Nathan Ewin / Mbed 2 deprecated LogData_UM6-to-SDcard

A project similar to http://mbed.org/users/lhiggs/code/UM6_IMU_AHRS_2012/, where I'm trying to log data from a UM6 (CH Robotics orientation sensor) and a GPS transceiver to an sd card. I've adapted LHiggs code to include ModGPS. For sum reason a soon as I pick up a gps signal the UM6 data freezes i.e. the time and gps signals continue to print out but the UM6 signals fixes on a single value.

Dependencies:   MODGPS MODSERIAL SDFileSystem mbed

main.cpp@8:0ce247da6370, 2013-05-27 (annotated)

Committer:
njewin
Date:
Mon May 27 17:22:36 2013 +0000
Revision:
8:0ce247da6370
Parent:
7:af9f373ac87b
Child:
9:7dcfa24d5e7a
output weird values for Longitude and 0 for Latitude.  Not converting from 32bit IEEE floating point properly?

Who changed what in which revision?

UserRevisionLine numberNew contents of line
njewin 0:52295643d083 1 #include "mbed.h"
njewin 4:8dcf0bdc25c8 2 #include "SDFileSystem.h" // SD file system header from handbook/cookbook offical mbed library
njewin 4:8dcf0bdc25c8 3 #include "MODSERIAL.h"
njewin 5:ac633cdbb75c 4 #include "UM6_usart.h" // UM6 USART HEADER
njewin 5:ac633cdbb75c 5 #include "UM6_config.h" // UM6 CONFIG HEADER
njewin 4:8dcf0bdc25c8 6
njewin 0:52295643d083 7
njewin 1:9fe40d9ac0f5 8 //------------ system and interface setup ----------------------------//
njewin 5:ac633cdbb75c 9 //////////////////////////////////////LocalFileSystem local("local"); // sets up local file on mbed
njewin 4:8dcf0bdc25c8 10 MODSERIAL pc(USBTX, USBRX); // sets up serial connection to pc terminal
njewin 0:52295643d083 11
njewin 1:9fe40d9ac0f5 12 //------------ Hardware setup ----------------------------------------//
njewin 5:ac633cdbb75c 13 DigitalOut pc_led(LED1); // LED1 = PC SERIAL
njewin 5:ac633cdbb75c 14 DigitalOut uart_led(LED2); // LED2 = UM6 SERIAL
njewin 5:ac633cdbb75c 15 DigitalOut log_led(LED3); // debug LED
njewin 0:52295643d083 16 DigitalIn enable(p10); // enable signal for logging data to file
njewin 3:b3358ec2f57c 17 SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board
njewin 3:b3358ec2f57c 18
njewin 0:52295643d083 19
njewin 8:0ce247da6370 20 //------------ variables setup ---------------------------------------//
njewin 1:9fe40d9ac0f5 21 Ticker tick;
njewin 3:b3358ec2f57c 22 Timer t;
njewin 1:9fe40d9ac0f5 23 int flag=0;
njewin 1:9fe40d9ac0f5 24
njewin 5:ac633cdbb75c 25 // interupt function for processing uart messages --------------------//
njewin 5:ac633cdbb75c 26 void rxCallback(MODSERIAL_IRQ_INFO *q) {
njewin 5:ac633cdbb75c 27 if (um6_uart.rxBufferGetCount() >= MAX_PACKET_DATA) {
njewin 5:ac633cdbb75c 28 uart_led = !uart_led; // Lights LED when uart RxBuff has > 40 bytes
njewin 5:ac633cdbb75c 29 Process_um6_packet();
njewin 5:ac633cdbb75c 30 }
njewin 5:ac633cdbb75c 31 }
njewin 5:ac633cdbb75c 32
njewin 1:9fe40d9ac0f5 33 //------------ LogData interrupt function ----------------------------//
njewin 1:9fe40d9ac0f5 34 void LogData() {
njewin 1:9fe40d9ac0f5 35 flag=1;
njewin 1:9fe40d9ac0f5 36 }
njewin 1:9fe40d9ac0f5 37
njewin 1:9fe40d9ac0f5 38 //============= Main Program =========================================//
njewin 0:52295643d083 39 int main() {
njewin 1:9fe40d9ac0f5 40 pc.baud(115200); // baud rate to pc interface
njewin 5:ac633cdbb75c 41 um6_uart.baud(115200); // baud rate to um6 interface
njewin 5:ac633cdbb75c 42
njewin 5:ac633cdbb75c 43 t.start(); // start log time
njewin 5:ac633cdbb75c 44
njewin 5:ac633cdbb75c 45 //---- call interrupt functions -------------------------//
njewin 5:ac633cdbb75c 46 um6_uart.attach(&rxCallback, MODSERIAL::RxIrq); // attach interupt function to uart
njewin 7:af9f373ac87b 47 tick.attach(&LogData, 0.5); // attaches LogData function to 'tick' ticker interrupt every 0.5s
njewin 3:b3358ec2f57c 48
njewin 3:b3358ec2f57c 49 //---------- setup sd card -----------------------------//
njewin 7:af9f373ac87b 50 mkdir("/sd/mydir", 0777);
