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

UM6_usart/UM6_usart.h@4:8dcf0bdc25c8, 2013-05-24 (annotated)

Committer:
njewin
Date:
Fri May 24 12:47:22 2013 +0000
Revision:
4:8dcf0bdc25c8
using mod serial, included UM6 folders

Who changed what in which revision?

UserRevisionLine numberNew contents of line
njewin 4:8dcf0bdc25c8 1 /* ______________________________________________________________________________________
njewin 4:8dcf0bdc25c8 2 File: UM6_usart.h
njewin 4:8dcf0bdc25c8 3 Author: CH Robotics, adapted for mbed by lhiggs
njewin 4:8dcf0bdc25c8 4 Version: 1.0
njewin 4:8dcf0bdc25c8 5
njewin 4:8dcf0bdc25c8 6 Description: Function declarations for USART communucation
njewin 4:8dcf0bdc25c8 7 -------------------------------------------------------------------------------------- */
njewin 4:8dcf0bdc25c8 8
njewin 4:8dcf0bdc25c8 9 #ifndef _CHR_USART_H
njewin 4:8dcf0bdc25c8 10 #define _CHR_USART_H
njewin 4:8dcf0bdc25c8 11
njewin 4:8dcf0bdc25c8 12 #define MAX_PACKET_DATA 40
njewin 4:8dcf0bdc25c8 13
njewin 4:8dcf0bdc25c8 14 // Definitions of states for USART receiver state machine (for receiving packets)
njewin 4:8dcf0bdc25c8 15 #define USART_STATE_WAIT 1
njewin 4:8dcf0bdc25c8 16 #define USART_STATE_TYPE 2
njewin 4:8dcf0bdc25c8 17 #define USART_STATE_ADDRESS 3
njewin 4:8dcf0bdc25c8 18 #define USART_STATE_DATA 4
njewin 4:8dcf0bdc25c8 19 #define USART_STATE_CHECKSUM 5
njewin 4:8dcf0bdc25c8 20
njewin 4:8dcf0bdc25c8 21 // Flags for interpreting the packet type byte in communication packets
njewin 4:8dcf0bdc25c8 22 #define PACKET_HAS_DATA (1 << 7)
njewin 4:8dcf0bdc25c8 23 #define PACKET_IS_BATCH (1 << 6)
njewin 4:8dcf0bdc25c8 24 #define PACKET_BATCH_LENGTH_MASK ( 0x0F )
njewin 4:8dcf0bdc25c8 25
njewin 4:8dcf0bdc25c8 26 #define PACKET_BATCH_LENGTH_OFFSET 2
njewin 4:8dcf0bdc25c8 27
njewin 4:8dcf0bdc25c8 28 #define BATCH_SIZE_2 2
njewin 4:8dcf0bdc25c8 29 #define BATCH_SIZE_3 3
njewin 4:8dcf0bdc25c8 30
njewin 4:8dcf0bdc25c8 31 #define PACKET_NO_DATA 0
njewin 4:8dcf0bdc25c8 32 #define PACKET_COMMAND_FAILED (1 << 0)
njewin 4:8dcf0bdc25c8 33
njewin 4:8dcf0bdc25c8 34
njewin 4:8dcf0bdc25c8 35 // Define flags for identifying the type of packet address received
njewin 4:8dcf0bdc25c8 36 #define ADDRESS_TYPE_CONFIG 0
njewin 4:8dcf0bdc25c8 37 #define ADDRESS_TYPE_DATA 1
njewin 4:8dcf0bdc25c8 38 #define ADDRESS_TYPE_COMMAND 2
njewin 4:8dcf0bdc25c8 39
njewin 4:8dcf0bdc25c8 40
njewin 4:8dcf0bdc25c8 41 extern uint8_t gUSART_State;
njewin 4:8dcf0bdc25c8 42
njewin 4:8dcf0bdc25c8 43 // Structure for storing TX and RX packet data
njewin 4:8dcf0bdc25c8 44 typedef struct _USARTPacket
njewin 4:8dcf0bdc25c8 45 {
njewin 4:8dcf0bdc25c8 46 uint8_t PT; // Packet type
njewin 4:8dcf0bdc25c8 47 uint8_t address; // Packet address
njewin 4:8dcf0bdc25c8 48 uint16_t checksum; // Checksum
njewin 4:8dcf0bdc25c8 49
njewin 4:8dcf0bdc25c8 50 // Data included for convenience, but that isn't stored in the packet itself
njewin 4:8dcf0bdc25c8 51 uint8_t data_length; // Number of bytes in data section
njewin 4:8dcf0bdc25c8 52 uint8_t address_type; // Specified the address type (DATA, CONFIG, OR COMMAND)
njewin 4:8dcf0bdc25c8 53
njewin 4:8dcf0bdc25c8 54 uint8_t packet_data[MAX_PACKET_DATA];
njewin 4:8dcf0bdc25c8 55
njewin 4:8dcf0bdc25c8 56 } USARTPacket;
njewin 4:8dcf0bdc25c8 57
njewin 4:8dcf0bdc25c8 58 uint16_t ComputeChecksum( USARTPacket* new_packet );
njewin 4:8dcf0bdc25c8 59
njewin 4:8dcf0bdc25c8 60 #endif