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
Diff: main.cpp
- Revision:
- 3:0cfe2e18440d
- Parent:
- 2:db3bbd57b075
- Child:
- 4:aefc0f09fe1c
--- a/main.cpp Wed May 01 23:32:16 2013 +0000 +++ b/main.cpp Thu May 02 06:41:42 2013 +0000 @@ -17,14 +17,11 @@ DigitalOut pc_activity(LED1); // LED1 = PC SERIAL DigitalOut uart_activity(LED2); // LED2 = UM6 SERIAL DigitalOut logLED(LED3); // LED3 = logging active - +DigitalOut sync(p6); DigitalIn enable(p5); // enable signal for logging data to file -Timer t; // sets up timer for measuring data loggin time -Timer t1; // sets up timer for reading data at set intervals -//Ticker tick; // sets up ticker - -//int doRead = 0; // ticker interupt variable +Timer t; // sets up timer for measuring data time stamp +Timer t1;// sets up timer for measuring time to read/write data void rxCallback(MODSERIAL_IRQ_INFO *q) { if (um6_uart.rxBufferGetCount() >= MAX_PACKET_DATA) { @@ -33,9 +30,6 @@ } } -//void print_um6() { -// doRead = 1; // interupt to read signals from UM6 -// } int main() { @@ -47,23 +41,19 @@ // set UM6 serial uart baud 9600 um6_uart.baud(115200); pc.baud(115200); // pc baud for UM6 to pc interface - t.start(); // starts timer // attach interupt function to uart um6_uart.attach(&rxCallback, MODSERIAL::RxIrq); -// tick.attach(&print_um6, 0.20); // ticker interupt FILE *fp = fopen("/local/out3.csv", "w"); // Open "out.txt" on the local file system for writing - fprintf(fp, "time1 (s),Yaw (deg),Roll (deg),Pitch (deg),GyroX,GyroY,GyroZ,AccelX,AccelY,AccelZ\r"); // sends header to file - -int n = 0; // while loop counter - - while (n < 10) { + fprintf(fp, "time (s),Yaw (deg),Roll (deg),Pitch (deg),GyroX,GyroY,GyroZ,AccelX,AccelY,AccelZ\r"); // sends header to file + + t.start(); // start data log time + sync = 1; + while (enable) { logLED = 1; // turns LED3 on when logging starts - t1.start(); - wait(0.5); - if (t1 > 0.5) { + wait(0.5); float time1=t.read(); float Yaw=data.Yaw; float Roll=data.Roll; @@ -78,19 +68,21 @@ // float MagY=data.Mag_Proc_Y; // float MagZ=data.Mag_Proc_Z; float GPSlong=data.GPS_long; + float GPSlat=data.GPS_lat; + float GPScourse=data.GPS_course; + float GPSspeed=data.GPS_speed; - pc.printf("time1 %3.3f s,Yaw %3.3f deg,Roll %3.3f deg,Pitch %3.3f deg\n",time1,Yaw,Roll,Pitch); - //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); - fprintf(fp, "%3.3f,%3.3f,%3.3f,%3.3f\n",time1,Yaw,Roll,Pitch); + // pc.printf("time1 %3.3f s,Yaw %3.3f deg,Roll %3.3f deg,Pitch %3.3f deg",time1,Yaw,Roll,Pitch); + pc.printf("time1 %3.3f s,Yaw %3.3f deg, Speed %f 0.01m/s,course %f 0.01m/s, long %f deg, lat %f deg\n",time1,Yaw,GPSspeed,GPScourse,GPSlong,GPSlat); + // fprintf(fp, "%3.3f,%3.3f,%3.3f,%3.3f \n",time1,Yaw,Roll,Pitch); // fprintf(fp, "%3.3f,%3.3f,%3.3f,%3.3f,%3.3f,%3.3f,%3.3f\n",time1,Yaw,Roll,Pitch,GyroX,GyroY,GyroZ); // 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); - pc_activity = !pc_activity; // Lights LED1 when uart RxBuff has > 40 bytes - // doRead = 0; // reset ticker interupt variable - t1.reset(); - n++; - } - } // end while(1) loopn + pc_activity = !pc_activity; // Lights LED1 when uart RxBuff has > 40 bytes + + } // end while(1) loop + fprintf(fp,"%3.3f \n",t.read()); + sync = 0; wait(0.6); // debug - hold LED on for 0.6s, even when while loop not true logLED = 0; // turns LED3 off when logging ends fclose(fp);