Nathan Ewin
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
Diff: UM6_config/UM6_config.h
- Revision:
- 12:894e648638e4
- Parent:
- 10:d96e068f3595
--- a/UM6_config/UM6_config.h Mon Jun 24 20:37:05 2013 +0000
+++ b/UM6_config/UM6_config.h Mon Jul 08 16:28:57 2013 +0000
@@ -35,7 +35,7 @@
// This setup makes it easy to make more data immediately available when needed - simply increase the array size, add code in
// the firmware that writes data to the new array location, and then make updates to the firmware definition on the PC side.
#define CONFIG_ARRAY_SIZE 44
-#define DATA_ARRAY_SIZE 37
+#define DATA_ARRAY_SIZE 13
#define COMMAND_COUNT 9
// original data array size 32
@@ -63,18 +63,19 @@
#define UM6_GYRO_RAW_Z (DATA_REG_START_ADDRESS + 2)
#define UM6_ACCEL_RAW_XY (DATA_REG_START_ADDRESS + 3) // Raw accel data is stored in 16-bit signed integers
#define UM6_ACCEL_RAW_Z (DATA_REG_START_ADDRESS + 4)
-#define UM6_MAG_RAW_XY (DATA_REG_START_ADDRESS + 5) // Raw mag data is stored in 16-bit signed integers
-#define UM6_MAG_RAW_Z (DATA_REG_START_ADDRESS + 6)
+//#define UM6_MAG_RAW_XY (DATA_REG_START_ADDRESS + 5) // Raw mag data is stored in 16-bit signed integers
+//#define UM6_MAG_RAW_Z (DATA_REG_START_ADDRESS + 6)
#define UM6_GYRO_PROC_XY (DATA_REG_START_ADDRESS + 7) // Processed gyro data has scale factors applied and alignment correction performed. Data is 16-bit signed integer.
#define UM6_GYRO_PROC_Z (DATA_REG_START_ADDRESS + 8)
#define UM6_ACCEL_PROC_XY (DATA_REG_START_ADDRESS + 9) // Processed accel data has scale factors applied and alignment correction performed. Data is 16-bit signed integer.
#define UM6_ACCEL_PROC_Z (DATA_REG_START_ADDRESS + 10)
-#define UM6_MAG_PROC_XY (DATA_REG_START_ADDRESS + 11) // Processed mag data has scale factors applied and alignment correction performed. Data is 16-bit signed integer.
-#define UM6_MAG_PROC_Z (DATA_REG_START_ADDRESS + 12)
+//#define UM6_MAG_PROC_XY (DATA_REG_START_ADDRESS + 11) // Processed mag data has scale factors applied and alignment correction performed. Data is 16-bit signed integer.
+//#define UM6_MAG_PROC_Z (DATA_REG_START_ADDRESS + 12)
#define UM6_EULER_PHI_THETA (DATA_REG_START_ADDRESS + 13) // Euler angles are 32-bit IEEE floating point
#define UM6_EULER_PSI (DATA_REG_START_ADDRESS + 14)
#define UM6_QUAT_AB (DATA_REG_START_ADDRESS + 15) // Quaternions are 16-bit signed integers.
