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@30:96d133f3008e, 2014-03-03 (annotated)
- Committer:
- jekain314
- Date:
- Mon Mar 03 13:19:31 2014 +0000
- Revision:
- 30:96d133f3008e
- Parent:
- 29:dead10cce6e9
commit of RT_Download.
Who changed what in which revision?
User | Revision | Line number | New 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 | 30:96d133f3008e | 6 | #define CRC32_POLYNOMIAL 0xEDB88320 |
jekain314 | 0:432b860b6ff7 | 7 | |
jekain314 | 0:432b860b6ff7 | 8 | #include "MODSERIAL.h" |
jekain314 | 0:432b860b6ff7 | 9 | #include "SDFileSystem.h" //imported using the import utility |
jekain314 | 0:432b860b6ff7 | 10 | |
jekain314 | 0:432b860b6ff7 | 11 | //general digital I/O specifications for this application |
jekain314 | 29:dead10cce6e9 | 12 | |
jekain314 | 29:dead10cce6e9 | 13 | //if we dont write to the card we dont need this ... |
jekain314 | 0:432b860b6ff7 | 14 | //SDFileSystem(PinName mosi, PinName miso, PinName sclk, PinName cs, const char* name); |
jekain314 | 0:432b860b6ff7 | 15 | SDFileSystem sd(p11,p12,p13,p14,"sd"); |
jekain314 | 29:dead10cce6e9 | 16 | |
jekain314 | 0:432b860b6ff7 | 17 | DigitalIn sd_detect(p27); |
jekain314 | 0:432b860b6ff7 | 18 | DigitalOut ppsled(LED1); //blink an LED at the 1PPS |
jekain314 | 0:432b860b6ff7 | 19 | DigitalOut trig1led(LED2); //blink an LED at the camera trigger detection |
jekain314 | 1:8e24e633f8d8 | 20 | DigitalOut rxMsg(LED3); |
jekain314 | 1:8e24e633f8d8 | 21 | DigitalOut txMsg(LED4); |
jekain314 | 1:8e24e633f8d8 | 22 | //DigitalOut recordDataled(LED4); //set the led when the record is on |
jekain314 | 1:8e24e633f8d8 | 23 | |
jekain314 | 1:8e24e633f8d8 | 24 | //hardware trigger mechanization for bulb shutter commands |
jekain314 | 1:8e24e633f8d8 | 25 | DigitalInOut fire(p29); //connected to the tip of 2.5mm connector (T2i) |
jekain314 | 1:8e24e633f8d8 | 26 | DigitalInOut pre_fire(p30); //connected to the mid-connection for 2.5mm connector (T2i) |
jekain314 | 1:8e24e633f8d8 | 27 | |
jekain314 | 0:432b860b6ff7 | 28 | //USB serial data stream back to the PC |
jekain314 | 0:432b860b6ff7 | 29 | Serial toPC(USBTX, USBRX); //connect the GPS TX, RX to p9 and p10 |
jekain314 | 0:432b860b6ff7 | 30 | |
jekain314 | 0:432b860b6ff7 | 31 | Timer timeFromStart; |
jekain314 | 30:96d133f3008e | 32 | Timer timeInMessageRead; |
sam_grove | 27:94a6f0589993 | 33 | |
jekain314 | 0:432b860b6ff7 | 34 | bool detectedGPS1PPS = false; //flag set in the ISR and reset after processing the 1PPS event |
jekain314 | 0:432b860b6ff7 | 35 | int PPSCounter = 0; //counts the 1PPS occurrences |
jekain314 | 0:432b860b6ff7 | 36 | int byteCounter = 0; //byte counter -- zeroed at 1PPS |
jekain314 | 0:432b860b6ff7 | 37 | unsigned short perSecMessageCounter=0; //counts the number of messages in a sec based on the header detection |
jekain314 | 0:432b860b6ff7 | 38 | bool messageDetected = false; //have detected a message header |
jekain314 | 0:432b860b6ff7 | 39 | unsigned long IMUbytesWritten = 0; //counts the IMU bytes written by the fwrite() to the SD card |
jekain314 | 0:432b860b6ff7 | 40 | int savedByteCounter = 0; //save ByteCounter at the 1PPS for display in main |
jekain314 | 0:432b860b6ff7 | 41 | int savedPerSecMessageCounter=0; //saved PerSecMsgCounter for display in main |
jekain314 | 0:432b860b6ff7 | 42 | int savedIMUClockCounter=0; //saved at the 1PPS for later diaplay from main |
jekain314 | 0:432b860b6ff7 | 43 | bool camera1EventDetected = false; //flag from ISR indicating a clock event occurred |
jekain314 | 0:432b860b6ff7 | 44 | double camera1Time; //GPS time of the camera event |
sam_grove | 27:94a6f0589993 | 45 | volatile int PPSTimeOffset = 0; |
jekain314 | 29:dead10cce6e9 | 46 | int totalGPSBytes = 0; |
jekain314 | 0:432b860b6ff7 | 47 | |
jekain314 | 29:dead10cce6e9 | 48 | bool writeIMUDataToPC = false; //used in main loop to cause IMU data write to the PC |
jekain314 | 29:dead10cce6e9 | 49 | bool writeGPSDataToPC = false; //used in main loop to cause GPS data write to the PC |
jekain314 | 0:432b860b6ff7 | 50 | |
jekain314 | 0:432b860b6ff7 | 51 | #include "OEM615.h" //OEM615 GPS activities |
