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@0:432b860b6ff7, 2013-04-22 (annotated)

Committer:
jekain314
Date:
Mon Apr 22 21:26:04 2013 +0000
Revision:
0:432b860b6ff7
Child:
1:8e24e633f8d8
does not work yet with mbed_test. Correctly collects GPS and IMU data.

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 0:432b860b6ff7 9
jekain314 0:432b860b6ff7 10 //general digital I/O specifications for this application
jekain314 0:432b860b6ff7 11 //SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name);
jekain314 0:432b860b6ff7 12 SDFileSystem sd(p11,p12,p13,p14,"sd");
jekain314 0:432b860b6ff7 13 DigitalIn sd_detect(p27);
jekain314 0:432b860b6ff7 14 DigitalOut ppsled(LED1); //blink an LED at the 1PPS
jekain314 0:432b860b6ff7 15 DigitalOut trig1led(LED2); //blink an LED at the camera trigger detection
jekain314 0:432b860b6ff7 16 DigitalOut recordDataled(LED4); //set the led when the record is on
jekain314 0:432b860b6ff7 17 InterruptIn camera1Int(p30); // camera interrupt in
jekain314 0:432b860b6ff7 18 DigitalOut camera2Pin(p29); // We dont use the second camera interrupt
jekain314 0:432b860b6ff7 19 //USB serial data stream back to the PC
jekain314 0:432b860b6ff7 20 Serial toPC(USBTX, USBRX); //connect the GPS TX, RX to p9 and p10
jekain314 0:432b860b6ff7 21
jekain314 0:432b860b6ff7 22 Timer timeFromStart;
jekain314 0:432b860b6ff7 23
jekain314 0:432b860b6ff7 24 bool detectedGPS1PPS = false; //flag set in the ISR and reset after processing the 1PPS event
jekain314 0:432b860b6ff7 25 int PPSCounter = 0; //counts the 1PPS occurrences
jekain314 0:432b860b6ff7 26 int byteCounter = 0; //byte counter -- zeroed at 1PPS
jekain314 0:432b860b6ff7 27 unsigned short perSecMessageCounter=0; //counts the number of messages in a sec based on the header detection
jekain314 0:432b860b6ff7 28 bool messageDetected = false; //have detected a message header
jekain314 0:432b860b6ff7 29 unsigned long IMUbytesWritten = 0; //counts the IMU bytes written by the fwrite() to the SD card
jekain314 0:432b860b6ff7 30 int savedByteCounter = 0; //save ByteCounter at the 1PPS for display in main
jekain314 0:432b860b6ff7 31 int savedPerSecMessageCounter=0; //saved PerSecMsgCounter for display in main
jekain314 0:432b860b6ff7 32 int savedIMUClockCounter=0; //saved at the 1PPS for later diaplay from main
jekain314 0:432b860b6ff7 33 bool camera1EventDetected = false; //flag from ISR indicating a clock event occurred
jekain314 0:432b860b6ff7 34 double camera1Time; //GPS time of the camera event
jekain314 0:432b860b6ff7 35 int TotalBadCRCmatches = 0; //counter for the bad CRC matches for all GPS messages
jekain314 0:432b860b6ff7 36
jekain314 0:432b860b6ff7 37 volatile int PPSTimeOffset = 0;
jekain314 0:432b860b6ff7 38
jekain314 0:432b860b6ff7 39 //////////////////////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 40 // the below should become classes
jekain314 0:432b860b6ff7 41 //////////////////////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 42 #include "OEM615.h" //OEM615 GPS activities
jekain314 0:432b860b6ff7 43 #include "ADIS16488.h" //ADIS16488 activities
jekain314 0:432b860b6ff7 44 #include "PCMessaging.h" //PC messaging activities
jekain314 0:432b860b6ff7 45
jekain314 0:432b860b6ff7 46 //ISR for detection of the GPS 1PPS
jekain314 0:432b860b6ff7 47 void detect1PPSISR(void)
