Nathan Ewin
/
UM6_IMU_AHRS_edit_NJE
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UM6_IMU_AHRS_2012
by 
lhiggs CSUM
Revision 6:43029c69b9ac, committed 2013-05-04
- Comitter:
- njewin
- Date:
- Sat May 04 09:34:15 2013 +0000
- Parent:
- 5:b3cd0bcf2968
- Commit message:
- publish version ; bugs need correcting for:; - logging to file at 10ms rate; - reading GPS lat and long data
Changed in this revision
| UM6_config/UM6_config.h | Show annotated file Show diff for this revision Revisions of this file |
| main.cpp | Show annotated file Show diff for this revision Revisions of this file |
--- a/UM6_config/UM6_config.h Thu May 02 11:38:25 2013 +0000
+++ b/UM6_config/UM6_config.h Sat May 04 09:34:15 2013 +0000
@@ -1,9 +1,13 @@
/* ------------------------------------------------------------------------------
File: UM6_config.h
- Author: CH Robotics
+ Author: CH Robotics, edited by Nathan Ewin
Version: 1.0
Description: Preprocessor definitions and function declarations for UM6 configuration
+
+ // added configuration for GPS signals from LS20031 sensor connected to UM6
+ // GPS ground speed and heading angle setup outputs data
+ // GPS latitude and longitude not setup correctly
------------------------------------------------------------------------------ */
#ifndef __UM6_CONFIG_H
#define __UM6_CONFIG_H
@@ -469,17 +473,17 @@
}
//-------------------------------------------------------------------
// GPS long
- // if (new_packet.address == UM6_GPS_LONGITUDE) {
+ if (new_packet.address == UM6_GPS_LONGITUDE) {
// Longitude
- // data.GPS_long = MY_DATA_GPS_LONG;
- // }
+ data.GPS_long = MY_DATA_GPS_LONG;
+ }
//------------------------------------------------------------
//-------------------------------------------------------------------
// GPS lat
- // if (new_packet.address == UM6_GPS_LATITUDE) {
+ if (new_packet.address == UM6_GPS_LATITUDE) {
// Latitude
- // data.GPS_lat = MY_DATA_GPS_LAT;
- // }
+ data.GPS_lat = MY_DATA_GPS_LAT;
+ }
//------------------------------------------------------------
} // end if(ADDRESS_TYPE_DATA)
--- a/main.cpp Thu May 02 11:38:25 2013 +0000
+++ b/main.cpp Sat May 04 09:34:15 2013 +0000
@@ -38,13 +38,14 @@
// 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
+ // set UM6 serial uart baud rate
+ um6_uart.baud(115200); // baud rate to um6 interface
+ pc.baud(115200); // baud rate to pc interface
// attach interupt function to uart
um6_uart.attach(&rxCallback, MODSERIAL::RxIrq);
+ // opens file for saving data to and sets up header row
FILE *fp = fopen("/local/out3.csv", "w"); // Open "out.txt" on the local file system for writing
fprintf(fp, "time (s),Yaw (deg),Roll (deg),Pitch (deg),GyroX,GyroY,GyroZ,AccelX,AccelY,AccelZ,GPScourse(x100 deg),GPSspeed(x100 m/s)\r"); // sends header to file
@@ -53,7 +54,7 @@
sync = 1;
while (enable) {
logLED = 1; // turns LED3 on when logging starts
- wait(0.05);
+ wait(0.02);
float time1=t.read();
float Yaw=data.Yaw;
float Roll=data.Roll;
@@ -64,25 +65,24 @@
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 GPSlong=data.GPS_long;
- // float GPSlat=data.GPS_lat;
+ float GPSlong=data.GPS_long; // currently I can get GPS longitude to out data
+ float GPSlat=data.GPS_lat; // currently I can get GPS latitude to out data
float GPScourse=data.GPS_course;
float GPSspeed=data.GPS_speed;
- // fprintf(fp, "%3.3f, %3.1f,%3.1f,%3.1f, %4.1f,%4.1f,%4.1f, %1.3f,%1.3f,%1.3f, %4.0f,%f\n",time1,Yaw,Roll,Pitch,GyroX,GyroY,GyroZ,AccelX,AccelY,AccelZ,MagX,MagY,MagZ,GPScourse,GPSspeed);
- // pc.printf("time %3.3f, yaw %3.1f,%3.1f,%3.1f, gyro %4.1f,%4.1f,%4.1f,accel %1.3f,%1.3f,%1.3f,speed %4.0f, course %5.0f\n",time1,Yaw,Roll,Pitch,GyroX,GyroY,GyroZ,AccelX,AccelY,AccelZ,MagX,MagY,MagZ,GPScourse,GPSspeed);
- pc.printf("time %3.3f, yaw %3.3f\n",time1,Yaw);
- fprintf(fp, "%3.3f,%3.1f,%3.1f\n",time1,Yaw,GyroX);
- pc_activity = !pc_activity; // Lights LED1 when uart RxBuff has > 40 bytes
+ // print to file every 20ms - this is what I would idealy do but it ends up freezing on a single value
+ fprintf(fp, "%3.3f, %3.1f,%3.1f,%3.1f, %4.1f,%4.1f,%4.1f, %1.3f,%1.3f,%1.3f, %4.0f,%f\n",time1,Yaw,Roll,Pitch,GyroX,GyroY,GyroZ,AccelX,AccelY,AccelZ,GPScourse,GPSspeed);
+
+ // print to screen - I use this to check that data is outputting - works fine on its own, but also freezes when above line is used
+ pc.printf("time %3.3f, yaw %3.1e,%3.1e,%3.1e, gyro %4.1e,%4.1e,%4.1e,accel %1.3e,%1.3e,%1.3e,speed %4.0e, course %5.0e\n",time1,Yaw,Roll,Pitch,GyroX,GyroY,GyroZ,AccelX,AccelY,AccelZ,GPScourse,GPSspeed);
+
+ 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;
+ fprintf(fp,"%3.3f \n",t.read()); // records time at end of measurement
+ sync = 0; // zeros synchronization digital output
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);
+ fclose(fp); // closes log file, otherwise cannot access mbed drive
} // end main()
\ No newline at end of file