jekain314 | 0:432b860b6ff7 | 52 | #include "ADIS16488.h" //ADIS16488 activities |
jekain314 | 0:432b860b6ff7 | 53 | #include "PCMessaging.h" //PC messaging activities |
jekain314 | 0:432b860b6ff7 | 54 | |
jekain314 | 0:432b860b6ff7 | 55 | //ISR for detection of the GPS 1PPS |
jekain314 | 0:432b860b6ff7 | 56 | void detect1PPSISR(void) |
jekain314 | 0:432b860b6ff7 | 57 | { |
jekain314 | 0:432b860b6ff7 | 58 | timeFromPPS.reset(); //reset the 1PPS timer upon 1PPS detection |
jekain314 | 30:96d133f3008e | 59 | |
jekain314 | 30:96d133f3008e | 60 | //note -- the below accounts for GPS receiver time information becoming available AFTER the 1PPS event |
jekain314 | 30:96d133f3008e | 61 | PPSTimeOffset++; //counts 1PPS events -- reset to zero in main after we determine a GPS time |
jekain314 | 0:432b860b6ff7 | 62 | |
jekain314 | 0:432b860b6ff7 | 63 | //covers the case where the PPS ISR interrupts the IMU data ready ISR |
jekain314 | 0:432b860b6ff7 | 64 | if(IMUDataReady) IMUtimeFrom1PPS = 0; |
jekain314 | 0:432b860b6ff7 | 65 | |
jekain314 | 0:432b860b6ff7 | 66 | savedByteCounter = byteCounter; //save byteCounter for display in main |
jekain314 | 0:432b860b6ff7 | 67 | savedPerSecMessageCounter = perSecMessageCounter; //save for display un main |
jekain314 | 0:432b860b6ff7 | 68 | byteCounter = 0; //countes bytes between 1PPS events |
jekain314 | 0:432b860b6ff7 | 69 | perSecMessageCounter = 0; //counts GPS messages between 1PPS events |
jekain314 | 0:432b860b6ff7 | 70 | |
jekain314 | 0:432b860b6ff7 | 71 | GPS_COM1.rxBufferFlush(); //flush the GPS serial buffer |
jekain314 | 0:432b860b6ff7 | 72 | |
jekain314 | 0:432b860b6ff7 | 73 | detectedGPS1PPS = true; //set false in the main when 1PPS actions are complete |
jekain314 | 0:432b860b6ff7 | 74 | PPSCounter++; //count number of 1PPS epoch |
jekain314 | 0:432b860b6ff7 | 75 | |
jekain314 | 0:432b860b6ff7 | 76 | ppsled = !ppsled; //blink an LED at the 1PPS |
jekain314 | 0:432b860b6ff7 | 77 | }; |
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 | void setupCOM(void) |
jekain314 | 0:432b860b6ff7 | 84 | { |
jekain314 | 0:432b860b6ff7 | 85 | //system starts with GPS in reset active |
jekain314 | 0:432b860b6ff7 | 86 | //dis-engage the reset to get the GPS started |
jekain314 | 0:432b860b6ff7 | 87 | GPS_Reset=1; wait_ms(1000); |
jekain314 | 0:432b860b6ff7 | 88 | |
jekain314 | 0:432b860b6ff7 | 89 | //establish 1PPS ISR |
jekain314 | 0:432b860b6ff7 | 90 | PPSInt.rise(&detect1PPSISR); |
jekain314 | 0:432b860b6ff7 | 91 | |
jekain314 | 0:432b860b6ff7 | 92 | //set the USB serial data rate -- rate must be matched at the PC end |
jekain314 | 0:432b860b6ff7 | 93 | //This the serial communication back to the the PC host |
jekain314 | 0:432b860b6ff7 | 94 | //Launch the C++ serial port read program there to catch the ASCII characters |
jekain314 | 0:432b860b6ff7 | 95 | //toPC.baud(9600); wait_ms(100); |
jekain314 | 25:2287bd8c9877 | 96 | toPC.baud(8*115200); wait_ms(100); |
jekain314 | 0:432b860b6ff7 | 97 | //toPC.baud(1*115200); wait_ms(100); |
jekain314 | 6:71da5b99de97 | 98 | //toPC.printf("\n\n released GPS from RESET and set to high baud rate \n\n"); |
jekain314 | 0:432b860b6ff7 | 99 | |
jekain314 | 29:dead10cce6e9 | 100 | //just wait some time to launch the GPS receiver |
jekain314 | 29:dead10cce6e9 | 101 | for (int i=0; i<5; i++) { toPC.printf("WMessage start countdown: %3d \n", 4-i); wait(1); } |
jekain314 | 0:432b860b6ff7 | 102 | |
jekain314 | 0:432b860b6ff7 | 103 | //NOTE: we do not assume that the GPS receiver has been pre-set up for the WALDO_FCS functionality |
jekain314 | 0:432b860b6ff7 | 104 | //we alwsys start with a reset and reprogram the receiver with our data out products |
jekain314 | 0:432b860b6ff7 | 105 | // this prevents failure because of a blown NVRAM as occurred for the older camera systems |
jekain314 | 0:432b860b6ff7 | 106 | |
jekain314 | 29:dead10cce6e9 | 107 | //this is the COM1 port from th GPS receiver to the mbed |
jekain314 | 0:432b860b6ff7 | 108 | //it should be always started at 9600 baud because thats the default for the GPS receiver |
jekain314 | 0:432b860b6ff7 | 109 | GPS_COM1.baud(9600); wait_ms(100); |
jekain314 | 0:432b860b6ff7 | 110 | |