jekain314 0:432b860b6ff7 48 {
jekain314 0:432b860b6ff7 49 timeFromPPS.reset(); //reset the 1PPS timer upon 1PPS detection
jekain314 0:432b860b6ff7 50 //note -- the below accounts for time information becoming available AFTER the 1PPS event
jekain314 0:432b860b6ff7 51 PPSTimeOffset++; //counts 1PPS events between matching POS and VEL messages
jekain314 0:432b860b6ff7 52
jekain314 0:432b860b6ff7 53 //covers the case where the PPS ISR interrupts the IMU data ready ISR
jekain314 0:432b860b6ff7 54 if(IMUDataReady) IMUtimeFrom1PPS = 0;
jekain314 0:432b860b6ff7 55
jekain314 0:432b860b6ff7 56 savedByteCounter = byteCounter; //save byteCounter for display in main
jekain314 0:432b860b6ff7 57 savedPerSecMessageCounter = perSecMessageCounter; //save for display un main
jekain314 0:432b860b6ff7 58 byteCounter = 0; //countes bytes between 1PPS events
jekain314 0:432b860b6ff7 59 perSecMessageCounter = 0; //counts GPS messages between 1PPS events
jekain314 0:432b860b6ff7 60
jekain314 0:432b860b6ff7 61 GPS_COM1.rxBufferFlush(); //flush the GPS serial buffer
jekain314 0:432b860b6ff7 62
jekain314 0:432b860b6ff7 63 detectedGPS1PPS = true; //set false in the main when 1PPS actions are complete
jekain314 0:432b860b6ff7 64 PPSCounter++; //count number of 1PPS epoch
jekain314 0:432b860b6ff7 65
jekain314 0:432b860b6ff7 66 ppsled = !ppsled; //blink an LED at the 1PPS
jekain314 0:432b860b6ff7 67 };
jekain314 0:432b860b6ff7 68
jekain314 0:432b860b6ff7 69 //ISR for detection of the hotshoe trigger 1
jekain314 0:432b860b6ff7 70 void camera1ISR(void)
jekain314 0:432b860b6ff7 71 {
jekain314 0:432b860b6ff7 72 //GPSTime is from POS message header
jekain314 0:432b860b6ff7 73 //PPSTimeOffset is an even sec to account for Time becoming known AFTER the 1PPS
jekain314 0:432b860b6ff7 74 //PPSTimeOffset + timeFromPPS.read() can be as large as 1.02 secs
jekain314 0:432b860b6ff7 75 camera1Time = GPSTime + PPSTimeOffset + timeFromPPS.read();
jekain314 0:432b860b6ff7 76 camera1EventDetected = true; //reset to false in main after processing the image detection
jekain314 0:432b860b6ff7 77 trig1led = !trig1led; //blink an LEWD at the camera event detection
jekain314 0:432b860b6ff7 78 };
jekain314 0:432b860b6ff7 79
jekain314 0:432b860b6ff7 80 ///////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 81 //set up the USB port and the GPS COM port
jekain314 0:432b860b6ff7 82 ///////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 83 FILE *fpNav = NULL; //file pointer to the nav file on the SD card
jekain314 0:432b860b6ff7 84 void setupCOM(void)
jekain314 0:432b860b6ff7 85 {
jekain314 0:432b860b6ff7 86 //system starts with GPS in reset active
jekain314 0:432b860b6ff7 87 //dis-engage the reset to get the GPS started
jekain314 0:432b860b6ff7 88 GPS_Reset=1; wait_ms(1000);
jekain314 0:432b860b6ff7 89
jekain314 0:432b860b6ff7 90 //establish 1PPS ISR
jekain314 0:432b860b6ff7 91 PPSInt.rise(&detect1PPSISR);
jekain314 0:432b860b6ff7 92
jekain314 0:432b860b6ff7 93 //set the USB serial data rate -- rate must be matched at the PC end
jekain314 0:432b860b6ff7 94 //This the serial communication back to the the PC host
jekain314 0:432b860b6ff7 95 //Launch the C++ serial port read program there to catch the ASCII characters
jekain314 0:432b860b6ff7 96 //toPC.baud(9600); wait_ms(100);
