Nathan Ewin / Mbed 2 deprecated UM6_IMU_AHRS_edit_NJE

Trying to log data from UM6 sensor with GPS receiver LS20031. I have two problems: - I can't log to file at a fast rate (<0.5s) without data values freezing to a fixed value. Print to pc screen it works fine. Ideally I would do this with an interrupt (e.g. ticker) so that the time of each reading is a fixed interval - I removed this as I thought this was causing the problem. - I want to record GPS lat and long. I have setup the GPS ground speed so I know the sensor are communicating. So I possibly havent set the config file to correctly interpet these two signals.

Dependencies:   MODSERIAL mbed

Fork of UM6_IMU_AHRS_2012 by lhiggs CSUM

main.cpp@1:20201cda90d0, 2013-05-01 (annotated)

Committer:
njewin
Date:
Wed May 01 19:06:43 2013 +0000
Revision:
1:20201cda90d0
Parent:
0:03c649c76388
Child:
2:db3bbd57b075
working_logUM6data_toFile;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lhiggs 0:03c649c76388 1 #include "mbed.h" // MBED LIBRARY
lhiggs 0:03c649c76388 2 #include "MODSERIAL.h" // MBED BUFFERED SERIAL
lhiggs 0:03c649c76388 3
lhiggs 0:03c649c76388 4 #include "UM6_usart.h" // UM6 USART HEADER
lhiggs 0:03c649c76388 5 #include "UM6_config.h" // UM6 CONFIG HEADER
lhiggs 0:03c649c76388 6
njewin 1:20201cda90d0 7 LocalFileSystem local("local"); // Create the local filesystem under the name "local"
njewin 1:20201cda90d0 8
lhiggs 0:03c649c76388 9 /////////////////////////////////////////////////////////////////////////////////////////////
lhiggs 0:03c649c76388 10 // SETUP (ASSIGN) SERIAL COMMUNICATION PINS ON MBED
lhiggs 0:03c649c76388 11 /////////////////////////////////////////////////////////////////////////////////////////////
lhiggs 0:03c649c76388 12 MODSERIAL pc(USBTX, USBRX); // PC SERIAL OVER USB PORT ON MBED
lhiggs 0:03c649c76388 13
lhiggs 0:03c649c76388 14 ////////////////////////////////////////////////////////////////////////////////////////////////
lhiggs 0:03c649c76388 15 // SETUP (ASSIGN) MBED LED (1 thru 3) FOR VISUAL DEBUGGING ON MBED
lhiggs 0:03c649c76388 16 ////////////////////////////////////////////////////////////////////////////////////////////////
lhiggs 0:03c649c76388 17 DigitalOut pc_activity(LED1); // LED1 = PC SERIAL
lhiggs 0:03c649c76388 18 DigitalOut uart_activity(LED2); // LED2 = UM6 SERIAL
njewin 1:20201cda90d0 19 DigitalOut logLED(LED3); // LED3 = logging active
lhiggs 0:03c649c76388 20
njewin 1:20201cda90d0 21 DigitalIn enable(p5); // enable signal for logging data to file
njewin 1:20201cda90d0 22
njewin 1:20201cda90d0 23 Timer t; // sets up timer 't'
njewin 1:20201cda90d0 24 Ticker tick; // sets up ticker
lhiggs 0:03c649c76388 25
lhiggs 0:03c649c76388 26 void rxCallback(MODSERIAL_IRQ_INFO *q) {
lhiggs 0:03c649c76388 27 if (um6_uart.rxBufferGetCount() >= MAX_PACKET_DATA) {
lhiggs 0:03c649c76388 28 uart_activity = !uart_activity; // Lights LED when uart RxBuff has > 40 bytes
lhiggs 0:03c649c76388 29 Process_um6_packet();
lhiggs 0:03c649c76388 30 }
lhiggs 0:03c649c76388 31 }
njewin 1:20201cda90d0 32
njewin 1:20201cda90d0 33 int doRead = 0;
njewin 1:20201cda90d0 34
njewin 1:20201cda90d0 35 void print_um6() {
njewin 1:20201cda90d0 36 doRead = 1; // interupt to read signals from UM6
