e633f8d8 243 //while(PPSCounter < 300)
jekain314 0:432b860b6ff7 244 ///////////////////////////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 245 // top of the while loop
jekain314 0:432b860b6ff7 246 ///////////////////////////////////////////////////////////////////////////
jekain314 1:8e24e633f8d8 247 while(1)
jekain314 0:432b860b6ff7 248 {
jekain314 0:432b860b6ff7 249 //read the USB serial data from the PC to check for commands
jekain314 0:432b860b6ff7 250 //in the primary real-time portion, there are no bytes from the PC so this has no impact
jekain314 0:432b860b6ff7 251 readFromPC();
jekain314 2:7039be3daf6e 252
jekain314 6:71da5b99de97 253 /*
jekain314 2:7039be3daf6e 254 //this will close the fpNav file on the SD card if the file is open
jekain314 2:7039be3daf6e 255 //and the elapsed time from PosVel messages is > 60 secs
jekain314 2:7039be3daf6e 256 //this prevents loosing the fpNav file if the PC goes down
jekain314 3:e1a884e5325a 257 if (fpNav && (timeFromPosVelMessageReceipt.read() > 60) )
jekain314 2:7039be3daf6e 258 {
jekain314 2:7039be3daf6e 259 sendRecData = true;
jekain314 2:7039be3daf6e 260 recordData = false;
jekain314 2:7039be3daf6e 261 }
jekain314 6:71da5b99de97 262 */
jekain314 0:432b860b6ff7 263
jekain314 0:432b860b6ff7 264 processPCmessages(fpNav, posMsg, velMsg);
jekain314 0:432b860b6ff7 265
jekain314 5:2ce1be9d4bef 266 if(fireTrigger) //comes from a PC request message
jekain314 1:8e24e633f8d8 267 {
jekain314 1:8e24e633f8d8 268 //pre-fire the trigger using the mid-body 2.5mm connection (T2i)
jekain314 1:8e24e633f8d8 269 pre_fire = 0; //pin30 (midbody of connector) set to zero
jekain314 1:8e24e633f8d8 270 wait(.01f); //wait for 0.25 secs
jekain314 1:8e24e633f8d8 271 fire = 0; //fire the trigger using the tip connection
jekain314 4:dda2ab5cc643 272 //wait(0.10);
jekain314 4:dda2ab5cc643 273 fireTrigger = false;
jekain314 4:dda2ab5cc643 274 finishTrigger = true;
jekain314 4:dda2ab5cc643 275 triggerInterval.start();
jekain314 4:dda2ab5cc643 276 }
jekain314 4:dda2ab5cc643 277
jekain314 6:71da5b99de97 278 //the trigger requires a pulse -- the above portion lowers the signal and the below raises it
jekain314 6:71da5b99de97 279 //this has been tested at 50 msecs and it will not fire at that pulse duration
jekain314 4:dda2ab5cc643 280 if(finishTrigger && triggerInterval.read_ms() > 100)
jekain314 4:dda2ab5cc643 281 {
jekain314 1:8e24e633f8d8 282 fire = 1;
jekain314 1:8e24e633f8d8 283 pre_fire = 1;
jekain314 1:8e24e633f8d8 284 unsigned long triggerTime = GPSTimemsecs + PPSTimeOffset*1000 + timeFromPPS.read_us()/1000.0;
jekain314 1:8e24e633f8d8 285 toPC.printf("WMsg TRIGGERTIME %10d \n", triggerTime);
jekain314 4:dda2ab5cc643 286 triggerInterval.reset();
jekain314 4:dda2ab5cc643 287 finishTrigger = false;
jekain314 1:8e24e633f8d8 288 }
jekain314 1:8e24e633f8d8 289
jekain314 0:432b860b6ff7 290 cyclesPerSec++;
jekain314 0:432b860b6ff7 291
jekain314 0:432b860b6ff7 292 //
jekain314 0:432b860b6ff7 293 ////////////////////////////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 294 //below is where we process the complete stored GPS message for the second
jekain314 0:432b860b6ff7 295 //The !IMUDataReady test prevents the IMU and GPS data from being written
jekain314 0:432b860b6ff7 296 //to disk on the same pass through this loop
jekain314 0:432b860b6ff7 297 /////////////////////////////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 298
jekain314 0:432b860b6ff7 299
jekain314 0:432b860b6ff7 300 if (completeMessageAvailable && !IMUDataReady)
jekain314 0:432b860b6ff7 301 {
jekain314 0:432b860b6ff7 302
jekain314 0:432b860b6ff7 303 msgHdr = *((MESSAGEHEADER*)&msgBuffer[messageLocation[savedMessageCounter-1]]);
jekain314 0:432b860b6ff7 304
jekain314 0:432b860b6ff7 305 //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 306 //GPSTimemsecs increments by 1 for each new GPS measurement -- note that the below computations are actually
jekain314 0:432b860b6ff7 307 //done at the receipt of each GPS message. This is OK because each message has the same time in its header.
