Nathan Ewin / Mbed 2 deprecated LogData_UM6-to-SDcard

A project similar to http://mbed.org/users/lhiggs/code/UM6_IMU_AHRS_2012/, where I'm trying to log data from a UM6 (CH Robotics orientation sensor) and a GPS transceiver to an sd card. I've adapted LHiggs code to include ModGPS. For sum reason a soon as I pick up a gps signal the UM6 data freezes i.e. the time and gps signals continue to print out but the UM6 signals fixes on a single value.

Dependencies:   MODGPS MODSERIAL SDFileSystem mbed

main.cpp@13:0782664b5fcb, 2013-07-08 (annotated)

Committer:
njewin
Date:
Mon Jul 08 16:47:06 2013 +0000
Revision:
13:0782664b5fcb
Parent:
12:894e648638e4 
published version

Who changed what in which revision?

UserRevisionLine numberNew contents of line
njewin 0:52295643d083 1 #include "mbed.h"
njewin 4:8dcf0bdc25c8 2 #include "SDFileSystem.h" // SD file system header from handbook/cookbook offical mbed library
njewin 4:8dcf0bdc25c8 3 #include "MODSERIAL.h"
njewin 5:ac633cdbb75c 4 #include "UM6_usart.h" // UM6 USART HEADER
njewin 5:ac633cdbb75c 5 #include "UM6_config.h" // UM6 CONFIG HEADER
njewin 10:d96e068f3595 6 #include "GPS.h"
njewin 0:52295643d083 7
njewin 1:9fe40d9ac0f5 8 //------------ system and interface setup ----------------------------//
njewin 4:8dcf0bdc25c8 9 MODSERIAL pc(USBTX, USBRX); // sets up serial connection to pc terminal
njewin 0:52295643d083 10
njewin 1:9fe40d9ac0f5 11 //------------ Hardware setup ----------------------------------------//
njewin 9:7dcfa24d5e7a 12 DigitalOut pc_led(LED1); // LED1 = PC SERIAL
njewin 9:7dcfa24d5e7a 13 DigitalOut uart_led(LED2); // LED2 = UM6 SERIAL
njewin 9:7dcfa24d5e7a 14 DigitalOut log_led(LED3); // debug LED
njewin 9:7dcfa24d5e7a 15 DigitalOut debug_led(LED4); // debug LED
njewin 9:7dcfa24d5e7a 16 DigitalIn enable(p10); // enable logging pin
njewin 12:894e648638e4 17 DigitalOut sync(p17); // sychronization (with CAN logger) pin
njewin 3:b3358ec2f57c 18 SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board
njewin 10:d96e068f3595 19 GPS gps(NC,p27);
njewin 12:894e648638e4 20 Timer t_debug;
njewin 12:894e648638e4 21 int counter;
njewin 3:b3358ec2f57c 22
njewin 5:ac633cdbb75c 23 // interupt function for processing uart messages --------------------//
njewin 12:894e648638e4 24 int flag_uart=0;
njewin 12:894e648638e4 25 float time_debug;
njewin 5:ac633cdbb75c 26 void rxCallback(MODSERIAL_IRQ_INFO *q) {
njewin 12:894e648638e4 27 if (um6_uart.rxBufferGetCount() >= MAX_PACKET_DATA) {
njewin 12:894e648638e4 28 uart_led = 1; // Lights LED when uart RxBuff has > 40 bytes
njewin 12:894e648638e4 29 t_debug.start();
njewin 5:ac633cdbb75c 30 Process_um6_packet();
njewin 12:894e648638e4 31 t_debug.stop();
njewin 12:894e648638e4 32 time_debug=t_debug.read();
njewin 12:894e648638e4 33 t_debug.reset();
njewin 12:894e648638e4 34 uart_led = 0;
njewin 12:894e648638e4 35 counter++;
njewin 12:894e648638e4 36 }
njewin 5:ac633cdbb75c 37 }
njewin 5:ac633cdbb75c 38
njewin 1:9fe40d9ac0f5 39 //------------ LogData interrupt function ----------------------------//