jekain314 0:432b860b6ff7 97 toPC.baud(8*115200); wait_ms(100);
jekain314 0:432b860b6ff7 98 //toPC.baud(1*115200); wait_ms(100);
jekain314 0:432b860b6ff7 99 toPC.printf("\n\n released GPS from RESET and set to high baud rate \n\n");
jekain314 0:432b860b6ff7 100
jekain314 0:432b860b6ff7 101 //just wait to launch the GPS receiver
jekain314 0:432b860b6ff7 102 for (int i=0; i<5; i++) { toPC.printf(" to start: %3d \n", 4-i); wait(1); }
jekain314 0:432b860b6ff7 103
jekain314 0:432b860b6ff7 104 sd_detect.mode(PullUp);
jekain314 0:432b860b6ff7 105
jekain314 0:432b860b6ff7 106 if (sd_detect == 0)
jekain314 0:432b860b6ff7 107 {
jekain314 0:432b860b6ff7 108 mkdir("/sd/Data", 0777);
jekain314 0:432b860b6ff7 109 }
jekain314 0:432b860b6ff7 110 else
jekain314 0:432b860b6ff7 111 {
jekain314 0:432b860b6ff7 112 toPC.printf(" SD card not present \n");
jekain314 0:432b860b6ff7 113 }
jekain314 0:432b860b6ff7 114
jekain314 0:432b860b6ff7 115 //NOTE: we do not assume that the GPS receiver has been pre-set up for the WALDO_FCS functionality
jekain314 0:432b860b6ff7 116 //we alwsys start with a reset and reprogram the receiver with our data out products
jekain314 0:432b860b6ff7 117 // this prevents failure because of a blown NVRAM as occurred for the older camera systems
jekain314 0:432b860b6ff7 118
jekain314 0:432b860b6ff7 119 //this is the COM1 port from th GPS receiuver to the mbed
jekain314 0:432b860b6ff7 120 //it should be always started at 9600 baud because thats the default for the GPS receiver
jekain314 0:432b860b6ff7 121 GPS_COM1.baud(9600); wait_ms(100);
jekain314 0:432b860b6ff7 122
jekain314 0:432b860b6ff7 123 // this ASCII command sets up the serial data from the GPS receiver on its COM1
jekain314 0:432b860b6ff7 124 char ch7[] = "serialconfig COM1 9600 n 8 1 n off";
jekain314 0:432b860b6ff7 125 // this is a software reset and has the same effect as a hardware reset (why do it?)
jekain314 0:432b860b6ff7 126 //char ch0[] = "RESET";
jekain314 0:432b860b6ff7 127 //this command stops all communication from the GPS receiver on COM1
jekain314 0:432b860b6ff7 128 //logs should still be presented on USB port so the Novatel CDU application can be used on the PC in parallel
jekain314 0:432b860b6ff7 129 char ch1[] = "unlogall COM1";
jekain314 0:432b860b6ff7 130 //set the final baud rate that we will use from here
jekain314 0:432b860b6ff7 131 //allowable baud rate values: 9600 115200 230400 460800 921600
jekain314 0:432b860b6ff7 132 //char ch2[] = "serialconfig COM1 921600 n 8 1 n off";
jekain314 0:432b860b6ff7 133 char ch2[] = "serialconfig COM1 115200 n 8 1 n off";
jekain314 0:432b860b6ff7 134
jekain314 0:432b860b6ff7 135 //the below commands request the POS, VEL, RANGE, and TIME messages
jekain314 0:432b860b6ff7 136 char ch3[] = "log COM1 BESTPOSB ONTIME 1"; //messageID = 42
jekain314 0:432b860b6ff7 137 char ch4[] = "log COM1 BESTVelB ONTIME 1"; //messageID = 99
jekain314 0:432b860b6ff7 138 char ch5[] = "log COM1 RANGEB ONTIME 1"; //messageID = 43
jekain314 0:432b860b6ff7 139 //char ch6[] = "log COM1 TIMEB ONTIME 1"; //messageID = 101
jekain314 0:432b860b6ff7 140
jekain314 0:432b860b6ff7 141 //set up VARF to be 100Hz with 1X10^4 * 10^-8 = 10^-4 sec (10usec) pulse width
jekain314 0:432b860b6ff7 142 //in fact, we do not use this output but it is available.
