Nathan Ewin
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
Revision 10:d96e068f3595, committed 2013-06-07
- Comitter:
- njewin
- Date:
- Fri Jun 07 08:49:59 2013 +0000
- Parent:
- 9:7dcfa24d5e7a
- Child:
- 11:2b2537dcf504
- Commit message:
- GPS working! printing lat/long/alt/speed/course to pc
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/MODGPS.lib Fri Jun 07 08:49:59 2013 +0000 @@ -0,0 +1,1 @@ +https://mbed.org/users/mprinke/code/MODGPS/#34a9030f27a4
--- a/UM6_config/UM6_config.h Thu May 30 13:32:54 2013 +0000
+++ b/UM6_config/UM6_config.h Fri Jun 07 08:49:59 2013 +0000
@@ -35,7 +35,7 @@
// This setup makes it easy to make more data immediately available when needed - simply increase the array size, add code in
// the firmware that writes data to the new array location, and then make updates to the firmware definition on the PC side.
#define CONFIG_ARRAY_SIZE 44
-#define DATA_ARRAY_SIZE 36
+#define DATA_ARRAY_SIZE 37
#define COMMAND_COUNT 9
// original data array size 32
@@ -93,6 +93,7 @@
#define UM6_ERROR_COV_33 (DATA_REG_START_ADDRESS + 32)
#define UM6_GPS_LONGITUDE (DATA_REG_START_ADDRESS + 34)
#define UM6_GPS_LATITUDE (DATA_REG_START_ADDRESS + 35)
+#define UM6_GPS_ALTITUDE (DATA_REG_START_ADDRESS + 36)
#define UM6_GPS_COURSE_SPEED (DATA_REG_START_ADDRESS + 40)
@@ -144,9 +145,9 @@
float Yaw;
float GPS_long;
float GPS_lat;
+float GPS_alt;
float GPS_course;
float GPS_speed;
-int32_t GPS_lat_raw;
};
UM6 data;
@@ -176,6 +177,10 @@
int32_t MY_DATA_GPS_LAT0;
int32_t MY_DATA_GPS_LAT1;
int32_t MY_DATA_GPS_LAT2;
+int32_t MY_DATA_GPS_ALT;
+int32_t MY_DATA_GPS_ALT0;
+int32_t MY_DATA_GPS_ALT1;
+int32_t MY_DATA_GPS_ALT2;
int16_t MY_DATA_GPS_COURSE;
int16_t MY_DATA_GPS_SPEED;
@@ -493,16 +498,29 @@
//------------------------------------------------------------
//-------------------------------------------------------------------
// GPS lat
- if (new_packet.address == UM6_GPS_LATITUDE) {
+ /* if (new_packet.address == UM6_GPS_LATITUDE) {
// Latitude
- MY_DATA_GPS_LAT0 = (int32_t)new_packet.packet_data[0]<<24;
- MY_DATA_GPS_LAT1 = (int32_t)new_packet.packet_data[1]<<16;
- MY_DATA_GPS_LAT2 = (int32_t)new_packet.packet_data[2]<<8;
- MY_DATA_GPS_LAT = MY_DATA_GPS_LAT0|MY_DATA_GPS_LAT1|MY_DATA_GPS_LAT2|new_packet.packet_data[3];
- memcpy(&data.GPS_lat,&MY_DATA_GPS_LAT,sizeof(int));
- data.GPS_lat_raw = MY_DATA_GPS_LAT;
+ //MY_DATA_GPS_LAT0 = (int32_t)new_packet.packet_data[0]<<24;
+ //MY_DATA_GPS_LAT1 = (int32_t)new_packet.packet_data[1]<<16;
+ //MY_DATA_GPS_LAT2 = (int32_t)new_packet.packet_data[2]<<8;
+ //MY_DATA_GPS_LAT = MY_DATA_GPS_LAT0|MY_DATA_GPS_LAT1|MY_DATA_GPS_LAT2|new_packet.packet_data[3];
+ //memcpy(&data.GPS_lat,&MY_DATA_GPS_LAT,sizeof(int));
+ // data.GPS_lat_raw = new_packet.packet_data[0];
}
//------------------------------------------------------------
+ //-------------------------------------------------------------------
+ // GPS altitude
+ if (new_packet.address == UM6_GPS_ALTITUDE) {
+ // Longitude
+ MY_DATA_GPS_ALT0 = (int32_t)new_packet.packet_data[0]<<24;
+ MY_DATA_GPS_ALT1 = (int32_t)new_packet.packet_data[1]<<16;
+ MY_DATA_GPS_ALT2 = (int32_t)new_packet.packet_data[2]<<8;
+ MY_DATA_GPS_ALT = MY_DATA_GPS_ALT0|MY_DATA_GPS_ALT1|MY_DATA_GPS_ALT2|new_packet.packet_data[3];
+ memcpy(&data.GPS_alt,&MY_DATA_GPS_ALT,sizeof(int));
+ // data.GPS_alt_raw = MY_DATA_GPS_ALT0;
+
+ }
+ */ //------------------------------------------------------------