njewin 12:894e648638e4 40 int flag_log=0;
njewin 1:9fe40d9ac0f5 41 void LogData() {
njewin 12:894e648638e4 42 flag_log=1; //interrupt sets flag that causes variables to be logged
njewin 11:2b2537dcf504 43 }
njewin 11:2b2537dcf504 44 //------------ Pc print interrupt function ----------------------------//
njewin 11:2b2537dcf504 45 // to print to PC a a different rate to logging
njewin 12:894e648638e4 46 int flag_pc=0;
njewin 11:2b2537dcf504 47 void pcData() {
njewin 12:894e648638e4 48 flag_pc=1; //interrupt sets flag that causes variables to be logged
njewin 1:9fe40d9ac0f5 49 }
njewin 1:9fe40d9ac0f5 50
njewin 1:9fe40d9ac0f5 51 //============= Main Program =========================================//
njewin 0:52295643d083 52 int main() {
njewin 10:d96e068f3595 53 Ticker tick;
njewin 11:2b2537dcf504 54 Ticker tick1;
njewin 12:894e648638e4 55 Timer t;
njewin 12:894e648638e4 56 sync = 0;
njewin 10:d96e068f3595 57 GPS_Time q1;
njewin 10:d96e068f3595 58 GPS_VTG v1;
njewin 10:d96e068f3595 59
njewin 9:7dcfa24d5e7a 60 pc.baud(115200); // baud rate to pc interface
njewin 5:ac633cdbb75c 61 um6_uart.baud(115200); // baud rate to um6 interface
njewin 12:894e648638e4 62 gps.baud(115200);
njewin 10:d96e068f3595 63 gps.format(8, GPS::None, 1);
njewin 9:7dcfa24d5e7a 64
njewin 9:7dcfa24d5e7a 65 //---- call interrupt functions --------------------------//
njewin 5:ac633cdbb75c 66 um6_uart.attach(&rxCallback, MODSERIAL::RxIrq); // attach interupt function to uart
njewin 12:894e648638e4 67 tick.attach(&LogData, 1); // attaches LogData function to 'tick' ticker interrupt every 0.5s
njewin 12:894e648638e4 68 tick1.attach(&pcData, 0.5); // attaches LogData function to 'tick' ticker interrupt every 0.5s
njewin 9:7dcfa24d5e7a 69
njewin 9:7dcfa24d5e7a 70 //---------- setup sd card directory------------------------------//
njewin 9:7dcfa24d5e7a 71 int FileNo = 0;
njewin 9:7dcfa24d5e7a 72 mkdir("/sd/log_data", 0777);
njewin 1:9fe40d9ac0f5 73
njewin 9:7dcfa24d5e7a 74 //---- main while loop -------------------------------------------//
njewin 9:7dcfa24d5e7a 75 while(1) {
njewin 9:7dcfa24d5e7a 76 //---- Setup file on SD card ----------------------------//
njewin 9:7dcfa24d5e7a 77 printf("Opening sd card\n");
njewin 9:7dcfa24d5e7a 78 char buffer[50];
njewin 9:7dcfa24d5e7a 79 sprintf(buffer, "/sd/log_data/%i.csv", FileNo);
njewin 9:7dcfa24d5e7a 80 //****************************************************
njewin 9:7dcfa24d5e7a 81 // This is necessary for card to work when reconnected
njewin 9:7dcfa24d5e7a 82 // Initialise disk
njewin 9:7dcfa24d5e7a 83 sd.disk_initialize();
njewin 9:7dcfa24d5e7a 84 //****************************************************
njewin 9:7dcfa24d5e7a 85 // Open a file for write
njewin 9:7dcfa24d5e7a 86 FILE *fp = fopen(buffer, "w");
njewin 9:7dcfa24d5e7a 87 if(fp == NULL) {
njewin 9:7dcfa24d5e7a 88 error("Could not open file for write\n");
njewin 3:b3358ec2f57c 89 }
njewin 12:894e648638e4 90 //--- print ALL signals headers to sd card