jekain314 0:432b860b6ff7 143 //originally planned to use this to command the IMU data
jekain314 0:432b860b6ff7 144 //char ch8[] = "FREQUENCYOUT enable 10000 1000000";
jekain314 0:432b860b6ff7 145
jekain314 0:432b860b6ff7 146 toPC.printf("set serial config \n");
jekain314 0:432b860b6ff7 147 sendASCII(ch7, sizeof(ch7)); wait_ms(500);
jekain314 0:432b860b6ff7 148 //sendASCII(ch0, sizeof(ch0));
jekain314 0:432b860b6ff7 149 toPC.printf("unlog all messages \n");
jekain314 0:432b860b6ff7 150 sendASCII(ch1, sizeof(ch1)); wait_ms(500);
jekain314 0:432b860b6ff7 151 toPC.printf("log BESTPOSB on COM1 \n");
jekain314 0:432b860b6ff7 152 sendASCII(ch3, sizeof(ch3)); wait_ms(500);
jekain314 0:432b860b6ff7 153 toPC.printf("log BESTVELB on COM1\n");
jekain314 0:432b860b6ff7 154 sendASCII(ch4, sizeof(ch4)); wait_ms(500);
jekain314 0:432b860b6ff7 155 toPC.printf("log RANGEB on COM1\n");
jekain314 0:432b860b6ff7 156 sendASCII(ch5, sizeof(ch5)); wait_ms(500);
jekain314 0:432b860b6ff7 157
jekain314 0:432b860b6ff7 158 //toPC.printf("log TIMEB om COM1 \n");
jekain314 0:432b860b6ff7 159 //sendASCII(ch6, sizeof(ch6)); wait_ms(100);
jekain314 0:432b860b6ff7 160
jekain314 0:432b860b6ff7 161 //toPC.printf("Set up th VARF signal \n");
jekain314 0:432b860b6ff7 162 //sendASCII(ch8, sizeof(ch8)); wait_ms(500);
jekain314 0:432b860b6ff7 163
jekain314 0:432b860b6ff7 164 //set GPS output COM1 to the final high rate
jekain314 0:432b860b6ff7 165 toPC.printf("set the COM ports to high rate\n");
jekain314 0:432b860b6ff7 166 sendASCII(ch2, sizeof(ch2)); wait_ms(500);
jekain314 0:432b860b6ff7 167
jekain314 0:432b860b6ff7 168 //set the mbed COM port to match the GPS transmit rate
jekain314 0:432b860b6ff7 169 //the below baud rate must match the COM1 rate coming from the GPS receiver
jekain314 0:432b860b6ff7 170 GPS_COM1.baud(115200); wait_ms(500); //without this wait -- the baud rate is not detected when using MODSERIAL
jekain314 0:432b860b6ff7 171 //GPS_COM1.baud(921600); wait_ms(500); //without this wait -- the baud rate is not detected when using MODSERIAL
jekain314 0:432b860b6ff7 172 };
jekain314 0:432b860b6ff7 173
jekain314 0:432b860b6ff7 174 void setupTriggers()
jekain314 0:432b860b6ff7 175 {
jekain314 0:432b860b6ff7 176 camera1Int.mode(PullUp);
jekain314 0:432b860b6ff7 177 camera2Pin = 1;
jekain314 0:432b860b6ff7 178 //establish Trigger ISR
jekain314 0:432b860b6ff7 179 camera1Int.rise(&camera1ISR);
jekain314 0:432b860b6ff7 180
jekain314 0:432b860b6ff7 181 };
jekain314 0:432b860b6ff7 182
jekain314 0:432b860b6ff7 183 /////////////////////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 184 // mbed main to support the Waldo_FCS
jekain314 0:432b860b6ff7 185 /////////////////////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 186 int main() {
jekain314 0:432b860b6ff7 187