jekain314 | 0:432b860b6ff7 | 111 | // this ASCII command sets up the serial data from the GPS receiver on its COM1 |
jekain314 | 0:432b860b6ff7 | 112 | char ch7[] = "serialconfig COM1 9600 n 8 1 n off"; |
jekain314 | 30:96d133f3008e | 113 | |
jekain314 | 0:432b860b6ff7 | 114 | // this is a software reset and has the same effect as a hardware reset (why do it?) |
jekain314 | 0:432b860b6ff7 | 115 | //char ch0[] = "RESET"; |
jekain314 | 30:96d133f3008e | 116 | //toPC.printf("WMsg set RESET command \n"); |
jekain314 | 30:96d133f3008e | 117 | //sendASCII(ch0, sizeof(ch0)); wait_ms(3000); |
jekain314 | 30:96d133f3008e | 118 | |
jekain314 | 0:432b860b6ff7 | 119 | //this command stops all communication from the GPS receiver on COM1 |
jekain314 | 0:432b860b6ff7 | 120 | //logs should still be presented on USB port so the Novatel CDU application can be used on the PC in parallel |
jekain314 | 0:432b860b6ff7 | 121 | char ch1[] = "unlogall COM1"; |
jekain314 | 0:432b860b6ff7 | 122 | //set the final baud rate that we will use from here |
jekain314 | 0:432b860b6ff7 | 123 | //allowable baud rate values: 9600 115200 230400 460800 921600 |
jekain314 | 0:432b860b6ff7 | 124 | //char ch2[] = "serialconfig COM1 921600 n 8 1 n off"; |
jekain314 | 0:432b860b6ff7 | 125 | char ch2[] = "serialconfig COM1 115200 n 8 1 n off"; |
jekain314 | 0:432b860b6ff7 | 126 | |
jekain314 | 0:432b860b6ff7 | 127 | //the below commands request the POS, VEL, RANGE, and TIME messages |
jekain314 | 29:dead10cce6e9 | 128 | //Binary commands are shown below |
jekain314 | 29:dead10cce6e9 | 129 | //char ch3[] = "log COM1 BESTPOSB ONTIME 1"; //messageID = 42 |
jekain314 | 29:dead10cce6e9 | 130 | //char ch4[] = "log COM1 BESTVelB ONTIME 1"; //messageID = 99 |
jekain314 | 29:dead10cce6e9 | 131 | //char ch5[] = "log COM1 RANGEB ONTIME 1"; //messageID = 43 |
jekain314 | 0:432b860b6ff7 | 132 | //char ch6[] = "log COM1 TIMEB ONTIME 1"; //messageID = 101 |
jekain314 | 29:dead10cce6e9 | 133 | |
jekain314 | 29:dead10cce6e9 | 134 | //ASCII commands are shown below |
jekain314 | 29:dead10cce6e9 | 135 | char ch3[] = "log COM1 BESTPOSA ONTIME 1"; //messageID = 42 |
jekain314 | 29:dead10cce6e9 | 136 | char ch4[] = "log COM1 BESTVelA ONTIME 1"; //messageID = 99 |
jekain314 | 29:dead10cce6e9 | 137 | char ch5[] = "log COM1 RANGEA ONTIME 1"; //messageID = 43 |
jekain314 | 29:dead10cce6e9 | 138 | //char ch6[] = "log COM1 TIMEB ONTIME 1"; //messageID = 101 |
jekain314 | 0:432b860b6ff7 | 139 | |
jekain314 | 15:f3b92958cf5a | 140 | //toPC.printf("WMsg set serial config \n"); |
jekain314 | 0:432b860b6ff7 | 141 | sendASCII(ch7, sizeof(ch7)); wait_ms(500); |
jekain314 | 0:432b860b6ff7 | 142 | //sendASCII(ch0, sizeof(ch0)); |
jekain314 | 15:f3b92958cf5a | 143 | //toPC.printf("WMsg unlog all messages \n"); |
jekain314 | 0:432b860b6ff7 | 144 | sendASCII(ch1, sizeof(ch1)); wait_ms(500); |
jekain314 | 15:f3b92958cf5a | 145 | //toPC.printf("WMsg log BESTPOSB on COM1 \n"); |
jekain314 | 0:432b860b6ff7 | 146 | sendASCII(ch3, sizeof(ch3)); wait_ms(500); |
jekain314 | 15:f3b92958cf5a | 147 | //toPC.printf("WMsg log BESTVELB on COM1\n"); |
jekain314 | 0:432b860b6ff7 | 148 | sendASCII(ch4, sizeof(ch4)); wait_ms(500); |
jekain314 | 15:f3b92958cf5a | 149 | //toPC.printf("WMsg log RANGEB on COM1\n"); |
jekain314 | 0:432b860b6ff7 | 150 | sendASCII(ch5, sizeof(ch5)); wait_ms(500); |
jekain314 | 0:432b860b6ff7 | 151 | |
jekain314 | 0:432b860b6ff7 | 152 | //toPC.printf("log TIMEB om COM1 \n"); |
jekain314 | 0:432b860b6ff7 | 153 | //sendASCII(ch6, sizeof(ch6)); wait_ms(100); |
jekain314 | 0:432b860b6ff7 | 154 | |
jekain314 | 0:432b860b6ff7 | 155 | //toPC.printf("Set up th VARF signal \n"); |
jekain314 | 0:432b860b6ff7 | 156 | //sendASCII(ch8, sizeof(ch8)); wait_ms(500); |
jekain314 | 0:432b860b6ff7 | 157 | |
jekain314 | 0:432b860b6ff7 | 158 | //set GPS output COM1 to the final high rate |
jekain314 | 15:f3b92958cf5a | 159 | //toPC.printf("WMsg set the COM ports to high rate\n"); |
jekain314 | 0:432b860b6ff7 | 160 | sendASCII(ch2, sizeof(ch2)); wait_ms(500); |
jekain314 | 0:432b860b6ff7 | 161 | |
jekain314 | 0:432b860b6ff7 | 162 | //set the mbed COM port to match the GPS transmit rate |
