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@10:d96e068f3595, 2013-06-07 (annotated)

Committer:
njewin
Date:
Fri Jun 07 08:49:59 2013 +0000
Revision:
10:d96e068f3595
Parent:
9:7dcfa24d5e7a
Child:
11:2b2537dcf504
GPS working! printing lat/long/alt/speed/course to pc

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 10:d96e068f3595 6 #include "GPS.h"
njewin 0:52295643d083 7
njewin 1:9fe40d9ac0f5 8 //------------ system and interface setup ----------------------------//
njewin 4:8dcf0bdc25c8 9 MODSERIAL pc(USBTX, USBRX); // sets up serial connection to pc terminal
njewin 0:52295643d083 10
njewin 1:9fe40d9ac0f5 11 //------------ Hardware setup ----------------------------------------//
njewin 9:7dcfa24d5e7a 12 DigitalOut pc_led(LED1); // LED1 = PC SERIAL
njewin 9:7dcfa24d5e7a 13 DigitalOut uart_led(LED2); // LED2 = UM6 SERIAL
njewin 9:7dcfa24d5e7a 14 DigitalOut log_led(LED3); // debug LED
njewin 9:7dcfa24d5e7a 15 DigitalOut debug_led(LED4); // debug LED
njewin 9:7dcfa24d5e7a 16 DigitalIn enable(p10); // enable logging pin
njewin 9:7dcfa24d5e7a 17 DigitalOut sync(p11); // sychronization (with CAN logger) pin
njewin 3:b3358ec2f57c 18 SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board
njewin 10:d96e068f3595 19 GPS gps(NC,p27);
njewin 3:b3358ec2f57c 20
njewin 5:ac633cdbb75c 21 // interupt function for processing uart messages --------------------//
njewin 5:ac633cdbb75c 22 void rxCallback(MODSERIAL_IRQ_INFO *q) {
njewin 5:ac633cdbb75c 23 if (um6_uart.rxBufferGetCount() >= MAX_PACKET_DATA) {
njewin 5:ac633cdbb75c 24 uart_led = !uart_led; // Lights LED when uart RxBuff has > 40 bytes
njewin 5:ac633cdbb75c 25 Process_um6_packet();
njewin 5:ac633cdbb75c 26 }
njewin 5:ac633cdbb75c 27 }
njewin 5:ac633cdbb75c 28
njewin 1:9fe40d9ac0f5 29 //------------ LogData interrupt function ----------------------------//
njewin 9:7dcfa24d5e7a 30 int flag=0;
njewin 1:9fe40d9ac0f5 31 void LogData() {
njewin 9:7dcfa24d5e7a 32 flag=1; //interrupt sets flag that causes variables to be logged
njewin 1:9fe40d9ac0f5 33 }
njewin 1:9fe40d9ac0f5 34
njewin 1:9fe40d9ac0f5 35 //============= Main Program =========================================//
njewin 0:52295643d083 36 int main() {
njewin 10:d96e068f3595 37 Ticker tick;
njewin 10:d96e068f3595 38 Timer t;
njewin 10:d96e068f3595 39 GPS_Time q1;
njewin 10:d96e068f3595 40 GPS_VTG v1;
njewin 10:d96e068f3595 41
njewin 9:7dcfa24d5e7a 42 pc.baud(115200); // baud rate to pc interface
njewin 5:ac633cdbb75c 43 um6_uart.baud(115200); // baud rate to um6 interface
njewin 10:d96e068f3595 44 gps.baud(57600);
njewin 10:d96e068f3595 45 gps.format(8, GPS::None, 1);
njewin 9:7dcfa24d5e7a 46
njewin 9:7dcfa24d5e7a 47 //---- call interrupt functions --------------------------//
njewin 5:ac633cdbb75c 48 um6_uart.attach(&rxCallback, MODSERIAL::RxIrq); // attach interupt function to uart