jekain314 0:432b860b6ff7 188 //these are structures for the to GPS messages that must be parsed
jekain314 0:432b860b6ff7 189 MESSAGEHEADER msgHdr;
jekain314 0:432b860b6ff7 190 OEM615BESTPOS posMsg; //BESTPOS structure in OEMV615.h that has matching time to a BESTVEL message
jekain314 0:432b860b6ff7 191 OEM615BESTPOS curPos; //BESTPOS structure in OEMV615.h
jekain314 0:432b860b6ff7 192 OEM615BESTVEL velMsg; //BESTVEL structure in OEMV615.h that has matching time to a BESTPOS message
jekain314 0:432b860b6ff7 193 OEM615BESTVEL curVel; //BESTVEL structure in OEMV615.h
jekain314 0:432b860b6ff7 194
jekain314 0:432b860b6ff7 195 //set up the GPS and mbed COM ports
jekain314 0:432b860b6ff7 196 setupCOM();
jekain314 0:432b860b6ff7 197
jekain314 0:432b860b6ff7 198 //set up the ADIS16488
jekain314 0:432b860b6ff7 199 setupADIS();
jekain314 0:432b860b6ff7 200
jekain314 0:432b860b6ff7 201 //setup Hotshoe
jekain314 0:432b860b6ff7 202 setupTriggers();
jekain314 0:432b860b6ff7 203
jekain314 0:432b860b6ff7 204 setUpMessages(); //set up the expected text message commands frm the PC
jekain314 0:432b860b6ff7 205
jekain314 0:432b860b6ff7 206 //set up the interrupt to catch the GPS receiver serial bytes as they are presented
jekain314 0:432b860b6ff7 207 GPS_COM1.attach(&readSerialByte, MODSERIAL::RxIrq);
jekain314 0:432b860b6ff7 208
jekain314 0:432b860b6ff7 209 timeFromPPS.start(); //start the time for measuring time from 1PPS events
jekain314 0:432b860b6ff7 210 timeFromStart.start();
jekain314 0:432b860b6ff7 211
jekain314 0:432b860b6ff7 212 toPC.printf("\n\n top of the main loop \n\n");
jekain314 0:432b860b6ff7 213
jekain314 0:432b860b6ff7 214 int totalBytesWritten = 0;
jekain314 0:432b860b6ff7 215
jekain314 0:432b860b6ff7 216 /*establish the initial value for the CRC recursion atter the header
jekain314 0:432b860b6ff7 217 unsigned long CRC = 0;
jekain314 0:432b860b6ff7 218 CRC32Value(CRC, 0xAA);
jekain314 0:432b860b6ff7 219 CRC32Value(CRC, 0x44);
jekain314 0:432b860b6ff7 220 CRC32Value(CRC, 0x12);
jekain314 0:432b860b6ff7 221 CRC32Value(CRC, 0x1C);
jekain314 0:432b860b6ff7 222 //this results in a value of: 0x39b0f0e1
jekain314 0:432b860b6ff7 223 toPC.printf(" CRC after AA44121C header: %08x \n", CRC);
jekain314 0:432b860b6ff7 224 wait(20);
jekain314 0:432b860b6ff7 225 */
jekain314 0:432b860b6ff7 226
jekain314 0:432b860b6ff7 227 int CRCerrors = 0;
jekain314 0:432b860b6ff7 228
jekain314 0:432b860b6ff7 229 recordData = true;
jekain314 0:432b860b6ff7 230 sendRecData = true;
jekain314 0:432b860b6ff7 231
jekain314 0:432b860b6ff7 232 unsigned long cyclesPerSec = 0;
jekain314 0:432b860b6ff7 233 unsigned long delTimeOfWrite = 0;
jekain314 0:432b860b6ff7 234 unsigned long maxWriteTime = 0;
jekain314 0:432b860b6ff7 235 bool GPSdataWritten = false;
jekain314 0:432b860b6ff7 236
jekain314 0:432b860b6ff7 237 while(PPSCounter < 1000)