jekain314 | 0:432b860b6ff7 | 163 | //the below baud rate must match the COM1 rate coming from the GPS receiver |
jekain314 | 0:432b860b6ff7 | 164 | GPS_COM1.baud(115200); wait_ms(500); //without this wait -- the baud rate is not detected when using MODSERIAL |
jekain314 | 0:432b860b6ff7 | 165 | //GPS_COM1.baud(921600); wait_ms(500); //without this wait -- the baud rate is not detected when using MODSERIAL |
jekain314 | 0:432b860b6ff7 | 166 | }; |
jekain314 | 0:432b860b6ff7 | 167 | |
jekain314 | 0:432b860b6ff7 | 168 | |
jekain314 | 30:96d133f3008e | 169 | void CRC32Value_2(unsigned long &CRC, unsigned char c) |
jekain314 | 30:96d133f3008e | 170 | { |
jekain314 | 30:96d133f3008e | 171 | ///////////////////////////////////////////////////////////////////////////////////// |
jekain314 | 30:96d133f3008e | 172 | //CRC must be initialized as zero |
jekain314 | 30:96d133f3008e | 173 | //c is a character from the sequence that is used to form the CRC |
jekain314 | 30:96d133f3008e | 174 | //this code is a modification of the code from the Novatel OEM615 specification |
jekain314 | 30:96d133f3008e | 175 | ///////////////////////////////////////////////////////////////////////////////////// |
jekain314 | 30:96d133f3008e | 176 | unsigned long ulTemp1 = ( CRC >> 8 ) & 0x00FFFFFFL; |
jekain314 | 30:96d133f3008e | 177 | unsigned long ulCRC = ((int) CRC ^ c ) & 0xff ; |
jekain314 | 30:96d133f3008e | 178 | for (int j = 8 ; j > 0; j-- ) |
jekain314 | 30:96d133f3008e | 179 | { |
jekain314 | 30:96d133f3008e | 180 | if ( ulCRC & 1 ) |
jekain314 | 30:96d133f3008e | 181 | ulCRC = ( ulCRC >> 1 ) ^ CRC32_POLYNOMIAL; |
jekain314 | 30:96d133f3008e | 182 | else |
jekain314 | 30:96d133f3008e | 183 | ulCRC >>= 1; |
jekain314 | 30:96d133f3008e | 184 | } |
jekain314 | 30:96d133f3008e | 185 | CRC = ulTemp1 ^ ulCRC; |
jekain314 | 30:96d133f3008e | 186 | } |
jekain314 | 30:96d133f3008e | 187 | |
jekain314 | 30:96d133f3008e | 188 | /* -------------------------------------------------------------------------- |
jekain314 | 30:96d133f3008e | 189 | Calculates the CRC-32 of a block of data all at once |
jekain314 | 30:96d133f3008e | 190 | //the CRC is from the complete message (header plus data) |
jekain314 | 30:96d133f3008e | 191 | //but excluding (of course) the CRC at the end |
jekain314 | 30:96d133f3008e | 192 | -------------------------------------------------------------------------- */ |
jekain314 | 30:96d133f3008e | 193 | unsigned long CalculateBlockCRC32_2( |
jekain314 | 30:96d133f3008e | 194 | unsigned long ulCount, /* Number of bytes in the data block */ |
jekain314 | 30:96d133f3008e | 195 | unsigned char *ucBuffer ) /* Data block */ |
jekain314 | 30:96d133f3008e | 196 | { |
jekain314 | 30:96d133f3008e | 197 | ////////////////////////////////////////////////////////////////////// |
jekain314 | 30:96d133f3008e | 198 | //the below code tests the CRC32Value procedure used in a markov form |
jekain314 | 30:96d133f3008e | 199 | ////////////////////////////////////////////////////////////////////// |
jekain314 | 30:96d133f3008e | 200 | unsigned long CRC = 0; |
jekain314 | 30:96d133f3008e | 201 | for (int i = 0; i<ulCount; i++) CRC32Value_2( CRC, *ucBuffer++ ); |
jekain314 | 30:96d133f3008e | 202 | return CRC; |
jekain314 | 30:96d133f3008e | 203 | } |
jekain314 | 30:96d133f3008e | 204 | |
jekain314 | 30:96d133f3008e | 205 | bool checkMessageCRC(char* message, int byteCounter) |
jekain314 | 30:96d133f3008e | 206 | { |
jekain314 | 30:96d133f3008e | 207 | //calculate the Novatel OEM615 CRC |
jekain314 | 30:96d133f3008e | 208 | //length of CRC bytes is string length minus: 8 bytes for long word, 2 bytes for "#" & "*" and 2 bytes for CR, LF |
jekain314 | 30:96d133f3008e | 209 | // start at byte 1 (not zero) to skip the "#" at the start |
jekain314 | 30:96d133f3008e | 210 | unsigned long computedCRC = CalculateBlockCRC32_2((unsigned long)(byteCounter-12), (unsigned char*)(&message[1])); |
jekain314 | 30:96d133f3008e | 211 | |
jekain314 | 30:96d133f3008e | 212 | //get the computed CRC into a zero-padded string so we can compare to the string CRC in the message |
jekain314 | 30:96d133f3008e | 213 | char CRCCharBuffer [50]; |