njewin 10:d96e068f3595 49 tick.attach(&LogData, 2); // attaches LogData function to 'tick' ticker interrupt every 0.5s
njewin 9:7dcfa24d5e7a 50 t.start(); // start logging time
njewin 9:7dcfa24d5e7a 51
njewin 9:7dcfa24d5e7a 52 //---------- setup sd card directory------------------------------//
njewin 9:7dcfa24d5e7a 53 int FileNo = 0;
njewin 9:7dcfa24d5e7a 54 mkdir("/sd/log_data", 0777);
njewin 1:9fe40d9ac0f5 55
njewin 9:7dcfa24d5e7a 56 //---- main while loop -------------------------------------------//
njewin 9:7dcfa24d5e7a 57 while(1) {
njewin 9:7dcfa24d5e7a 58 //---- Setup file on SD card ----------------------------//
njewin 9:7dcfa24d5e7a 59 printf("Opening sd card\n");
njewin 9:7dcfa24d5e7a 60 char buffer[50];
njewin 9:7dcfa24d5e7a 61 sprintf(buffer, "/sd/log_data/%i.csv", FileNo);
njewin 9:7dcfa24d5e7a 62 //****************************************************
njewin 9:7dcfa24d5e7a 63 // This is necessary for card to work when reconnected
njewin 9:7dcfa24d5e7a 64 // Initialise disk
njewin 9:7dcfa24d5e7a 65 sd.disk_initialize();
njewin 9:7dcfa24d5e7a 66 //****************************************************
njewin 9:7dcfa24d5e7a 67 // Open a file for write
njewin 9:7dcfa24d5e7a 68 FILE *fp = fopen(buffer, "w");
njewin 9:7dcfa24d5e7a 69 if(fp == NULL) {
njewin 9:7dcfa24d5e7a 70 error("Could not open file for write\n");
njewin 3:b3358ec2f57c 71 }
njewin 9:7dcfa24d5e7a 72 //--- print TEST signals to file, header
njewin 9:7dcfa24d5e7a 73 //fprintf(fp,"time(s),Yaw(deg),Accel(m/s2),GPS Speed(m/s) \r");
njewin 9:7dcfa24d5e7a 74 //--- print ALL signals to file, header
njewin 9:7dcfa24d5e7a 75 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 9:7dcfa24d5e7a 76
njewin 9:7dcfa24d5e7a 77 while (!pc.readable()) {
njewin 9:7dcfa24d5e7a 78 if(flag==1) {
njewin 9:7dcfa24d5e7a 79 log_led=1; // turns on LED3 to indicate logging
njewin 9:7dcfa24d5e7a 80 float time=t.read();
njewin 9:7dcfa24d5e7a 81 float Yaw=data.Yaw;
njewin 9:7dcfa24d5e7a 82 float Roll=data.Roll;
njewin 9:7dcfa24d5e7a 83 float Pitch=data.Pitch;
njewin 9:7dcfa24d5e7a 84 float GyroX=data.Gyro_Proc_X;
njewin 9:7dcfa24d5e7a 85 float GyroY=data.Gyro_Proc_Y;
njewin 9:7dcfa24d5e7a 86 float GyroZ=data.Gyro_Proc_Z;
njewin 9:7dcfa24d5e7a 87 float AccelX=data.Accel_Proc_X;
njewin 9:7dcfa24d5e7a 88 float AccelY=data.Accel_Proc_Y;
njewin 9:7dcfa24d5e7a 89 float AccelZ=data.Accel_Proc_Z;
njewin 10:d96e068f3595 90 double GPSlong=gps.longitude(); // currently not reading GPS longitude correctly
njewin 10:d96e068f3595 91 double GPSlat=gps.latitude(); // currently not reading GPS latitude correctly
njewin 10:d96e068f3595 92 double GPSalt=gps.altitude();
njewin 9:7dcfa24d5e7a 93 float GPScourse=data.GPS_course;
njewin 9:7dcfa24d5e7a 94 float GPSspeed=data.GPS_speed;
njewin 10:d96e068f3595 95
njewin 9:7dcfa24d5e7a 96 //----- print TEST signals----------------------------//