jekain314 0:432b860b6ff7 238 ///////////////////////////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 239 // top of the while loop
jekain314 0:432b860b6ff7 240 ///////////////////////////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 241 //while(1)
jekain314 0:432b860b6ff7 242 {
jekain314 0:432b860b6ff7 243 //read the USB serial data from the PC to check for commands
jekain314 0:432b860b6ff7 244 //in the primary real-time portion, there are no bytes from the PC so this has no impact
jekain314 0:432b860b6ff7 245 readFromPC();
jekain314 0:432b860b6ff7 246
jekain314 0:432b860b6ff7 247 processPCmessages(fpNav, posMsg, velMsg);
jekain314 0:432b860b6ff7 248
jekain314 0:432b860b6ff7 249 cyclesPerSec++;
jekain314 0:432b860b6ff7 250
jekain314 0:432b860b6ff7 251 //
jekain314 0:432b860b6ff7 252 ////////////////////////////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 253 //below is where we process the complete stored GPS message for the second
jekain314 0:432b860b6ff7 254 //The !IMUDataReady test prevents the IMU and GPS data from being written
jekain314 0:432b860b6ff7 255 //to disk on the same pass through this loop
jekain314 0:432b860b6ff7 256 /////////////////////////////////////////////////////////////////////////////
jekain314 0:432b860b6ff7 257
jekain314 0:432b860b6ff7 258
jekain314 0:432b860b6ff7 259 if (completeMessageAvailable && !IMUDataReady)
jekain314 0:432b860b6ff7 260 {
jekain314 0:432b860b6ff7 261
jekain314 0:432b860b6ff7 262 msgHdr = *((MESSAGEHEADER*)&msgBuffer[messageLocation[savedMessageCounter-1]]);
jekain314 0:432b860b6ff7 263
jekain314 0:432b860b6ff7 264 //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 265 //GPSTimemsecs increments by 1 for each new GPS measurement -- note that the below computations are actually
jekain314 0:432b860b6ff7 266 //done at the receipt of each GPS message. This is OK because each message has the same time in its header.
jekain314 0:432b860b6ff7 267 //Thus GPSTimemsecs increments by 1 here while GPSTimemsecs effectively decrements by 1.
jekain314 0:432b860b6ff7 268 //This handles IMU time tagging between the 1PPS event and the first receipt of a new GPS time.
jekain314 0:432b860b6ff7 269
jekain314 0:432b860b6ff7 270 GPSTimemsecs = msgHdr.GPSTime_msecs; //time in GPS message header
jekain314 0:432b860b6ff7 271 PPSTimeOffset = 0; //incremented by 1 in the PPS ISR
jekain314 0:432b860b6ff7 272
jekain314 0:432b860b6ff7 273 unsigned long msgCRC = *((unsigned long*)&msgBuffer[messageLocation[savedMessageCounter-1] + 28 + msgHdr.messageLength]);
jekain314 0:432b860b6ff7 274
jekain314 0:432b860b6ff7 275 //toPC.printf("tmeFrom1PPS= %5d ID= %3d Ln = %3d computedCRC= %08x msgCRC= %08x msgCntr = %3d CRCerr=%4d\n",
jekain314 0:432b860b6ff7 276 // timeFromPPS.read_us(), msgHdr.messageID, msgHdr.messageLength, computedCRC, msgCRC, savedMessageCounter, TotalBadCRCmatches);