jekain314 | 30:96d133f3008e | 214 | int n=sprintf (CRCCharBuffer, "%08x", computedCRC); //note the zero-padding |
jekain314 | 30:96d133f3008e | 215 | //toPC.printf("n = %d charCRC = %s \n", n, CRCCharBuffer); |
jekain314 | 30:96d133f3008e | 216 | |
jekain314 | 30:96d133f3008e | 217 | //get a string reresentation of just the CRC from the message |
jekain314 | 30:96d133f3008e | 218 | char CRCString[10]; |
jekain314 | 30:96d133f3008e | 219 | strncpy(CRCString, &message[byteCounter-10], 8); |
jekain314 | 30:96d133f3008e | 220 | //toPC.printf(" %s %s \n", CRCCharBuffer, CRCString); |
jekain314 | 30:96d133f3008e | 221 | |
jekain314 | 30:96d133f3008e | 222 | if (strncmp(CRCCharBuffer, CRCString, 8) != 0) |
jekain314 | 30:96d133f3008e | 223 | { |
jekain314 | 30:96d133f3008e | 224 | toPC.printf("mbed bad CRC %d %s %d %s \n", strlen(CRCCharBuffer), CRCCharBuffer, strlen(CRCString), CRCString ); |
jekain314 | 30:96d133f3008e | 225 | return false; |
jekain314 | 30:96d133f3008e | 226 | } |
jekain314 | 30:96d133f3008e | 227 | |
jekain314 | 30:96d133f3008e | 228 | return true; |
jekain314 | 30:96d133f3008e | 229 | } |
jekain314 | 30:96d133f3008e | 230 | |
jekain314 | 30:96d133f3008e | 231 | |
jekain314 | 0:432b860b6ff7 | 232 | ///////////////////////////////////////////////////////////////////// |
jekain314 | 0:432b860b6ff7 | 233 | // mbed main to support the Waldo_FCS |
jekain314 | 0:432b860b6ff7 | 234 | ///////////////////////////////////////////////////////////////////// |
jekain314 | 14:009d4671f0e3 | 235 | int main() |
jekain314 | 14:009d4671f0e3 | 236 | { |
jekain314 | 0:432b860b6ff7 | 237 | |
jekain314 | 30:96d133f3008e | 238 | fire.output(); //set the fire pin as output |
jekain314 | 1:8e24e633f8d8 | 239 | pre_fire.output(); //set the pre-fire pin as output |
sam_grove | 27:94a6f0589993 | 240 | |
jekain314 | 1:8e24e633f8d8 | 241 | //fire.mode(OpenDrain); |
jekain314 | 1:8e24e633f8d8 | 242 | |
jekain314 | 1:8e24e633f8d8 | 243 | //set up for the first trigger |
jekain314 | 1:8e24e633f8d8 | 244 | fire = 1; |
jekain314 | 1:8e24e633f8d8 | 245 | pre_fire = 1; |
sam_grove | 27:94a6f0589993 | 246 | |
jekain314 | 0:432b860b6ff7 | 247 | //set up the GPS and mbed COM ports |
jekain314 | 0:432b860b6ff7 | 248 | setupCOM(); |
jekain314 | 30:96d133f3008e | 249 | |
jekain314 | 30:96d133f3008e | 250 | //prints to PC above here wont work cause the PC serial link baud rate has not been set |
jekain314 | 30:96d133f3008e | 251 | toPC.printf("initiating the mbed app\n"); |
jekain314 | 0:432b860b6ff7 | 252 | |
jekain314 | 30:96d133f3008e | 253 | toPC.printf("setting up the ADIS\n"); |
jekain314 | 29:dead10cce6e9 | 254 | //set up the ADIS16488 IMU |
jekain314 | 30:96d133f3008e | 255 | setupADIS(); |
jekain314 | 29:dead10cce6e9 | 256 | |
jekain314 | 25:2287bd8c9877 | 257 | //initiate the interrupt to catch the GPS receiver serial bytes as they are presented |
jekain314 | 0:432b860b6ff7 | 258 | GPS_COM1.attach(&readSerialByte, MODSERIAL::RxIrq); |
jekain314 | 0:432b860b6ff7 | 259 | |
jekain314 | 0:432b860b6ff7 | 260 | timeFromPPS.start(); //start the time for measuring time from 1PPS events |
jekain314 | 0:432b860b6ff7 | 261 | timeFromStart.start(); |
jekain314 | 30:96d133f3008e | 262 | timeInMessageRead.start(); //used to prevent hanging in the PC message read loop |
jekain314 | 0:432b860b6ff7 | 263 | |
jekain314 | 25:2287bd8c9877 | 264 | unsigned long cyclesPerSec = 0; //main while() loop cycles per GPS sec |
jekain314 | 29:dead10cce6e9 | 265 | |
jekain314 | 4:dda2ab5cc643 | 266 | bool finishTrigger = false; |
jekain314 | 4:dda2ab5cc643 | 267 | Timer triggerInterval; |
jekain314 | 0:432b860b6ff7 | 268 | |
jekain314 | 17:71900da6ced6 | 269 | bool newMission = true; |
jekain314 | 30:96d133f3008e | 270 | int workingTime = 0; |
jekain314 | 30:96d133f3008e | 271 | |
jekain314 | 30:96d133f3008e | 272 | bool triggeringInProcess = false; |
jekain314 | 30:96d133f3008e | 273 | |
jekain314 | 30:96d133f3008e | 274 | int badRangeMessages = 0; |
jekain314 | 30:96d133f3008e | 275 | int badBESPOSMessages = 0; |
jekain314 | 30:96d133f3008e | 276 | int badBESVELMessages = 0; |
jekain314 | 30:96d133f3008e | 277 | |
