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@2:db3bbd57b075, 2013-05-01 (annotated)

Committer:
njewin
Date:
Wed May 01 23:32:16 2013 +0000
Revision:
2:db3bbd57b075
Parent:
1:20201cda90d0
Child:
3:0cfe2e18440d
before full change from 'attach interrupt' to using 'wait'

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 2:db3bbd57b075 23 Timer t; // sets up timer for measuring data loggin time
njewin 2:db3bbd57b075 24 Timer t1; // sets up timer for reading data at set intervals
njewin 2:db3bbd57b075 25 //Ticker tick; // sets up ticker
njewin 2:db3bbd57b075 26
njewin 2:db3bbd57b075 27 //int doRead = 0; // ticker interupt variable
lhiggs 0:03c649c76388 28
lhiggs 0:03c649c76388 29 void rxCallback(MODSERIAL_IRQ_INFO *q) {
lhiggs 0:03c649c76388 30 if (um6_uart.rxBufferGetCount() >= MAX_PACKET_DATA) {
lhiggs 0:03c649c76388 31 uart_activity = !uart_activity; // Lights LED when uart RxBuff has > 40 bytes
lhiggs 0:03c649c76388 32 Process_um6_packet();
lhiggs 0:03c649c76388 33 }
lhiggs 0:03c649c76388 34 }
njewin 1:20201cda90d0 35
njewin 2:db3bbd57b075 36 //void print_um6() {
njewin 2:db3bbd57b075 37 // doRead = 1; // interupt to read signals from UM6
njewin 2:db3bbd57b075 38 // }
lhiggs 0:03c649c76388 39
lhiggs 0:03c649c76388 40 int main() {
lhiggs 0:03c649c76388 41
njewin 2:db3bbd57b075 42
lhiggs 0:03c649c76388 43 /////////////////////////////////////////////////////////////////////////////////////////////////////
lhiggs 0:03c649c76388 44 // SET SERIAL UART BAUD RATES
lhiggs 0:03c649c76388 45 /////////////////////////////////////////////////////////////////////////////////////////////////////
lhiggs 0:03c649c76388 46
lhiggs 0:03c649c76388 47 // set UM6 serial uart baud 9600
njewin 1:20201cda90d0 48 um6_uart.baud(115200);
njewin 1:20201cda90d0 49 pc.baud(115200); // pc baud for UM6 to pc interface
njewin 1:20201cda90d0 50 t.start(); // starts timer
njewin 1:20201cda90d0 51
lhiggs 0:03c649c76388 52 // attach interupt function to uart
lhiggs 0:03c649c76388 53 um6_uart.attach(&rxCallback, MODSERIAL::RxIrq);
lhiggs 0:03c649c76388 54
njewin 2:db3bbd57b075 55 // tick.attach(&print_um6, 0.20); // ticker interupt
njewin 1:20201cda90d0 56
njewin 1:20201cda90d0 57 FILE *fp = fopen("/local/out3.csv", "w"); // Open "out.txt" on the local file system for writing
njewin 2:db3bbd57b075 58 fprintf(fp, "time1 (s),Yaw (deg),Roll (deg),Pitch (deg),GyroX,GyroY,GyroZ,AccelX,AccelY,AccelZ\r"); // sends header to file
njewin 2:db3bbd57b075 59
njewin 2:db3bbd57b075 60 int n = 0; // while loop counter
lhiggs 0:03c649c76388 61
njewin 2:db3bbd57b075 62 while (n < 10) {
njewin 2:db3bbd57b075 63 logLED = 1; // turns LED3 on when logging starts
njewin 2:db3bbd57b075 64 t1.start();
njewin 2:db3bbd57b075 65 wait(0.5);
njewin 2:db3bbd57b075 66 if (t1 > 0.5) {
njewin 1:20201cda90d0 67 float time1=t.read();
njewin 1:20201cda90d0 68 float Yaw=data.Yaw;
njewin 1:20201cda90d0 69 float Roll=data.Roll;
njewin 1:20201cda90d0 70 float Pitch=data.Pitch;
njewin 1:20201cda90d0 71 float GyroX=data.Gyro_Proc_X;
njewin 1:20201cda90d0 72 float GyroY=data.Gyro_Proc_Y;
njewin 1:20201cda90d0 73 float GyroZ=data.Gyro_Proc_Z;
njewin 1:20201cda90d0 74 float AccelX=data.Accel_Proc_X;
njewin 1:20201cda90d0 75 float AccelY=data.Accel_Proc_Y;
njewin 1:20201cda90d0 76 float AccelZ=data.Accel_Proc_Z;
njewin 2:db3bbd57b075 77 // float MagX=data.Mag_Proc_X;
njewin 2:db3bbd57b075 78 // float MagY=data.Mag_Proc_Y;
njewin 2:db3bbd57b075 79 // float MagZ=data.Mag_Proc_Z;
njewin 1:20201cda90d0 80 float GPSlong=data.GPS_long;
njewin 1:20201cda90d0 81
njewin 1:20201cda90d0 82 pc.printf("time1 %3.3f s,Yaw %3.3f deg,Roll %3.3f deg,Pitch %3.3f deg\n",time1,Yaw,Roll,Pitch);
njewin 2:db3bbd57b075 83 //pc.printf("time1 %3.3f s,Yaw %3.3f deg,Rol l %3.3f deg,Pitch %3.3f deg, Longitude %f deg\n",time1,Yaw,Roll,Pitch,GPSlong);
njewin 1:20201cda90d0 84 fprintf(fp, "%3.3f,%3.3f,%3.3f,%3.3f\n",time1,Yaw,Roll,Pitch);
njewin 2:db3bbd57b075 85 // fprintf(fp, "%3.3f,%3.3f,%3.3f,%3.3f,%3.3f,%3.3f,%3.3f\n",time1,Yaw,Roll,Pitch,GyroX,GyroY,GyroZ);
njewin 2:db3bbd57b075 86 // fprintf(fp, "%3.3f,%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);
njewin 1:20201cda90d0 87
njewin 1:20201cda90d0 88 pc_activity = !pc_activity; // Lights LED1 when uart RxBuff has > 40 bytes
njewin 2:db3bbd57b075 89 // doRead = 0; // reset ticker interupt variable
njewin 2:db3bbd57b075 90 t1.reset();
njewin 2:db3bbd57b075 91 n++;
lhiggs 0:03c649c76388 92 }
njewin 2:db3bbd57b075 93 } // end while(1) loopn
njewin 2:db3bbd57b075 94 wait(0.6); // debug - hold LED on for 0.6s, even when while loop not true
njewin 1:20201cda90d0 95 logLED = 0; // turns LED3 off when logging ends
njewin 1:20201cda90d0 96 fclose(fp);
lhiggs 0:03c649c76388 97
lhiggs 0:03c649c76388 98 } // end main()