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

main.cpp

Committer:
njewin
Date:
2013-05-01
Revision:
1:20201cda90d0
Parent:
0:03c649c76388
Child:
2:db3bbd57b075

File content as of revision 1:20201cda90d0:

#include "mbed.h"          // MBED LIBRARY
#include "MODSERIAL.h"     // MBED BUFFERED SERIAL

#include "UM6_usart.h"     // UM6 USART HEADER
#include "UM6_config.h"    // UM6 CONFIG HEADER

LocalFileSystem local("local");               // Create the local filesystem under the name "local"

/////////////////////////////////////////////////////////////////////////////////////////////
// SETUP (ASSIGN) SERIAL COMMUNICATION PINS ON MBED
/////////////////////////////////////////////////////////////////////////////////////////////
MODSERIAL pc(USBTX, USBRX);  // PC SERIAL OVER USB PORT ON MBED

////////////////////////////////////////////////////////////////////////////////////////////////
// SETUP (ASSIGN) MBED LED (1 thru 3) FOR VISUAL DEBUGGING ON MBED
////////////////////////////////////////////////////////////////////////////////////////////////
DigitalOut pc_activity(LED1);    // LED1 = PC SERIAL
DigitalOut uart_activity(LED2);  // LED2 = UM6 SERIAL
DigitalOut logLED(LED3);  // LED3 = logging active

DigitalIn enable(p5);    // enable signal for logging data to file

Timer t; // sets up timer 't'
Ticker tick; // sets up ticker

void rxCallback(MODSERIAL_IRQ_INFO *q) {
    if (um6_uart.rxBufferGetCount() >=  MAX_PACKET_DATA) {
        uart_activity = !uart_activity;  // Lights LED when uart RxBuff has > 40 bytes
        Process_um6_packet();
    }
}

int doRead = 0;

void print_um6() {
    doRead = 1;    // interupt to read signals from UM6
        
}      

int main() {

/////////////////////////////////////////////////////////////////////////////////////////////////////
//          SET SERIAL UART BAUD RATES
/////////////////////////////////////////////////////////////////////////////////////////////////////

    // 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, 0.50);

    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,MagX,MagY,MagZ \r");   // sends header to file

    while (enable) {
         logLED = 1; // turns LED3 on when logging starts                
         if (doRead) { 
           float time1=t.read();
           float Yaw=data.Yaw;
           float Roll=data.Roll;
           float Pitch=data.Pitch;
           float GyroX=data.Gyro_Proc_X;
           float GyroY=data.Gyro_Proc_Y;
           float GyroZ=data.Gyro_Proc_Z;
           float AccelX=data.Accel_Proc_X;
           float AccelY=data.Accel_Proc_Y;
           float AccelZ=data.Accel_Proc_Z;
           float MagX=data.Mag_Proc_X;
           float MagY=data.Mag_Proc_Y;
           float MagZ=data.Mag_Proc_Z;
           float GPSlong=data.GPS_long;
           
           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,Roll %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);
           //%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,MagX,MagY,MagZ);
           
           pc_activity = !pc_activity;  // Lights LED1 when uart RxBuff has > 40 bytes
           doRead = 0; 
         }
      
    }  // end while(1) loop
   logLED = 0;  // turns LED3 off when logging ends
   fclose(fp);

}  // end main()