Revision 2:7039be3daf6e, committed 2013-05-03

Comitter:

jekain314

Date:

Fri May 03 19:27:56 2013 +0000

Parent:

1:8e24e633f8d8

Child:

3:e1a884e5325a

Commit message:

Added an auto file-open when POSVEL message is received. Added auto-close when the elapsed time between POSVEL messages is > 60sec This reduces the necessary startup procedures on the PC side. Also prevents loss of data if the PC fails.

Changed in this revision

--- a/PCMessaging.h	Tue Apr 30 19:59:43 2013 +0000
+++ b/PCMessaging.h	Fri May 03 19:27:56 2013 +0000
@@ -96,6 +96,7 @@
 
                 validMessage = true;
                 serBufChars = 0; //reset the character count to reset for next message
+                
     
                 //set programmatic action flags based on the message
                 switch(m)
@@ -105,6 +106,7 @@
                     break;
                     case POSVEL_MSG:
                         sendPosVel = true;  //send a posvel message back to PC
+                        timeFromPosVelMessageReceipt.reset();  //start time and close SD card file if too long
                     break;
                     case STARTDATA_MSG:  //start the data recording to the SD card
                         recordData = true;
@@ -228,6 +230,15 @@
         //perform the activities as a response to the commands
         if (sendPosVel)  //true if we want to return a position solution
         {
+            //if we are receiving POSVEL requests -- always open the file for storage and store the data
+            //th file is closed(in main) if we dont receive POSVAL messages for 60 secs
+            if (fpNav == NULL)
+            { 
+                toPC.printf(" opening the SD card file \n");
+                fpNav = fopen("/sd/Data/NAV.bin", "wb");
+                wait_ms(10);
+                recordData = true;
+            }
             sendPosVel=false; //set to true if a POSVEL is requested from the PC
             sendPosVelMessageToPC(posMsg, velMsg);
         }
@@ -261,7 +272,7 @@
                 {
                     toPC.printf(" opening the SD card file \n");
                     fpNav = fopen("/sd/Data/NAV.bin", "wb");
-                    wait_ms(1000);
+                    wait_ms(10);
                 }
                 if (fpNav != NULL)  //if the fie was already opened we will respond to the PC with a Y 
                 {

--- a/main.cpp	Tue Apr 30 19:59:43 2013 +0000
+++ b/main.cpp	Fri May 03 19:27:56 2013 +0000
@@ -26,6 +26,7 @@
 Serial toPC(USBTX, USBRX);      //connect the GPS TX, RX to p9 and p10
 
 Timer timeFromStart;
+Timer timeFromPosVelMessageReceipt;
 
 bool detectedGPS1PPS = false;       //flag set in the ISR and reset after processing the 1PPS event
 int PPSCounter = 0;                 //counts the 1PPS occurrences
@@ -232,6 +233,15 @@
         //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) )
+        {
+            sendRecData = true;
+            recordData  = false;
+        }
                 
         processPCmessages(fpNav, posMsg, velMsg);
         
@@ -241,7 +251,7 @@
             pre_fire = 0;  //pin30 (midbody of connector) set to zero
             wait(.01f);  //wait for 0.25 secs
             fire = 0; //fire the trigger using the tip connection
-            wait(1.0);
+            wait(0.10);
             fire = 1;
             pre_fire = 1;
             unsigned long triggerTime = GPSTimemsecs + PPSTimeOffset*1000 + timeFromPPS.read_us()/1000.0;