jekain314 | 30:96d133f3008e | 278 | int VERSION = 1; |
jekain314 | 30:96d133f3008e | 279 | double timeAtMessage0 = 0; |
jekain314 | 17:71900da6ced6 | 280 | |
jekain314 | 0:432b860b6ff7 | 281 | /////////////////////////////////////////////////////////////////////////// |
jekain314 | 17:71900da6ced6 | 282 | // top of the mission while loop |
jekain314 | 0:432b860b6ff7 | 283 | /////////////////////////////////////////////////////////////////////////// |
jekain314 | 17:71900da6ced6 | 284 | while(newMission) |
jekain314 | 29:dead10cce6e9 | 285 | { |
jekain314 | 30:96d133f3008e | 286 | readFromPC(); //#1 |
jekain314 | 30:96d133f3008e | 287 | |
jekain314 | 30:96d133f3008e | 288 | //process GPS data messages (messages 0, 1, 2) |
jekain314 | 30:96d133f3008e | 289 | if (toPC.writeable() && message0Complete && !IMUDataReady ) |
jekain314 | 29:dead10cce6e9 | 290 | { |
jekain314 | 30:96d133f3008e | 291 | int thisWorkTime = timeFromStart.read_us(); |
jekain314 | 30:96d133f3008e | 292 | |
jekain314 | 30:96d133f3008e | 293 | //get the GPS time at the prior 1PPS from the first header |
jekain314 | 30:96d133f3008e | 294 | char msgName [15], port [15], clockStatus [15]; |
jekain314 | 30:96d133f3008e | 295 | int a1=0, GPSWeek=0; |
jekain314 | 30:96d133f3008e | 296 | double b1 = 0.0, GPSTimeFromHeader = 0.0; |
jekain314 | 30:96d133f3008e | 297 | |
jekain314 | 30:96d133f3008e | 298 | //note the use of the "C" scanset [^,] to read the comma-delimited ASCII message provided by te Novatel OEM615 receiver |
jekain314 | 30:96d133f3008e | 299 | //these are used only for the character variables in order to avoid detecting the "," as another character |
jekain314 | 30:96d133f3008e | 300 | //only spaces can be used as delimiters if scanset methodology is not used |
jekain314 | 30:96d133f3008e | 301 | int N = sscanf(msgBuffer0,"%15[^,],%15[^,],%d,%f,%15[^,],%d,%lf", msgName, port, &a1, &b1, clockStatus, &GPSWeek, &GPSTimeFromHeader); |
jekain314 | 30:96d133f3008e | 302 | if (N != 7) toPC.printf("scanf failed for message: %s ", msgBuffer0); |
jekain314 | 30:96d133f3008e | 303 | |
jekain314 | 30:96d133f3008e | 304 | GPSTimemsecs = GPSTimeFromHeader * 1000; |
jekain314 | 30:96d133f3008e | 305 | |
jekain314 | 30:96d133f3008e | 306 | //this is used to account for the GPS time from the receiver becoming available a few msecs after the actual 1PPS event |
jekain314 | 30:96d133f3008e | 307 | //A precision timer is set at the 1PPS event that is used to tag the IMU data |
jekain314 | 30:96d133f3008e | 308 | timeAtMessage0 = timeFromPPS.read_us()/1000.0; |
jekain314 | 30:96d133f3008e | 309 | PPSTimeOffset = 0.0; |
jekain314 | 30:96d133f3008e | 310 | |
jekain314 | 30:96d133f3008e | 311 | if (!checkMessageCRC(msgBuffer0, GPSbyteCounter0)) badRangeMessages++; |
jekain314 | 30:96d133f3008e | 312 | |
jekain314 | 30:96d133f3008e | 313 | N=0; |
jekain314 | 30:96d133f3008e | 314 | //write the GPS message bytes to the PC |
jekain314 | 30:96d133f3008e | 315 | for (int i=0; i<GPSbyteCounter0; i++) N += toPC.printf("%c", msgBuffer0[i]); |
jekain314 | 30:96d133f3008e | 316 | if (N != GPSbyteCounter0) toPC.printf(" error writing msgBuffer0: %d of %d bytes written \n", N, GPSbyteCounter0); |
jekain314 | 30:96d133f3008e | 317 | |
jekain314 | 30:96d133f3008e | 318 | message0Complete = false; //set up for the next message |
jekain314 | 30:96d133f3008e | 319 | workingTime += timeFromStart.read_us() - thisWorkTime; |
jekain314 | 30:96d133f3008e | 320 | |
jekain314 | 30:96d133f3008e | 321 | readFromPC(); //#2 |
jekain314 | 29:dead10cce6e9 | 322 | } |
jekain314 | 30:96d133f3008e | 323 | else if (toPC.writeable() && message1Complete && !IMUDataReady) |
jekain314 | 29:dead10cce6e9 | 324 | { |
jekain314 | 30:96d133f3008e | 325 | if (!checkMessageCRC(msgBuffer1, GPSbyteCounter1)) badBESPOSMessages++; |
jekain314 | 30:96d133f3008e | 326 | |
jekain314 | 30:96d133f3008e | 327 | int thisWorkTime = timeFromStart.read_us(); |
jekain314 | 30:96d133f3008e | 328 | |
jekain314 | 30:96d133f3008e | 329 | int N=0; |
jekain314 | 30:96d133f3008e | 330 | for (int i=0; i<GPSbyteCounter1; i++) N += toPC.printf("%c", msgBuffer1[i]); |
