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

OEM615.h@21:37551baf69c6, 2013-05-14 (annotated)

Committer:
jekain314
Date:
Tue May 14 23:32:15 2013 +0000
Revision:
21:37551baf69c6
Parent:
1:8e24e633f8d8
Child:
28:fcea53fcc712
Moved CRC functions from OEM615.h to crc.cpp/h. Also updated SDShell and un-nested the dependencies because of a merge issue. Will nest later when the code is more fully vetted.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jekain314 21:37551baf69c6 1 #include "crc.h"
jekain314 21:37551baf69c6 2
jekain314 0:432b860b6ff7 3 #pragma pack(1) //this forces the structure to be packed on byte boundaries (with no byte filler)
jekain314 0:432b860b6ff7 4 //set up the GPS message header in a structure to enable easy reading -- see the OEM615 manual (Table 4, page 24)
jekain314 0:432b860b6ff7 5 struct MESSAGEHEADER
jekain314 0:432b860b6ff7 6 {
jekain314 0:432b860b6ff7 7 char synchAA; //1st synch word
jekain314 0:432b860b6ff7 8 char synch44; //2nd synch word
jekain314 0:432b860b6ff7 9 char synch12; //3rd synch word
jekain314 0:432b860b6ff7 10 unsigned char headerLength; //always 28
jekain314 0:432b860b6ff7 11 unsigned short messageID; //42 (0x2A BESTPOS) , 43 (2B RANGE) , or 99 (x63 BESTVEL),
jekain314 0:432b860b6ff7 12 char messageType; //always = 0 for binary
jekain314 0:432b860b6ff7 13 unsigned char portAddress; //0x20 for COM1
jekain314 0:432b860b6ff7 14 // from spec: The length in bytes of the body of the message, not including the header nor the CRC
jekain314 0:432b860b6ff7 15 unsigned short messageLength; //not including header or CRC
jekain314 0:432b860b6ff7 16 unsigned short sequence; //typically 0
jekain314 0:432b860b6ff7 17 unsigned char idleTime; //Time the processor is idle, in the last second
jekain314 0:432b860b6ff7 18 unsigned char timeStatus; //Enum Indicating quality of the GPS reference time
jekain314 0:432b860b6ff7 19 unsigned short GPSweek; //GPS reference week
jekain314 0:432b860b6ff7 20 unsigned long GPSTime_msecs; //from beginning of week
jekain314 0:432b860b6ff7 21 unsigned long receiverStatus; //32-bits representing the status of hardware and software
jekain314 0:432b860b6ff7 22 unsigned short reserved;
jekain314 0:432b860b6ff7 23 unsigned short receiverSWversion; //receiver software build number
jekain314 0:432b860b6ff7 24 //total length in bytes of this header is 28
jekain314 0:432b860b6ff7 25 };
jekain314 0:432b860b6ff7 26 MESSAGEHEADER *msgHeader[6];
jekain314 0:432b860b6ff7 27
jekain314 0:432b860b6ff7 28 #pragma pack(1)
jekain314 0:432b860b6ff7 29 //structure for OEM615 BESTVEL log message (page 314)
jekain314 0:432b860b6ff7 30 struct OEM615BESTVEL
jekain314 0:432b860b6ff7 31 {
jekain314 0:432b860b6ff7 32 MESSAGEHEADER msgHeader;
jekain314 0:432b860b6ff7 33 int solStatus; //solution status
jekain314 0:432b860b6ff7 34 //solutionStatusOEMStar solStatus; //solution status
jekain314 0:432b860b6ff7 35 int velType; //position or velocity type
jekain314 0:432b860b6ff7 36 //velTypeOEMStar posType; //position or velocity type
jekain314 0:432b860b6ff7 37 float latency;
jekain314 0:432b860b6ff7 38 float age;
jekain314 0:432b860b6ff7 39 double horizontalSpeed; //horizontal velocity vector magnitude (m/s)
jekain314 0:432b860b6ff7 40 double heading; //deg from North called TRK GND in specification
jekain314 0:432b860b6ff7 41 double verticalSpeed; //vertical velocity magnitude (m/s)
jekain314 0:432b860b6ff7 42 float reserved;