njewin 9:7dcfa24d5e7a 97 // fprintf(fp,"%.3f,%.2f,%.4f,%.2f \r",time,Yaw,AccelX,GPSspeed);
njewin 10:d96e068f3595 98 pc.printf("time %.3f,Yaw %f, Lat %f, Long %f, Alt %f \n",time,Yaw,GPSlat,GPSlong,GPSalt);
njewin 10:d96e068f3595 99 gps.timeNow(&q1);
njewin 10:d96e068f3595 100 pc.printf("%c %02d:%02d:%02d %02d/%02d/%04d\r\n",q1.status, q1.hour, q1.minute, q1.second, q1.day, q1.month, q1.year);
njewin 10:d96e068f3595 101 gps.vtg(&v1);
njewin 10:d96e068f3595 102 pc.printf("Speed(kph):%lf,Track(true):%lf\r\n", v1.velocity_kph(), v1.track_true());
njewin 10:d96e068f3595 103
njewin 9:7dcfa24d5e7a 104 //pc.printf("time %.3f,Yaw %f,Accel %f, Speed %f \n",time,Yaw,AccelX,GPSspeed);
njewin 9:7dcfa24d5e7a 105 // pc.printf("time %f,LongIn 0x%08X, LongOut %f\n",time,GPSlong,*(int *)&GPSlong);
njewin 9:7dcfa24d5e7a 106
njewin 9:7dcfa24d5e7a 107 //----- print ALL signals to file --------------------//
njewin 10:d96e068f3595 108 // 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,%d,%f\r",time,Yaw,Roll,Pitch,GyroX,GyroY,GyroZ,AccelX,AccelY,AccelZ,GPScourse,GPSspeed,GPSlat,GPSlong);
njewin 9:7dcfa24d5e7a 109 flag=0; // reset LogData interrupt flag
njewin 9:7dcfa24d5e7a 110 pc_led = !pc_led; // Lights LED1 when transmitting to PC screen
njewin 9:7dcfa24d5e7a 111 } // end if(flag=1) loop
njewin 9:7dcfa24d5e7a 112
njewin 9:7dcfa24d5e7a 113 if(enable==0) {
njewin 9:7dcfa24d5e7a 114 break; // breaks while loop if enable switched off
njewin 9:7dcfa24d5e7a 115 }
njewin 9:7dcfa24d5e7a 116 } // end while(!pc.readable()) loop
njewin 9:7dcfa24d5e7a 117 pc.printf(" Done. \n"); // prints 'done when logging is finished/enable switched off
njewin 9:7dcfa24d5e7a 118 log_led=0; // turns off LED logging is finished/enable switched off
njewin 9:7dcfa24d5e7a 119 wait(0.5); // debug wait for pc.printf
njewin 9:7dcfa24d5e7a 120 fclose(fp); // closes log file
njewin 9:7dcfa24d5e7a 121 pc.getc(); // Clear character from buffer
njewin 9:7dcfa24d5e7a 122
njewin 9:7dcfa24d5e7a 123 while (!pc.readable()) { // Wait for a key press to restart logging
njewin 9:7dcfa24d5e7a 124 };
njewin 9:7dcfa24d5e7a 125 pc.getc(); // Clear character from buffer
njewin 9:7dcfa24d5e7a 126 FileNo++; // Increment file number
njewin 3:b3358ec2f57c 127 } // end while(1) loop
njewin 9:7dcfa24d5e7a 128
njewin 5:ac633cdbb75c 129 } // end main() program
njewin 5:ac633cdbb75c 130
njewin 5:ac633cdbb75c 131
njewin 9:7dcfa24d5e7a 132 /* DEUBBING NOTES
njewin 9:7dcfa24d5e7a 133 opening a file BEFORE calling interrupts OK
njewin 5:ac633cdbb75c 134 opening a file and print to it BEFORE calling interrupts NOT OK (stops rest of program)
njewin 5:ac633cdbb75c 135 open a (local) file and print to it AFTER calling interrupts NOT OK (stops rest of program)
njewin 5:ac633cdbb75c 136 open a (sd) file and print to it AFTER calling interrupts OK
njewin 5:ac633cdbb75c 137 */