Nathan Ewin / Mbed 2 deprecated UM6_IMU_AHRS_edit_NJE

Trying to log data from UM6 sensor with GPS receiver LS20031. I have two problems: - I can't log to file at a fast rate (<0.5s) without data values freezing to a fixed value. Print to pc screen it works fine. Ideally I would do this with an interrupt (e.g. ticker) so that the time of each reading is a fixed interval - I removed this as I thought this was causing the problem. - I want to record GPS lat and long. I have setup the GPS ground speed so I know the sensor are communicating. So I possibly havent set the config file to correctly interpet these two signals.

Dependencies:   MODSERIAL mbed

Fork of UM6_IMU_AHRS_2012 by lhiggs CSUM

Diff: main.cpp

Revision:
3:0cfe2e18440d
Parent:
2:db3bbd57b075
Child:
4:aefc0f09fe1c
--- a/main.cpp	Wed May 01 23:32:16 2013 +0000
+++ b/main.cpp	Thu May 02 06:41:42 2013 +0000
@@ -17,14 +17,11 @@
 DigitalOut pc_activity(LED1);    // LED1 = PC SERIAL
 DigitalOut uart_activity(LED2);  // LED2 = UM6 SERIAL
 DigitalOut logLED(LED3);  // LED3 = logging active
-
+DigitalOut sync(p6);
 DigitalIn enable(p5);    // enable signal for logging data to file
 
-Timer t; // sets up timer for measuring data loggin time
-Timer t1; // sets up timer for reading data at set intervals
-//Ticker tick; // sets up ticker
-
-//int doRead = 0; // ticker interupt variable 
+Timer t; // sets up timer for measuring data time stamp
+Timer t1;// sets up timer for measuring time to read/write data
 
 void rxCallback(MODSERIAL_IRQ_INFO *q) {
     if (um6_uart.rxBufferGetCount() >=  MAX_PACKET_DATA) {
@@ -33,9 +30,6 @@
     }
 }
 
-//void print_um6() {
-//    doRead = 1;    // interupt to read signals from UM6
-//        }      
 
 int main() {
 
@@ -47,23 +41,19 @@
     // set UM6 serial uart baud 9600
     um6_uart.baud(115200);
     pc.baud(115200);  // pc baud for UM6 to pc interface
-    t.start(); // starts timer
     
     // attach interupt function to uart
     um6_uart.attach(&rxCallback, MODSERIAL::RxIrq);
 
-//    tick.attach(&print_um6, 0.20);  // ticker interupt
 
     FILE *fp = fopen("/local/out3.csv", "w");  // Open "out.txt" on the local file system for writing
-    fprintf(fp, "time1 (s),Yaw (deg),Roll (deg),Pitch (deg),GyroX,GyroY,GyroZ,AccelX,AccelY,AccelZ\r");   // sends header to file
-
-int n = 0;  // while loop counter
-
-    while (n < 10) {
+    fprintf(fp, "time (s),Yaw (deg),Roll (deg),Pitch (deg),GyroX,GyroY,GyroZ,AccelX,AccelY,AccelZ\r");   // sends header to file
+ 
+    t.start(); // start data log time
+    sync = 1;
+    while (enable) {
          logLED = 1; // turns LED3 on when logging starts
-         t1.start(); 
-         wait(0.5);               
-         if (t1 > 0.5) { 
+         wait(0.5);                
            float time1=t.read();
            float Yaw=data.Yaw;
            float Roll=data.Roll;
@@ -78,19 +68,21 @@
          //  float MagY=data.Mag_Proc_Y;
          //  float MagZ=data.Mag_Proc_Z;
            float GPSlong=data.GPS_long;
+           float GPSlat=data.GPS_lat;
+           float GPScourse=data.GPS_course;
+           float GPSspeed=data.GPS_speed;
            
-           pc.printf("time1 %3.3f s,Yaw %3.3f deg,Roll %3.3f deg,Pitch %3.3f deg\n",time1,Yaw,Roll,Pitch);  
-           //pc.printf("time1 %3.3f s,Yaw %3.3f deg,Rol l %3.3f deg,Pitch %3.3f deg, Longitude %f deg\n",time1,Yaw,Roll,Pitch,GPSlong);  
-           fprintf(fp, "%3.3f,%3.3f,%3.3f,%3.3f\n",time1,Yaw,Roll,Pitch);
+        //   pc.printf("time1 %3.3f s,Yaw %3.3f deg,Roll %3.3f deg,Pitch %3.3f deg",time1,Yaw,Roll,Pitch);  
+           pc.printf("time1 %3.3f s,Yaw %3.3f deg, Speed %f 0.01m/s,course %f 0.01m/s, long %f deg, lat %f deg\n",time1,Yaw,GPSspeed,GPScourse,GPSlong,GPSlat);  
+          // fprintf(fp, "%3.3f,%3.3f,%3.3f,%3.3f \n",time1,Yaw,Roll,Pitch);
           // fprintf(fp, "%3.3f,%3.3f,%3.3f,%3.3f,%3.3f,%3.3f,%3.3f\n",time1,Yaw,Roll,Pitch,GyroX,GyroY,GyroZ);
           // fprintf(fp, "%3.3f,%3.3f,%3.3f,%3.3f,%3.3f,%3.3f,%3.3f,%3.3f,%3.3f,%3.3f\n",time1,Yaw,Roll,Pitch,GyroX,GyroY,GyroZ,AccelX,AccelY,AccelZ);
            
-           pc_activity = !pc_activity;  // Lights LED1 when uart RxBuff has > 40 bytes
-         //  doRead = 0;   // reset ticker interupt variable
-          t1.reset();
-          n++;
-         }
-    }  // end while(1) loopn
+           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;
    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);