jekain314 0:432b860b6ff7 277
jekain314 0:432b860b6ff7 278 if ( msgCRC != computedCRC)
jekain314 0:432b860b6ff7 279 {
jekain314 0:432b860b6ff7 280 toPC.printf(" bad CRC match for messageID %3d total CRC errors = %4d \n",
jekain314 0:432b860b6ff7 281 msgHdr.messageLength, TotalBadCRCmatches++);
jekain314 0:432b860b6ff7 282 }
jekain314 0:432b860b6ff7 283
jekain314 0:432b860b6ff7 284 if (msgHdr.messageID == 42)
jekain314 0:432b860b6ff7 285 {
jekain314 0:432b860b6ff7 286 curPos = *((OEM615BESTPOS*)&msgBuffer[messageLocation[savedMessageCounter-1]]);
jekain314 0:432b860b6ff7 287 posMsg = curPos;
jekain314 0:432b860b6ff7 288
jekain314 0:432b860b6ff7 289 //if (streamPos)
jekain314 0:432b860b6ff7 290 {
jekain314 0:432b860b6ff7 291 toPC.printf("BESTPOS %5d %1d %8.5lf %9.5lf %5.3lf %d %d %d\n",
jekain314 0:432b860b6ff7 292 curPos.msgHeader.GPSTime_msecs, curPos.solStatus,
jekain314 0:432b860b6ff7 293 curPos.latitude, curPos.longitude, curPos.height,
jekain314 0:432b860b6ff7 294 curPos.numSV, curPos.numSolSV, curPos.numGGL1);
jekain314 0:432b860b6ff7 295 }
jekain314 0:432b860b6ff7 296
jekain314 0:432b860b6ff7 297 }
jekain314 0:432b860b6ff7 298 else if (msgHdr.messageID == 99)
jekain314 0:432b860b6ff7 299 {
jekain314 0:432b860b6ff7 300 curVel = *((OEM615BESTVEL*)&msgBuffer[ messageLocation[savedMessageCounter-1] ]);
jekain314 0:432b860b6ff7 301 toPC.printf("BESTVEL vel: horizontalSpeed= %5.3f heading=%5.1f verticalSpeed=%4.2f \n",
jekain314 0:432b860b6ff7 302 curVel.horizontalSpeed, curVel.heading, curVel.verticalSpeed );
jekain314 0:432b860b6ff7 303 velMsg = curVel;
jekain314 0:432b860b6ff7 304 }
jekain314 0:432b860b6ff7 305 /*
jekain314 0:432b860b6ff7 306 if (recordData && (fpNav != NULL) && (byteCounter > 0))
jekain314 0:432b860b6ff7 307 {
jekain314 0:432b860b6ff7 308 //wait_us(10);
jekain314 0:432b860b6ff7 309 int totalMessageLength = 28 + msgHdr.messageLength + 4; //header length + message Length + CRC word size
jekain314 0:432b860b6ff7 310 totalBytesWritten += fwrite(&msgBuffer[messageLocation[savedMessageCounter-1]], 1, totalMessageLength, fpNav); // this writes out a complete set of messages for this sec
jekain314 0:432b860b6ff7 311 //wait_us(10);
jekain314 0:432b860b6ff7 312 }
jekain314 0:432b860b6ff7 313
jekain314 0:432b860b6ff7 314
jekain314 0:432b860b6ff7 315 */
jekain314 0:432b860b6ff7 316 completeMessageAvailable = false;
jekain314 0:432b860b6ff7 317 }
jekain314 0:432b860b6ff7 318
jekain314 0:432b860b6ff7 319 if (!IMUDataReady && !GPSdataWritten && timeFromPPS.read_us() > 500000 && recordData && (fpNav != NULL))
jekain314 0:432b860b6ff7 320 {
jekain314 0:432b860b6ff7 321 totalBytesWritten += fwrite(&msgBuffer, 1, byteCounter, fpNav);
jekain314 0:432b860b6ff7 322 GPSdataWritten = true;
jekain314 0:432b860b6ff7 323 }
jekain314 0:432b860b6ff7 324