#define UM6_QUAT_CD (DATA_REG_START_ADDRESS + 16)
+/*
#define UM6_ERROR_COV_00 (DATA_REG_START_ADDRESS + 17) // Error covariance is a 4x4 matrix of 32-bit IEEE floating point values
#define UM6_ERROR_COV_01 (DATA_REG_START_ADDRESS + 18)
#define UM6_ERROR_COV_02 (DATA_REG_START_ADDRESS + 19)
@@ -91,10 +92,12 @@
#define UM6_ERROR_COV_31 (DATA_REG_START_ADDRESS + 30)
#define UM6_ERROR_COV_32 (DATA_REG_START_ADDRESS + 31)
#define UM6_ERROR_COV_33 (DATA_REG_START_ADDRESS + 32)
-#define UM6_GPS_LONGITUDE (DATA_REG_START_ADDRESS + 34)
-#define UM6_GPS_LATITUDE (DATA_REG_START_ADDRESS + 35)
-#define UM6_GPS_ALTITUDE (DATA_REG_START_ADDRESS + 36)
-#define UM6_GPS_COURSE_SPEED (DATA_REG_START_ADDRESS + 40)
+*/
+// connected gps module directing to mbed using MODGPS
+//#define UM6_GPS_LONGITUDE (DATA_REG_START_ADDRESS + 34)
+//#define UM6_GPS_LATITUDE (DATA_REG_START_ADDRESS + 35)
+//#define UM6_GPS_ALTITUDE (DATA_REG_START_ADDRESS + 36)
+//#define UM6_GPS_COURSE_SPEED (DATA_REG_START_ADDRESS + 40)
@@ -137,17 +140,17 @@
float Accel_Proc_X;
float Accel_Proc_Y;
float Accel_Proc_Z;
-float Mag_Proc_X;
-float Mag_Proc_Y;
-float Mag_Proc_Z;
+//float Mag_Proc_X;
+//float Mag_Proc_Y;
+//float Mag_Proc_Z;
float Roll;
float Pitch;
float Yaw;
-float GPS_long;
-float GPS_lat;
-float GPS_alt;
-float GPS_course;
-float GPS_speed;
+//float GPS_long;
+//float GPS_lat;
+//float GPS_alt;
+//float GPS_course;
+//float GPS_speed;
};
UM6 data;
@@ -163,12 +166,13 @@
int16_t MY_DATA_ACCEL_PROC_X;
int16_t MY_DATA_ACCEL_PROC_Y;
int16_t MY_DATA_ACCEL_PROC_Z;
-int16_t MY_DATA_MAG_PROC_X;
-int16_t MY_DATA_MAG_PROC_Y;
-int16_t MY_DATA_MAG_PROC_Z;
+//int16_t MY_DATA_MAG_PROC_X;
+//int16_t MY_DATA_MAG_PROC_Y;
+//int16_t MY_DATA_MAG_PROC_Z;
int16_t MY_DATA_EULER_PHI;
int16_t MY_DATA_EULER_THETA;
int16_t MY_DATA_EULER_PSI;
+/*
int32_t MY_DATA_GPS_LONG;
int32_t MY_DATA_GPS_LONG0;
int32_t MY_DATA_GPS_LONG1;
@@ -183,7 +187,7 @@
int32_t MY_DATA_GPS_ALT2;
int16_t MY_DATA_GPS_COURSE;
int16_t MY_DATA_GPS_SPEED;
-
+*/
static uint8_t data_counter = 0;
@@ -400,6 +404,7 @@
// calibration) magnetic-field vector, the data should be multiplied by the scale factor 0.000305176 as
// shown below.
// magnetic field = register_data* 0.000305176
+ /*
if (new_packet.address == UM6_MAG_PROC_XY) {
// MAG_PROC_X
@@ -429,6 +434,7 @@
data.Mag_Proc_Z = MY_DATA_MAG_PROC_Z*0.000305176;
} // end if(UM6_MAG_PROC)
+ */
//------------------------------------------------------------
@@ -468,7 +474,7 @@
}
-
+ /*
//-------------------------------------------------------------------
// GPS Ground/Speed
if (new_packet.address == UM6_GPS_COURSE_SPEED) {
@@ -498,7 +504,7 @@
//------------------------------------------------------------
//-------------------------------------------------------------------
// GPS lat
- /* if (new_packet.address == UM6_GPS_LATITUDE) {
+ if (new_packet.address == UM6_GPS_LATITUDE) {
// Latitude
//MY_DATA_GPS_LAT0 = (int32_t)new_packet.packet_data[0]<<24;
//MY_DATA_GPS_LAT1 = (int32_t)new_packet.packet_data[1]<<16;
@@ -544,26 +550,3 @@
#endif
-/* debugging GPS lat & long
- // code snippets and print out
-
-//code
-double GPS_long;
-double MY_DATA_GPS_LONG;
-MY_DATA_GPS_LONG = (int32_t)new_packet.packet_data;
-data.GPS_long = MY_DATA_GPS_LAT;
-//print out
-Long 0.000000
-Long -2.000001
-Long -2.000001
-Long -26815635079454453000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000
-
-//code
-int32_t GPS_long;
-int32_t MY_DATA_GPS_LONG;
-MY_DATA_GPS_LONG = (int32_t)new_packet.packet_data;
-data.GPS_long = MY_DATA_GPS_LAT;
-//print out
-Long nan
-Long 0.000000
-*/
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