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: main.cpp
- Revision:
- 2:db3bbd57b075
- Parent:
- 1:20201cda90d0
- Child:
- 3:0cfe2e18440d
--- a/main.cpp Wed May 01 19:06:43 2013 +0000
+++ b/main.cpp Wed May 01 23:32:16 2013 +0000
@@ -20,8 +20,11 @@
DigitalIn enable(p5); // enable signal for logging data to file
-Timer t; // sets up timer 't'
-Ticker tick; // sets up ticker
+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
void rxCallback(MODSERIAL_IRQ_INFO *q) {
if (um6_uart.rxBufferGetCount() >= MAX_PACKET_DATA) {
@@ -30,15 +33,13 @@
}
}
-int doRead = 0;
-
-void print_um6() {
- doRead = 1; // interupt to read signals from UM6
-
-}
+//void print_um6() {
+// doRead = 1; // interupt to read signals from UM6
+// }
int main() {
+
/////////////////////////////////////////////////////////////////////////////////////////////////////
// SET SERIAL UART BAUD RATES
/////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -51,14 +52,18 @@
// attach interupt function to uart
um6_uart.attach(&rxCallback, MODSERIAL::RxIrq);
- tick.attach(&print_um6, 0.50);
+// 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,MagX,MagY,MagZ \r"); // sends header to file
+ 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 (enable) {
- logLED = 1; // turns LED3 on when logging starts
- if (doRead) {
+ while (n < 10) {
+ logLED = 1; // turns LED3 on when logging starts
+ t1.start();
+ wait(0.5);
+ if (t1 > 0.5) {
float time1=t.read();
float Yaw=data.Yaw;
float Roll=data.Roll;
@@ -69,21 +74,24 @@
float AccelX=data.Accel_Proc_X;
float AccelY=data.Accel_Proc_Y;
float AccelZ=data.Accel_Proc_Z;
- float MagX=data.Mag_Proc_X;
- float MagY=data.Mag_Proc_Y;
- float MagZ=data.Mag_Proc_Z;
+ // float MagX=data.Mag_Proc_X;
+ // float MagY=data.Mag_Proc_Y;
+ // float MagZ=data.Mag_Proc_Z;
float GPSlong=data.GPS_long;
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,Roll %3.3f deg,Pitch %3.3f deg, Longitude %f deg\n",time1,Yaw,Roll,Pitch,GPSlong);
+ //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);
- //%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,MagX,MagY,MagZ);
+ // 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;
+ // doRead = 0; // reset ticker interupt variable
+ t1.reset();
+ n++;
}
-
- } // end while(1) loop
+ } // end while(1) loopn
+ 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);