this version has all of Jim's fixes for reading the GPS and IMU data synchronously
Dependencies: MODSERIAL SDFileSystem mbed SDShell CRC CommHandler FP LinkedList LogUtil
Diff: main.cpp
- Revision:
- 6:71da5b99de97
- Parent:
- 5:2ce1be9d4bef
- Child:
- 7:1bec23c68a3c
- Child:
- 9:893481b2e488
--- a/main.cpp Sat May 04 23:43:53 2013 +0000 +++ b/main.cpp Sun May 05 14:35:25 2013 +0000 @@ -93,7 +93,7 @@ //toPC.baud(9600); wait_ms(100); toPC.baud(8*115200); wait_ms(100); //toPC.baud(1*115200); wait_ms(100); - toPC.printf("\n\n released GPS from RESET and set to high baud rate \n\n"); + //toPC.printf("\n\n released GPS from RESET and set to high baud rate \n\n"); //just wait to launch the GPS receiver for (int i=0; i<5; i++) { toPC.printf("WMsg start: %3d \n", 4-i); wait(1); } @@ -106,7 +106,7 @@ } else { - toPC.printf(" SD card not present \n"); + toPC.printf("WMsg SD card not present \n"); } //NOTE: we do not assume that the GPS receiver has been pre-set up for the WALDO_FCS functionality @@ -236,6 +236,7 @@ //in the primary real-time portion, there are no bytes from the PC so this has no impact readFromPC(); + /* //this will close the fpNav file on the SD card if the file is open //and the elapsed time from PosVel messages is > 60 secs //this prevents loosing the fpNav file if the PC goes down @@ -244,6 +245,7 @@ sendRecData = true; recordData = false; } + */ processPCmessages(fpNav, posMsg, velMsg); @@ -259,6 +261,8 @@ triggerInterval.start(); } + //the trigger requires a pulse -- the above portion lowers the signal and the below raises it + //this has been tested at 50 msecs and it will not fire at that pulse duration if(finishTrigger && triggerInterval.read_ms() > 100) { fire = 1;