njewin 1:20201cda90d0 37
njewin 1:20201cda90d0 38 }
lhiggs 0:03c649c76388 39
lhiggs 0:03c649c76388 40 int main() {
lhiggs 0:03c649c76388 41
lhiggs 0:03c649c76388 42 /////////////////////////////////////////////////////////////////////////////////////////////////////
lhiggs 0:03c649c76388 43 // SET SERIAL UART BAUD RATES
lhiggs 0:03c649c76388 44 /////////////////////////////////////////////////////////////////////////////////////////////////////
lhiggs 0:03c649c76388 45
lhiggs 0:03c649c76388 46 // set UM6 serial uart baud 9600
njewin 1:20201cda90d0 47 um6_uart.baud(115200);
njewin 1:20201cda90d0 48 pc.baud(115200); // pc baud for UM6 to pc interface
njewin 1:20201cda90d0 49 t.start(); // starts timer
njewin 1:20201cda90d0 50
lhiggs 0:03c649c76388 51 // attach interupt function to uart
lhiggs 0:03c649c76388 52 um6_uart.attach(&rxCallback, MODSERIAL::RxIrq);
lhiggs 0:03c649c76388 53
njewin 1:20201cda90d0 54 tick.attach(&print_um6, 0.50);
njewin 1:20201cda90d0 55
njewin 1:20201cda90d0 56 FILE *fp = fopen("/local/out3.csv", "w"); // Open "out.txt" on the local file system for writing
njewin 1:20201cda90d0 57 fprintf(fp, "time1 (s),Yaw (deg),Roll (deg),Pitch (deg),GyroX,GyroY,GyroZ,AccelX,AccelY,AccelZ,MagX,MagY,MagZ \r"); // sends header to file
lhiggs 0:03c649c76388 58
njewin 1:20201cda90d0 59 while (enable) {
njewin 1:20201cda90d0 60 logLED = 1; // turns LED3 on when logging starts
njewin 1:20201cda90d0 61 if (doRead) {
njewin 1:20201cda90d0 62 float time1=t.read();
njewin 1:20201cda90d0 63 float Yaw=data.Yaw;
njewin 1:20201cda90d0 64 float Roll=data.Roll;
njewin 1:20201cda90d0 65 float Pitch=data.Pitch;
njewin 1:20201cda90d0 66 float GyroX=data.Gyro_Proc_X;
njewin 1:20201cda90d0 67 float GyroY=data.Gyro_Proc_Y;
njewin 1:20201cda90d0 68 float GyroZ=data.Gyro_Proc_Z;
njewin 1:20201cda90d0 69 float AccelX=data.Accel_Proc_X;
njewin 1:20201cda90d0 70 float AccelY=data.Accel_Proc_Y;
njewin 1:20201cda90d0 71 float AccelZ=data.Accel_Proc_Z;
njewin 1:20201cda90d0 72 float MagX=data.Mag_Proc_X;
njewin 1:20201cda90d0 73 float MagY=data.Mag_Proc_Y;
njewin 1:20201cda90d0 74 float MagZ=data.Mag_Proc_Z;
njewin 1:20201cda90d0 75 float GPSlong=data.GPS_long;
njewin 1:20201cda90d0 76
njewin 1:20201cda90d0 77 pc.printf("time1 %3.3f s,Yaw %3.3f deg,Roll %3.3f deg,Pitch %3.3f deg\n",time1,Yaw,Roll,Pitch);
njewin 1:20201cda90d0 78 //pc.printf("time1 %3.3f s,Yaw %3.3f deg,Roll %3.3f deg,Pitch %3.3f deg, Longitude %f deg\n",time1,Yaw,Roll,Pitch,GPSlong);
njewin 1:20201cda90d0 79 fprintf(fp, "%3.3f,%3.3f,%3.3f,%3.3f\n",time1,Yaw,Roll,Pitch);
njewin 1:20201cda90d0 80 //%3.3f,%3.3f,%3.3f,%3.3f,%3.3f,%3.3f,%3.3f,%3.3f,%3.3f\n",time1,Yaw,Roll,Pitch,GyroX,GyroY,GyroZ,AccelX,AccelY,AccelZ,MagX,MagY,MagZ);
njewin 1:20201cda90d0 81
njewin 1:20201cda90d0 82 pc_activity = !pc_activity; // Lights LED1 when uart RxBuff has > 40 bytes
njewin 1:20201cda90d0 83 doRead = 0;
lhiggs 0:03c649c76388 84 }
njewin 1:20201cda90d0 85
lhiggs 0:03c649c76388 86 } // end while(1) loop
njewin 1:20201cda90d0 87 logLED = 0; // turns LED3 off when logging ends
njewin 1:20201cda90d0 88 fclose(fp);
lhiggs 0:03c649c76388 89
lhiggs 0:03c649c76388 90 } // end main()