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

MODSERIAL/RESIZE.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?

UserRevisionLine numberNew 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::resizeBuffer(int size, IrqType type, bool memory_check)
lhiggs 0:03c649c76388 30 {
lhiggs 0:03c649c76388 31 int rval = Ok;
lhiggs 0:03c649c76388 32
lhiggs 0:03c649c76388 33 // If the requested size is the same as the current size there's nothing to do,
lhiggs 0:03c649c76388 34 // just continue to use the same buffer as it's fine as it is.
lhiggs 0:03c649c76388 35 if (buffer_size[type] == size) return rval;
lhiggs 0:03c649c76388 36
lhiggs 0:03c649c76388 37 // Make sure the ISR cannot use the buffers while we are manipulating them.
lhiggs 0:03c649c76388 38 disableIrq();
lhiggs 0:03c649c76388 39
lhiggs 0:03c649c76388 40 // If the requested buffer size is larger than the current size,
lhiggs 0:03c649c76388 41 // attempt to create a new buffer and use it.
lhiggs 0:03c649c76388 42 if (buffer_size[type] < size) {
lhiggs 0:03c649c76388 43 rval = upSizeBuffer(size, type, memory_check);
lhiggs 0:03c649c76388 44 }
lhiggs 0:03c649c76388 45 else if (buffer_size[type] > size) {
lhiggs 0:03c649c76388 46 rval = downSizeBuffer(size, type, memory_check);
lhiggs 0:03c649c76388 47 }
lhiggs 0:03c649c76388 48
lhiggs 0:03c649c76388 49 // Start the ISR system again with the new buffers.
lhiggs 0:03c649c76388 50 enableIrq();
lhiggs 0:03c649c76388 51
lhiggs 0:03c649c76388 52 return rval;
lhiggs 0:03c649c76388 53 }
lhiggs 0:03c649c76388 54
lhiggs 0:03c649c76388 55 int
lhiggs 0:03c649c76388 56 MODSERIAL::downSizeBuffer(int size, IrqType type, bool memory_check)
lhiggs 0:03c649c76388 57 {
lhiggs 0:03c649c76388 58 if (size >= buffer_count[type]) {
lhiggs 0:03c649c76388 59 return BufferOversize;
lhiggs 0:03c649c76388 60 }
lhiggs 0:03c649c76388 61
lhiggs 0:03c649c76388 62 char *s = (char *)malloc(size);
lhiggs 0:03c649c76388 63
lhiggs 0:03c649c76388 64 if (s == (char *)NULL) {
lhiggs 0:03c649c76388 65 if (memory_check) {
lhiggs 0:03c649c76388 66 error("Failed to allocate memory for %s buffer", type == TxIrq ? "TX" : "RX");
lhiggs 0:03c649c76388 67 }
lhiggs 0:03c649c76388 68 return NoMemory;
lhiggs 0:03c649c76388 69 }
lhiggs 0:03c649c76388 70
lhiggs 0:03c649c76388 71 int c, new_in = 0;
lhiggs 0:03c649c76388 72
lhiggs 0:03c649c76388 73 do {
lhiggs 0:03c649c76388 74 c = __getc(false);
lhiggs 0:03c649c76388 75 if (c != -1) s[new_in++] = (char)c;
lhiggs 0:03c649c76388 76 if (new_in >= size) new_in = 0;
lhiggs 0:03c649c76388 77 }
lhiggs 0:03c649c76388 78 while (c != -1);
lhiggs 0:03c649c76388 79
lhiggs 0:03c649c76388 80 free((char *)buffer[type]);
lhiggs 0:03c649c76388 81 buffer[type] = s;
lhiggs 0:03c649c76388 82 buffer_in[type] = new_in;
lhiggs 0:03c649c76388 83 buffer_out[type] = 0;
lhiggs 0:03c649c76388 84 return Ok;
lhiggs 0:03c649c76388 85 }
lhiggs 0:03c649c76388 86
lhiggs 0:03c649c76388 87 int
lhiggs 0:03c649c76388 88 MODSERIAL::upSizeBuffer(int size, IrqType type, bool memory_check)
lhiggs 0:03c649c76388 89 {
lhiggs 0:03c649c76388 90 char *s = (char *)malloc(size);
lhiggs 0:03c649c76388 91
lhiggs 0:03c649c76388 92 if (s == (char *)NULL) {
lhiggs 0:03c649c76388 93 if (memory_check) {
lhiggs 0:03c649c76388 94 error("Failed to allocate memory for %s buffer", type == TxIrq ? "TX" : "RX");
lhiggs 0:03c649c76388 95 }
lhiggs 0:03c649c76388 96 return NoMemory;
lhiggs 0:03c649c76388 97 }
lhiggs 0:03c649c76388 98
lhiggs 0:03c649c76388 99 if (buffer_count[type] == 0) { // Current buffer empty?
lhiggs 0:03c649c76388 100 free((char *)buffer[type]);
lhiggs 0:03c649c76388 101 buffer[type] = s;
lhiggs 0:03c649c76388 102 buffer_in[type] = 0;
lhiggs 0:03c649c76388 103 buffer_out[type] = 0;
lhiggs 0:03c649c76388 104 }
lhiggs 0:03c649c76388 105 else { // Copy the current contents into the new buffer.
lhiggs 0:03c649c76388 106 int c, new_in = 0;
lhiggs 0:03c649c76388 107 do {
lhiggs 0:03c649c76388 108 c = __getc(false);
lhiggs 0:03c649c76388 109 if (c != -1) s[new_in++] = (char)c;
lhiggs 0:03c649c76388 110 if (new_in >= size) new_in = 0; // Shouldn't happen, but be sure.
lhiggs 0:03c649c76388 111 }
lhiggs 0:03c649c76388 112 while (c != -1);
lhiggs 0:03c649c76388 113 free((char *)buffer[type]);
lhiggs 0:03c649c76388 114 buffer[type] = s;
lhiggs 0:03c649c76388 115 buffer_in[type] = new_in;
lhiggs 0:03c649c76388 116 buffer_out[type] = 0;
lhiggs 0:03c649c76388 117 }
lhiggs 0:03c649c76388 118
lhiggs 0:03c649c76388 119 buffer_size[type] = size;
lhiggs 0:03c649c76388 120 return Ok;
lhiggs 0:03c649c76388 121 }
lhiggs 0:03c649c76388 122
lhiggs 0:03c649c76388 123 }; // namespace AjK ends