jekain314 | 30:96d133f3008e | 331 | if (N != GPSbyteCounter1) toPC.printf(" error writing msgBuffer1: %d of %d bytes written \n", N, GPSbyteCounter1); |
jekain314 | 30:96d133f3008e | 332 | |
jekain314 | 29:dead10cce6e9 | 333 | message1Complete = false; |
jekain314 | 30:96d133f3008e | 334 | workingTime += timeFromStart.read_us() - thisWorkTime; |
jekain314 | 30:96d133f3008e | 335 | |
jekain314 | 30:96d133f3008e | 336 | readFromPC(); //#3 |
jekain314 | 29:dead10cce6e9 | 337 | } |
jekain314 | 30:96d133f3008e | 338 | else if (toPC.writeable() && message2Complete && !IMUDataReady) |
jekain314 | 29:dead10cce6e9 | 339 | { |
jekain314 | 30:96d133f3008e | 340 | if( !checkMessageCRC(msgBuffer2, GPSbyteCounter2)) badBESVELMessages++; |
jekain314 | 30:96d133f3008e | 341 | |
jekain314 | 30:96d133f3008e | 342 | int thisWorkTime = timeFromStart.read_us(); |
jekain314 | 30:96d133f3008e | 343 | int N = 0; |
jekain314 | 30:96d133f3008e | 344 | |
jekain314 | 30:96d133f3008e | 345 | for (int i=0; i<GPSbyteCounter2; i++) N += toPC.printf("%c", msgBuffer2[i]); |
jekain314 | 30:96d133f3008e | 346 | if (N != GPSbyteCounter2) toPC.printf(" error writing msgBuffer2: %d of %d bytes written \n", N, GPSbyteCounter2); |
jekain314 | 30:96d133f3008e | 347 | |
jekain314 | 29:dead10cce6e9 | 348 | message2Complete = false; |
jekain314 | 30:96d133f3008e | 349 | workingTime += timeFromStart.read_us() - thisWorkTime; |
jekain314 | 30:96d133f3008e | 350 | |
jekain314 | 30:96d133f3008e | 351 | readFromPC(); //#4 |
jekain314 | 30:96d133f3008e | 352 | } |
jekain314 | 30:96d133f3008e | 353 | // |
jekain314 | 30:96d133f3008e | 354 | // |
jekain314 | 30:96d133f3008e | 355 | if (toPC.writeable() && IMUDataReady) |
jekain314 | 2:7039be3daf6e | 356 | { |
jekain314 | 30:96d133f3008e | 357 | int thisWorkTime = timeFromStart.read_us(); |
jekain314 | 29:dead10cce6e9 | 358 | //write the IMU data to the PC |
jekain314 | 29:dead10cce6e9 | 359 | for (int i=0; i<IMUrecArraySize; i++) |
jekain314 | 29:dead10cce6e9 | 360 | { |
jekain314 | 30:96d133f3008e | 361 | // |
jekain314 | 29:dead10cce6e9 | 362 | if (fillingPingWritingPong) |
jekain314 | 29:dead10cce6e9 | 363 | { |
jekain314 | 30:96d133f3008e | 364 | toPC.printf("IMU %d13,%d13,%d13,%d13,%d13,%d13,%d13 " , //70 bytes |
jekain314 | 29:dead10cce6e9 | 365 | imuPong[i].GPSTime, |
jekain314 | 29:dead10cce6e9 | 366 | imuPong[i].dataWord[0], |
jekain314 | 29:dead10cce6e9 | 367 | imuPong[i].dataWord[1], |
jekain314 | 29:dead10cce6e9 | 368 | imuPong[i].dataWord[2], |
jekain314 | 29:dead10cce6e9 | 369 | imuPong[i].dataWord[3], |
jekain314 | 29:dead10cce6e9 | 370 | imuPong[i].dataWord[4], |
jekain314 | 29:dead10cce6e9 | 371 | imuPong[i].dataWord[5] ); |
jekain314 | 29:dead10cce6e9 | 372 | } |
jekain314 | 29:dead10cce6e9 | 373 | else |
jekain314 | 29:dead10cce6e9 | 374 | { |
jekain314 | 30:96d133f3008e | 375 | toPC.printf("IMU %d13,%d13,%d13,%d13,%d13,%d13,%d13 " , //70 bytes |
jekain314 | 29:dead10cce6e9 | 376 | imuPing[i].GPSTime, |
jekain314 | 29:dead10cce6e9 | 377 | imuPing[i].dataWord[0], |
jekain314 | 29:dead10cce6e9 | 378 | imuPing[i].dataWord[1], |
jekain314 | 29:dead10cce6e9 | 379 | imuPing[i].dataWord[2], |
jekain314 | 29:dead10cce6e9 | 380 | imuPing[i].dataWord[3], |
jekain314 | 29:dead10cce6e9 | 381 | imuPing[i].dataWord[4], |
jekain314 | 29:dead10cce6e9 | 382 | imuPing[i].dataWord[5] ); |
jekain314 | 29:dead10cce6e9 | 383 | } |
jekain314 | 30:96d133f3008e | 384 | // |
jekain314 | 30:96d133f3008e | 385 | readFromPC(); //#5 |
jekain314 | 29:dead10cce6e9 | 386 | } |
jekain314 | 30:96d133f3008e | 387 | toPC.printf("\n"); //total of 10 * 70 + 9 = 709 bytes |
jekain314 | 30:96d133f3008e | 388 | IMUDataReady = false; |
jekain314 | 30:96d133f3008e | 389 | workingTime += timeFromStart.read_us() - thisWorkTime; |
jekain314 | 2:7039be3daf6e | 390 | } |
jekain314 | 29:dead10cce6e9 | 391 | |
jekain314 | 29:dead10cce6e9 | 392 | //read the USB serial data from the PC to check for commands |
jekain314 | 30:96d133f3008e | 393 | //only message we expect will be the trigger fire command |
jekain314 | 29:dead10cce6e9 | 394 | readFromPC(); |
jekain314 | 29:dead10cce6e9 | 395 | |
jekain314 | 30:96d133f3008e | 396 | if(toPC.writeable() && fireTrigger) //comes from a PC request message |
