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:
- 10:d96e068f3595
- Parent:
- 9:7dcfa24d5e7a
- Child:
- 12:894e648638e4
--- a/UM6_config/UM6_config.h Thu May 30 13:32:54 2013 +0000
+++ b/UM6_config/UM6_config.h Fri Jun 07 08:49:59 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 36
+#define DATA_ARRAY_SIZE 37
#define COMMAND_COUNT 9
// original data array size 32
@@ -93,6 +93,7 @@
#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)
@@ -144,9 +145,9 @@
float Yaw;
float GPS_long;
float GPS_lat;
+float GPS_alt;
float GPS_course;
float GPS_speed;
-int32_t GPS_lat_raw;
};
UM6 data;
@@ -176,6 +177,10 @@
int32_t MY_DATA_GPS_LAT0;
int32_t MY_DATA_GPS_LAT1;
int32_t MY_DATA_GPS_LAT2;
+int32_t MY_DATA_GPS_ALT;
+int32_t MY_DATA_GPS_ALT0;
+int32_t MY_DATA_GPS_ALT1;
+int32_t MY_DATA_GPS_ALT2;
int16_t MY_DATA_GPS_COURSE;
int16_t MY_DATA_GPS_SPEED;
@@ -493,16 +498,29 @@
//------------------------------------------------------------
//-------------------------------------------------------------------
// 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;
- MY_DATA_GPS_LAT2 = (int32_t)new_packet.packet_data[2]<<8;
- MY_DATA_GPS_LAT = MY_DATA_GPS_LAT0|MY_DATA_GPS_LAT1|MY_DATA_GPS_LAT2|new_packet.packet_data[3];
- memcpy(&data.GPS_lat,&MY_DATA_GPS_LAT,sizeof(int));
- data.GPS_lat_raw = MY_DATA_GPS_LAT;
+ //MY_DATA_GPS_LAT0 = (int32_t)new_packet.packet_data[0]<<24;
+ //MY_DATA_GPS_LAT1 = (int32_t)new_packet.packet_data[1]<<16;
+ //MY_DATA_GPS_LAT2 = (int32_t)new_packet.packet_data[2]<<8;
+ //MY_DATA_GPS_LAT = MY_DATA_GPS_LAT0|MY_DATA_GPS_LAT1|MY_DATA_GPS_LAT2|new_packet.packet_data[3];
+ //memcpy(&data.GPS_lat,&MY_DATA_GPS_LAT,sizeof(int));
+ // data.GPS_lat_raw = new_packet.packet_data[0];
}
//------------------------------------------------------------
+ //-------------------------------------------------------------------
+ // GPS altitude
+ if (new_packet.address == UM6_GPS_ALTITUDE) {
+ // Longitude
+ MY_DATA_GPS_ALT0 = (int32_t)new_packet.packet_data[0]<<24;
+ MY_DATA_GPS_ALT1 = (int32_t)new_packet.packet_data[1]<<16;
+ MY_DATA_GPS_ALT2 = (int32_t)new_packet.packet_data[2]<<8;
+ MY_DATA_GPS_ALT = MY_DATA_GPS_ALT0|MY_DATA_GPS_ALT1|MY_DATA_GPS_ALT2|new_packet.packet_data[3];
+ memcpy(&data.GPS_alt,&MY_DATA_GPS_ALT,sizeof(int));
+ // data.GPS_alt_raw = MY_DATA_GPS_ALT0;
+
+ }
+ */ //------------------------------------------------------------
} // end if(ADDRESS_TYPE_DATA)