njewin 11:2b2537dcf504 91 fprintf(fp, "time(s),Yaw(deg),Roll(deg),Pitch(deg),GyroX(deg/s),GyroY(deg/s),GyroZ(deg/s),AccelX(g),AccelY(g),AccelZ(g),GPScourse(deg),GPSspeed(km/h),Latitude(deg),Longitude(deg) \r"); // sends header to file
njewin 9:7dcfa24d5e7a 92
njewin 12:894e648638e4 93 // start time
njewin 12:894e648638e4 94 gps.timeNow(&q1);
njewin 12:894e648638e4 95 pc.printf("%c %02d:%02d:%02d %02d/%02d/%04d\r\n",
njewin 12:894e648638e4 96 q1.status, q1.hour, q1.minute, q1.second, q1.day, q1.month, q1.year);
njewin 12:894e648638e4 97 // printf("%c %02d:%02d:%02d %02d/%02d/%04d\r\n",
njewin 12:894e648638e4 98 // q1.status, q1.hour, q1.minute, q1.second, q1.day, q1.month, q1.year);
njewin 12:894e648638e4 99 t.start(); // start logging timer
njewin 12:894e648638e4 100 sync = 1; // sync step sent to VN8900
njewin 12:894e648638e4 101
njewin 12:894e648638e4 102 while (!pc.readable() && enable) {
njewin 12:894e648638e4 103 if(flag_log==1) {
njewin 12:894e648638e4 104 log_led= !log_led; // turns on LED3 to indicate logging
njewin 9:7dcfa24d5e7a 105 float time=t.read();
njewin 9:7dcfa24d5e7a 106 float Yaw=data.Yaw;
njewin 9:7dcfa24d5e7a 107 float Roll=data.Roll;
njewin 9:7dcfa24d5e7a 108 float Pitch=data.Pitch;
njewin 9:7dcfa24d5e7a 109 float GyroX=data.Gyro_Proc_X;
njewin 9:7dcfa24d5e7a 110 float GyroY=data.Gyro_Proc_Y;
njewin 9:7dcfa24d5e7a 111 float GyroZ=data.Gyro_Proc_Z;
njewin 9:7dcfa24d5e7a 112 float AccelX=data.Accel_Proc_X;
njewin 9:7dcfa24d5e7a 113 float AccelY=data.Accel_Proc_Y;
njewin 9:7dcfa24d5e7a 114 float AccelZ=data.Accel_Proc_Z;
njewin 12:894e648638e4 115 /* double GPSlong=gps.longitude(); // currently not reading GPS longitude correctly
njewin 10:d96e068f3595 116 double GPSlat=gps.latitude(); // currently not reading GPS latitude correctly
njewin 10:d96e068f3595 117 double GPSalt=gps.altitude();
njewin 11:2b2537dcf504 118 gps.vtg(&v1);
njewin 11:2b2537dcf504 119 float GPScourse=v1.track_true();
njewin 11:2b2537dcf504 120 float GPSspeed=v1.velocity_kph();
njewin 12:894e648638e4 121 */
njewin 12:894e648638e4 122
njewin 9:7dcfa24d5e7a 123 //----- print ALL signals to file --------------------//
njewin 12:894e648638e4 124 // fprintf(fp, "%3.3f, %3.1f,%3.1f,%3.1f, %3.2f,%3.2f,%3.2f, %3.4f,%3.4f,%3.4f, %3.1f,%3.2f, %f,%f,%f\r",
njewin 12:894e648638e4 125 // time, Yaw,Roll,Pitch, GyroX,GyroY,GyroZ, AccelX,AccelY,AccelZ, GPScourse,GPSspeed, GPSlat,GPSlong,GPSalt);
njewin 12:894e648638e4 126 flag_log=0; // reset LogData interrupt flag
njewin 9:7dcfa24d5e7a 127 } // end if(flag=1) loop
njewin 12:894e648638e4 128
njewin 12:894e648638e4 129 if(flag_pc==1) {
njewin 12:894e648638e4 130 float time=t.read();
njewin 12:894e648638e4 131 float Yaw=data.Yaw;
njewin 12:894e648638e4 132 float AccelX=data.Accel_Proc_X;
njewin 12:894e648638e4 133 float AccelY=data.Accel_Proc_Y;
njewin 12:894e648638e4 134 float AccelZ=data.Accel_Proc_Z;
njewin 12:894e648638e4 135 double GPSlong=gps.longitude(); // currently not reading GPS longitude correctly
njewin 12:894e648638e4 136 double GPSlat=gps.latitude(); // currently not reading GPS latitude correctly