jekain314 0:432b860b6ff7 43 unsigned long CRC;
jekain314 0:432b860b6ff7 44 };
jekain314 0:432b860b6ff7 45
jekain314 0:432b860b6ff7 46 /* Solution Status descritpion from OEMV manual
jekain314 0:432b860b6ff7 47 0 SOL_COMPUTED Solution computed
jekain314 0:432b860b6ff7 48 1 INSUFFICIENT_OBS Insufficient observations
jekain314 0:432b860b6ff7 49 2 NO_CONVERGENCE No convergence
jekain314 0:432b860b6ff7 50 3 SINGULARITY Singularity at parameters matrix
jekain314 0:432b860b6ff7 51 4 COV_TRACE Covariance trace exceeds maximum (trace > 1000 m)
jekain314 0:432b860b6ff7 52 5 TEST_DIST Test distance exceeded (maximum of 3 rejections if distance >10 km)
jekain314 0:432b860b6ff7 53 6 COLD_START Not yet converged from cold start
jekain314 0:432b860b6ff7 54 7 V_H_LIMIT Height or velocity limits exceeded
jekain314 0:432b860b6ff7 55 8 VARIANCE Variance exceeds limits
jekain314 0:432b860b6ff7 56 9 RESIDUALS Residuals are too large
jekain314 0:432b860b6ff7 57 10 DELTA_POS Delta position is too large
jekain314 0:432b860b6ff7 58 11 NEGATIVE_VAR Negative variance
jekain314 0:432b860b6ff7 59 12 Reserved
jekain314 0:432b860b6ff7 60 13 INTEGRITY_WARNING Large residuals make position unreliable
jekain314 0:432b860b6ff7 61 18 PENDING
jekain314 0:432b860b6ff7 62 19 INVALID_FIX The fixed position, entered using the FIX POSITION command, is not valid
jekain314 0:432b860b6ff7 63 20 UNAUTHORIZED Position type is unauthorized - HP or XP
jekain314 0:432b860b6ff7 64 */
jekain314 0:432b860b6ff7 65
jekain314 0:432b860b6ff7 66 #pragma pack(1)
jekain314 0:432b860b6ff7 67 //structure for BESTPOS message
jekain314 0:432b860b6ff7 68 struct OEM615BESTPOS
jekain314 0:432b860b6ff7 69 {
jekain314 0:432b860b6ff7 70 MESSAGEHEADER msgHeader;
jekain314 0:432b860b6ff7 71 int solStatus; //solution status
jekain314 0:432b860b6ff7 72 //solutionStatusOEMStar solStatus; //solution status
jekain314 0:432b860b6ff7 73 int posType; //position or velocity type
jekain314 0:432b860b6ff7 74 //posTypeOEMStar posType; //position or velocity type
jekain314 0:432b860b6ff7 75 double latitude; //latitude
jekain314 0:432b860b6ff7 76 double longitude; //longitude
jekain314 0:432b860b6ff7 77 double height; //height above mean sea level
jekain314 0:432b860b6ff7 78 float undulation; //the realtionship between the geoid and the
jekain314 0:432b860b6ff7 79 //ellipsoid of the chosen datum (m)
jekain314 0:432b860b6ff7 80 char datumID[4]; //datum ID is actually an enum that is not implemented
jekain314 0:432b860b6ff7 81 float latitudeSTD; //latitude standard deviation
jekain314 0:432b860b6ff7 82 float longitudeSTD; //longitude standard deviation
jekain314 0:432b860b6ff7 83 float heightSTD; //height standard deviation
jekain314 0:432b860b6ff7 84 char baseStationID[4]; //base station ID
jekain314 0:432b860b6ff7 85 float diffAge; //differential age (s)
jekain314 0:432b860b6ff7 86 float solutionAge; //solution age (s)
jekain314 0:432b860b6ff7 87 unsigned char numSV; //number of satellite vehicles tracked
jekain314 0:432b860b6ff7 88 unsigned char numSolSV; //number of satellite vehicles used in solution
jekain314 0:432b860b6ff7 89 unsigned char numGGL1; //number of GPS plus Glonass L1
jekain314 0:432b860b6ff7 90 unsigned char res1;
jekain314 0:432b860b6ff7 91 unsigned char res2;
jekain314 0:432b860b6ff7 92 unsigned char extSolStatus; //extended solution status
jekain314 0:432b860b6ff7 93 unsigned char res3;