jekain314 0:432b860b6ff7 308 //Thus GPSTimemsecs increments by 1 here while GPSTimemsecs effectively decrements by 1.
jekain314 0:432b860b6ff7 309 //This handles IMU time tagging between the 1PPS event and the first receipt of a new GPS time.
jekain314 0:432b860b6ff7 310
jekain314 0:432b860b6ff7 311 GPSTimemsecs = msgHdr.GPSTime_msecs; //time in GPS message header
jekain314 0:432b860b6ff7 312 PPSTimeOffset = 0; //incremented by 1 in the PPS ISR
jekain314 0:432b860b6ff7 313
jekain314 0:432b860b6ff7 314 unsigned long msgCRC = *((unsigned long*)&msgBuffer[messageLocation[savedMessageCounter-1] + 28 + msgHdr.messageLength]);
jekain314 0:432b860b6ff7 315
jekain314 0:432b860b6ff7 316 //toPC.printf("tmeFrom1PPS= %5d ID= %3d Ln = %3d computedCRC= %08x msgCRC= %08x msgCntr = %3d CRCerr=%4d\n",
jekain314 0:432b860b6ff7 317 // timeFromPPS.read_us(), msgHdr.messageID, msgHdr.messageLength, computedCRC, msgCRC, savedMessageCounter, TotalBadCRCmatches);
jekain314 0:432b860b6ff7 318
jekain314 0:432b860b6ff7 319 if ( msgCRC != computedCRC)
jekain314 0:432b860b6ff7 320 {
jekain314 0:432b860b6ff7 321 toPC.printf(" bad CRC match for messageID %3d total CRC errors = %4d \n",
jekain314 0:432b860b6ff7 322 msgHdr.messageLength, TotalBadCRCmatches++);
jekain314 0:432b860b6ff7 323 }
jekain314 0:432b860b6ff7 324
jekain314 0:432b860b6ff7 325 if (msgHdr.messageID == 42)
jekain314 0:432b860b6ff7 326 {
jekain314 0:432b860b6ff7 327 curPos = *((OEM615BESTPOS*)&msgBuffer[messageLocation[savedMessageCounter-1]]);
jekain314 0:432b860b6ff7 328 posMsg = curPos;
jekain314 0:432b860b6ff7 329
jekain314 1:8e24e633f8d8 330 if (streamPos)
jekain314 0:432b860b6ff7 331 {
jekain314 1:8e24e633f8d8 332 toPC.printf("BESTPOS %5d %1d %8.5lf %9.5lf %5.3lf %d %d\n",
jekain314 0:432b860b6ff7 333 curPos.msgHeader.GPSTime_msecs, curPos.solStatus,
jekain314 0:432b860b6ff7 334 curPos.latitude, curPos.longitude, curPos.height,
jekain314 1:8e24e633f8d8 335 curPos.numSV, curPos.numSolSV);
jekain314 0:432b860b6ff7 336 }
jekain314 0:432b860b6ff7 337
jekain314 0:432b860b6ff7 338 }
jekain314 0:432b860b6ff7 339 else if (msgHdr.messageID == 99)
jekain314 0:432b860b6ff7 340 {
jekain314 0:432b860b6ff7 341 curVel = *((OEM615BESTVEL*)&msgBuffer[ messageLocation[savedMessageCounter-1] ]);
jekain314 1:8e24e633f8d8 342 //toPC.printf("BESTVEL vel: horizontalSpeed= %5.3f heading=%5.1f verticalSpeed=%4.2f \n",
jekain314 1:8e24e633f8d8 343 // curVel.horizontalSpeed, curVel.heading, curVel.verticalSpeed );
jekain314 0:432b860b6ff7 344 velMsg = curVel;
jekain314 0:432b860b6ff7 345 }
jekain314 5:2ce1be9d4bef 346
jekain314 0:432b860b6ff7 347 completeMessageAvailable = false;
jekain314 0:432b860b6ff7 348 }
jekain314 0:432b860b6ff7 349
jekain314 1:8e24e633f8d8 350 //write the GPS data to the SD card
jekain314 0:432b860b6ff7 351 if (!IMUDataReady && !GPSdataWritten && timeFromPPS.read_us() > 500000 && recordData && (fpNav != NULL))
jekain314 0:432b860b6ff7 352 {
jekain314 0:432b860b6ff7 353 totalBytesWritten += fwrite(&msgBuffer, 1, byteCounter, fpNav);
