Nathan Ewin / Mbed 2 deprecated UM6withGPS

Prints signals from UM6 orientation sensor (CH Robotics) and GPS receiver, using MODSerial and MODgps. GPS causes UM6 signals to freeze on a fixed value, which timer and gps continue to print out.

Dependencies:   MODGPS MODSERIAL mbed

main.cpp@0:b9c0180d446f, 2013-07-08 (annotated)

Committer:
njewin
Date:
Mon Jul 08 18:22:43 2013 +0000
Revision:
0:b9c0180d446f
prints um6 and gps signals to pc

Who changed what in which revision?

UserRevisionLine numberNew contents of line
njewin 0:b9c0180d446f 1 #include "mbed.h"
njewin 0:b9c0180d446f 2 #include "MODSERIAL.h"
njewin 0:b9c0180d446f 3 #include "UM6_usart.h" // UM6 USART HEADER
njewin 0:b9c0180d446f 4 #include "UM6_config.h" // UM6 CONFIG HEADER
njewin 0:b9c0180d446f 5 #include "GPS.h"
njewin 0:b9c0180d446f 6
njewin 0:b9c0180d446f 7 //------------ system and interface setup ----------------------------//
njewin 0:b9c0180d446f 8 Serial pc(USBTX, USBRX); // sets up serial connection to pc terminal
njewin 0:b9c0180d446f 9
njewin 0:b9c0180d446f 10 //------------ Hardware setup ----------------------------------------//
njewin 0:b9c0180d446f 11 DigitalOut pc_led(LED1); // LED1 = PC SERIAL
njewin 0:b9c0180d446f 12 DigitalOut uart_led(LED2); // LED2 = UM6 SERIAL
njewin 0:b9c0180d446f 13 GPS gps(NC,p27);
njewin 0:b9c0180d446f 14
njewin 0:b9c0180d446f 15
njewin 0:b9c0180d446f 16 // interupt function for processing uart messages --------------------//
njewin 0:b9c0180d446f 17 void rxCallback(MODSERIAL_IRQ_INFO *q) {
njewin 0:b9c0180d446f 18 if (um6_uart.rxBufferGetCount() >= MAX_PACKET_DATA) {
njewin 0:b9c0180d446f 19 uart_led = !uart_led; // Lights LED when uart RxBuff has > 40 bytes
njewin 0:b9c0180d446f 20 Process_um6_packet();
njewin 0:b9c0180d446f 21 }
njewin 0:b9c0180d446f 22 }
njewin 0:b9c0180d446f 23
njewin 0:b9c0180d446f 24
njewin 0:b9c0180d446f 25 //============= Main Program =========================================//
njewin 0:b9c0180d446f 26 int main() {
njewin 0:b9c0180d446f 27 Timer t;
njewin 0:b9c0180d446f 28 GPS_Time q1;
njewin 0:b9c0180d446f 29 GPS_VTG v1;
njewin 0:b9c0180d446f 30 int Roll_Counter=0;
njewin 0:b9c0180d446f 31
njewin 0:b9c0180d446f 32 pc.baud(115200); // baud rate to pc interface
njewin 0:b9c0180d446f 33 um6_uart.baud(115200); // baud rate to um6 interface
njewin 0:b9c0180d446f 34 gps.baud(115200);
njewin 0:b9c0180d446f 35 gps.format(8, GPS::None, 1);
njewin 0:b9c0180d446f 36
njewin 0:b9c0180d446f 37 //---- call interrupt functions --------------------------//
njewin 0:b9c0180d446f 38 um6_uart.attach(&rxCallback, MODSERIAL::RxIrq); // attach interupt function to uart
njewin 0:b9c0180d446f 39 t.start(); // start logging timer
njewin 0:b9c0180d446f 40
njewin 0:b9c0180d446f 41 //---- main while loop -------------------------------------------//
njewin 0:b9c0180d446f 42 while(1) {
njewin 0:b9c0180d446f 43 Roll_Counter++;
njewin 0:b9c0180d446f 44 if (Roll_Counter > 10000000) {
njewin 0:b9c0180d446f 45
njewin 0:b9c0180d446f 46 gps.vtg(&v1);
njewin 0:b9c0180d446f 47
njewin 0:b9c0180d446f 48 pc.printf("time %f s, Yaw %f deg, speed %f, longitude %f \n ",t.read(),data.Yaw,v1.velocity_kph(),gps.longitude());
njewin 0:b9c0180d446f 49 pc_led = !pc_led;
njewin 0:b9c0180d446f 50 Roll_Counter = 0;
njewin 0:b9c0180d446f 51 }
njewin 0:b9c0180d446f 52
njewin 0:b9c0180d446f 53 } // end while(1) loop
njewin 0:b9c0180d446f 54
njewin 0:b9c0180d446f 55 } // end main() program