} // end if(ADDRESS_TYPE_DATA)
--- a/main.cpp Thu May 30 13:32:54 2013 +0000
+++ b/main.cpp Fri Jun 07 08:49:59 2013 +0000
@@ -3,7 +3,7 @@
#include "MODSERIAL.h"
#include "UM6_usart.h" // UM6 USART HEADER
#include "UM6_config.h" // UM6 CONFIG HEADER
-
+#include "GPS.h"
//------------ system and interface setup ----------------------------//
MODSERIAL pc(USBTX, USBRX); // sets up serial connection to pc terminal
@@ -16,6 +16,7 @@
DigitalIn enable(p10); // enable logging pin
DigitalOut sync(p11); // sychronization (with CAN logger) pin
SDFileSystem sd(p5, p6, p7, p8, "sd"); // the pinout on the mbed Cool Components workshop board
+GPS gps(NC,p27);
// interupt function for processing uart messages --------------------//
void rxCallback(MODSERIAL_IRQ_INFO *q) {
@@ -33,14 +34,19 @@
//============= Main Program =========================================//
int main() {
+ Ticker tick;
+ Timer t;
+ GPS_Time q1;
+ GPS_VTG v1;
+
pc.baud(115200); // baud rate to pc interface
um6_uart.baud(115200); // baud rate to um6 interface
- Ticker tick;
- Timer t;
+ gps.baud(57600);
+ gps.format(8, GPS::None, 1);
//---- call interrupt functions --------------------------//
um6_uart.attach(&rxCallback, MODSERIAL::RxIrq); // attach interupt function to uart
- tick.attach(&LogData, 0.5); // attaches LogData function to 'tick' ticker interrupt every 0.5s
+ tick.attach(&LogData, 2); // attaches LogData function to 'tick' ticker interrupt every 0.5s
t.start(); // start logging time
//---------- setup sd card directory------------------------------//
@@ -81,20 +87,25 @@
float AccelX=data.Accel_Proc_X;
float AccelY=data.Accel_Proc_Y;
float AccelZ=data.Accel_Proc_Z;
- float GPSlong=data.GPS_long; // currently not reading GPS longitude correctly
- float GPSlat=data.GPS_lat; // currently not reading GPS latitude correctly
+ double GPSlong=gps.longitude(); // currently not reading GPS longitude correctly
+ double GPSlat=gps.latitude(); // currently not reading GPS latitude correctly
+ double GPSalt=gps.altitude();
float GPScourse=data.GPS_course;
float GPSspeed=data.GPS_speed;
- int32_t GPSlatR=data.GPS_lat_raw;
-
+
//----- print TEST signals----------------------------//
// fprintf(fp,"%.3f,%.2f,%.4f,%.2f \r",time,Yaw,AccelX,GPSspeed);
- pc.printf("time %.3f,Yaw %f,Accel %f, Speed %f, Lat %f, Long %f, LatR %d \n",time,Yaw,AccelX,GPSspeed,GPSlat,GPSlong,GPSlatR);
+ pc.printf("time %.3f,Yaw %f, Lat %f, Long %f, Alt %f \n",time,Yaw,GPSlat,GPSlong,GPSalt);
+ gps.timeNow(&q1);
+ pc.printf("%c %02d:%02d:%02d %02d/%02d/%04d\r\n",q1.status, q1.hour, q1.minute, q1.second, q1.day, q1.month, q1.year);
+ gps.vtg(&v1);
+ pc.printf("Speed(kph):%lf,Track(true):%lf\r\n", v1.velocity_kph(), v1.track_true());
+
//pc.printf("time %.3f,Yaw %f,Accel %f, Speed %f \n",time,Yaw,AccelX,GPSspeed);
// pc.printf("time %f,LongIn 0x%08X, LongOut %f\n",time,GPSlong,*(int *)&GPSlong);
//----- print ALL signals to file --------------------//
- 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,%d,%f\r",time,Yaw,Roll,Pitch,GyroX,GyroY,GyroZ,AccelX,AccelY,AccelZ,GPScourse,GPSspeed,GPSlat,GPSlong);
+ // 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,%d,%f\r",time,Yaw,Roll,Pitch,GyroX,GyroY,GyroZ,AccelX,AccelY,AccelZ,GPScourse,GPSspeed,GPSlat,GPSlong);
flag=0; // reset LogData interrupt flag
pc_led = !pc_led; // Lights LED1 when transmitting to PC screen
} // end if(flag=1) loop