jekain314 0:432b860b6ff7 354 GPSdataWritten = true;
jekain314 0:432b860b6ff7 355 }
jekain314 0:432b860b6ff7 356
jekain314 0:432b860b6ff7 357 //the IMU data record is read from the SPI in the ISR and the IMUDataReady is set true
jekain314 0:432b860b6ff7 358 //we write the IMU data here
jekain314 0:432b860b6ff7 359 if (IMUDataReady) //IMUDataReady is true if we have a recent IMU data record
jekain314 0:432b860b6ff7 360 {
jekain314 0:432b860b6ff7 361 //write the IMU data
jekain314 0:432b860b6ff7 362 if ( recordData && (fpNav != NULL) )
jekain314 0:432b860b6ff7 363 {
jekain314 1:8e24e633f8d8 364 //delTimeOfWrite = timeFromStart.read_us();
jekain314 0:432b860b6ff7 365
jekain314 0:432b860b6ff7 366 if (fillingPingWritingPong) fwrite(&imuPong, 1, IMUrecArraySize*sizeof(IMUREC), fpNav);
jekain314 0:432b860b6ff7 367 else fwrite(&imuPing, 1, IMUrecArraySize*sizeof(IMUREC), fpNav);
jekain314 0:432b860b6ff7 368
jekain314 1:8e24e633f8d8 369 //delTimeOfWrite = (unsigned long)((unsigned long)timeFromStart.read_us() - delTimeOfWrite);
jekain314 1:8e24e633f8d8 370 //if (delTimeOfWrite > maxWriteTime) maxWriteTime = delTimeOfWrite;
jekain314 0:432b860b6ff7 371 }
jekain314 0:432b860b6ff7 372 IMURecordCounter+=IMUrecArraySize;
jekain314 0:432b860b6ff7 373 IMUDataReady = false;
jekain314 0:432b860b6ff7 374 }
jekain314 0:432b860b6ff7 375
jekain314 0:432b860b6ff7 376 if (camera1EventDetected) //we have detected a camera trigger event
jekain314 0:432b860b6ff7 377 {
jekain314 0:432b860b6ff7 378 toPC.printf("WMsg TRIGGERTIME %5.3lf\n", camera1Time);
jekain314 0:432b860b6ff7 379 camera1EventDetected = false;
jekain314 0:432b860b6ff7 380 }
jekain314 0:432b860b6ff7 381
jekain314 0:432b860b6ff7 382 if (detectedGPS1PPS) //true if we are exactly at a 1PPS event detection
jekain314 0:432b860b6ff7 383 {
jekain314 1:8e24e633f8d8 384 //toPC.printf("PPS=%4d stat=%1d bytes=%3d GPSMsgs=%2d #write=%8d cycles=%6d\n",
jekain314 1:8e24e633f8d8 385 // PPSCounter, posMsg.solStatus, savedByteCounter, savedPerSecMessageCounter,
jekain314 1:8e24e633f8d8 386 // totalBytesWritten, cyclesPerSec );
jekain314 0:432b860b6ff7 387
jekain314 0:432b860b6ff7 388 cyclesPerSec = 0;
jekain314 0:432b860b6ff7 389 totalBytesWritten = 0;
jekain314 0:432b860b6ff7 390 GPSdataWritten = false;
jekain314 0:432b860b6ff7 391
jekain314 0:432b860b6ff7 392 IMURecordCounter = 0;
jekain314 0:432b860b6ff7 393 detectedGPS1PPS = false;
jekain314 0:432b860b6ff7 394 }
jekain314 9:893481b2e488 395 if(get_file_msg)
jekain314 9:893481b2e488 396 {
jekain314 9:893481b2e488 397 // stop hardware
jekain314 9:893481b2e488 398 ADIS_RST = 0;
jekain314 9:893481b2e488 399 GPS_Reset = 0;
jekain314 9:893481b2e488 400 // reset the flag
jekain314 9:893481b2e488 401 get_file_msg = false;
jekain314 9:893481b2e488 402 // transfer the file
jekain314 9:893481b2e488 403 transferFile();
jekain314 9:893481b2e488 404 }
jekain314 0:432b860b6ff7 405 }
jekain314 0:432b860b6ff7 406
jekain314 0:432b860b6ff7 407 fclose(fpNav);
jekain314 0:432b860b6ff7 408 toPC.printf(" normal termination \n");
jekain314 0:432b860b6ff7 409 }