njewin 12:894e648638e4 137 gps.vtg(&v1);
njewin 12:894e648638e4 138 float GPScourse=v1.track_true();
njewin 12:894e648638e4 139 float GPSspeed=v1.velocity_kph();
njewin 12:894e648638e4 140
njewin 12:894e648638e4 141 pc.printf("time %.3f,Yaw %3.0f,Accel %.2f, Lat %f, Long %f, kph %.lf \n",
njewin 12:894e648638e4 142 time,Yaw,AccelX,GPSlat,GPSlong,GPSspeed);
njewin 12:894e648638e4 143 pc.printf("debug time %f, counter %d \n", time_debug, counter);
njewin 12:894e648638e4 144 counter = 0;
njewin 12:894e648638e4 145 // pc.printf("time %.3f,Yaw %3.0f,Accel %.2f \n",
njewin 12:894e648638e4 146 // time,Yaw,AccelX);
njewin 12:894e648638e4 147 flag_pc=0;
njewin 12:894e648638e4 148 pc_led = !pc_led; // Lights LED1 when transmitting to PC screen
njewin 12:894e648638e4 149 }
njewin 12:894e648638e4 150
njewin 9:7dcfa24d5e7a 151 } // end while(!pc.readable()) loop
njewin 12:894e648638e4 152 sync = 0; // sync step end sent to VN900
njewin 12:894e648638e4 153 fprintf(fp,"sync time %f \n",t.read());
njewin 9:7dcfa24d5e7a 154 pc.printf(" Done. \n"); // prints 'done when logging is finished/enable switched off
njewin 9:7dcfa24d5e7a 155 log_led=0; // turns off LED logging is finished/enable switched off
njewin 9:7dcfa24d5e7a 156 wait(0.5); // debug wait for pc.printf
njewin 9:7dcfa24d5e7a 157 fclose(fp); // closes log file
njewin 12:894e648638e4 158 pc.getc(); // Clear character from buffer
njewin 9:7dcfa24d5e7a 159
njewin 12:894e648638e4 160 while (!pc.readable() && !enable) { // Wait for a key press to restart logging
njewin 9:7dcfa24d5e7a 161 };
njewin 9:7dcfa24d5e7a 162 pc.getc(); // Clear character from buffer
njewin 9:7dcfa24d5e7a 163 FileNo++; // Increment file number
njewin 3:b3358ec2f57c 164 } // end while(1) loop
njewin 9:7dcfa24d5e7a 165
njewin 5:ac633cdbb75c 166 } // end main() program
njewin 5:ac633cdbb75c 167
njewin 5:ac633cdbb75c 168
njewin 9:7dcfa24d5e7a 169 /* DEUBBING NOTES
njewin 12:894e648638e4 170 -----------------------------------------------------------------------------------------------
njewin 9:7dcfa24d5e7a 171 opening a file BEFORE calling interrupts OK
njewin 5:ac633cdbb75c 172 opening a file and print to it BEFORE calling interrupts NOT OK (stops rest of program)
njewin 5:ac633cdbb75c 173 open a (local) file and print to it AFTER calling interrupts NOT OK (stops rest of program)
njewin 5:ac633cdbb75c 174 open a (sd) file and print to it AFTER calling interrupts OK
njewin 12:894e648638e4 175 -----------------------------------------------------------------------------------------------
njewin 12:894e648638e4 176 measuring processor time for code
njewin 12:894e648638e4 177 defining all of data variables including gps speed and course = 8us
njewin 12:894e648638e4 178 printing all data to sd card = 250us - upto 25ms periodically
njewin 12:894e648638e4 179 printing select data to pc = 400-500us
njewin 12:894e648638e4 180
njewin 12:894e648638e4 181 -----------------------------------------------------------------------------------------------
njewin 12:894e648638e4 182
njewin 5:ac633cdbb75c 183 */