jekain314 0:432b860b6ff7 94 unsigned char sigMask; //signals used mask
jekain314 0:432b860b6ff7 95 unsigned long CRC;
jekain314 0:432b860b6ff7 96 };
jekain314 0:432b860b6ff7 97
jekain314 0:432b860b6ff7 98 //GPS-specific pins
jekain314 0:432b860b6ff7 99 DigitalOut GPS_Reset(p18); //GPS RESET line
jekain314 0:432b860b6ff7 100 InterruptIn PPSInt(p15); // GPS 1PPS (timemark) from the OEM615
jekain314 0:432b860b6ff7 101 InterruptIn IMUClock(p17);
jekain314 0:432b860b6ff7 102
jekain314 0:432b860b6ff7 103 Timer timeFromPPS;
jekain314 0:432b860b6ff7 104 unsigned long GPSTimemsecs = 0;
jekain314 0:432b860b6ff7 105
jekain314 0:432b860b6ff7 106 //mbed tx/rx interface to the GPS COM1 port
jekain314 0:432b860b6ff7 107 MODSERIAL GPS_COM1(p9,p10); //this serial port communicates with the GPS receiver serial port (COM1)
jekain314 0:432b860b6ff7 108
jekain314 0:432b860b6ff7 109 int test = 0;
jekain314 0:432b860b6ff7 110 unsigned short messageCounter = 0;
jekain314 0:432b860b6ff7 111 unsigned short savedMessageCounter = 0;
jekain314 0:432b860b6ff7 112 const unsigned short maxGPSbytesPerSec = 1536;
jekain314 0:432b860b6ff7 113 unsigned char msgBuffer[maxGPSbytesPerSec]; //array to contain one full second of GPS bytes
jekain314 0:432b860b6ff7 114 const unsigned char maxGPSMessagesPerSec = 12;
jekain314 0:432b860b6ff7 115 unsigned short messageLocation[maxGPSMessagesPerSec] = {0}; //stores the message location start within the message buffer
jekain314 0:432b860b6ff7 116
jekain314 0:432b860b6ff7 117 unsigned short bytesFromMessageHdrDetect = 0;
jekain314 0:432b860b6ff7 118 union SWAPBYTES { unsigned char b[2]; unsigned short w; };
jekain314 0:432b860b6ff7 119 volatile SWAPBYTES messageLength; //used to swap the bytes
jekain314 0:432b860b6ff7 120 unsigned long computedCRC = 0; //final resulting computed CRC for this message
jekain314 0:432b860b6ff7 121 unsigned long incrementalCRC = 0; //incrementally-formed CRC over message sequence
jekain314 0:432b860b6ff7 122 unsigned short endByteForCRCcomputation[maxGPSMessagesPerSec];
jekain314 0:432b860b6ff7 123 bool completeMessageAvailable = false;
jekain314 0:432b860b6ff7 124
jekain314 0:432b860b6ff7 125 void sendASCII(char* ASCI_message, int numChars)
jekain314 0:432b860b6ff7 126 {
jekain314 0:432b860b6ff7 127 /////////////////////////////////////////////////
jekain314 0:432b860b6ff7 128 //send an ASCII command to the GPS receiver
jekain314 0:432b860b6ff7 129 /////////////////////////////////////////////////
jekain314 0:432b860b6ff7 130
jekain314 0:432b860b6ff7 131 //char ASCI_message[] = "unlogall COM1";
jekain314 0:432b860b6ff7 132 int as = numChars - 1;
jekain314 0:432b860b6ff7 133 unsigned char CR = 0x0d; //ASCII Carriage Return
jekain314 0:432b860b6ff7 134 unsigned char LF = 0x0a; //ASCII Line Feed
jekain314 0:432b860b6ff7 135
jekain314 0:432b860b6ff7 136 //printf("%s", ch);
jekain314 0:432b860b6ff7 137 //printf("\n");
jekain314 0:432b860b6ff7 138
jekain314 0:432b860b6ff7 139 for (int i=0; i<as; i++) GPS_COM1.putc(ASCI_message[i]);
jekain314 0:432b860b6ff7 140 GPS_COM1.putc(CR); //carriage return at end
jekain314 0:432b860b6ff7 141 GPS_COM1.putc(LF); //line feed at end
jekain314 0:432b860b6ff7 142 };
jekain314 0:432b860b6ff7 143
jekain314 0:432b860b6ff7 144
jekain314 0:432b860b6ff7 145 //see the mbed COOKBOOK for MODSERIAL
jekain314 0:432b860b6ff7 146 //MODSERIAL is an easy to use library that extends Serial to add fully buffered input and output.