jekain314 | 1:8e24e633f8d8 | 397 | { |
jekain314 | 30:96d133f3008e | 398 | triggeringInProcess = true; |
jekain314 | 26:c2208b0ff78b | 399 | unsigned long triggerTime = GPSTimemsecs + PPSTimeOffset*1000.0 + timeFromPPS.read_us()/1000.0; |
jekain314 | 30:96d133f3008e | 400 | toPC.printf("mbedmessage trig1 %d \n", triggerTime); |
jekain314 | 1:8e24e633f8d8 | 401 | //pre-fire the trigger using the mid-body 2.5mm connection (T2i) |
jekain314 | 1:8e24e633f8d8 | 402 | pre_fire = 0; //pin30 (midbody of connector) set to zero |
jekain314 | 30:96d133f3008e | 403 | |
jekain314 | 1:8e24e633f8d8 | 404 | fire = 0; //fire the trigger using the tip connection |
jekain314 | 25:2287bd8c9877 | 405 | fireTrigger = false; //finished the setup -- but wait to do the actual fire |
jekain314 | 25:2287bd8c9877 | 406 | finishTrigger = true; //set to false after firing the trigger |
jekain314 | 4:dda2ab5cc643 | 407 | triggerInterval.start(); |
jekain314 | 4:dda2ab5cc643 | 408 | } |
jekain314 | 4:dda2ab5cc643 | 409 | |
jekain314 | 6:71da5b99de97 | 410 | //the trigger requires a pulse -- the above portion lowers the signal and the below raises it |
jekain314 | 6:71da5b99de97 | 411 | //this has been tested at 50 msecs and it will not fire at that pulse duration |
jekain314 | 30:96d133f3008e | 412 | if(toPC.writeable() && finishTrigger && triggerInterval.read_ms() > 100) |
jekain314 | 4:dda2ab5cc643 | 413 | { |
jekain314 | 30:96d133f3008e | 414 | unsigned long triggerTime = GPSTimemsecs + PPSTimeOffset*1000.0 + timeFromPPS.read_us()/1000.0; |
jekain314 | 30:96d133f3008e | 415 | toPC.printf("mbedmessage trig2 %d \n", triggerTime); |
jekain314 | 30:96d133f3008e | 416 | //pre-fire the trigger using 2the mid-body 2.5mm connec |
jekain314 | 1:8e24e633f8d8 | 417 | fire = 1; |
jekain314 | 1:8e24e633f8d8 | 418 | pre_fire = 1; |
jekain314 | 4:dda2ab5cc643 | 419 | triggerInterval.reset(); |
jekain314 | 25:2287bd8c9877 | 420 | finishTrigger = false; //completes the trigger firing pulse definition |
jekain314 | 30:96d133f3008e | 421 | triggeringInProcess = false; |
jekain314 | 1:8e24e633f8d8 | 422 | } |
jekain314 | 1:8e24e633f8d8 | 423 | |
jekain314 | 0:432b860b6ff7 | 424 | cyclesPerSec++; |
sam_grove | 27:94a6f0589993 | 425 | |
jekain314 | 0:432b860b6ff7 | 426 | if (detectedGPS1PPS) //true if we are exactly at a 1PPS event detection |
jekain314 | 0:432b860b6ff7 | 427 | { |
jekain314 | 30:96d133f3008e | 428 | if (toPC.writeable() ) |
jekain314 | 30:96d133f3008e | 429 | { |
jekain314 | 30:96d133f3008e | 430 | toPC.printf("STATUS %03d %04d %06d %02d %06d %5.3f %03d %03d %03d\n", |
jekain314 | 30:96d133f3008e | 431 | VERSION, PPSCounter, totalGPSBytes, IMURecordCounter, cyclesPerSec, timeAtMessage0, /*workingTime/1000000.0,*/ |
jekain314 | 30:96d133f3008e | 432 | badRangeMessages, badBESVELMessages, badBESVELMessages); |
jekain314 | 30:96d133f3008e | 433 | } |
jekain314 | 29:dead10cce6e9 | 434 | totalGPSBytes=0; |
jekain314 | 0:432b860b6ff7 | 435 | |
jekain314 | 0:432b860b6ff7 | 436 | cyclesPerSec = 0; |
jekain314 | 30:96d133f3008e | 437 | workingTime= 0.0; |
jekain314 | 0:432b860b6ff7 | 438 | |
jekain314 | 29:dead10cce6e9 | 439 | messagePerSecCounter = 0; //GPS message per second counter |
jekain314 | 29:dead10cce6e9 | 440 | |
jekain314 | 0:432b860b6ff7 | 441 | IMURecordCounter = 0; |
jekain314 | 0:432b860b6ff7 | 442 | detectedGPS1PPS = false; |
jekain314 | 22:1cbdbc856660 | 443 | |
jekain314 | 25:2287bd8c9877 | 444 | rxMsg = !rxMsg; //flash the lights to make sure the mbed loop is operative |
jekain314 | 22:1cbdbc856660 | 445 | txMsg = !txMsg; |
jekain314 | 30:96d133f3008e | 446 | |
jekain314 | 30:96d133f3008e | 447 | readFromPC(); //#6 |
jekain314 | 0:432b860b6ff7 | 448 | } |
jekain314 | 25:2287bd8c9877 | 449 | /////////////////////////////////////////// |
jekain314 | 25:2287bd8c9877 | 450 | } //end of the major while() loop |
jekain314 | 25:2287bd8c9877 | 451 | /////////////////////////////////////////// |
jekain314 | 0:432b860b6ff7 | 452 | |
jekain314 | 17:71900da6ced6 | 453 | |
jekain314 | 14:009d4671f0e3 | 454 | |
jekain314 | 30:96d133f3008e | 455 | } |
jekain314 | 30:96d133f3008e | 456 |