jekain314 0:432b860b6ff7 325 //the IMU data record is read from the SPI in the ISR and the IMUDataReady is set true
jekain314 0:432b860b6ff7 326 //we write the IMU data here
jekain314 0:432b860b6ff7 327 if (IMUDataReady) //IMUDataReady is true if we have a recent IMU data record
jekain314 0:432b860b6ff7 328 {
jekain314 0:432b860b6ff7 329 //write the IMU data
jekain314 0:432b860b6ff7 330 if ( recordData && (fpNav != NULL) )
jekain314 0:432b860b6ff7 331 {
jekain314 0:432b860b6ff7 332 delTimeOfWrite = timeFromStart.read_us();
jekain314 0:432b860b6ff7 333
jekain314 0:432b860b6ff7 334 if (fillingPingWritingPong) fwrite(&imuPong, 1, IMUrecArraySize*sizeof(IMUREC), fpNav);
jekain314 0:432b860b6ff7 335 else fwrite(&imuPing, 1, IMUrecArraySize*sizeof(IMUREC), fpNav);
jekain314 0:432b860b6ff7 336
jekain314 0:432b860b6ff7 337 delTimeOfWrite = (unsigned long)((unsigned long)timeFromStart.read_us() - delTimeOfWrite);
jekain314 0:432b860b6ff7 338 if (delTimeOfWrite > maxWriteTime) maxWriteTime = delTimeOfWrite;
jekain314 0:432b860b6ff7 339 }
jekain314 0:432b860b6ff7 340 IMURecordCounter+=IMUrecArraySize;
jekain314 0:432b860b6ff7 341 IMUDataReady = false;
jekain314 0:432b860b6ff7 342 }
jekain314 0:432b860b6ff7 343
jekain314 0:432b860b6ff7 344 if (camera1EventDetected) //we have detected a camera trigger event
jekain314 0:432b860b6ff7 345 {
jekain314 0:432b860b6ff7 346 toPC.printf("WMsg TRIGGERTIME %5.3lf\n", camera1Time);
jekain314 0:432b860b6ff7 347 camera1EventDetected = false;
jekain314 0:432b860b6ff7 348 }
jekain314 0:432b860b6ff7 349
jekain314 0:432b860b6ff7 350 if (detectedGPS1PPS) //true if we are exactly at a 1PPS event detection
jekain314 0:432b860b6ff7 351 {
jekain314 0:432b860b6ff7 352 toPC.printf("PPS=%4d stat=%1d bytes=%3d GPSMsgs=%2d #write=%8d cycles=%6d MR=%5u\n",
jekain314 0:432b860b6ff7 353 PPSCounter, posMsg.solStatus, savedByteCounter, savedPerSecMessageCounter,
jekain314 0:432b860b6ff7 354 totalBytesWritten, cyclesPerSec, maxWriteTime );
jekain314 0:432b860b6ff7 355
jekain314 0:432b860b6ff7 356 //if ( (savedIMUClockCounter - IMURecordCounter) > 2) toPC.printf(" IMU diffs = %2d \n", savedIMUClockCounter - IMURecordCounter);
jekain314 0:432b860b6ff7 357 //completeMessageAvailable = false;
jekain314 0:432b860b6ff7 358 cyclesPerSec = 0;
jekain314 0:432b860b6ff7 359 maxDelIMUmsecs = 0;
jekain314 0:432b860b6ff7 360 maxWriteTime = 0;
jekain314 0:432b860b6ff7 361 totalBytesWritten = 0;
jekain314 0:432b860b6ff7 362 GPSdataWritten = false;
jekain314 0:432b860b6ff7 363
jekain314 0:432b860b6ff7 364 IMURecordCounter = 0;
jekain314 0:432b860b6ff7 365 detectedGPS1PPS = false;
jekain314 0:432b860b6ff7 366 }
jekain314 0:432b860b6ff7 367 }
jekain314 0:432b860b6ff7 368
jekain314 0:432b860b6ff7 369 fclose(fpNav);
jekain314 0:432b860b6ff7 370 toPC.printf(" normal termination \n");
jekain314 0:432b860b6ff7 371 }