Nathan Ewin
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 
lhiggs CSUM
Diff: UM6_usart/UM6_usart.h
- Revision:
- 0:03c649c76388
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/UM6_usart/UM6_usart.h Fri Sep 28 00:40:29 2012 +0000
@@ -0,0 +1,60 @@
+/* ______________________________________________________________________________________
+ File: UM6_usart.h
+ Author: CH Robotics, adapted for mbed by lhiggs
+ Version: 1.0
+
+ Description: Function declarations for USART communucation
+ -------------------------------------------------------------------------------------- */
+
+ #ifndef _CHR_USART_H
+ #define _CHR_USART_H
+
+ #define MAX_PACKET_DATA 40
+
+ // Definitions of states for USART receiver state machine (for receiving packets)
+ #define USART_STATE_WAIT 1
+ #define USART_STATE_TYPE 2
+ #define USART_STATE_ADDRESS 3
+ #define USART_STATE_DATA 4
+ #define USART_STATE_CHECKSUM 5
+
+ // Flags for interpreting the packet type byte in communication packets
+ #define PACKET_HAS_DATA (1 << 7)
+ #define PACKET_IS_BATCH (1 << 6)
+ #define PACKET_BATCH_LENGTH_MASK ( 0x0F )
+
+ #define PACKET_BATCH_LENGTH_OFFSET 2
+
+ #define BATCH_SIZE_2 2
+ #define BATCH_SIZE_3 3
+
+ #define PACKET_NO_DATA 0
+ #define PACKET_COMMAND_FAILED (1 << 0)
+
+
+ // Define flags for identifying the type of packet address received
+ #define ADDRESS_TYPE_CONFIG 0
+ #define ADDRESS_TYPE_DATA 1
+ #define ADDRESS_TYPE_COMMAND 2
+
+
+extern uint8_t gUSART_State;
+
+ // Structure for storing TX and RX packet data
+ typedef struct _USARTPacket
+ {
+ uint8_t PT; // Packet type
+ uint8_t address; // Packet address
+ uint16_t checksum; // Checksum
+
+ // Data included for convenience, but that isn't stored in the packet itself
+ uint8_t data_length; // Number of bytes in data section
+ uint8_t address_type; // Specified the address type (DATA, CONFIG, OR COMMAND)
+
+ uint8_t packet_data[MAX_PACKET_DATA];
+
+ } USARTPacket;
+
+uint16_t ComputeChecksum( USARTPacket* new_packet );
+
+#endif
\ No newline at end of file