jekain314 0:432b860b6ff7 147 void readSerialByte(MODSERIAL_IRQ_INFO *q)
jekain314 0:432b860b6ff7 148 {
jekain314 0:432b860b6ff7 149 MODSERIAL *serial = q->serial; //see example of MODSERIAL usage in cookbook
jekain314 0:432b860b6ff7 150 unsigned char synch0 = serial->getc(); //get the next byte
jekain314 0:432b860b6ff7 151
jekain314 0:432b860b6ff7 152 //byteCounter is zeroed only at a 1PPA event in the 1PPS ISR
jekain314 0:432b860b6ff7 153 //all message bytes stored for a single GPS second
jekain314 0:432b860b6ff7 154 msgBuffer[byteCounter % maxGPSbytesPerSec] = synch0;
jekain314 0:432b860b6ff7 155
jekain314 0:432b860b6ff7 156 //accumulate the CRC for this message
jekain314 0:432b860b6ff7 157 //incrementalCRC re-initialized after message header is is detected
jekain314 0:432b860b6ff7 158 CRC32Value( incrementalCRC, synch0);
jekain314 0:432b860b6ff7 159
jekain314 0:432b860b6ff7 160 //Trap the GPS message header byte-string per Novatel OEM615 spec: 0xAA44121C
jekain314 0:432b860b6ff7 161 //generate a 4-byte sliding-window sequence from the input bytes
jekain314 0:432b860b6ff7 162 //shift last 4-byte value left 8 bits & push current-read byte (synch0) into low-order byte
jekain314 0:432b860b6ff7 163 test = (test<<8) | synch0;
jekain314 0:432b860b6ff7 164
jekain314 0:432b860b6ff7 165 if (test == 0xAA44121C) //test for the Receiver message header signature
jekain314 0:432b860b6ff7 166 {
jekain314 0:432b860b6ff7 167 messageLocation[perSecMessageCounter % maxGPSMessagesPerSec] = byteCounter-3; //store the location of this message (1st of 4 synch word)
jekain314 0:432b860b6ff7 168 perSecMessageCounter++; //counts messages this second
jekain314 0:432b860b6ff7 169 bytesFromMessageHdrDetect = 0; //start byte counter for this message
jekain314 0:432b860b6ff7 170 incrementalCRC = 0x39b0f0e1; //initializes the recursive CRC after the AA44121C header byte sequence
jekain314 0:432b860b6ff7 171 }
jekain314 0:432b860b6ff7 172 else if (bytesFromMessageHdrDetect == 5) messageLength.b[0] = synch0; //first byte of msg length
jekain314 0:432b860b6ff7 173 else if (bytesFromMessageHdrDetect == 6) //second byte of message length
jekain314 0:432b860b6ff7 174 {
jekain314 0:432b860b6ff7 175 messageLength.b[1] = synch0;
jekain314 0:432b860b6ff7 176 endByteForCRCcomputation[perSecMessageCounter] = 24 + messageLength.w; //use union to perform byte-swap from stored bytes
jekain314 0:432b860b6ff7 177 }
jekain314 0:432b860b6ff7 178 else if (bytesFromMessageHdrDetect == endByteForCRCcomputation[perSecMessageCounter]) //stop the CRC recursive computation
jekain314 0:432b860b6ff7 179 computedCRC = incrementalCRC; //store the computed CRC for this message for use in main
jekain314 0:432b860b6ff7 180 else if (bytesFromMessageHdrDetect == (endByteForCRCcomputation[perSecMessageCounter] + 4) ) //detect the end of the message (end of its CRC)
jekain314 0:432b860b6ff7 181 {
jekain314 0:432b860b6ff7 182 savedMessageCounter = perSecMessageCounter; //message counter can be corrupted before use in main
jekain314 0:432b860b6ff7 183 completeMessageAvailable = true; //set flg for the main message processing
jekain314 0:432b860b6ff7 184 }
jekain314 0:432b860b6ff7 185
jekain314 0:432b860b6ff7 186 //byteCounter reset to zero in main after the 1PPS is detected -- its NOT reset in the 1PPS ISR
jekain314 0:432b860b6ff7 187 byteCounter++; //total per-sec byte counter (reset to zero in main when 1PPS detected)
jekain314 0:432b860b6ff7 188 bytesFromMessageHdrDetect++; //counts the byes received after a message header
jekain314 0:432b860b6ff7 189 };
jekain314 0:432b860b6ff7 190
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