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
main.cpp
- Committer:
- njewin
- Date:
- 2013-05-01
- Revision:
- 2:db3bbd57b075
- Parent:
- 1:20201cda90d0
- Child:
- 3:0cfe2e18440d
File content as of revision 2:db3bbd57b075:
#include "mbed.h" // MBED LIBRARY #include "MODSERIAL.h" // MBED BUFFERED SERIAL #include "UM6_usart.h" // UM6 USART HEADER #include "UM6_config.h" // UM6 CONFIG HEADER LocalFileSystem local("local"); // Create the local filesystem under the name "local" ///////////////////////////////////////////////////////////////////////////////////////////// // SETUP (ASSIGN) SERIAL COMMUNICATION PINS ON MBED ///////////////////////////////////////////////////////////////////////////////////////////// MODSERIAL pc(USBTX, USBRX); // PC SERIAL OVER USB PORT ON MBED //////////////////////////////////////////////////////////////////////////////////////////////// // SETUP (ASSIGN) MBED LED (1 thru 3) FOR VISUAL DEBUGGING ON MBED //////////////////////////////////////////////////////////////////////////////////////////////// DigitalOut pc_activity(LED1); // LED1 = PC SERIAL DigitalOut uart_activity(LED2); // LED2 = UM6 SERIAL DigitalOut logLED(LED3); // LED3 = logging active 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 void rxCallback(MODSERIAL_IRQ_INFO *q) { if (um6_uart.rxBufferGetCount() >= MAX_PACKET_DATA) { uart_activity = !uart_activity; // Lights LED when uart RxBuff has > 40 bytes Process_um6_packet(); } } //void print_um6() { // doRead = 1; // interupt to read signals from UM6 // } int main() { ///////////////////////////////////////////////////////////////////////////////////////////////////// // SET SERIAL UART BAUD RATES ///////////////////////////////////////////////////////////////////////////////////////////////////// // 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) { 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; float Pitch=data.Pitch; float GyroX=data.Gyro_Proc_X; float GyroY=data.Gyro_Proc_Y; float GyroZ=data.Gyro_Proc_Z; 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 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,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); // 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 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); } // end main()