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.
Fork of UM6_IMU_AHRS_2012 by
MODSERIAL/GETC.cpp@6:43029c69b9ac, 2013-05-04 (annotated)
- Committer:
- njewin
- Date:
- Sat May 04 09:34:15 2013 +0000
- Revision:
- 6:43029c69b9ac
- Parent:
- 0:03c649c76388
publish version ; bugs need correcting for:; - logging to file at 10ms rate; - reading GPS lat and long data
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
lhiggs | 0:03c649c76388 | 1 | /* |
lhiggs | 0:03c649c76388 | 2 | Copyright (c) 2010 Andy Kirkham |
lhiggs | 0:03c649c76388 | 3 | |
lhiggs | 0:03c649c76388 | 4 | Permission is hereby granted, free of charge, to any person obtaining a copy |
lhiggs | 0:03c649c76388 | 5 | of this software and associated documentation files (the "Software"), to deal |
lhiggs | 0:03c649c76388 | 6 | in the Software without restriction, including without limitation the rights |
lhiggs | 0:03c649c76388 | 7 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
lhiggs | 0:03c649c76388 | 8 | copies of the Software, and to permit persons to whom the Software is |
lhiggs | 0:03c649c76388 | 9 | furnished to do so, subject to the following conditions: |
lhiggs | 0:03c649c76388 | 10 | |
lhiggs | 0:03c649c76388 | 11 | The above copyright notice and this permission notice shall be included in |
lhiggs | 0:03c649c76388 | 12 | all copies or substantial portions of the Software. |
lhiggs | 0:03c649c76388 | 13 | |
lhiggs | 0:03c649c76388 | 14 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
lhiggs | 0:03c649c76388 | 15 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
lhiggs | 0:03c649c76388 | 16 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
lhiggs | 0:03c649c76388 | 17 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
lhiggs | 0:03c649c76388 | 18 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
lhiggs | 0:03c649c76388 | 19 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
lhiggs | 0:03c649c76388 | 20 | THE SOFTWARE. |
lhiggs | 0:03c649c76388 | 21 | */ |
lhiggs | 0:03c649c76388 | 22 | |
lhiggs | 0:03c649c76388 | 23 | #include "MODSERIAL.h" |
lhiggs | 0:03c649c76388 | 24 | #include "MACROS.h" |
lhiggs | 0:03c649c76388 | 25 | |
lhiggs | 0:03c649c76388 | 26 | namespace AjK { |
lhiggs | 0:03c649c76388 | 27 | |
lhiggs | 0:03c649c76388 | 28 | int |
lhiggs | 0:03c649c76388 | 29 | MODSERIAL::__getc(bool block) |
lhiggs | 0:03c649c76388 | 30 | { |
lhiggs | 0:03c649c76388 | 31 | // If no buffer is in use fall back to standard RX FIFO usage. |
lhiggs | 0:03c649c76388 | 32 | // Note, we must block in this case and ignore bool "block" |
lhiggs | 0:03c649c76388 | 33 | // so as to maintain compat with Mbed Serial. |
lhiggs | 0:03c649c76388 | 34 | if (buffer_size[RxIrq] == 0 || buffer[RxIrq] == (char *)NULL) { |
lhiggs | 0:03c649c76388 | 35 | while(! MODSERIAL_RBR_HAS_DATA ) ; |
lhiggs | 0:03c649c76388 | 36 | return (int)(_RBR & 0xFF); |
lhiggs | 0:03c649c76388 | 37 | } |
lhiggs | 0:03c649c76388 | 38 | |
lhiggs | 0:03c649c76388 | 39 | if (block) { while ( MODSERIAL_RX_BUFFER_EMPTY ) ; } // Blocks. |
lhiggs | 0:03c649c76388 | 40 | else if ( MODSERIAL_RX_BUFFER_EMPTY ) return -1; |
lhiggs | 0:03c649c76388 | 41 | |
lhiggs | 0:03c649c76388 | 42 | int c = buffer[RxIrq][buffer_out[RxIrq]]; |
lhiggs | 0:03c649c76388 | 43 | buffer_out[RxIrq]++; |
lhiggs | 0:03c649c76388 | 44 | if (buffer_out[RxIrq] >= buffer_size[RxIrq]) { |
lhiggs | 0:03c649c76388 | 45 | buffer_out[RxIrq] = 0; |
lhiggs | 0:03c649c76388 | 46 | } |
lhiggs | 0:03c649c76388 | 47 | |
lhiggs | 0:03c649c76388 | 48 | // If we have made space in the RX Buffer then copy over |
lhiggs | 0:03c649c76388 | 49 | // any characters in the RX FIFO that my reside there. |
lhiggs | 0:03c649c76388 | 50 | // Temporarily disable the RX IRQ so that we do not re-enter |
lhiggs | 0:03c649c76388 | 51 | // it under interrupts. |
lhiggs | 0:03c649c76388 | 52 | if ( ! MODSERIAL_RX_BUFFER_FULL ) { |
lhiggs | 0:03c649c76388 | 53 | uint32_t ier = _IER; |
lhiggs | 0:03c649c76388 | 54 | _IER &= ~(1UL << 0); |
lhiggs | 0:03c649c76388 | 55 | isr_rx(); |
lhiggs | 0:03c649c76388 | 56 | _IER = ier; |
lhiggs | 0:03c649c76388 | 57 | } |
lhiggs | 0:03c649c76388 | 58 | |
lhiggs | 0:03c649c76388 | 59 | __disable_irq(); |
lhiggs | 0:03c649c76388 | 60 | buffer_count[RxIrq]--; |
lhiggs | 0:03c649c76388 | 61 | __enable_irq(); |
lhiggs | 0:03c649c76388 | 62 | return c; |
lhiggs | 0:03c649c76388 | 63 | } |
lhiggs | 0:03c649c76388 | 64 | |
lhiggs | 0:03c649c76388 | 65 | }; // namespace AjK ends |