njewin 8:0ce247da6370 51 FILE *fp = fopen("/sd/mydir/log1.csv", "w");
njewin 7:af9f373ac87b 52 if(fp == NULL) {
njewin 7:af9f373ac87b 53 error("Could not open file for write\n");
njewin 7:af9f373ac87b 54 }
njewin 8:0ce247da6370 55 //////////////////////////// FILE *fp = fopen("/local/log1.csv", "w");
njewin 8:0ce247da6370 56 // print TEST signals to file, header
njewin 8:0ce247da6370 57 // fprintf(fp,"time(s),Yaw(deg),Accel(m/s2),GPS Speed(m/s) \r");
njewin 8:0ce247da6370 58 // print ALL signals to file, header
njewin 8:0ce247da6370 59 fprintf(fp, "time(s),Yaw(deg),Roll(deg),Pitch(deg),GyroX(deg/s),GyroY(deg/s),GyroZ(deg/s),AccelX(g),AccelY(g),AccelZ(g),GPScourse(deg),GPSspeed(m/s),Latitude(deg),Longitude(deg) \r"); // sends header to file
njewin 8:0ce247da6370 60
njewin 1:9fe40d9ac0f5 61
njewin 5:ac633cdbb75c 62 //---- main while loop ----------------------------------//
njewin 5:ac633cdbb75c 63 //--(interrupt sets flag that causes variables to be logged)
njewin 1:9fe40d9ac0f5 64 while(1) {
njewin 8:0ce247da6370 65 if(flag==1) {
njewin 5:ac633cdbb75c 66 log_led=1; // turns on LED3 to indicate logging
njewin 8:0ce247da6370 67 float time=t.read();
njewin 5:ac633cdbb75c 68 float Yaw=data.Yaw;
njewin 8:0ce247da6370 69 float Roll=data.Roll;
njewin 8:0ce247da6370 70 float Pitch=data.Pitch;
njewin 8:0ce247da6370 71 float GyroX=data.Gyro_Proc_X;
njewin 8:0ce247da6370 72 float GyroY=data.Gyro_Proc_Y;
njewin 8:0ce247da6370 73 float GyroZ=data.Gyro_Proc_Z;
njewin 8:0ce247da6370 74 float AccelX=data.Accel_Proc_X;
njewin 8:0ce247da6370 75 float AccelY=data.Accel_Proc_Y;
njewin 8:0ce247da6370 76 float AccelZ=data.Accel_Proc_Z;
njewin 8:0ce247da6370 77 double GPSlong=data.GPS_long; // currently I can get GPS longitude to out data
njewin 8:0ce247da6370 78 double GPSlat=data.GPS_lat; // currently I can get GPS latitude to out data
njewin 8:0ce247da6370 79 float GPScourse=data.GPS_course;
njewin 8:0ce247da6370 80 float GPSspeed=data.GPS_speed;
njewin 8:0ce247da6370 81
njewin 8:0ce247da6370 82 //----- print TEST signals to file -------------------//
njewin 8:0ce247da6370 83 // fprintf(fp,"%.3f,%.2f,%.4f,%.2f \r",time,Yaw,AccelX,GPSspeed);
njewin 8:0ce247da6370 84 pc.printf("time %.3f,Yaw %f, Speed %f, Lat %f, Long %f \n",time,Yaw,GPSspeed,GPSlat,GPSlong);
njewin 8:0ce247da6370 85 // pc.printf("0x%08X, %f\n", *(int *)&GPSlong, GPSlong);
njewin 8:0ce247da6370 86
njewin 8:0ce247da6370 87 //----- print ALL signals to file --------------------//
njewin 8:0ce247da6370 88 fprintf(fp, "%3.3f, %3.1f,%3.1f,%3.1f, %3.2f,%3.2f,%3.2f, %3.4f,%3.4f,%3.4f, %3.1f,%3.2f,%f,%f\r",time,Yaw,Roll,Pitch,GyroX,GyroY,GyroZ,AccelX,AccelY,AccelZ,GPScourse,GPSspeed,GPSlat,GPSlong);
njewin 8:0ce247da6370 89 flag=0; // recents LogData interrupt flag
njewin 8:0ce247da6370 90 pc_led = !pc_led; // Lights LED1 when transmitting to PC screen
njewin 1:9fe40d9ac0f5 91 } // end if(flag=1) loop
njewin 3:b3358ec2f57c 92
njewin 5:ac633cdbb75c 93 if(enable==0) {
njewin 8:0ce247da6370 94 break; // breaks while loop if enable switched off
njewin 3:b3358ec2f57c 95 }
njewin 3:b3358ec2f57c 96 } // end while(1) loop
njewin 8:0ce247da6370 97 pc.printf(" done. \n"); // prints 'done when logging is finished/enable switched off
njewin 5:ac633cdbb75c 98 log_led=0; // turns off LED logging is finished/enable switched off
njewin 5:ac633cdbb75c 99 wait(0.5); // debug wait for pc.printf
njewin 7:af9f373ac87b 100 fclose(fp); // closes log file
njewin 5:ac633cdbb75c 101 } // end main() program
njewin 5:ac633cdbb75c 102
njewin 5:ac633cdbb75c 103
njewin 7:af9f373ac87b 104 /* opening a file BEFORE calling interrupts OK
njewin 5:ac633cdbb75c 105 opening a file and print to it BEFORE calling interrupts NOT OK (stops rest of program)
njewin 5:ac633cdbb75c 106 open a (local) file and print to it AFTER calling interrupts NOT OK (stops rest of program)
njewin 5:ac633cdbb75c 107 open a (sd) file and print to it AFTER calling interrupts OK
njewin 5:ac633cdbb75c 108 */